Robot arm tail end clamping jaw device

Abstract

The utility model provides a clamping jaw device at the tail end of a robot arm, and relates to the technical field of automatic production feeding equipment. The clamping jaw device at the tail end of the robot arm comprises a base plate, a tail end connecting assembly, a material grabbing assembly and a material disc grabbing assembly, the tail end connecting assembly, the material grabbing assembly and the material disc grabbing assembly are arranged on the base plate, the tail end connecting assembly is used for being connected with the tail end of the robot arm, the material grabbing assembly is used for grabbing materials, and the material disc grabbing assembly is used for grabbing a material disc. The clamping jaw device at the tail end of the robot arm can be connected to the tail end of the robot arm through the tail end connecting assembly, the clamping jaw device is not only provided with a material grabbing assembly used for grabbing materials, but also provided with a material disc grabbing assembly used for grabbing a material disc, and after the clamping jaw device is installed, the material disc can be grabbed through the material disc grabbing assembly. One robot arm has the functions of a material taking mechanical arm and a tray taking mechanical arm, the structure of the whole equipment can be greatly simplified, and the structure of the whole equipment is more compact.

Description

Technical Field

[0001] This utility model relates to the technical field of automated production feeding equipment, and more specifically, to a gripper device at the end of a robot arm. Background Technology

[0002] With the rapid development of industrial automation and intelligent manufacturing, robotic arms are being used more and more widely on production lines. In existing automated production lines, multiple materials are typically placed on a single tray, and then these trays, each filled with material, are stacked together. During material handling, the robotic arm first picks up the material from the top tray one by one and moves it to the target location. Once the material on the top tray has been removed, the robotic arm removes the empty tray, exposing the next tray and its contents, allowing the robotic arm to continue picking up the material from the next tray one by one.

[0003] It is evident that existing feeding equipment uses a material handling robotic arm to pick up materials and a tray-removing robotic arm to remove trays. The presence of multiple robotic arms makes the overall structure of the production equipment quite complex. Utility Model Content

[0004] The purpose of this invention is to provide a gripper device at the end of a robot arm to solve the technical problem of the complex structure of existing material feeding equipment.

[0005] The robot arm end effector provided by this utility model includes a base plate and an end connection component, a material gripping component and a tray gripping component disposed on the base plate. The end connection component is used to connect to the end of the robot arm, the material gripping component is used to grip materials, and the tray gripping component is used to grip a tray.

[0006] Furthermore, there are multiple material gripping components, and the arrangement of the multiple material gripping components is consistent with the arrangement of at least a portion of the materials on the material tray.

[0007] Furthermore, the substrate is rectangular, and a plurality of the material gripping components are spaced apart along the length of the substrate to simultaneously grip multiple materials on the tray that have the same arrangement along a straight line.

[0008] Furthermore, the material gripping component includes a material gripping drive unit, the output section of which is fixedly provided with a plurality of material gripping claws. The material gripping drive unit can drive the plurality of material gripping claws to merge together to extend into the space of the material, and drive the plurality of material gripping claws in the space to open to grip the material.

[0009] Furthermore, the material handling drive component is a gripper cylinder, the material handling gripper is a pneumatic gripper, and even further, it is a rubber-coated pneumatic gripper covered with protective adhesive.

[0010] Furthermore, the material gripping component also includes a material detection sensor for detecting whether the gripper has gripped the material.

[0011] Furthermore, the material detection sensor is fixedly mounted on the material handling drive unit via a mounting plate.

[0012] Furthermore, the tray gripping assembly has at least two components, with at least a portion of the tray gripping assembly disposed on one side of the tray and the other portion disposed on the opposite side of the tray, for jointly gripping the tray.

[0013] Furthermore, the tray gripping assembly includes a tray-retrieving drive, the output of which is connected to a tray-retrieving gripper. The tray-retrieving drive can drive the corresponding tray-retrieving gripper to move closer to or further away from the tray-retrieving gripper in another tray gripping assembly.

[0014] Furthermore, the tray-grabbing gripper includes a vertically fixed connecting arm and a tray-grabbing arm. A linkage assembly connects the connecting arm and the substrate. The linkage assembly includes a first linkage and a second linkage, both of which are pivotally connected at one end to the substrate and at the other end to the connecting arm. The pivot axes are parallel to each other and perpendicular to the arrangement direction of the two tray-grabbing assemblies. The line connecting the two pivot points of the first linkage, the line connecting the connecting arm and the two pivot points of the linkage, the line connecting the two pivot points of the second linkage, and the line connecting the substrate and the two pivot points of the linkage are sequentially connected to form a quadrilateral.

[0015] The material gripping component is disposed below the substrate, the disk-grabbing drive is mounted above the substrate, and the first connecting rod is bent away from the second connecting rod to avoid interference with the second connecting rod;

[0016] The disk retrieval drive unit drives the corresponding first linkage to move the corresponding disk retrieval jaw closer to or further away from the opposite disk retrieval jaw.

[0017] Furthermore, the end of the connecting arm is connected to the middle part of the plate-retrieving arm.

[0018] Furthermore, there are two tray gripping components, which are symmetrically arranged on both sides of the substrate along its length.

[0019] Furthermore, the connecting arm is symmetrically provided with the connecting rod assembly on both sides along the extension direction of each of the pivot axes, and a connecting shaft is perpendicularly connected between the two first connecting rods of the two connecting rod assemblies, and the output part of the disk drive is perpendicularly pivotally connected to the connecting shaft.

[0020] Furthermore, the mounting part of the disk-grabbing drive can be mounted on the base plate in an adjustable position, and the output part is connected to a floating connector, which is connected to the middle part of the connecting shaft.

[0021] Furthermore, a disc separating assembly is fixedly provided on the outer side of the disc picking gripper. The disc separating assembly includes a disc separating drive component. The output part of the disc separating drive component is connected to a disc separating component. The disc separating component is located below the disc picking gripper and is used to separate the disc held by the disc picking gripper from the disc below it.

[0022] Furthermore, the substrate is also fixedly mounted with a distance sensor for detecting the distance between the gripper mechanism and the material or tray.

[0023] The robotic arm end-effector gripper device provided by this utility model can produce the following beneficial effects:

[0024] The robotic arm end gripper device provided by this utility model can be connected to the end of the robotic arm through an end connection component. The gripper device is not only equipped with a material gripping component for gripping materials, but also with a tray gripping component for gripping trays. After installing the gripper device provided by this utility model, a robotic arm has the functions of both material picking and tray picking, which can greatly simplify the structure of the entire device and make the structure of the entire device more compact. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0026] Figure 1 A schematic diagram of the end effector gripper device of the robot arm provided in this embodiment of the utility model;

[0027] Figure 2 A partial structural schematic diagram of the end effector gripper device of the robot arm provided in this embodiment of the utility model;

[0028] Figure 3 for Figure 2 A magnified view of a portion of the image;

[0029] Figure 4 A schematic diagram of the material gripping component of the robot arm end effector provided in this embodiment of the utility model;

[0030] Figure 5A schematic diagram of the end-connection assembly of the robot arm end gripper device provided in this embodiment of the utility model.

[0031] Explanation of reference numerals in the attached figures:

[0032] 100-substrate;

[0033] 200 - End connection assembly; 210 - Connection plate; 220 - Connection upright plate;

[0034] 300 - Material gripping assembly; 310 - Material gripping drive component; 320 - Material gripper; 321 - Protective adhesive; 330 - Material detection sensor; 331 - Mounting plate;

[0035] 400-Pan gripping assembly; 410-Pan pickup drive component; 411-Adjusting plate; 420-Pan pickup gripper; 421-Connecting arm; 422-Pan pickup arm; 430-First connecting rod; 440-Second connecting rod; 450-Connecting shaft; 460-Floating joint;

[0036] 500 - Disk splitter assembly; 510 - Disk splitter drive; 520 - Disk splitter component;

[0037] 600 - Distance sensor; 601 - Mounting bracket;

[0038] 700-terminal block. Detailed Implementation

[0039] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of this utility model and are not intended to limit it.

[0040] This embodiment provides a gripper device at the end effector of a robot arm, such as... Figure 1 As shown, the gripper device includes a base plate 100 and an end connection component 200, a material gripping component 300 and a tray gripping component 400 disposed on the base plate 100. The end connection component 200 is used to connect to the end of a robot arm, the material gripping component 300 is used to grip materials, and the tray gripping component 400 is used to grip trays.

[0041] The robotic arm end gripper device provided in this embodiment can be connected to the end of the robotic arm via the end connection component 200. The gripper device is not only equipped with a material gripping component 300 for gripping materials, but also with a tray gripping component 400 for gripping trays. After installing the gripper device provided in this embodiment, a robotic arm can perform the functions of both material gripping and tray gripping, which can greatly simplify the structure of the entire device and make the structure of the entire device more compact.

[0042] like Figure 1 As shown, in this embodiment, there are multiple material gripping components 300, and the arrangement of these multiple material gripping components 300 is consistent with the arrangement of at least some of the materials on the tray. With this configuration, compared to gripping and transferring materials one by one, the robotic arm can grip and transfer multiple materials simultaneously, which can greatly improve feeding efficiency.

[0043] Specifically, in this embodiment, the substrate 100 is rectangular, and multiple material gripping components 300 are spaced apart along the length of the substrate 100 to simultaneously grip multiple materials on the tray that have the same arrangement along a straight line. "Having the same arrangement" means that along a straight line, each material corresponds one-to-one with a material gripping component 300. With this configuration, the robotic arm can move one row or one column of materials on the tray at a time. Of course, the number of materials on the tray can also be less than the number of material gripping components 300 on the substrate 100.

[0044] Normally, the materials on the tray are arranged in rows, columns and evenly. Therefore, preferably, the multiple material gripping components 300 on the substrate 100 are evenly arranged, and the distance between two adjacent material gripping components 300 is consistent with the spacing between adjacent materials on the tray.

[0045] It should be noted that although the substrate 100 in this application is provided with one row or one column of material gripping components 300, in other embodiments of this application, in order to grip more materials at the same time, the substrate 100 may also be provided with two rows or two columns, or even three rows or three columns of material gripping components 300. That is, the number of material gripping components 300 on the substrate 100 can be set according to specific needs, and this application does not impose specific limitations.

[0046] In this embodiment, as Figure 4As shown, the material gripping assembly 300 includes a material gripping drive 310. The output section of the material gripping drive 310 is fixedly equipped with multiple material grippers 320. The material gripping drive 310 can drive the multiple material grippers 320 to merge and extend into the material space, and drive the multiple material grippers 320 within the space to open and grip the material. Any space that allows the multiple material grippers 320 to merge and extend into it, and whose opening allows them to tightly abut against the wall forming the space, thereby lifting the material from the tray, can be called a "material space." Examples include: the cavity of a box, the cavity of a pipe, or a large gap between two opposing structures on the material. In this configuration, the material gripping component 300 grips the material through an internal support, resulting in a relatively small working space for the gripper 320. This allows for the placement of a larger number of material gripping components 300 on the substrate 100. The gripper 320 has a short travel distance, and the energy consumption of the gripping drive component 310 is also low, saving costs. Furthermore, by gripping material from within, it can accommodate material handling needs of different sizes and shapes. Of course, in other embodiments of this application, the gripper 320 can also grip the material by clamping it from the outside.

[0047] Specifically, in this embodiment, the material handling drive 310 is a gripper cylinder. The precision of the gripper cylinder is selected according to the gripping accuracy requirements. For example, when high gripping accuracy is required, a precision gripper cylinder is selected. The material handling gripper 320 is a pneumatic gripper. Preferably, a gripper with adaptive capability can be selected. It should be noted that in other embodiments of this application, the material handling drive 310 is not limited to a gripper cylinder, but can also be a hydraulic cylinder or an electric cylinder, as long as it can drive the material handling gripper 320 to close and open.

[0048] More specifically, in this embodiment, as Figure 4 As shown, each material gripping drive unit 310 has two pneumatic grippers at its output, and each pneumatic gripper has two fingers. Thus, each material gripping component 300 can have up to four contact positions with the material, which can ensure the stability and accuracy of material gripping and ensure that no deviation or shaking occurs during the material gripping process. This also makes it easier for the material gripping component 300 to be used for materials of different weights.

[0049] In addition, continue as Figure 4 As shown, the gripper is covered with protective adhesive 321. With this configuration, the protective adhesive 321 not only protects the surface of the gripper but also effectively prevents hard contact between the gripper and the material, thus also protecting the surface of the material.

[0050] Continue as Figure 4As shown, in this embodiment, the material gripping component 300 also includes a material detection sensor 330, used to detect whether the gripper 320 has gripped the material. Further, the material detection sensor 330 is fixedly mounted on the material gripping drive component 310 via a mounting plate 331. The material detection sensor 330 can not only detect whether material has been gripped, but also whether the gripping is in place. Besides the material gripping process, it can also monitor the material status and processing progress in real time during the transfer and unloading processes. Through feedback control, intelligent adjustment of the gripper 320 can be achieved. This design allows the gripper to adapt to various working environments and material types, improving the robot's flexibility and versatility. It can also further improve the overall production line efficiency and capacity by reducing downtime caused by gripping failures or workpiece damage.

[0051] The robotic arm end effector gripper device provided in this embodiment can not only pick up materials, but also pick up trays. For example... Figure 1 and Figure 2 As shown, there are two tray gripping components 400, one of which is located on one side of the tray, and the other on the opposite side. Both grip the tray together. Furthermore, the two tray gripping components 400 are symmetrically arranged on both sides of the substrate 100 along its length. After the material gripping component 300 has removed all the material from the uppermost tray, the two tray gripping components 400 can remove the empty tray by gripping the opposite sides of the empty tray.

[0052] It should be noted that in other embodiments of this application, the number of tray gripping components 400 is not limited to two, but can also be three, four, or five, etc. Some of the tray gripping components 400 are disposed on one side of the tray, and others are disposed on the opposite side of the tray, for jointly gripping the tray. Furthermore, multiple tray gripping components 400 are not limited to being disposed on opposite sides of the tray; for example, multiple tray gripping components 400 can also be disposed around the tray, removing it by gripping its perimeter.

[0053] Continue as Figure 1 and Figure 2 As shown, in this embodiment, the tray gripping assembly 400 includes a tray-grabbing drive 410. The output of the tray-grabbing drive 410 is connected to a tray-grabbing gripper 420. The tray-grabbing drive 410 can drive the corresponding tray-grabbing gripper 420 to move closer to or further away from the tray-grabbing gripper 420 in another tray gripping assembly 400. In this configuration, when two opposing tray-grabbing grippers 420 approach each other, the tray can be gripped; when the two tray-grabbing grippers 420 gripping the tray move further apart, the tray can be released.

[0054] Specifically, in this embodiment, as Figure 2 and Figure 3As shown, the tray gripper 420 includes a vertically fixed connecting arm 421 and a tray-grabbing arm 422. A linkage assembly connects the connecting arm 421 and the substrate 100. The linkage assembly includes a first linkage 430 and a second linkage 440, both of which are pivotally connected at one end to the substrate 100 and at the other end to the connecting arm 421. The pivot axes are parallel to each other and perpendicular to the arrangement direction of the two tray gripping assemblies 400. The lines connecting the two pivot points of the first linkage 430, the connecting arm 421 and the two linkages, the connecting arm 440 and the two linkages, and the substrate 100 and the two linkages are connected sequentially to form a quadrilateral, as shown. Figure 3 As shown by the dotted lines in the figure; the material gripping component 300 is disposed below the substrate 100, and the tray-grabbing drive 410 is mounted above the substrate 100. The first link 430 is bent away from the second link 440, for example, bent at 90°, to avoid interference with the second link 440. The tray-grabbing drive 410 drives the corresponding tray-grabbing claw 420 to move closer to or away from the opposite tray-grabbing claw 420 by driving the corresponding first link 430.

[0055] In the above configuration, the disk-retrieving gripper 420 is connected to the base plate 100 via a linkage assembly with double links. The disk-retrieving drive unit 410 drives the disk-retrieving gripper 420 to move by driving the first linkage 430. The positional stability and motion stability of the disk-retrieving gripper 420 are relatively high. Of course, in other embodiments of this application, the output part of the disk-retrieving drive unit 410 can also be directly fixedly connected to the disk-retrieving gripper 420 to directly drive the disk-retrieving gripper 420.

[0056] Specifically, such as Figure 2 and Figure 3 As shown, in this embodiment, the end of the connecting arm 421 is connected to the middle part of the tray-retrieving arm 422. With this arrangement, the portions of the tray-retrieving arm 422 located on both sides of the connecting arm 421 are symmetrical, and the force on both sides of the connecting arm 421 is relatively balanced, which is beneficial to improving the structural stability and motion stability of the tray-retrieving gripper 420.

[0057] Specifically, in this embodiment, as Figure 3 As shown, connecting arm 421 has symmetrically arranged connecting rod assemblies on both sides along the extension direction of each pivot axis. A connecting shaft 450 is perpendicularly connected between the two first connecting rods 430 of the two connecting rod assemblies, and the output part of the disk-grabbing drive 410 is perpendicularly pivotally connected to the connecting shaft 450. In this configuration, connecting rod assemblies are provided on both sides of the connecting arm 421, and the two first connecting rods 430 are connected via the connecting shaft 450, further improving the positional and motion stability of the entire disk-grabbing gripper 420.

[0058] like Figure 3 As shown, and in combination Figure 1 and Figure 2As shown, in this embodiment, the mounting portion of the disk drive 410 can be mounted on the substrate 100 in a tilting manner, and the output portion is connected to a floating connector 460, which is connected to the middle portion of the connecting shaft 450. The floating connector 460 can absorb the installation error between the disk drive 410 and the connecting shaft 450, thereby reducing installation requirements and improving installation efficiency. It can also absorb and mitigate the mutual impact between the two, thereby extending the service life of the components.

[0059] Specifically, in this embodiment, the disk drive 410 is a pen-shaped cylinder. Of course, in other embodiments of this application, it can also be other types of linear drive components, such as hydraulic cylinders, electric cylinders, etc.

[0060] More specifically, in this embodiment, as Figure 2 As shown, the tray-retrieving drive unit 410 is mounted on the base plate 100 via an adjusting plate 411, the position of which is adjustable along the length of the base plate 100. With this configuration, by adjusting the position of the adjusting plate 411, the position of the tray-retrieving drive unit 410 can be adjusted, thereby adjusting the limit position of the pneumatic rod of the tray-retrieving drive unit 410, and ultimately adjusting the limit position of the tray-retrieving gripper 420, thus adapting to trays of different sizes.

[0061] In this embodiment, as Figure 2 and Figure 3 As shown, a tray separating assembly 500 is fixedly provided on the outer side of the tray-retrieving gripper 420. The tray separating assembly 500 includes a tray separating drive 510. The output part of the tray separating drive 510 is connected to a tray separating component 520. The tray separating component 520 is located below the tray-retrieving gripper 420 and is used to separate the tray gripped by the tray-retrieving gripper 420 from the tray below it.

[0062] Specifically, in this embodiment, the disc-splitting drive component 510 is a disc-splitting cylinder, and specifically a dual-axis cylinder, thereby providing stable power to the disc-splitting component. Of course, in other embodiments of this application, the disc-splitting drive component 510 can also be a disc-splitting hydraulic cylinder, a disc-splitting electric cylinder, etc., as long as it can drive the disc-splitting component 520 away from the gripped disc.

[0063] In this embodiment, as Figure 1 As shown, a distance sensor 600 is also fixedly mounted on the substrate 100 for detecting the distance between the gripper mechanism and the material or tray, thereby achieving precise positioning. Furthermore, distance sensors 600 are provided on both sides of the substrate 100 along its width direction, and the distance sensors 600 are fixedly mounted on the substrate 100 via a mounting bracket 601.

[0064] In this embodiment, as Figure 1As shown, the substrate 100 is also fixedly mounted with a terminal block 700. The wiring harnesses of each sensor and drive component are connected to the terminal block 700, and then connected to the control device through the terminal block 700, thereby transmitting detected information to the control device or receiving instructions sent by the control device. The control device can be a PLC (Programmable Logic Controller), and the control system including the PLC and the terminal block 700 also includes solenoid valves, photoelectric sensors, etc., which are mature existing technologies and will not be described in detail here.

[0065] In this embodiment, as Figure 5 As shown, the end-effector assembly 200 is located in the middle of the substrate 100, including a connecting plate 210 parallel to the substrate 100 and two connecting plates 220 vertically fixed between the connecting plate 210 and the substrate 100. The connecting plate 210 is directly fixed to the end of the robot arm. With this configuration, the structure and weight on both sides of the substrate 100 are more balanced, and the robot arm can move more smoothly.

[0066] As can be seen from the above, the robotic arm end-effector gripper device provided in this embodiment can not only grasp multiple materials at the same time, but also grasp material trays, and can separate trays when picking them up. The following is a general description of the material picking and feeding process of the robotic arm end-effector gripper device provided in this embodiment:

[0067] S102, the material gripper 320 (open / close) returns to its initial position;

[0068] S104, the disk clamp 420 (opens) returns to the initial position;

[0069] S106, the disc cylinder (retracts) returns to its initial position;

[0070] S108, when the arm end moves to the specified height, the distance sensor 600 starts measuring the height;

[0071] S110, the control device obtains the current actual height of the end effector gripper;

[0072] S112, descend to a certain height to clamp the material;

[0073] S114, the lifting end gripper device, the material detection sensor 330 on the material gripper 320 detects whether material has been gripped;

[0074] S116, Place the material in the designated location;

[0075] S118, repeat the above actions until all materials in the top tray are removed;

[0076] S120, return to the initial position to prepare to clamp the empty material tray;

[0077] S122, the empty material tray is clamped at the designated position, raised to a certain position, and the tray separation cylinder is activated to separate the trays;

[0078] S124, after placing the empty material tray to the designated position, return it to the initial position;

[0079] S126, all cylinders return to their initial positions;

[0080] S128, repeat the above steps until all materials and trays are removed;

[0081] S130, End of action.

[0082] As can be seen from the above steps, the robotic arm end gripper device provided in this embodiment can reduce unnecessary movement time and energy consumption, which enables the robotic arm to complete tasks more quickly and accurately when gripping, transporting and releasing materials, thus improving the overall efficiency of the production line.

[0083] In summary, the robotic arm end effector provided in this embodiment can meet the requirements of high precision, high stability, high adaptability, and high efficiency in industrial automated production lines and intelligent manufacturing technologies. For example, it can be used in mobile phone assembly lines, laser engraving production lines, LCD assembly bonding production lines, and wearable device assembly lines. For different production lines, depending on factors such as the size, weight, and material of the materials, a matching, modular, and easily replaceable material gripping component 300 and tray gripping component 400 can be selected, or only the matching drive components and gripping jaws 320 can be replaced.

[0084] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0085] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot arm end effector device, characterized in that, The application relates to a substrate (100) and a terminal connecting assembly (200), a material grabbing assembly (300) and a tray grabbing assembly (400) arranged on the substrate (100), the terminal connecting assembly (200) is used for being connected with a robot arm, the material grabbing assembly (300) is used for grabbing materials, and the tray grabbing assembly (400) is used for grabbing a tray.

2. The robotic arm end effector jaw device of claim 1, wherein, The number of the material grabbing assemblies (300) is multiple, and the arrangement mode of the multiple material grabbing assemblies (300) is consistent with the arrangement mode of at least part of materials on a tray.

3. The robotic arm end effector jaw device of claim 2, wherein, The substrate (100) is rectangular, and the multiple material grabbing assemblies (300) are arranged along the length direction of the substrate (100) and are used for simultaneously grabbing multiple materials on a tray which have the same arrangement mode in a straight line direction.

4. The robot arm end effector jaw device of claim 2 or 3, wherein, The material grabbing assembly (300) comprises a material taking driving element (310), and the output part of the material taking driving element (310) is fixedly provided with multiple material taking clamps (320); the material taking driving element (310) can drive the multiple material taking clamps (320) to be combined to extend into the space of a material and drive the multiple material taking clamps (320) in the space to be opened to grab the material.

5. The robotic arm end effector jaw device of claim 4, wherein, The material grabbing assembly (300) further comprises a material detection sensor (330) for detecting whether the material taking clamps (320) grab a material.

6. The robot arm end effector jaw device of any of claims 1-3, wherein, The tray grabbing assembly (400) is at least two, and at least part of the tray grabbing assemblies (400) are arranged on one side of a tray, and the other part is arranged on the other side of the tray opposite to the one side, and are used for jointly clamping the tray.

7. The robotic arm end effector jaw device of claim 6, wherein, The tray grabbing assembly (400) comprises a tray taking driving element (410), and the output part of the tray taking driving element (410) is connected with a tray taking clamp (420); the tray taking driving element (410) can drive the corresponding tray taking clamp (420) to be close to or away from the tray taking clamp (420) in the other tray grabbing assembly (400).

8. The robotic arm end effector jaw device of claim 7, wherein, The tray taking clamp (420) comprises a vertically fixed connecting arm (421) and a tray taking arm (422), and a connecting rod assembly is connected between the connecting arm (421) and the substrate (100); the connecting rod assembly comprises a first connecting rod (430) and a second connecting rod (440), both of which are pivotally connected with the substrate (100) at one end and pivotally connected with the connecting arm (421) at the other end; the pivot axes are parallel to each other and perpendicular to the arrangement direction of the two tray grabbing assemblies (400); the connecting lines of the two pivot points of the first connecting rod (430), the connecting lines of the pivot points of the two connecting rods and the connecting lines of the two pivot points of the second connecting rod (440) and the connecting lines of the pivot points of the two connecting rods and the substrate (100) are sequentially connected and form a quadrilateral. The material grabbing assembly (300) is arranged below the substrate (100), the tray driving member (410) is arranged above the substrate (100), and the first connecting rod (430) is arranged in a direction away from the second connecting rod (440) to avoid interference with the second connecting rod (440); The tray driving member (410) drives the corresponding first connecting rod (430) to drive the corresponding tray clamping jaw (420) to move close to or away from the opposite tray clamping jaw (420).

9. The robotic arm end effector jaw device of claim 8, wherein, The connecting arm (421) is symmetrically provided with the connecting rod assembly on both sides of the extension direction of the pivot shaft, and the two first connecting rods (430) in the two connecting rod assemblies are vertically connected with a connecting shaft (450), and the output part of the tray driving member (410) is vertically pivoted to the connecting shaft (450).

10. The robotic arm end effector jaw device of claim 7, wherein, The outer side of the tray clamping jaw (420) is fixedly provided with a tray separating assembly (500), the tray separating assembly (500) comprises a tray separating driving member (510), the output part of the tray separating driving member (510) is connected with a tray separating member (520), and the tray separating member (520) is located below the tray clamping jaw (420) and is used for separating the tray clamped by the tray clamping jaw (420) and the tray below.

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