Tail end flexible actuator of mechanical arm

Abstract

The utility model relates to the related technical field of mechanical arms, in particular to a tail end flexible actuator of a mechanical arm, which comprises a bottom plate, and a driving device is arranged between the bottom plate and a top plate. According to the tail end flexible actuator of the mechanical arm, through the arrangement of the driving device, the driving motor drives the rotating shaft and the threaded rod connected with the rotating shaft to rotate, the threaded rod is in threaded transmission with the sliding block, the sliding block linearly slides on the surface of the threaded rod according to the rotating direction of the motor, and the limiting block is fixed to the connecting plate and penetrates through the limiting rod to form a stable guiding structure; the linear motion of the sliding block is ensured, the transmission precision is guaranteed, the sliding block drives the connecting plate to move, the connecting plate enables the connecting rod to move through the connector, then the relative position of the connecting rod and the fixing device is changed, the clamping arms generate opening and closing actions, the clamping jaws are driven to grab or release an object, and anti-skid rubber sleeves on the clamping jaws and the clamping arms can increase friction force and buffer when the object is loosened. The motor rotates reversely to drive all the components to move reversely, the clamping jaws are opened, and all the components are tightly matched to efficiently and stably complete grabbing.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a flexible end effector for a robotic arm. Background Technology

[0002] A robotic arm is a mechatronic device that mimics some functions of the human arm. It typically consists of multiple joints and links and can perform actions such as grasping, carrying, and manipulating objects. It has a certain degree of freedom and flexibility and can complete various tasks in three-dimensional space according to preset programs or instructions. It is widely used in industrial production, logistics, medical care, scientific research and other fields. In industrial production, the shapes of products are becoming increasingly diverse, and traditional rigid actuators are difficult to adapt to. Flexible actuators, on the other hand, can deform according to the shape of the object. For example, when grasping irregular handicrafts or irregularly shaped parts, they can fit closely and achieve stable grasping. Therefore, there is a particular need for a flexible end effector for robotic arms.

[0003] However, traditional robotic arm end effectors have relatively simple shapes and sizes, making it difficult to effectively grasp and manipulate objects of different shapes and materials. When encountering non-standard shapes or soft surfaces, the grasping effect is poor or even impossible. Utility Model Content

[0004] The purpose of this utility model is to provide a flexible end effector for a robotic arm to solve the problem mentioned in the background art of existing surveillance cameras. However, traditional robotic arm end effectors have relatively simple shapes and sizes, making it difficult to effectively grasp and operate objects of different shapes and materials. When encountering non-standard shapes or soft-surfaced objects, the grasping effect is poor or even impossible.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a flexible end effector for a robotic arm, comprising a base plate, characterized in that a support rod is fixedly connected above the base plate, a top plate is fixedly connected above the support rod, and a driving device is provided between the base plate and the top plate;

[0006] The driving device includes a motor housing, a drive motor, a rotating shaft, a threaded rod, a slider, a connecting plate, a limiting block, a limiting rod, a connector, a connecting rod, a fixture, a clamping arm, a gripper, and an anti-slip rubber sleeve. The motor housing is fixedly connected to the top plate. The drive motor is installed inside the motor housing. The output end of the drive motor is fixedly connected to the rotating shaft. The bottom end of the rotating shaft is fixedly connected to the threaded rod. The slider is slidably connected to the surface of the threaded rod. The bottom of the slider is fixedly connected to the connecting plate. The limiting block is fixedly connected to the surface of the connecting plate. The limiting rod passes through the interior of the limiting block. The two ends of the limiting rod are fixedly connected to the surfaces of the bottom plate and the top plate. The connector is fixedly connected to the surface of the connecting plate. The connecting rod is connected to the surface of the connector. The fixture is fixedly connected to the bottom of the bottom plate. The bottom of both the connecting rod and the fixture is connected to the clamping arm. The bottom of the clamping arm is fixedly connected to the gripper. The surfaces of the clamping arm and the gripper are all fitted with anti-slip rubber sleeves.

[0007] Preferably, the rotating shaft and the threaded rod cooperate to form a rotating structure, and the slider slides on the surface of the threaded rod under the power of the driving motor and the rotating shaft.

[0008] Preferably, the limiting blocks are provided in two identical sets on the surface of the connecting plate, and are arranged symmetrically about the central axis of the connecting plate.

[0009] Preferably, the slider and the connecting plate slide up and down on the surface of the threaded rod via a limiting block and a limiting rod, and the inner wall size of the limiting block matches the outer wall size of the limiting rod.

[0010] Preferably, the connector and the connecting rod are provided in three identical sets on the surface of the connecting plate, and are distributed in a circular pattern with equal spacing around the center of the connecting plate.

[0011] Preferably, the clamping arms are provided in two identical sets, with one set connected to the bottom of the connecting rod and the other set connected to the bottom of the retainer.

[0012] Preferably, the clamping arms and grippers are provided in three identical sets, and are distributed in a circular pattern with equal spacing around the center of the base plate.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: This flexible actuator at the end of a robotic arm, through the setting of the drive device, after the robotic arm receives the grasping command, the control system sends a start signal to the drive motor, the drive motor runs, driving the rotating shaft and the threaded rod connected thereto to rotate. The threaded rod and the slider are driven by the thread, and the slider slides linearly on the surface of the threaded rod according to the motor rotation. The limit block is fixed to the connecting plate and passes through the limit rod to form a stable guide structure, ensuring the linear movement of the slider and ensuring transmission accuracy. The slider drives the connecting plate to move, and the connecting plate displaces the connecting rod through the connector, thereby changing the relative position of the connecting rod and the fixer, causing the gripping arm to perform an opening and closing action, driving the gripper to grasp or release the object. The anti-slip rubber sleeves on the gripper and the gripping arm can increase friction and cushioning. When the object is released, the motor reverses, driving the various components to move in the opposite direction, the gripper opens, and the various components cooperate closely to efficiently and stably complete the grasping and releasing tasks. It solves the grasping problem of traditional actuators when facing objects of different materials, greatly expands the scope of application, and significantly improves the flexibility and reliability of operation. Attached Figure Description

[0014] Figure 1 This is a side view of the structure of the present utility model;

[0015] Figure 2 This is a schematic diagram of the right side view of the appearance of this utility model;

[0016] Figure 3 This is a schematic diagram of the drive device structure of this utility model;

[0017] Figure 4 This is a schematic diagram of the structure of the clamping arm and the gripper of this utility model.

[0018] In the diagram: 1. Base plate; 2. Support rod; 3. Top plate; 4. Drive device; 401. Motor housing; 402. Drive motor; 403. Rotating shaft; 404. Threaded rod; 405. Slider; 406. Connecting plate; 407. Limiting block; 408. Limiting rod; 409. Connector; 410. Connecting rod; 411. Fixer; 412. Clamping arm; 413. Gripper; 414. Anti-slip rubber sleeve. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Please see Figure 1-4The present invention provides a technical solution: a flexible actuator at the end of a robotic arm, comprising a base plate 1, characterized in that a support rod 2 is fixedly connected above the base plate 1, a top plate 3 is fixedly connected above the support rod 2, and a driving device 4 is provided between the base plate 1 and the top plate 3.

[0021] The driving device 4 includes a motor housing 401, a drive motor 402, a rotating shaft 403, a threaded rod 404, a slider 405, a connecting plate 406, a limiting block 407, a limiting rod 408, a connector 409, a connecting rod 410, a fixture 411, a clamping arm 412, a gripper 413, and an anti-slip rubber sleeve 414. The motor housing 401 is fixedly connected to the top of the top plate 3. The drive motor 402 is installed inside the motor housing 401. The output end of the drive motor 402 is fixedly connected to the rotating shaft 403. The bottom end of the rotating shaft 403 is fixedly connected to the threaded rod 404. The slider 405 is slidably connected to the surface of the threaded rod 404. The bottom of the slider 405 is fixedly connected to the connecting plate 406. The surface of the connecting plate 406 is fixedly connected to the limiting block 407. A limiting rod 408 runs through the interior of the positioning block 407. Both ends of the limiting rod 408 are fixedly connected to the surfaces of the base plate 1 and the top plate 3. A connector 409 is fixedly connected to the surface of the connecting plate 406, and a connecting rod 410 is connected to the surface of the connector 409. A retainer 411 is fixedly connected to the bottom of the base plate 1. A gripping arm 412 is connected to the bottom of both the connecting rod 410 and the retainer 411. A gripper 413 is fixedly connected to the bottom of the gripping arm 412. Anti-slip rubber sleeves 414 are installed on the surfaces of both the gripping arm 412 and the gripper 413. Through the configuration of the drive device 4, when the robotic arm receives a gripping command, the control system first sends a start signal to the drive motor 402. The drive motor 402, as the power source of the entire drive device 4, starts after receiving the signal. Upon initial operation, the rotating shaft 403 connected to its output end rotates synchronously with the drive motor 402. Since the bottom end of the rotating shaft 403 is fixedly connected to the threaded rod 404, the rotation of the rotating shaft 403 directly drives the threaded rod 404 to rotate. The threaded rod 404 and the slider 405 are connected via a threaded transmission. When the threaded rod 404 rotates, the slider 405 slides linearly on the surface of the threaded rod 404. The sliding direction of the slider 405 depends on the rotation direction of the drive motor 402. If the drive motor 402 rotates in the forward direction, the slider 405 will move in one direction; if the drive motor 402 rotates in the reverse direction, the slider 405 will move in the opposite direction. To ensure the stability and accuracy of the slider 405 during the sliding process... The limiting block 407 and the limiting rod 408 play a crucial role. The limiting block 407 is fixed to the surface of the connecting plate 406, and the limiting rod 408 runs through it. The two ends of the limiting rod 408 are fixed to the surfaces of the bottom plate 1 and the top plate 3, respectively, forming a stable guide structure. When the slider 405 slides with the rotation of the threaded rod 404, the limiting block 407 slides synchronously on the limiting rod 408, restricting the slider 405 to only move in a straight line along the direction of the limiting rod 408. This prevents the slider 405 from deviating or wobbling during the sliding process, thus ensuring the transmission accuracy of the entire drive device 4. The bottom of the slider 405 is fixedly connected to the connecting plate 406, so the straight sliding of the slider 405 will drive the connecting plate 406 to move together.A connector 409 is fixedly connected to the surface of the connecting plate 406, and the connector 409 is connected to the connecting rod 410. Therefore, the movement of the connecting plate 406 is transmitted to the connecting rod 410 through the connector 409, causing the connecting rod 410 to move accordingly. A retainer 411 is fixedly connected to the bottom of the base plate 1. Both the bottom of the connecting rod 410 and the bottom of the retainer 411 are connected to clamping arms 412. When the connecting rod 410 moves, it changes the relative position between the connecting rod 410 and the retainer 411, thereby causing the clamping arms 412 to open and close. The grippers 413 fixedly connected to the bottom of the clamping arms 412 also perform the function of gripping or releasing objects as the clamping arms 412 open and close. During the contact between the grippers 413 and the object, the anti-slip rubber sleeves 414 installed on the surfaces of the clamping arms 412 and the grippers 413 can... To increase friction with the object's surface and improve gripping stability, the anti-slip rubber sleeve 414 also acts as a buffer, preventing the gripper 413 from damaging the object's surface. When it's time to release the object, the control system sends a reverse rotation signal to the drive motor 402. The drive motor 402 rotates in the opposite direction, causing the rotating shaft 403 and threaded rod 404 to rotate in the opposite direction. The slider 405 slides in the opposite direction, causing the gripping arm 412 and gripper 413 to open, thus releasing the object. Through the transmission and conversion of components such as the rotating shaft 403, threaded rod 404, and slider 405, the rotational motion is converted into linear motion, ultimately realizing the opening and closing action of the gripper 413, completing the task of gripping and releasing the object. Throughout the process, all components work closely together to ensure the efficient and stable operation of the flexible actuator at the end of the robotic arm.

[0022] Furthermore, the rotating shaft 403, in cooperation with the drive motor 402 and the threaded rod 404, forms a rotating structure. The slider 405 slides on the surface of the threaded rod 404 under the power of the drive motor 402 and the rotating shaft 403. Through the arrangement of the drive motor 402, the rotating shaft 403, and the threaded rod 404, a highly efficient and stable power conversion and transmission system is constructed. The drive motor 402, as the power source, can provide precise and controllable rotational power. When the drive motor 402 starts, its output rotational motion is directly transmitted to the threaded rod 404 through the rotating shaft 403. The rotating shaft 403 acts as a bridge connecting the drive motor 402 and the threaded rod 404. The threaded engagement between the threaded rod 404 and the slider 405 ensures the directness and efficiency of power transmission, converting rotational motion into linear motion. This transmission method has the advantages of high transmission accuracy and strong load-bearing capacity. By controlling the speed and direction of the drive motor 402, the sliding speed and direction of the slider 405 on the threaded rod 404 can be precisely controlled, thereby achieving precise control of the opening and closing action of the gripper 413. In practical applications, whether it is necessary to quickly grasp objects or make fine position adjustments, the requirements can be met by adjusting the parameters of the drive motor 402, which greatly improves the operating accuracy and flexibility of the flexible actuator at the end of the robotic arm.

[0023] Furthermore, two identical sets of limit blocks 407 are provided on the surface of the connecting plate 406, symmetrically arranged about the central axis of the connecting plate 406. The limit blocks 407 enhance the stability and reliability of the movement of the connecting plate 406. The symmetrical design ensures that the force on the connecting plate 406 is more even during movement. When the slider 405 drives the connecting plate 406 to slide on the threaded rod 404, the two sets of limit blocks... The position blocks 407 can simultaneously constrain the connecting plate 406, preventing it from tilting or wobbling. At the same time, the symmetrically arranged position blocks 407 can also improve the force-bearing performance of the connecting plate 406. During the movement, the connecting plate 406 will be subjected to various forces, such as the pulling force of the slider 405 and the reaction force of the connecting rod 410. The two sets of position blocks 407 can evenly distribute these forces to the position rod 408, avoiding damage to components caused by excessive local force and extending the service life of the entire drive device 4.

[0024] Furthermore, the slider 405 and the connecting plate 406 slide up and down on the surface of the threaded rod 404 via the limiting block 407 and the limiting rod 408. The inner wall dimension of the limiting block 407 matches the outer wall dimension of the limiting rod 408. The limiting block 407 and the limiting rod 408 provide precise guidance and limiting functions for the movement of the slider 405 and the connecting plate 406. This precise fit allows the limiting block 407 to move smoothly on the limiting rod 408. The limit block 407 and the limit rod 408 can effectively restrict the movement trajectory of the slider 405 and the connecting plate 406, ensuring that they can only move in a straight line along the direction of the limit rod 408. In actual operation, the limit block 407 and the limit rod 408 can prevent the slider 405 from deviating or swaying when sliding on the threaded rod 404, thereby ensuring the movement accuracy of the gripper 413. In addition, the limit rod 408 can also play a protective role. When the drive device 4 is subjected to external impact or abnormal conditions, the limit rod 408 can withstand part of the impact force, preventing the slider 405 and the connecting plate 406 from damaging other components due to excessive movement, thus improving the safety and stability of the entire actuator.

[0025] Furthermore, three identical sets of connectors 409 and connecting rods 410 are provided on the surface of the connecting plate 406, and are evenly distributed in a ring around the center of the connecting plate 406. Through the arrangement of connectors 409 and connecting rods 410, the movement of the connecting plate 406 is effectively transmitted and rationally distributed to the clamping arm 412. The design of three identical sets of connectors 409 and connecting rods 410 on the surface of the connecting plate 406, and their evenly distributed ring around the center of the connecting plate 406, ensures that the movement of the connecting plate 406 is uniformly transmitted to the three sets of... When the connecting plate 406 slides up and down under the drive of the slider 405, the three sets of connecting rods 410 will be subjected to the same force at the same time, thereby driving the gripping arm 412 connected to the bottom of the connecting rod 410 to move synchronously. This synchronous movement can ensure that when the gripper 413 grasps the object, each gripper 413 can contact the object at the same time and apply a uniform gripping force, which improves the stability and reliability of gripping. At the same time, the setting of the three sets of connecting rods 410 also increases the structural strength and stability of the entire drive device 4, enabling the actuator to better cope with various complex working environments.

[0026] Furthermore, two identical sets of clamping arms 412 are provided, with one set connected to the bottom of the connecting rod 410 and the other set connected to the bottom of the retainer 411. The clamping arms 412 provide a flexible movement method and a stable support structure for the gripper 413. The connection method allows the two sets of clamping arms 412 to move relative to each other, thereby realizing the opening and closing action of the gripper 413. When the connecting rod 410 moves up and down under the drive of the connecting plate 406, the clamping arm 412 connected to the bottom of the connecting rod 410 will move accordingly, and a relative displacement will be generated between it and the clamping arm 412 connected to the bottom of the fixture 411. This relative displacement allows the gripper 413 to open or close, completing the grasping and releasing operation of the object. At the same time, the structural design of the clamping arm 412 can also provide sufficient support for the gripper 413, ensuring that the gripper 413 can stably apply the clamping force when grasping the object, and avoiding the object from slipping due to insufficient support.

[0027] Furthermore, the gripping arms 412 and grippers 413 are arranged in three identical sets, and are evenly distributed around the center of the base plate 1. This arrangement of the gripping arms 412 and grippers 413 improves the adaptability and gripping effect of the robotic arm's end effector to objects of different shapes and sizes. The three sets of gripping arms 412 and grippers 413, evenly distributed around the center of the base plate 1, allow the three sets of grippers 413 to simultaneously grip objects from different directions. For objects of different shapes and sizes, the three sets of grippers 413 can effectively grip the objects. 3. The gripper can be adjusted according to the actual situation of the object to form a relatively uniform clamping force field, thereby achieving stable gripping of the object. For example, for a circular object, the three sets of grippers 413 can grip the object evenly from three directions to ensure that the object will not shake or slip during the gripping process. For irregularly shaped objects, the three sets of grippers 413 can adjust their positions and angles to better fit the surface of the object and improve the reliability of gripping. In addition, this design also increases the gripping range and flexibility of the actuator, enabling the actuator to adapt to more different types of work tasks.

[0028] Working principle: First, when the robotic arm receives a grasping command, the control system sends a start signal to the drive motor 402. The drive motor 402, as the power source for the entire drive device 4, starts operating upon receiving the signal. The rotating shaft 403 connected to its output end rotates synchronously with the drive motor 402. Since the bottom end of the rotating shaft 403 is fixedly connected to the threaded rod 404, the rotation of the rotating shaft 403 directly drives the threaded rod 404 to rotate. The threaded rod 404 and the slider 405 are connected by a threaded transmission. When the threaded rod 404 rotates, the slider 405 slides linearly on the surface of the threaded rod 404. The sliding direction of the slider 405 depends on the rotation direction of the drive motor 402. If the drive motor 402 rotates forward... When the slider 405 rotates, it moves in one direction. If the drive motor 402 rotates in the opposite direction, the slider 405 moves in the opposite direction. To ensure the stability and accuracy of the slider 405 during sliding, the limiting block 407 and the limiting rod 408 play a crucial role. The limiting block 407 is fixed to the surface of the connecting plate 406 and has the limiting rod 408 running through it. The two ends of the limiting rod 408 are fixed to the surfaces of the bottom plate 1 and the top plate 3, respectively, forming a stable guide structure. When the slider 405 slides with the rotation of the threaded rod 404, the limiting block 407 slides synchronously on the limiting rod 408, restricting the slider 405 to only move in a straight line along the direction of the limiting rod 408, thus preventing the slider 405 from going out of bounds during sliding. The slider 405 is fixedly connected to the bottom of the connecting plate 406, so the linear sliding of the slider 405 will drive the connecting plate 406 to move together. The surface of the connecting plate 406 is fixedly connected to the connector 409, which is connected to the connecting rod 410. Therefore, the movement of the connecting plate 406 will be transmitted to the connecting rod 410 through the connector 409, causing the connecting rod 410 to produce a corresponding displacement. The bottom of the base plate 1 is fixedly connected to the retainer 411. The bottom of the connecting rod 410 and the retainer 411 are both connected to the clamping arms 412. When the connecting rod 410 is displaced, it will change the relative position between the connecting rod 410 and the retainer 411, thereby causing the clamping arms 412 to open. During the opening and closing action, the gripper 413, fixedly connected to the bottom of the gripping arm 412, also performs the function of gripping or releasing objects. During the contact between the gripper 413 and the object, the anti-slip rubber sleeves 414 installed on the surfaces of the gripping arm 412 and gripper 413 increase the friction with the object surface, improving gripping stability. Simultaneously, the anti-slip rubber sleeves 414 also act as a buffer, preventing damage to the object surface from the gripper 413. When it is necessary to release the object, the control system sends a reverse rotation signal to the drive motor 402. The drive motor 402 rotates in the opposite direction, causing the rotating shaft 403 and the threaded rod 404 to rotate in the opposite direction. The slider 405 slides in the opposite direction, causing the gripping arm 412 and gripper 413 to open, thereby releasing the object.Through the transmission and conversion of components such as the rotating shaft 403, threaded rod 404, and slider 405, the rotational motion is converted into linear motion, ultimately realizing the opening and closing action of the gripper 413, completing the task of grasping and releasing objects. Throughout the process, the components work closely together to ensure the efficient and stable operation of the robotic arm's end effector. The drive motor 402 is model Y315S-2. This completes the application process of a robotic arm's end effector.

[0029] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A flexible end effector for a robotic arm, comprising a base plate (1), characterized in that, A support rod (2) is fixedly connected above the base plate (1), and a top plate (3) is fixedly connected above the support rod (2). A driving device (4) is provided between the base plate (1) and the top plate (3). The driving device (4) includes a motor housing (401), a drive motor (402), a rotating shaft (403), a threaded rod (404), a slider (405), a connecting plate (406), a limiting block (407), a limiting rod (408), a connector (409), a connecting rod (410), a fixture (411), a clamping arm (412), a gripper (413), and an anti-slip rubber sleeve (414). The motor housing (401) is fixedly connected to the top plate (3). The drive motor (402) is installed inside the motor housing (401). The output end of the drive motor (402) is fixedly connected to the rotating shaft (403). The bottom end of the rotating shaft (403) is fixedly connected to the threaded rod (404). The surface of the threaded rod (404) is slidably connected to the slider (405). 5) A connecting plate (406) is fixedly connected to the bottom. A limiting block (407) is fixedly connected to the surface of the connecting plate (406). A limiting rod (408) passes through the inside of the limiting block (407). The two ends of the limiting rod (408) are fixedly connected to the surfaces of the bottom plate (1) and the top plate (3). A connector (409) is fixedly connected to the surface of the connecting plate (406). A connecting rod (410) is connected to the surface of the connector (409). A fixing device (411) is fixedly connected to the bottom of the bottom plate (1). A clamping arm (412) is connected to the bottom of both the connecting rod (410) and the fixing device (411). A gripper (413) is fixedly connected to the bottom of the clamping arm (412). Anti-slip rubber sleeves (414) are installed on the surfaces of both the clamping arm (412) and the gripper (413).

2. The end effector of a robotic arm according to claim 1, characterized in that: The rotating shaft (403) is connected to the threaded rod (404) by the drive motor (402) to form a rotating structure. The slider (405) slides on the surface of the threaded rod (404) under the power of the drive motor (402) and the rotating shaft (403).

3. The end effector of a robotic arm according to claim 1, characterized in that: The limiting blocks (407) are provided in two identical sets on the surface of the connecting plate (406), and are arranged symmetrically about the central axis of the connecting plate (406).

4. The end effector of a robotic arm according to claim 1, characterized in that: The slider (405) and the connecting plate (406) slide up and down on the surface of the threaded rod (404) via the limiting block (407) and the limiting rod (408). The inner wall size of the limiting block (407) matches the outer wall size of the limiting rod (408).

5. The end effector of a robotic arm according to claim 1, characterized in that: The connector (409) and the connecting rod (410) are provided with three identical sets on the surface of the connecting plate (406), and are distributed in a circular pattern with equal spacing around the center of the connecting plate (406).

6. The end effector of a robotic arm according to claim 1, characterized in that: The clamping arms (412) are provided in two identical sets, one set of which is connected to the bottom of the connecting rod (410) and the other set is connected to the bottom of the retainer (411).

7. The end effector of a robotic arm according to claim 1, characterized in that: The clamping arms (412) and the grippers (413) are provided in three identical sets, and are distributed in a circular pattern with equal spacing around the center of the base plate (1).

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