A robotic arm gripper and a robotic arm

Abstract

This utility model relates to the field of gripper technology, specifically to a robotic arm gripper and robotic arm. The robotic arm gripper includes a mounting frame, a motor, and a mounting plate. The motor is fixedly mounted on the mounting frame, and its output shaft is connected to the mounting plate. It includes at least one driving component and two clamping assemblies. The driving component is connected to one or both clamping assemblies and is used to move the two clamping assemblies closer together or further apart. The driving component includes a fixing component, a screw, and a sliding component. The fixing component is fixedly mounted on the mounting plate, and the sliding component is fixedly mounted on the clamping assemblies. The screw is rotatably connected to the fixing component and threadedly connected to the sliding component. This design solves the problem of existing grippers being inconvenient to adjust.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, specifically to a robotic arm gripper and a robotic arm. Background Technology

[0002] In the fields of automated production and industrial robotics, the gripper arm, as the core actuator for material handling, directly affects the equipment's adaptability to materials of different specifications. Traditional mechanical grippers mostly adopt a rigid structural design, using pneumatic drives or servo motors to achieve fixed-interval opening and closing movements. Their gripping range is usually preset at the factory, only suitable for materials of specific sizes and shapes. For example, parallel clamping grippers rely on cylinders to drive the gripping arms to move synchronously. Although they can achieve high-precision positioning, their stroke range is limited by mechanical limit devices, making them unable to flexibly adapt to materials with large size differences. When the production line needs to switch to different specifications of materials, operators must manually replace the entire set of grippers or adjust the limit modules. This not only leads to production cycle interruptions and extended equipment downtime but also significantly increases labor maintenance costs and material switching complexity, making it difficult to meet the flexible and high-cycle production requirements of modern intelligent manufacturing.

[0003] Therefore, the inventors have proposed a robotic arm gripper and a robotic arm to solve the aforementioned technical problems. Utility Model Content

[0004] One objective of this invention is to provide a robotic arm gripper to solve the problem that existing grippers are not easy to adjust; the second objective is to propose a robotic arm.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A robotic arm gripper and a robotic arm, comprising a mounting frame, a motor and a mounting plate, wherein the motor is fixedly mounted on the mounting frame and the output shaft of the motor is connected to the mounting plate;

[0007] The device includes at least one drive member and two clamping assemblies, wherein the drive member is connected to one or both of the clamping assemblies and the drive member is used to move the two clamping assemblies closer to or further away from each other.

[0008] The driving component includes a fixing member, a screw, and a sliding member. The fixing member is fixedly mounted on the mounting plate, the sliding member is fixedly disposed on the clamping assembly, the screw is rotatably connected to the fixing member, and the screw is threadedly connected to the sliding member.

[0009] According to the above technical solution, the robotic arm gripper achieves overall motion control through the drive component. Its gripping action is completed by the screw mechanism in the drive component. When the screw rotates, it drives the spatial position of the two gripping components on the mounting plate. When it is necessary to grip materials, the screw rotates in the fixed component. Due to the threaded connection between the sliding component and the screw, the sliding component moves linearly along the screw, causing the gripping components to move closer or further apart.

[0010] Furthermore, it also includes guide members, the number of which is one or two; each guide member includes two mounting blocks, a guide rod is fixedly disposed between the two mounting blocks, and two guide blocks are sleeved on the guide rod, the two guide blocks being correspondingly mounted on the two clamping assemblies.

[0011] According to the above technical solution, the guide component of the robotic arm gripper, through the cooperation of the guide rod and the guide block, ensures that the gripping assembly achieves high-precision linear motion under the action of the drive component. Specifically, when the screw rotates to drive the gripping assembly to move, the guide block installed on the gripping assembly slides back and forth along the guide rod fixed to the mounting plate. The guide rod is firmly installed through two mounting blocks, and its straightness constrains the movement trajectory of the guide block, preventing the gripping assembly from tilting or rotating during the movement, thereby ensuring that the two gripping assemblies are always parallel and centered. This design effectively improves the accuracy and stability of the gripping action, and is especially suitable for precision gripping operations in high-speed or heavy-load scenarios.

[0012] Furthermore, when there is only one driving member, one of the clamping components is fixedly installed on the bottom of the mounting plate, and the other clamping component is installed on the mounting plate via the driving member;

[0013] When there are two driving components, the two clamping assemblies are mounted on the mounting plate via the corresponding two driving components.

[0014] According to the above technical solution, the drive components of the robotic arm gripper are flexibly configured, allowing for diverse gripping adjustments through varying numbers of components. When using a single drive component, one gripping assembly is fixed to the bottom of the mounting plate as a reference, while the other gripping assembly moves linearly under the constraint of a guide component through the screw and sliding component of the drive component, thereby adjusting the distance between the two gripping assemblies. When two drive components are configured, the two gripping assemblies are controlled by independent drive components, and the two screws rotate synchronously to drive the corresponding gripping assemblies to move, achieving bidirectional symmetrical or asynchronous distance adjustment. This design supports both precise adjustment on one side and allows for large-range synchronous adjustment on both sides, significantly enhancing the gripper's adaptability to materials of different sizes and shapes.

[0015] Furthermore, the fixing component consists of two first fixing blocks, which are fixedly installed on the bottom of the mounting plate. The screw is a single-ended screw, which is rotatably connected between the two first fixing blocks. The sliding component is a first slider, which is threadedly connected to the single-ended screw and fixedly installed on the upper surface of the clamping assembly.

[0016] According to the above technical solution, two first fixing blocks are firmly installed at the bottom of the mounting plate, and a single-headed screw is horizontally mounted between the two fixing blocks and can rotate freely. The first slider fixed on the upper surface of the clamping assembly forms a threaded engagement with the single-headed screw. When the single-headed screw is driven to rotate, the first slider moves linearly along the axis of the single-headed screw, thereby driving the entire clamping assembly to move. Through the unidirectional threaded drive of the single-headed screw, the precise positioning and spacing adjustment of the clamping assembly are achieved. With the help of the guide component, the linearity of the movement trajectory is ensured, thus forming a highly efficient and stable clamping adjustment system.

[0017] Furthermore, when there is only one driving component, the fixing component includes two second fixing blocks, which are fixedly installed on the bottom of the mounting plate. The screw is a double-ended screw, which is rotatably connected between the two second fixing blocks. The sliding component consists of two second sliders, which are symmetrically threaded onto the double-ended screw. The two second sliders are respectively fixedly installed on the upper surfaces of the two clamping assemblies.

[0018] According to the above technical solution, when the driving component is configured as one, the robotic arm gripper adopts a double-ended screw drive structure to achieve synchronous and symmetrical adjustment of the gripping components. Two second fixed blocks are fixed to the bottom of the mounting plate, and the double-ended screw is mounted between them and can rotate freely. Its bidirectional threaded sections correspond to the two second sliders respectively. The two second sliders are symmetrically mounted on the double-ended screw and fixedly connected to the upper surface of their respective gripping components. When the double-ended screw is driven to rotate, the two second sliders move synchronously in opposite directions along the double-ended screw because their threads rotate in opposite directions, thereby driving the two gripping components to adjust the distance. This design can achieve linkage control of the gripping components on both sides through a single drive handle, which not only ensures the synchronicity of adjustment but also improves space utilization. It is particularly suitable for precision operation scenarios that require symmetrical gripping or center positioning.

[0019] Furthermore, the clamping assembly includes an upper frame, a lower frame fixedly connected to the upper frame, a pusher, and a claw disc unit. A rod is fixedly mounted on the lower frame, and the claw disc unit is sleeved on the rod. The pusher is connected to the claw disc unit and is used to drive the claw disc unit to rotate around the axis of the rod.

[0020] According to the above technical solution, the lower frame is fixed to the mounting plate, and its rod serves as a pivot. The claw disc unit can rotate around this rod axis. A pusher (such as a cylinder) is mounted on the lower frame, and its piston end is connected to the push rod of the claw disc unit. When the pusher is activated, the piston movement drives the push rod to rotate the claw disc unit around the rod, thereby adjusting the claw disc's posture. For example, the arc-shaped hook can be flipped to change the opening direction, and the closing angle can be adjusted. Combined with the drive component to adjust the spacing of the gripping components, this design can adapt to radial gripping of cylindrical materials and also to enveloping gripping of irregular objects, significantly improving the gripper's flexibility and adaptability to different scenarios.

[0021] Furthermore, the claw disc unit includes a ring sleeve fitted on the rod body, a push rod fixedly mounted on the ring sleeve, and a claw hook disc, wherein a plurality of arc-shaped hooks are spaced apart on the claw hook disc.

[0022] According to the above technical solution, the arc-shaped hook can penetrate deep into the recesses of the material or surround its surface, effectively preventing the material from sliding or falling off during the clamping process. In addition, by adjusting the angle of the claw disk unit, it can also adapt to irregular materials with partial arc-shaped features to a certain extent, demonstrating good gripping flexibility and scene adaptability.

[0023] Furthermore, the claw disc unit includes a ring sleeved on the rod body, a push rod fixedly mounted on the ring sleeve, and a frame disc, wherein the frame disc is a frame structure with openings at the top and sides.

[0024] Furthermore, the pushing component includes a mounting base fixedly mounted on the lower frame, on which a cylinder is movably mounted, and the piston end of the cylinder is movably connected to the push rod.

[0025] On the other hand, this utility model also proposes a robotic arm, including a base and an arm body, and further including a robotic arm gripper as described above, the robotic arm gripper being mounted on the arm body.

[0026] The beneficial effects of this utility model are:

[0027] The robotic arm gripper drive component of this utility model is flexibly configured. The single drive component mode is suitable for single-sided adjustment scenarios, while the dual drive component mode can realize bidirectional synchronous or asynchronous adjustment, which significantly enhances the adaptability of the equipment to materials of different sizes and shapes. This design not only reduces the complexity of the equipment, but also improves the space utilization rate by sharing components such as guides and mounting frames, enabling the robotic arm to work efficiently in narrow or complex environments.

[0028] The linear motion constraint of the guide rod and guide block of this utility model effectively prevents the clamping components from tilting or rotating during the movement process, ensuring that the two clamping components are always parallel and centered. Combined with the millimeter-level spacing adjustment achieved by the screw drive, the structure is compact and highly practical.

[0029] Other advantages, objectives, and features of this application will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from practice of this application. The objectives and other advantages of this application may be realized and obtained through the detailed embodiments described below. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the robotic arm gripper and robotic arm of this utility model;

[0031] Figure 2 This is a schematic diagram of the overall structure of the robotic arm gripper of this utility model;

[0032] Figure 3 This is a partial structure of the gripper of the robotic arm of this utility model (see view). Figure 1 ) Schematic diagram;

[0033] Figure 4 This is a partial structure of the gripper of the robotic arm of this utility model (see view). Figure 2 ) Schematic diagram;

[0034] Figure 5 This is a partially disassembled structural diagram of one embodiment of the robotic arm gripper of this utility model;

[0035] Figure 6 This is a partially disassembled structural diagram of another embodiment of the robotic arm gripper of this utility model;

[0036] Figure 7 This is a partial structural diagram of the gripper with claw and hook disc of the robotic arm of this utility model;

[0037] Figure 8 This is a schematic diagram of the structure of the gripper with frame disc of the robotic arm of this utility model.

[0038] The components include: mounting bracket 1, motor 2, mounting plate 3, drive component 4, first fixing block 41, single-headed screw 42, first slider 43, second fixing block 44, double-headed screw 45, second slider 46, two second sliders 46, clamping assembly 5, upper frame 51, lower frame 52, rod 521, pusher 53, mounting base 531, cylinder 532, claw disc unit 54, ring sleeve 541, push rod 542, claw hook disc 543, arc hook 544, frame disc 545, guide component 6, mounting block 61, guide rod 62, guide block 63, base 7, and arm 8. Detailed Implementation

[0039] The embodiments of this utility model will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be understood that the preferred embodiments are only for illustrating this utility model and not for limiting the scope of protection of this utility model.

[0040] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0041] This embodiment proposes a robotic arm gripper, such as... Figures 1 to 8 As shown, the device includes a mounting frame 1, a motor 2, and a mounting plate 3. The motor 2 is fixedly mounted on the mounting frame 1, and the output shaft of the motor 2 is connected to the mounting plate 3. When the motor 2 is driven, the mounting plate 3 can be rotated, thereby adjusting the clamping angle. The device also includes at least one driving component 4 and two clamping assemblies 5. The driving component 4 is connected to one or both clamping assemblies 5, and the driving component 4 is used to move the two clamping assemblies 5 closer to or further apart from each other.

[0042] The driving component 4 includes a fixing component, a screw, and a sliding component. The fixing component is fixedly installed on the mounting plate 3, the sliding component is fixedly installed on the clamping assembly 5, the screw is rotatably connected to the fixing component, and the screw is threadedly connected to the sliding component.

[0043] In this embodiment, the gripper of the robotic arm controls the overall gripping distance through the drive component 4. The gripping action is completed by the screw in the drive component 4. When the screw rotates, it drives the spatial position of the two gripping components 5 on the mounting plate 3 to change. According to the different sizes of the gripped materials, due to the threaded connection between the sliding component and the screw, when the screw rotates, the sliding component moves linearly along the screw, thereby driving the gripping components 5 to move closer or further apart, so as to achieve the purpose of adjusting the distance.

[0044] In a preferred embodiment, a guide member 6 is also included, and the number of guide members 6 is one or two; in this embodiment, the number of guide members 6 is preferably two, such as... Figure 5 and Figure 6 As shown, the guide member 6 includes two mounting blocks 61, both of which are fixedly mounted on the lower surface of the mounting plate 3. A guide rod 62 is fixedly disposed between the two mounting blocks 61, and two guide blocks 63 are sleeved on the guide rod 62. The two guide blocks 63 are correspondingly mounted on the two clamping assemblies 5.

[0045] In this embodiment, the guide 6 of the robotic arm gripper, through the cooperation of the guide rod 62 and the guide block 63, ensures that the gripping assembly 5 achieves high-precision linear motion under the action of the drive component 4. Specifically, when the screw rotates to drive the gripping assembly 5 to move, the guide block 63 installed on the gripping assembly 5 slides back and forth along the guide rod 62 fixed to the mounting plate 3. The guide rod 62 is firmly installed through two mounting blocks 61, and its straightness constrains the movement trajectory of the guide block 63, preventing the gripping assembly 5 from tilting or rotating during the movement, thereby ensuring that the two gripping assemblies 5 are always parallel, effectively improving the accuracy and stability of the gripping action, and is especially suitable for precision gripping operations in high-speed or heavy-load scenarios.

[0046] In one possible implementation, there is one drive member 4, one clamping component 5 is fixedly installed on the bottom of the mounting plate 3, and the other clamping component 5 is installed on the mounting plate 3 via the drive member 4; when a single drive member 4 is used, one clamping component 5 is fixed to the bottom of the mounting plate 3 as a reference, and the other clamping component 5 is engaged with the sliding component through the screw of the drive member 4, and moves linearly under the constraint of the guide 6, thereby adjusting the distance between the two clamping components 5.

[0047] In this embodiment, such as Figure 5 As shown, there are two drive components 4, and the two clamping assemblies 5 are mounted on the mounting plate 3 via corresponding drive components 4. The two clamping assemblies 5 are each controlled by an independent drive component 4. The two screws rotate synchronously to drive the corresponding clamping assemblies 5 to move, realizing bidirectional symmetrical or asynchronous spacing adjustment. This design supports both precise adjustment on one side and allows for synchronous large-range adjustment on both sides, significantly enhancing the adaptability of the grippers to materials of different sizes and shapes.

[0048] Furthermore, the fixing components are two first fixing blocks 41, which are fixedly installed on the bottom of the mounting plate 3. The screw is a single-ended screw 42, which is rotatably connected between the two first fixing blocks 41. The sliding component is a first slider 43, which is threadedly connected to the single-ended screw 42 and fixedly installed on the upper surface of the clamping assembly 5. The first slider 43 fixed on the upper surface of the clamping assembly 5 forms a threaded engagement with the single-ended screw 42. When the single-ended screw 42 is driven to rotate, the first slider 43 moves linearly along the axis of the single-ended screw 42, thereby driving the clamping assembly 5 to move as a whole. Through the unidirectional threaded drive of the single-ended screw 42, the clamping assembly 5 can be accurately positioned and its spacing adjusted. With the help of the guide component 6, the linearity of the movement trajectory is ensured, thus forming a highly efficient and stable clamping adjustment system.

[0049] In another implementation, such as Figure 6As shown, when there is one driving component 4, the fixing component includes two second fixing blocks 44, which are fixedly installed on the bottom of the mounting plate 3. The screw is a double-ended screw 45, which is rotatably connected between the two second fixing blocks 44. The sliding component is two second sliders 46, which are symmetrically threaded onto the double-ended screw 45. The two second sliders 46 are respectively fixedly installed on the upper surfaces of the two clamping components 5.

[0050] In this embodiment, the robotic arm gripper uses a double-ended screw 45 drive structure to achieve synchronous and symmetrical adjustment of the gripping components 5. Two second fixing blocks 44 are fixed to the bottom of the mounting plate 3, and the double-ended screw 45 is mounted between them and can rotate freely. The screws 45 have opposite directions of rotation, and their bidirectional threaded sections correspond to two second sliders 46 respectively. The two second sliders 46 are symmetrically mounted on the double-ended screw 45 and fixedly connected to the upper surface of their respective gripping components 5. When the double-ended screw 45 is driven to rotate, the two second sliders 46 move synchronously in opposite directions along the double-ended screw 45 due to their opposite thread directions, thereby driving the two gripping components 5 to adjust the distance between them. This design can achieve linkage control of the gripping components 5 on both sides through a single drive handle, which not only ensures the synchronicity of adjustment but also improves space utilization. It is particularly suitable for precision operation scenarios that require symmetrical gripping or center positioning.

[0051] As a preferred embodiment, such as Figure 4 , Figure 7 and Figure 8 As shown, the clamping assembly 5 includes an upper frame 51, a lower frame 52 fixedly connected to the upper frame 51, a pusher 53, and a claw disc unit 54. A rod 521 is fixedly mounted on the lower frame 52, and the claw disc unit 54 is sleeved on the rod 521. The pusher 53 is connected to the claw disc unit 54 and is used to drive the claw disc unit 54 to rotate around the axis of the rod 521. When the pusher 53 is activated, the piston movement drives the push rod 542 to rotate the claw disc unit 54 around the rod 521, thereby adjusting the claw disc's posture. For example, the arc-shaped hook 544 can be flipped to change the opening direction, and the closing angle can be adjusted. In conjunction with the drive component 4 to adjust the spacing of the clamping assembly 5, this design can adapt to radial clamping of cylindrical materials and also to wrap around irregular objects, significantly improving the flexibility and scene adaptability of the gripper.

[0052] As a preferred embodiment, such as Figure 4As shown, the claw disc unit 54 includes a ring 541 sleeved on the rod body 521, a push rod 542 fixedly mounted on the ring 541, and a claw hook disc 543. The claw hook disc 543 is provided with several arc-shaped hooks 544 spaced apart. The arc-shaped hooks 544 can penetrate deep into the recesses of bagged materials (such as bagged cement) or surround their bottom surface, effectively preventing the material from slipping or falling off during clamping. Furthermore, by adjusting the angle of the claw disc unit 54, it can also adapt to irregular materials with partially curved features to a certain extent, demonstrating good gripping flexibility and scene adaptability.

[0053] In one possible implementation, such as Figure 8 As shown, the claw disc unit 54 includes a ring 541 sleeved on the rod 521, a push rod 542 fixedly mounted on the ring 541, and a frame disc 545. The frame disc 545 is a frame structure with openings at the top and sides. The frame disc 545 can be used to clamp small bulk materials (such as plastic blocks), and the closure of the two frame discs 545 drives the transfer of bulk materials.

[0054] As a preferred embodiment, such as Figure 4 The pusher 53 includes a mounting base 531 fixedly mounted on the lower frame 52. A cylinder 532 is movably mounted on the mounting base 531, and the piston end of the cylinder 532 is movably connected to the push rod 542. The pusher 53 controls the flipping of the claw disc unit 54 through the extension and retraction of the cylinder 532. When the cylinder 532 on the lower frame 52 receives a control command, the change in air pressure inside the cylinder 532 drives the piston rod to extend or retract. The piston rod end is movably connected to the push rod 542 of the claw disc unit 54. With the linear movement of the piston rod, the push rod 542 drives the entire claw disc unit 54 to rotate around the axis of the rod body 521 of the lower frame 52. For example, when the piston of the cylinder 532 extends, the opening direction of the arc hook 544 changes to adapt to the clamping requirements of different materials; when the cylinder 532 retracts, the claw hook disc 543 may return to its initial angle. This design utilizes the high efficiency and stability of pneumatic transmission to achieve rapid adjustment of the gripper's posture. Combined with the spacing control of the drive component 4, it significantly enhances the gripper's ability to handle diverse materials.

[0055] On the other hand, this utility model also proposes a robotic arm, including a base 7 and an arm body 8, and also includes a robotic arm gripper as described above, which is mounted on the arm body 8.

[0056] The above embodiments are merely preferred embodiments provided to fully illustrate the present utility model, and the protection scope of the present utility model is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present utility model are all within the protection scope of the present utility model.

Claims

1. A robotic arm gripper, characterized in that, include: The mounting bracket (1), motor (2) and mounting plate (3) are provided. The motor (2) is fixedly mounted on the mounting bracket (1). The output shaft of the motor (2) is connected to the mounting plate (3). At least one drive member (4) and two clamping assemblies (5), the drive member (4) being connected to one or both of the clamping assemblies (5), the drive member (4) being used to drive the two clamping assemblies (5) to move closer or further apart from each other; The driving component (4) includes a fixing component, a screw and a sliding component. The fixing component is fixedly installed on the mounting plate (3), the sliding component is fixedly installed on the clamping assembly (5), the screw is rotatably connected to the fixing component, and the screw is threadedly connected to the sliding component.

2. The robotic arm gripper according to claim 1, characterized in that: It also includes guide members (6), the number of which is one or two; the guide members (6) include two mounting blocks (61) fixed on the mounting plate (3), a guide rod (62) is fixedly arranged between the two mounting blocks (61), and two guide blocks (63) are sleeved on the guide rod (62), and the two guide blocks (63) are correspondingly installed on the two clamping components (5).

3. The robotic arm gripper according to claim 2, characterized in that: When there is one drive member (4), one of the clamping components (5) is fixedly installed on the bottom of the mounting plate (3), and the other clamping component (5) is installed on the mounting plate (3) through the drive member (4); When there are two drive members (4), the two clamping components (5) are mounted on the mounting plate (3) through the corresponding two drive members (4).

4. The robotic arm gripper according to claim 3, characterized in that: The fixing component is two first fixing blocks (41), which are fixedly installed on the bottom of the mounting plate (3). The screw is a single-ended screw (42), which is rotatably connected between the two first fixing blocks (41). The sliding component is a first slider (43), which is threadedly connected to the single-ended screw (42) and is fixedly installed on the upper surface of the clamping assembly (5).

5. The robotic arm gripper according to claim 2, characterized in that: When there is one drive component (4), the fixing component includes two second fixing blocks (44), which are fixedly installed on the bottom of the mounting plate (3). The screw is a double-ended screw (45), which is rotatably connected between the two second fixing blocks (44). The sliding component is two second sliders (46), which are symmetrically threaded onto the double-ended screw (45). The two second sliders (46) are respectively fixedly installed on the upper surfaces of the two clamping components (5).

6. The robotic arm gripper according to claim 3, characterized in that: The clamping assembly (5) includes an upper frame (51), a lower frame (52) fixedly connected to the upper frame (51), a pusher (53), and a claw disc unit (54). A rod (521) is fixedly installed on the lower frame (52), and the claw disc unit (54) is sleeved on the rod (521). The pusher (53) is connected to the claw disc unit (54) and is used to drive the claw disc unit (54) to rotate around the axis of the rod (521).

7. The robotic arm gripper according to claim 6, characterized in that: The claw disc unit (54) includes a ring (541) sleeved on the rod (521), a push rod (542) fixedly mounted on the ring (541), and a claw hook disc (543), on which a plurality of arc hooks (544) are spaced apart.

8. The robotic arm gripper according to claim 6, characterized in that: The claw disc unit (54) includes a ring (541) sleeved on the rod (521), a push rod (542) fixedly mounted on the ring (541), and a frame disc (545), wherein the frame disc (545) is a frame structure with openings at the top and sides.

9. The robotic arm gripper according to any one of claims 7 or 8, characterized in that: The pusher (53) includes a mounting base (531) fixedly mounted on the lower frame (52), and a cylinder (532) is movably mounted on the mounting base (531). The piston end of the cylinder (532) is movably connected to the push rod (542).

10. A robotic arm, comprising a base (7) and an arm body (8), characterized in that: It also includes a robotic arm gripper as described in any one of claims 1 to 9, the robotic arm gripper being mounted on the arm body (8).

Images