A mechanical hand's gripping device and automated production line

Abstract

The utility model belongs to the industrial automation technical field discloses a kind of grabbing device and automation production line of mechanical hand, the grabbing device of mechanical hand includes the mechanical gripper for grabbing material loading platform, and the mechanical gripper includes positioning member, push piece and two oppositely arranged clamping plates, two clamping plates can be mutually close and clamp material loading platform, positioning member is respectively arranged on the opposite side wall of two clamping plates, and positioning hole is equipped on the opposite two side plates of material loading platform, and positioning hole includes mutually interconnected coarse positioning hole and fine positioning hole, and the aperture of coarse positioning hole is greater than the aperture of fine positioning hole, positioning member cooperates with coarse positioning hole when two clamping plates clamp material loading platform;Push piece is set on the mechanical gripper, for pushing material loading platform after clamping plate clamps material loading platform, so that positioning member moves from coarse positioning hole to fine positioning hole.The grabbing device of the mechanical hand realizes secondary positioning to material loading platform while grabbing material loading platform, need not to set positioning station separately, reduce cost while improving efficiency.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation technology, and in particular to a gripping device for a robotic arm and an automated production line. Background Technology

[0002] In automated production lines, some material carriers need to be gripped and moved to different workstations by robotic arms. Due to the limited precision of the robotic arms, the material carriers are prone to gradually deviating from their initial gripping position after being gripped multiple times, thus affecting the normal operation of the production line. In existing technologies, to overcome this problem, most methods involve precise positioning of the material carrier at a secondary positioning station before it is gripped by the robotic arm to the next workstation. This method adds many secondary positioning stations to the production line, increasing both costs and efficiency.

[0003] Therefore, there is an urgent need to propose a robotic gripping device and an automated production line to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to provide a gripping device for a robotic arm and an automated production line that can improve the handling accuracy of the robotic arm on the loading platform without the need for a secondary positioning station.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] This utility model embodiment provides a gripping device for a robotic arm, including a mechanical gripper for gripping a material carrier. The mechanical gripper includes two opposing clamping plates that can approach each other to clamp the material carrier. The mechanical gripper further includes:

[0007] The positioning element is provided on the opposite sidewalls of the two clamping plates. The sidewall of the material carrier platform opposite to the clamping plates is provided with positioning holes. Each positioning hole includes a coarse positioning hole and a fine positioning hole that are interconnected. The diameter of the coarse positioning hole is larger than the diameter of the fine positioning hole. When the two clamping plates clamp the material carrier platform, the positioning element cooperates with the coarse positioning hole.

[0008] A pusher, provided on the mechanical gripper, is used to push the loading platform after the clamping plate clamps the loading platform, so that the positioning member moves from the coarse positioning hole to engage with the fine positioning hole.

[0009] As an alternative to the gripping device of a robotic arm, the fine positioning hole is located above the coarse positioning hole, and the pushing member presses down on the loading platform to move the positioning member from the coarse positioning hole to the fine positioning hole.

[0010] As an optional solution for the gripping device of the robotic arm, the gripping device of the robotic arm further includes a pressing cylinder, the fixed end of which is connected to the robotic gripper, and the driving end of which is connected to the pushing member.

[0011] As an optional solution for the gripping device of the robotic arm, the gripping device of the robotic arm further includes a first clamping cylinder and a second clamping cylinder, the first clamping cylinder and the second clamping cylinder respectively drive and connect the two clamping plates, and the cylinder diameters of the first clamping cylinder and the second clamping cylinder are different.

[0012] As an optional solution for the gripping device of the robotic arm, the gripping device of the robotic arm further includes a mounting base, the mounting base including a first mounting plate and a second mounting plate arranged opposite to each other, the first clamping cylinder is mounted on the first mounting plate, the second clamping cylinder is mounted on the second mounting plate, and the driving end of the first clamping cylinder and the driving end of the second clamping cylinder are respectively connected to the two clamping plates.

[0013] The lowering cylinder is installed on the inner wall of both the first mounting plate and the second mounting plate.

[0014] As an optional solution for the gripping device of the robotic arm, the gripping device of the robotic arm also includes a pneumatic valve assembly, and the mounting base also includes a top plate connecting the first mounting plate and the second mounting plate. The pneumatic valve assembly is located on the top plate and is respectively connected to the pressing cylinder, the first clamping cylinder and the second clamping cylinder.

[0015] As an optional solution for the gripping device of the robotic arm, the positioning element is a positioning post, the end of the positioning post is provided with a hemispherical guide head, and the edge of the coarse positioning hole is provided with a guide surface.

[0016] As an optional solution for the gripping device of the robotic arm, the connection between the coarse positioning hole and the fine positioning hole is provided with a connecting groove that matches the outer diameter of the positioning post.

[0017] As an optional solution for the gripping device of the robotic arm, the gripping device of the robotic arm further includes a position detection component, which is disposed at the bottom of the precision positioning hole and is used to detect whether the positioning component is fully inserted into the precision positioning hole.

[0018] An automated production line includes at least two workstations, characterized in that the automated production line includes a gripping device of a robotic arm as described above, for gripping and transporting the material carrier from one of the workstations to the other workstation.

[0019] The beneficial effects of this utility model are:

[0020] This utility model provides a robotic gripping device and an automated production line. When a material platform needs to be moved to different workstations, the side wall of the material platform is provided with positioning holes, including interconnected coarse and fine positioning holes. The diameter of the coarse positioning hole is larger than that of the fine positioning hole. Positioning elements are provided on the opposing side walls of the two clamping plates of the robotic gripper. When the two clamping plates clamp the material platform, the positioning elements engage with the coarse positioning hole, reducing the accuracy requirements for the positioning of the material platform during gripping and thus simplifying the gripping operation. After the clamping plates clamp the material platform, a pushing element on the robotic gripper pushes the material platform, causing the positioning elements to move from the coarse positioning hole to the fine positioning hole. This achieves secondary positioning of the material platform while gripping it, eliminating the need for a separate positioning station. It still improves the handling accuracy of the robotic gripper on the material platform, reducing costs and increasing efficiency. Attached Figure Description

[0021] Figure 1 This is an exploded schematic diagram of the gripping device of the robotic arm described in this embodiment of the utility model;

[0022] Figure 2 This is a schematic diagram of the material carrier platform described in an embodiment of the present invention.

[0023] In the diagram: 1. Mechanical gripper; 11. Clamping plate; 12. Positioning component; 13. Pushing component; 131. Buffer component; 14. Pressing cylinder; 15. First clamping cylinder; 16. Second clamping cylinder; 17. Mounting base; 171. Top plate; 172. First mounting plate; 173. Second mounting plate; 18. Pneumatic valve assembly; 19. First guide component; 20. Second guide component; 2. Loading platform; 21. Side plate; 22. Positioning hole; 221. Coarse positioning hole; 222. Fine positioning hole; 223. Connecting groove. Detailed Implementation

[0024] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0025] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0027] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0028] In existing automated production lines, some loading platforms need to be picked up and moved to different workstations by robotic arms. Due to the limited precision of the robotic arms, the loading platforms are prone to gradually deviating from their initial gripping positions after being picked up multiple times, thus affecting the normal operation of the production line. To overcome this problem, most systems require the loading platforms to be precisely positioned at a secondary positioning station before being picked up by the robotic arms to the next workstation. This method adds many secondary positioning stations to the production line, increasing both the cost and efficiency of the production line.

[0029] Based on the above problems, this embodiment provides a gripping device for a robotic arm, such as... Figure 1 and Figure 2 As shown, this embodiment provides a gripping device for a robotic arm, including a robotic gripper 1 for gripping a loading platform 2. The robotic gripper 1 includes a positioning member 12, a pushing member 13, and two opposing clamping plates 11. The two clamping plates 11 can approach each other to clamp the loading platform 2. Positioning members 12 are provided on the opposing side walls of the two clamping plates 11. Positioning holes 22 are provided on the side plates 21 of the loading platform 2 opposite to the clamping plates 11. The positioning holes 22 include a coarse positioning hole 221 and a fine positioning hole 222 that are interconnected. The diameter of the coarse positioning hole 221 is larger than the diameter of the fine positioning hole 222. When the two clamping plates 11 clamp the loading platform 2, the positioning member 12 engages with the coarse positioning hole 221. The pushing member 13 is provided on the robotic gripper 1 and is used to push the loading platform 2 after the clamping plates 11 clamp the loading platform 2, so that the positioning member 12 moves from the coarse positioning hole 221 to engage with the fine positioning hole 222. This technology enables the mechanical gripper 1 to perform coarse positioning of the loading platform 2 while gripping it, and to achieve fine positioning directly on the mechanical gripper 1 after gripping. This eliminates the need for a secondary positioning station on the production line, reduces production line costs, and improves production line efficiency.

[0030] Specifically, positioning elements 12 are fixedly connected to the opposite side walls of the two clamping plates 11. When the two clamping plates 11 approach each other to clamp the loading platform 2, the positioning elements 12 are inserted into the coarse positioning hole 221 and form a clearance fit with the coarse positioning hole 221, thus constituting coarse positioning. Subsequently, the pushing element 13 pushes the loading platform 2, causing the positioning elements 12 to move from the coarse positioning hole 221 to the fine positioning hole 222, and form a transition fit or interference fit with the fine positioning hole 222, thus completing the fine positioning.

[0031] Optionally, a plurality of positioning elements 12 may be spaced apart on the sidewall of each clamping plate 11 along the first direction. The number of positioning elements 12 can be one, two, or more. The number of positioning holes 22 on the loading platform 2 corresponds to the number of positioning elements 12. In this embodiment, the number of positioning elements 12 on each clamping plate 11 is two, and the two positioning elements 12 are spaced apart along the first direction to prevent the loading platform 2 from tipping over after coarse positioning, and to enhance the structural stability of the gripping device of the robot arm. (Refer to...) Figure 1 The coordinate directions shown are as follows: the first direction is X, which is the width direction of the loading platform 2; the second direction is Y, which is the length direction of the loading platform 2; and the third direction is Z, which is the height direction of the loading platform 2.

[0032] In some embodiments, the fixed connection between the positioning member 12 and the clamping plate 11 is either screwed or welded, which improves the connection strength between the positioning member 12 and the clamping plate 11 and enhances the stability of the positioning accuracy between the mechanical gripper 1 and the loading platform 2.

[0033] Optionally, the fine positioning hole 222 is located above the coarse positioning hole 221. The pushing member 13 presses down on the loading platform 2, causing the positioning member 12 to move from the coarse positioning hole 221 to the fine positioning hole 222. Since the clamping plate 11 clamps the loading platform 2, limiting the displacement in the second direction, the fine positioning hole 222 is positioned above the coarse positioning hole 221. The pushing member 13 presses down on the loading platform 2, causing the positioning member 12 and the fine positioning hole 222 to form a transition fit or interference fit. This can limit the displacement of the loading platform 2 in the first and third directions, reduce positioning deviation, and improve gripping stability. Of course, the coarse positioning hole 221 and the fine positioning hole 222 can also be interconnected along the first direction. In this case, the pushing member 13 pushes the loading platform 2 along the first direction. After completing the fine positioning, it can also limit the displacement of the loading platform 2 in the first and third directions, reduce positioning deviation, and improve gripping stability.

[0034] Specifically, both sides of the loading platform 2 are provided with positioning holes 22 corresponding to the positioning member 12, and the coarse positioning hole 221 is located below the fine positioning hole 222. After coarse positioning is completed, the pushing member 13 pushes the loading platform 2 in a third direction, so that the positioning member 12 moves from the coarse positioning hole 221 to the fine positioning hole 222, thus completing the fine positioning.

[0035] In some embodiments, the gripping device of the robotic arm further includes a pressing cylinder 14, the fixed end of which is connected to the robotic gripper 1, and the driving end of which is connected to the pushing member 13 to provide driving force to the pushing member 13, thereby ensuring the stability and controllability of the pressing action of the pushing member 13.

[0036] Specifically, the connection between the drive end of the pressing cylinder 14 and the pushing member 13 is a fixed connection. The fixed connection method can be screw connection or welding, to ensure the reliability of the connection between the drive end of the pressing cylinder 14 and the pushing member 13.

[0037] Optionally, a buffer 131 is fixedly connected to the end of the pusher 13 away from the driving end of the pressing cylinder 14, which can protect the loading platform 2 and the pusher 13, prevent them from colliding and causing damage, and extend their service life. Of course, in other embodiments, the pusher 13 can also be made of flexible materials such as rubber to buffer the impact force between the pusher 13 and the loading platform 2.

[0038] Of course, in other embodiments, other driving components such as electric cylinders can also be used to provide driving force for the pushing member 13.

[0039] In some embodiments, the gripping device of the robotic arm further includes a first clamping cylinder 15 and a second clamping cylinder 16. The first clamping cylinder 15 and the second clamping cylinder 16 respectively drive and connect two clamping plates 11, and the cylinder diameters of the first clamping cylinder 15 and the second clamping cylinder 16 are different. The different cylinder diameters of the first clamping cylinder 15 and the second clamping cylinder 16 will result in different output forces of the first cylinder and the second cylinder. During coarse positioning, while ensuring that the loading platform 2 is stably clamped, the loading platform 2 is stably pushed to the end of the stroke of the cylinder with the larger cylinder diameter, ensuring the consistency and accuracy of the clamping and positioning of the loading platform 2.

[0040] Optionally, the gripping device of the robotic arm further includes a mounting base 17, which includes a first mounting plate 172 and a second mounting plate 173 disposed opposite to each other. The mounting base 17 also includes a top plate 171 connecting the first mounting plate 172 and the second mounting plate 173. A first clamping cylinder 15 is mounted on the first mounting plate 172, and a second clamping cylinder 16 is mounted on the second mounting plate 173. The driving ends of the first clamping cylinder 15 and the second clamping cylinder 16 are respectively connected to two clamping plates 11. A pressing cylinder 14 is installed on the inner wall of both the first mounting plate 172 and the second mounting plate 173. The first mounting plate 172 and the second mounting plate 173 provide a mounting reference for the first clamping cylinder 15, the second clamping cylinder 16, and the pressing cylinder 14. At the same time, the first clamping cylinder 15 and the second clamping cylinder 16 respectively drive the two clamping plates 11, improving the reliability of the clamping effect of the two clamping plates 11.

[0041] Specifically, the first mounting plate 172 and the second mounting plate 173 are respectively fixedly connected to the two sides of the top plate 171, and the fixed end of the first clamping cylinder 15 is fixedly connected to the first mounting plate 172, the fixed end of the second clamping cylinder 16 is fixedly connected to the second mounting plate 173, the driving end of the first clamping cylinder 15 passes through the first mounting plate 172 and the driving end of the second clamping cylinder 16 passes through the second mounting plate 173 and is respectively connected to two clamping plates 11, and the inner wall of the first mounting plate 172 and the inner wall of the second mounting plate 173 are both fixedly connected to a pressing cylinder 14.

[0042] In some embodiments, the gripping device of the robotic arm further includes a pneumatic valve assembly 18, which is located on the top plate 171 and is connected to the pressing cylinder 14, the first clamping cylinder 15, and the second clamping cylinder 16 respectively, so as to achieve precise coordination between the clamping action of the positioning member 12 and the pressing action of the pushing member 13, thereby improving the gripping efficiency.

[0043] Specifically, the fixed connection between the first mounting plate 172, the second mounting plate 173, and the top plate 171 can be welded or screwed, improving the stability of the connection between the first mounting plate 172, the second mounting plate 173, and the top plate 171. The pneumatic valve assembly 18 is provided with a first output end, a second output end, and a third output end. The first output end is connected to two downward pressure cylinders 14 respectively through a three-way connector, the second output end is connected to the first clamping cylinder 15 through a hose, and the third output end is connected to the second clamping cylinder 16 through a hose.

[0044] Optionally, two first guide members 19 are provided on the first mounting plate 172. The two first guide members 19 are arranged on both sides of the first clamping cylinder 15 along the first direction. The telescopic ends of the two first guide members 19 pass through the first mounting plate 172 and are fixedly connected to the clamping plate 11. The first clamping cylinder 15 drives the two first guide members 19 and enables the telescopic ends of the first guide members 19 to drive the clamping plate 11 to move along the second direction. The two first guide members 19 can provide guidance for the movement of the clamping plate 11 along the second direction, avoiding the clamping plate 11 from shifting during movement and causing positioning difficulties.

[0045] The second mounting plate 173 is provided with two second guide members 20. The structure, function and connection method of the second guide members 20 are completely the same as those of the first guide member 19. The only difference is that the installation orientation is mirrored with respect to the plane of symmetry between the first mounting plate 172 and the second mounting plate 173.

[0046] Optionally, the positioning element 12 is a positioning post, and the end of the positioning post is provided as a hemispherical guide head. The edge of the opening of the coarse positioning hole 221 is provided with a guide surface, which is used to guide the hemispherical guide head during mating. The smooth curved surface of the hemispherical structure reduces the insertion resistance, making it easy for the positioning element 12 to be smoothly inserted into the coarse positioning hole 221, so that the two clamping plates 11 can smoothly clamp the loading platform 2.

[0047] Specifically, the positioning pin is inserted into the positioning hole 22 along the second direction, with one end fixedly connected to the clamping plate 11, and the other end being a hemispherical guide head. Of course, the end of the positioning pin can also be processed into an annular chamfer, which can also facilitate the insertion of the positioning part 12 into the coarse positioning hole 221.

[0048] Optionally, a connecting groove 223 adapted to the outer diameter of the positioning post is provided at the connection between the coarse positioning hole 221 and the fine positioning hole 222 to prevent the positioning post from getting stuck when it moves from the coarse positioning hole 221 to the fine positioning hole 222, and effectively improve the smoothness of the matching process between the positioning post and the fine positioning hole 222.

[0049] In some embodiments, the gripping device of the robotic arm further includes a position detection element disposed at the bottom of the precision positioning hole 222, which is used to detect whether the positioning element 12 is fully inserted into the precision positioning hole 222, thereby improving the positioning reliability of the gripping device.

[0050] In this embodiment, the position detection component is a limit switch. When the positioning post fully enters the precision positioning hole 222, it pushes against the trigger button of the limit switch, causing the limit switch to send a "positioned" electrical signal to the control unit. If the positioning post is not fully entered, the trigger button does not activate, and the "not in position" signal is maintained. This design is simple, low-cost, and improves the reliability of the secondary positioning of the gripping device. Alternatively, the position detection component can be a miniature industrial camera, capable of capturing real-time images of the positional relationship between the positioning post and the precision positioning hole 222, facilitating confirmation of whether the positioning post has fully entered the precision positioning hole 222.

[0051] This embodiment also provides an automated production line, including at least two workstations. The automated production line includes a gripping device of a robotic arm as described above, used to grip and transport the loading platform 2 from one workstation to another, thereby reducing the cost of the automated production line and improving its handling efficiency.

[0052] Specifically, the number of gripping devices of the robotic arm in the automated production line can be one, two or more, which can simultaneously grip and transport multiple material carriers 2 to a preset work station, and perform precise positioning of the material carriers 2 while gripping, thereby improving the handling efficiency.

[0053] The working principle of the above embodiment is as follows: When it is necessary to move the loading platform 2 to the next workstation, the gripping device of the robot arm moves to the top of the loading platform 2. Under the driving action of the first clamping cylinder 15 and the second clamping cylinder 16, the two clamping plates 11 of the mechanical gripper 1 move towards each other and clamp the loading platform 2. Since the cylinder diameters of the first clamping cylinder 15 and the second clamping cylinder 16 are different, the loading platform 2 will be pushed by the clamping plates 11 to the end of the stroke of the clamping cylinder with the larger cylinder diameter. Each clamping plate 11 has a positioning device on the side near the loading platform 2. The positioning component 12 is provided with a positioning hole 22 on the side wall of the loading platform 2, which is adapted to the positioning component 12. When the clamping plate 11 clamps the loading platform 2, the positioning component 12 is inserted into the coarse positioning hole 221 to complete the coarse positioning. The pressing cylinder 14, which is set on the inner wall of the first mounting plate 172 and the inner wall of the second mounting plate 173, drives the connecting push component 13. The push component 13 pushes against the top wall of the loading platform 2, so that the positioning component 12 moves from the coarse positioning hole 221 to the fine positioning hole 222, and forms a transition fit or interference fit with the fine positioning hole 222 to complete the fine positioning.

[0054] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A gripping device for a robotic arm, comprising a mechanical gripper (1) for gripping a loading platform (2), said mechanical gripper (1) comprising two opposing clamping plates (11) capable of approaching each other to clamp the loading platform (2), characterized in that, The mechanical gripper (1) also includes: Positioning element (12) is provided on the opposite sidewalls of the two clamping plates (11). Positioning holes (22) are provided on the side plate (21) of the material carrier (2) opposite to the clamping plate (11). Each positioning hole (22) includes a coarse positioning hole (221) and a fine positioning hole (222) that are interconnected. The diameter of the coarse positioning hole (221) is larger than the diameter of the fine positioning hole (222). When the two clamping plates (11) clamp the material carrier (2), the positioning element (12) cooperates with the coarse positioning hole (221). A pusher (13) is provided on the mechanical gripper (1) and is used to push the loading platform (2) after the clamping plate (11) clamps the loading platform (2), so that the positioning member (12) moves from the coarse positioning hole (221) to cooperate with the fine positioning hole (222).

2. The gripping device of the robotic arm according to claim 1, characterized in that, The fine positioning hole (222) is located above the coarse positioning hole (221), and the pusher (13) presses down on the loading platform (2) so that the positioning member (12) moves from the coarse positioning hole (221) to the fine positioning hole (222).

3. The gripping device of the robotic arm according to claim 2, characterized in that, The gripping device of the robotic arm also includes a pressing cylinder (14), the fixed end of which is connected to the robotic gripper (1), and the driving end of which is connected to the pushing member (13).

4. The gripping device of the robotic arm according to claim 3, characterized in that, The gripping device of the robotic arm also includes a first clamping cylinder (15) and a second clamping cylinder (16), the first clamping cylinder (15) and the second clamping cylinder (16) respectively drive the two clamping plates (11), and the cylinder diameters of the first clamping cylinder (15) and the second clamping cylinder (16) are different.

5. The gripping device of the robotic arm according to claim 4, characterized in that, The gripping device of the robotic arm also includes a mounting base (17), which includes a first mounting plate (172) and a second mounting plate (173) arranged opposite to each other. The first clamping cylinder (15) is mounted on the first mounting plate (172), and the second clamping cylinder (16) is mounted on the second mounting plate (173). The driving end of the first clamping cylinder (15) and the driving end of the second clamping cylinder (16) are respectively connected to the two clamping plates (11). The lowering cylinder (14) is installed on the inner wall of both the first mounting plate (172) and the second mounting plate (173).

6. The gripping device of the robotic arm according to claim 5, characterized in that, The gripping device of the robotic arm also includes a pneumatic valve assembly (18), and the mounting base (17) also includes a top plate (171) connecting the first mounting plate (172) and the second mounting plate (173). The pneumatic valve assembly (18) is located on the top plate (171) and is connected to the pressing cylinder (14), the first clamping cylinder (15) and the second clamping cylinder (16) respectively.

7. The gripping device of the robotic arm according to any one of claims 1-6, characterized in that, The positioning element (12) is a positioning post, the end of which is provided as a hemispherical guide head, and the edge of the coarse positioning hole (221) is provided with a guide surface.

8. The gripping device of the robotic arm according to any one of claims 1-6, characterized in that, The coarse positioning hole (221) and the fine positioning hole (222) are connected by a connecting groove (223) that is adapted to the outer diameter of the positioning member (12).

9. The gripping device of the robotic arm according to any one of claims 1-6, characterized in that, The gripping device of the robotic arm also includes a position detection component, which is disposed at the bottom of the precision positioning hole (222) and is used to detect whether the positioning component (12) is fully inserted into the precision positioning hole (222).

10. An automated production line comprising at least two workstations, characterized in that, The automated production line includes a gripping device of a robotic arm as described in any one of claims 1-9, for gripping and transporting the loading platform (2) from one of the workstations to another.

Images