A robotic arm for production of optical network terminals

Abstract

The present invention discloses a robotic arm for the production of optical network terminals, which relates to the technical field of robotic arms for production. It includes a robotic arm body, a quick-change joint arranged at the end of the robotic arm body, and a first air pipe for gas communication between the quick-change joint and the robotic arm body. It further includes a connecting plate clamped in the quick-change joint through a clamping joint, a quick-change assembly arranged in the quick-change joint for fixing the clamping joint based on vacuum negative suction, a clamping structure slidably arranged at the bottom of the connecting plate, a driving assembly arranged in the connecting plate for controlling the sliding clamping of the optical network terminal housing by the clamping structure, and a pneumatic assembly arranged at the end of the clamping structure for adsorbing the PCB circuit board. Through the present invention, in the actual production scenario, if dedicated robotic arms are configured respectively for the two grasping methods of grasping the optical network terminal housing and grasping the PCB circuit board, or the gripper of a single robotic arm is frequently switched, it will inevitably increase the equipment cost and space occupation, thus affecting the production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of production robotic arms, and specifically to a robotic arm for optical modem production. Background Art

[0002] The robotic arm for optical modem production is a core device in the automated production line, used to achieve high-precision and high-efficiency operations in the optical modem production process, covering links such as assembly, inspection, and packaging.

[0003] For example, the industrial robotic arm for brake disc production with the publication number CN115213876B can avoid the problems of scratching the annular surface of the brake disc body caused by directly grasping the annular surface of the brake disc body or damage due to rotation and dropping during transfer by lifting the brake disc body from below, and by using the method of pressing an anti-slip pad against the inner wall of the brake disc body to increase friction, it can prevent the sliding of the brake disc body during transfer. However, the existing production robotic arms still have certain defects in the production work of optical modems:

[0004] During the optical modem production process, due to significant differences in the materials, structural characteristics, and subsequent processing procedures between the optical modem housing and the PCB circuit board, the robotic arm needs to adopt appropriate grasping methods according to the characteristics of different components. For example, the optical modem housing is usually grasped by clamping jaws. Since the optical modem housing is generally made of materials such as plastic, with a relatively regular shape and certain strength, the clamping jaws can stably hold the edge or specific structure of the housing to ensure the firmness of grasping. While the PCB circuit board, due to its delicate surface and susceptibility to damage, needs to be adsorbed and grasped using a suction cup. The suction cup can provide uniform adsorption force to avoid damage to the delicate components on the circuit board caused by clamping force. In the actual production scenario, if dedicated robotic arms are configured respectively for the two grasping methods of grasping the optical modem housing and the PCB circuit board, or if the clamping jaws of a single robotic arm are frequently switched, it will inevitably increase the equipment cost and space occupation, thereby affecting the production efficiency.

[0005] In view of the above problems, there is an urgent need for innovative design based on the original robotic arm for optical modem production. Summary of the Invention

[0006] The technical solution of the present invention provides a solution significantly different from the prior art for the technical problem of the overly single solution of the prior art. Specifically, the purpose of the present invention is to provide a robotic arm for optical modem production to solve the problem proposed in the above background art that in the actual production scenario, if dedicated robotic arms are configured respectively for the two grasping methods of grasping the optical modem housing and the PCB circuit board, or if the clamping jaws of a single robotic arm are frequently switched, it will inevitably increase the equipment cost and space occupation, thereby affecting the production efficiency.

[0007] To achieve the above object, the present invention provides the following technical solution: A robotic arm for optical modem production, including the robotic arm body, a quick-change joint provided at the end of the robotic arm body, and a first air pipe for gas communication between the quick-change joint and the robotic arm body. It further includes a connecting plate clamped in the quick-change joint through a clamping joint, a quick-change assembly provided in the quick-change joint for fixing the clamping joint based on vacuum negative suction, a clamping structure slidably provided at the bottom of the connecting plate, a driving assembly provided in the connecting plate for controlling the clamping structure to slide and clamp the optical modem housing, and a pneumatic assembly provided at the end of the clamping structure for adsorbing the PCB circuit board. The clamping joint is fixedly connected to the top of the connecting plate, and a sliding groove for the clamping structure to slide is provided at the bottom of the connecting plate.

[0008] Preferably, the quick-change assembly includes limit insertion rods symmetrically distributed on the inner wall of the quick-change joint, a piston plate slidably provided at the center of the inner wall of the quick-change joint, and a first spring provided at the bottom of the piston plate. Air cavities are provided at the bottom of the inner walls on both sides of the quick-change joint, and the air cavities are connected to the first air pipe.

[0009] Preferably, the other exhaust port of the air cavity is placed directly above the piston plate. A push groove is provided on the outer wall of the limit insertion rod, a convex block for driving the limit insertion rod to slide is provided at the bottom of the piston plate, and the end of the limit insertion rod is movably inserted into the clamping joint.

[0010] Preferably, the clamping structure includes sliding rails symmetrically distributed on the connecting plate, sliding plates slidably provided on the sliding rails, sliding rods symmetrically distributed and installed on the top of the sliding plates, and a push plate fixedly connected to the top of the sliding rods. One end of the push plate is fixedly connected with a clamping block, a connecting piece is rotatably provided at the bottom of the clamping block, the connecting piece is in a "V" shape, and clamping wheels are rotatably provided at both ends thereof.

[0011] Preferably, a slider is fixedly connected to the bottom of the sliding plate, the slider is slidably provided in the sliding rail, and a sensor for detecting the clamped workpiece is electrically connected between the sliding rails.

[0012] Preferably, a connecting rod is fixedly connected to the bottom of the clamping block, a connecting rod is fixedly connected to the bottom of one end of the connecting piece, and a second spring is sleeved between the connecting rod and the connecting rod.

[0013] Preferably, a limiting rod is fixedly connected to the other side of the bottom of the clamping block, and the limiting rod is located on one side of the other end of the connecting piece.

[0014] Preferably, the driving assembly includes a main driving rotating rod rotatably provided at the center of the connecting plate, pulling rods rotatably provided at both ends of the main driving rotating rod, the ends of the pulling rods are connected to one side of the sliding plate, a hydraulic cylinder is provided in the connecting plate, and the end of the hydraulic cylinder is fixedly connected to the outer wall of one of the sliding plates.

[0015] Preferably, the pneumatic assembly includes a pneumatic valve fixedly connected to the top of the clamping block and a suction cup disposed at the center of the clamping wheel. The top of the suction cup is respectively communicated with a second air pipe and a third air pipe. The other ends of the second air pipe and the third air pipe are communicated with an air outlet head, and the air outlet head is communicated with the pneumatic valve.

[0016] Preferably, a rubber sleeve is sleeved on the outer wall of the clamping wheel, and friction surfaces are arranged on the surface of the rubber sleeve at equal angles.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. When the optical modem housing is placed directly below the connecting plate, the robotic arm body extends downward so that the pushing plate is located on both sides of the optical modem housing. The hydraulic cylinder is started, and the hydraulic cylinder contracts, pulling the sliding plate to slide inward on the slide rail through the slider. The clamping wheels on the bottom connecting member of the clamping block gradually contact the corners of the optical modem housing and rotate. The connecting member pulls the second spring. In addition, under the restriction of the limiting rod, the rotation angle of the connecting member will not be too large to adapt to the angle of the optical modem housing. Subsequently, the slider continues to slide to increase the clamping force, so that the clamping wheels firmly clamp the optical modem housing for assembly work. When the optical modem housing is placed on the conveyor belt, it may turn to a certain extent due to the vibration of the conveyor belt movement (the normal state to be clamped should be a horizontal state). When the rotatable connecting member contacts the optical modem housing, the turned optical modem housing is gradually pushed back to a horizontal state through the inward clamping force and the rotation amplitude, which is more convenient for clamping the optical modem housing;

[0019] 2. When the main driving rotating rod rotates to the maximum amplitude, it is determined that the workpiece to be clamped is not the optical modem housing. Subsequently, the sensor between the slide rails detects the clamping situation in real time. If the optical modem housing is not contacted (such as a PCB circuit board is conveyed), the sensor sends a stop sliding signal to the slider (the slider is an electromagnetic slider) to prepare for subsequent adsorption and clamping of the PCB circuit board. At this time, the robotic arm body continues to move downward so that the suction cup at the center of the clamping wheel presses and contacts the surface of the PCB circuit board. Subsequently, the pneumatic valve at the top of the clamping block is started, and the air outlet heads on the pneumatic valve suck the second air pipe and the third air pipe respectively, so that the suction cup adsorbs the surface of the PCB circuit board, completing the adsorption and clamping of the PCB circuit board. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the robotic arm of the present invention.

[0021] Figure 2 It is another angle schematic diagram of the overall structure of the robotic arm of the present invention.

[0022] Figure 3 It is a schematic diagram of the fixture structure of the robotic arm of the present invention.

[0023] Figure 4 Schematic diagram of the quick-change structure inside the fixture of the present invention.

[0024] Figure 5 Schematic diagram of the flipping state of the robotic arm fixture of the present invention.

[0025] Figure 6 Another perspective schematic diagram of the flipping state of the robotic arm fixture of the present invention.

[0026] Figure 7 Schematic diagram of the drive assembly inside the fixture structure of the present invention.

[0027] Figure 8 Schematic diagram of the clamping structure of the present invention.

[0028] Figure 9 Another perspective schematic diagram of the clamping structure of the present invention.

[0029] Figure 10 Schematic diagram of the pneumatic assembly of the clamping structure of the present invention.

[0030] In the figure: 1. Robotic arm body; 2. Quick-change joint; 3. First air pipe; 4. Connection plate; 401. Clamping joint; 5. Push plate; 501. Slide bar; 502. Slide plate; 503. Slide block; 6. Clamping block; 7. Pneumatic valve; 701. Air outlet head; 702. Second air pipe; 8. Connecting piece; 801. Connecting rod; 9. Limit rod; 10. Clamping wheel; 1001. Suction cup; 11. Third air pipe; 12. Air chamber; 13. First spring; 14. Piston plate; 15. Limit insertion rod; 16. Second spring; 17. Slide rail; 18. Sensor; 19. Main drive rotating rod; 20. Pull rod; 21. Hydraulic cylinder. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] Please refer to Figures 1 to 10, the present invention provides a technical solution: a robotic arm for optical modem production, including a robotic arm body 1, a quick-change connector 2 provided at the end of the robotic arm body 1, and a first air pipe 3 for gas-connecting the quick-change connector 2 and the robotic arm body 1. It also includes a connecting plate 4 clamped in the quick-change connector 2 through a clamping joint 401, a quick-change assembly provided in the quick-change connector 2 for fixing the clamping joint 401 based on vacuum negative suction, a clamping structure slidably provided at the bottom of the connecting plate 4, a driving assembly provided in the connecting plate 4 for controlling the sliding clamping of the optical modem housing by the clamping structure, and a pneumatic assembly provided at the end of the clamping structure for adsorbing the PCB circuit board. The clamping joint 401 is fixedly connected to the top of the connecting plate 4, and a sliding groove for the clamping structure to slide is opened at the bottom of the connecting plate 4.

[0033] As an embodiment, the connecting plate 4 is snapped into the quick-change connector 2 through the clamping joint 401. Subsequently, the quick-change connector 2 clamps the clamping joint 401 through the internal quick-change assembly. Then, the air in the quick-change connector 2 is evacuated through the first air pipe 3 in cooperation with the quick-change assembly, so that the clamping joint 401 is fixed more firmly in the quick-change connector 2, and the connecting plate 4 fixedly connected to the bottom of the clamping joint 401 is installed on the robotic arm body 1. When the optical modem housing to be clamped and assembled is conveyed to directly below the connecting plate 4 by a conveyor belt, the robotic arm body 1 starts to work, and the clamping structure at the bottom of the connecting plate 4 is placed on both sides of the optical modem housing. Subsequently, the driving assembly in the connecting plate 4 is started, so that the driving assembly drives the clamping structure to slide inward, and the clamping structure contacts the corners of the optical modem housing, and firmly clamps the optical modem housing through the clamping force. In addition, when the PCB circuit board is placed directly below the connecting plate 4, the driving assembly continues to drive the clamping structure to slide inward. When the clamping structure does not contact the workpiece, the clamping structure is controlled to move downward through the sensing unit inside it, so that the pneumatic assembly on the clamping structure is started, and the clamping structure adsorbs and clamps the PCB circuit board, increasing the clamping diversity of the robotic arm body 1.

[0034] The quick-change assembly includes limit insertion rods 15 symmetrically distributed on the inner wall of the quick-change connector 2, a piston plate 14 slidably provided at the center of the inner wall of the quick-change connector 2, and a first spring 13 provided at the bottom of the piston plate 14. Air cavities 12 are opened at the bottom of both inner walls of the quick-change connector 2, and the air cavities 12 are connected to the first air pipe 3.

[0035] The other exhaust port of the air cavity 12 is placed directly above the piston plate 14. A push groove is provided on the outer wall of the limit insertion rod 15, and a convex block for driving the limit insertion rod 15 to slide is provided at the bottom of the piston plate 14. The end of the limit insertion rod 15 is movably inserted into the clamping joint 401.

[0036] As for this embodiment, when the card connector 401 is placed inside the quick-change connector 2, the first air pipe 3 injects gas into the air chamber 12, causing the piston plate 14 to move downward. Subsequently, the piston plate 14 pushes the limit insertion rod 15 to move outward through the convex block. Then, the air in the air chamber 12 is continuously sucked through the first air pipe 3 (to ensure that the air chamber 12 is in a vacuum negative suction state), causing the piston plate 14 to move upward. While moving, the convex block on the piston plate 14 pushes the push groove on the limit insertion rod 15, so that the limit insertion rod 15 moves inward and is stuck in the card slot of the card connector 401, thereby firmly fixing the connecting plate 4 on the quick-change connector 2.

[0037] The clamping structure includes slide rails 17 symmetrically arranged on the connecting plate 4, sliding plates 502 slidably arranged on the slide rails 17, slide rods 501 symmetrically arranged and mounted on the tops of the sliding plates 502, and a push plate 5 fixedly connected to the tops of the slide rods 501. One end of the push plate 5 is fixedly connected with a clamping block 6. A connecting member 8 is rotatably arranged at the bottom of the clamping block 6. The connecting member 8 is in a "V" shape, and clamping wheels 10 are rotatably arranged at both ends thereof.

[0038] A slider 503 is fixedly connected to the bottom of the sliding plate 502. The slider 503 is slidably arranged inside the slide rail 17. A sensor 18 for detecting the clamped workpiece is electrically connected between the slide rails 17.

[0039] A connecting rod is fixedly connected to the bottom of the clamping block 6. A connecting rod 801 is fixedly connected to the bottom of one end of the connecting member 8. A second spring 16 is sleeved between the connecting rod 801 and the connecting rod.

[0040] A limit rod 9 is fixedly connected to the other side of the bottom of the clamping block 6. The limit rod 9 is located on one side of the other end of the connecting member 8.

[0041] As an embodiment of the present invention, when the optical modem housing is placed directly below the connecting plate 4, the robotic arm body 1 extends downward. Subsequently, the push plates 5 are positioned on both sides of the optical modem housing. Then, the driving assembly is activated, causing the sliding plate 502 to slide on the slide rail 17 through the slider 503. Subsequently, the clamping wheels 10 on the bottom connecting member 8 of the clamping block 6 gradually come into contact with the corners of the optical modem housing and rotate to a certain extent. When rotating, the connecting member 8 pulls the second spring 16. The connecting member 8 is provided with a limiting rod 9 to prevent its rotation angle from being too large, and the clamping angle just adapts to the angle of the optical modem housing. Then, by continuously sliding the push plates 5, the clamping force on the optical modem housing is increased, so that the clamping wheels 10 firmly clamp the optical modem housing for the assembly work of the optical modem housing. When the clamping wheels 10 release the clamping of the optical modem housing, the second spring 16 between the limiting rod 9 and the bottom connecting rod 801 of the connecting member 8 is reset, causing the connecting member 8 to return to its original state. (It should be noted that when the optical modem housing is placed on the conveyor belt, it may turn to a certain extent due to the vibration of the conveyor belt movement (the normal state to be clamped should be horizontal). The rotatable connecting member 8 can gradually push the turned optical modem housing back to the horizontal state through the inward clamping force and the rotation amplitude when it comes into contact with the optical modem housing, making it more convenient to clamp the optical modem housing). In addition, when not in contact with the optical modem housing (such as when a PCB circuit board is being conveyed), the sensor 18 between the slide rails 17 sends a signal to stop sliding to the slider 503 placed on the slide rail 17 (the slider 503 is an electromagnetic slider). Then, the robotic arm body 1 continues to move downward, and the clamping structure cooperates with the pneumatic assembly to adsorb and clamp the PCB circuit board to increase the diversity of the robotic arm body 1.)

[0042] The driving assembly includes a main driving rotating rod 19 rotatably arranged at the center of the connecting plate 4, pulling rods 20 rotatably arranged at both ends of the main driving rotating rod 19, the end of the pulling rod 20 is connected to one side of the sliding plate 502, and a hydraulic cylinder 21 is arranged in the connecting plate 4, and the end of the hydraulic cylinder 21 is fixedly connected to the outer wall of one of the sliding plates 502.

[0043] As an embodiment of the present invention, when it is necessary to clamp a workpiece, the hydraulic cylinder 21 starts to contract. While contracting, it pulls the sliding plate 502, causing the sliding plate 502 to slide inward on the slide rail 17 through the slider 503. While sliding, the main driving rotating rod 19 is driven to rotate through the pulling rod 20. (It should be noted that due to the connection of the pulling rod 20, the rotation angle of the main driving rotating rod 19 is limited. When the rotation angle of the main driving rotating rod 19 reaches the maximum amplitude, it indicates that the workpiece to be clamped is not the optical modem housing (the size of the optical modem housing is wider than the maximum amplitude of the rotation of the main driving rotating rod 19), but the PCB circuit board. At this time, a signal to start adsorbing and clamping the PCB circuit board is sent to the sensor 18, and the sliding of the slider 503 is stopped), and then the subsequent clamping work can be carried out.

[0044] The pneumatic components include a pneumatic valve 7 fixedly connected to the top of the clamping block 6 and a suction cup 1001 arranged at the center of the clamping wheel 10. The top of the suction cup 1001 is respectively communicated with a second air pipe 702 and a third air pipe 11. The other ends of the second air pipe 702 and the third air pipe 11 are communicated with an air outlet head 701, and the air outlet head 701 is communicated with the pneumatic valve 7.

[0045] In this embodiment, when it is necessary to adsorb and clamp the PCB circuit board, the main drive rotating rod 19 rotates to the maximum amplitude, and then the robotic arm body 1 continues to move downward so that the suction cup 1001 at the center of the clamping wheel 10 presses against the surface of the PCB circuit board. Subsequently, the pneumatic valve 7 at the top of the clamping block 6 is started, and the air outlet head 701 on the pneumatic valve 7 sucks the second air pipe 702 and the third air pipe 11 respectively, so that the suction cup 1001 adsorbs the surface of the PCB circuit board, so as to facilitate the efficient and non-destructive completion of various processes on the PCB circuit board.

[0046] A rubber sleeve is sleeved on the outer wall of the clamping wheel 10, and friction surfaces are arranged on the surface of the rubber sleeve at equal angles.

[0047] In this embodiment, the rubber sleeve arranged on the surface of the clamping wheel 10 can relieve the clamping rigidity of the optical cat housing and avoid damage to the optical cat housing caused by rigid clamping. The friction surfaces arranged at equal angles can better increase the friction force of contacting the optical cat housing and make the clamping of the optical cat housing more firm.

[0048] Working principle: When using this robotic arm for optical cat production,

[0049] I. Chuck installation stage: Inject gas into the air cavity 12 through the first air pipe 3 to push the piston plate 14 to move downward. The piston plate 14 pushes the limit insertion rod 15 to move outward through the convex block. Subsequently, the card joint 401 is inserted into the quick-change joint 2. Then, the first air pipe 3 continuously sucks the air in the air cavity 12 to form a vacuum negative pressure state. The piston plate 14 moves upward, and the convex block at its bottom pushes the push groove on the limit insertion rod 15, so that the limit insertion rod 15 moves inward and is stuck in the card slot of the card joint 401, thereby firmly fixing the connecting plate 4 on the quick-change joint 2 and realizing the chuck installation;

[0050] II. Clamping stage of the optical modem housing: When the optical modem housing is placed directly below the connecting plate 4, the main body 1 of the robotic arm extends downward so that the push plate 5 is located on both sides of the optical modem housing. Then, the hydraulic cylinder 21 is activated, and the hydraulic cylinder 21 contracts, pulling the sliding plate 502 to slide inward on the slide rail 17 through the slider 503. The pinch wheels 10 on the bottom connecting member 8 of the clamping block 6 gradually contact the corners of the optical modem housing and rotate. The connecting member 8 pulls the second spring 16. In addition, under the restriction of the limiting rod 9, the rotation angle of the connecting member 8 will not be too large to adapt to the angle of the optical modem housing. Subsequently, the slider 503 continues to slide to increase the clamping force, enabling the pinch wheels 10 to firmly clamp the optical modem housing for assembly work. When the pinch wheels 10 release the clamping of the optical modem housing, the second spring 16 between the limiting rod 9 and the bottom connecting rod 801 of the connecting member 8 resets, causing the connecting member 8 to return to its original state;

[0051] III. Detection of the workpiece and clamping stage of the PCB circuit board: When the main driving rotating rod 19 rotates to the maximum amplitude, it is determined that the workpiece to be clamped is not the optical modem housing. Subsequently, the sensor 18 between the slide rails 17 continuously detects the clamping situation. If it does not contact the optical modem housing (such as when a PCB circuit board is being conveyed), the sensor 18 sends a stop-sliding signal to the slider 503 (the slider 503 is an electromagnetic slider) to prepare for subsequent adsorption and clamping of the PCB circuit board. At this time, the main body 1 of the robotic arm continues to move downward, causing the suction cup 1001 at the center of the pinch wheels 10 to press and contact the surface of the PCB circuit board. Subsequently, the pneumatic valve 7 at the top of the clamping block 6 is activated, and the air outlet heads 701 on the pneumatic valve 7 suck the second air pipe 702 and the third air pipe 11 respectively, enabling the suction cup 1001 to adsorb the surface of the PCB circuit board, completing the adsorption and clamping of the PCB circuit board;

[0052] In addition, the rubber sleeve provided on the surface of the pinch wheels 10 can relieve the clamping force on the optical modem housing and prevent damage to the optical modem housing. The friction surfaces distributed at equal angles increase the friction force of contacting the optical modem housing, making the clamping more secure.

[0053] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An articulated robot for optical modem production, comprising a robot body (1), a quick-change joint (2) arranged at the end of the robot body (1), and a first air pipe (3) for gas communication between the quick-change joint (2) and the robot body (1), characterized in that: It also includes a connecting plate (4) clamped and arranged in the quick-change joint (2) through a card joint (401), a quick-change assembly arranged in the quick-change joint (2) for fixing the card joint (401) based on vacuum negative suction, a clamping structure slidably arranged at the bottom of the connecting plate (4), a driving assembly arranged in the connecting plate (4) for controlling the clamping structure to slide and clamp the outer shell of the optical modem, and a pneumatic assembly arranged at the end of the clamping structure for adsorbing the PCB circuit board. The card joint (401) is fixedly connected to the top of the connecting plate (4), and a chute for the clamping structure to slide is opened at the bottom of the connecting plate (4); A clamping block (6) is arranged in the clamping structure. A connecting piece (8) is rotatably arranged at the bottom of the clamping block (6). The connecting piece (8) is in a "V" shape, and clamping wheels (10) are rotatably arranged at both ends thereof. The pneumatic assembly includes a pneumatic valve (7) fixedly connected to the top of the clamping block (6), and a suction cup (1001) arranged at the middle of the clamping wheel (10). The top of the suction cup (1001) is respectively communicated with a second air pipe (702) and a third air pipe (11). The other ends of the second air pipe (702) and the third air pipe (11) are communicated with an air outlet head (701), and the air outlet head (701) is communicated with the pneumatic valve (7).

2. The robotic arm for production of optical network terminals according to claim 1, wherein: The quick-change assembly includes limit insertion rods (15) symmetrically distributed on the inner wall of the quick-change joint (2), a piston plate (14) slidably arranged at the middle of the inner wall of the quick-change joint (2), and a first spring (13) arranged at the bottom of the piston plate (14). Air cavities (12) are opened at the bottoms of the inner walls on both sides of the quick-change joint (2), and the air cavities (12) are communicated with a first air pipe (3).

3. The robotic arm for production of optical network terminals according to claim 2, characterized in that: The exhaust port at the other end of the air cavity (12) is placed directly above the piston plate (14). A push groove is opened on the outer wall of the limit insertion rod (15), and a convex block for driving the limit insertion rod (15) to slide is arranged at the bottom of the piston plate (14). The end of the limit insertion rod (15) is movably inserted into the card joint (401).

4. The robotic arm for the production of an optical modem according to claim 1, wherein: The clamping structure includes slide rails (17) symmetrically distributed on the connecting plate (4), a slide plate (502) slidably arranged on the slide rails (17), sliding rods (501) symmetrically distributed and installed on the top of the slide plate (502), and a push plate (5) fixedly connected to the top of the sliding rods (501). The clamping block (6) is fixedly connected to one end of the push plate (5).

5. The robotic arm for production of optical network terminals according to claim 4, characterized in that: A slider (503) is fixedly connected to the bottom of the slide plate (502). The slider (503) is slidably arranged in the slide rail (17), and a sensor (18) for detecting the clamped workpiece is electrically connected between the slide rails (17).

6. The robotic arm for production of optical network terminals according to claim 4, wherein: A connecting rod is fixedly connected to the bottom of the clamping block (6). A connecting rod (801) is fixedly connected to the bottom of one end of the connecting piece (8). A second spring (16) is sleeved between the connecting rod (801) and the connecting rod.

7. The robotic arm for production of optical network terminals according to claim 4, wherein: A limit rod (9) is fixedly connected to the other side of the bottom of the clamping block (6). The limit rod (9) is located on one side of the other end of the connecting piece (8).

8. The robotic arm for production of optical network terminals according to claim 1, characterized in that: The driving component includes a main driving rod (19) rotatably arranged at the center of the connecting plate (4), a pulling rod (20) rotatably arranged at both ends of the main driving rod (19), the end of the pulling rod (20) is connected to one side of the sliding plate (502), a hydraulic cylinder (21) is arranged in the connecting plate (4), and the end of the hydraulic cylinder (21) is fixedly connected to the outer wall of one of the sliding plates (502).

9. The robotic arm for production of optical network terminals according to claim 1, wherein: A rubber sleeve is sleeved on the outer wall of the clamping wheel (10), and friction surfaces are arranged on the surface of the rubber sleeve at equal angles.

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