An LED lamp transfer and grasping device

Abstract

The present invention relates to the field of automation equipment, and specifically provides an LED lamp transfer and grasping device. The grasping device includes: a frame; a rotating arm rotatably connected to the frame; a lifting unit provided at one end of the rotating arm away from the frame; the lifting unit includes: a fixed pressure part provided on the rotating arm; a lifting part and a movable pressure part slidably connected within the fixed pressure part, the fixed pressure part, the lifting part and the movable pressure part form a first sealed cavity with variable volume, and when the volume of the first sealed cavity changes, it drives the lifting part and the movable pressure part to slide within the fixed pressure part; a limiting module for limiting the lifting part to control that the lifting part can only slide within the fixed pressure part; The present invention has the advantage of small volume compared with the lead screw structure, and can drive the mechanical claw to lift in a smaller space.

Description

Technical Field

[0001] The present invention relates to the field of automated equipment, and in particular to an LED lamp transfer and grasping device. Background Art

[0002] During the production process of LED lamps, it is necessary to transfer the LED lamps to enable different lamps to flow between different processes. Currently, the transfer of LED lamps is mainly carried out manually or by a manipulator. Since the cost of manual transfer is relatively high, transfer by a manipulator is the future trend.

[0003] During the process of a manipulator transferring an LED lamp, the general process is to grasp the lamp - lift the lamp - move the lamp to a preset position - lower the lamp - release the lamp. This process requires the use of a lifting device. Currently, the lifting device uses a lead screw and a lead screw nut in cooperation. The lead screw is driven to rotate by a servo motor, and then the lead screw drives the lead screw nut to move up and down, thereby driving the mechanical claw to move. The length of this structure must be greater than the lifting height, making the volume of the lifting device relatively large, occupying a large space, and not suitable for transfer in a small space. Therefore, the present application discloses an LED lamp transfer and grasping device. Summary of the Invention

[0004] The purpose of the present invention is to provide an LED lamp transfer and grasping device to solve the problem that the current LED transfer device has a relatively large volume.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] An LED lamp transfer and grasping device, the grasping device includes:

[0007] A frame;

[0008] A rotating arm rotatably connected to the frame, used for driving an LED lamp to flow between each production line when rotating;

[0009] A lifting unit provided at one end of the rotating arm away from the frame, used for connecting a mechanical claw and driving the LED lamp to lift after grasping the LED lamp; the lifting unit includes:

[0010] A fixed pressure part provided on the rotating arm;

[0011] A lifting part and a movable pressure part slidably connected in the fixed pressure part. The fixed pressure part, the lifting part, and the movable pressure part form a first sealed cavity with a variable volume. When the volume of the first sealed cavity changes, it drives the lifting part and the movable pressure part to slide in the fixed pressure part. The movable pressure part is sleeved on the lifting part, and the fixed pressure part is sleeved on the movable pressure part;

[0012] A limiting module, which is used to limit the lifting part so as to control that the lifting part can only slide within the fixed pressure part.

[0013] Furthermore, the limiting unit includes:

[0014] A first limiting part connected to the fixed pressure part;

[0015] A second limiting part slidably connected within the first limiting part. The first limiting part and the second limiting part form a second sealing cavity with a variable volume inside. One end of the second limiting part away from the rotating arm is connected to the lifting part;

[0016] A pressure sensor arranged in the second sealing cavity, which is used for the pressure change in the second sealing cavity to measure the elongation length of the lifting part.

[0017] Furthermore, an active limiting part is also sleeved outside the second limiting part. The active limiting part is sleeved within the first limiting part. The first limiting part is hermetically connected to the active limiting part, and the active limiting part is hermetically connected to the second limiting part.

[0018] Furthermore, the rotating arm includes:

[0019] A cross beam, which is perpendicular to the frame. One end of the cross beam is rotatably connected to the frame;

[0020] An inclined stay fixedly connected to the cross beam. An acute angle is provided between the cross beam and the inclined stay. One end of the inclined stay away from the cross beam is rotatably connected to the frame;

[0021] A rotating shaft rotatably connected to the frame. Both ends of the rotating shaft are respectively fixedly connected to the cross beam and the inclined stay.

[0022] Furthermore, the grasping device further includes:

[0023] A rotating arm driving unit arranged on the frame, which is used to drive the rotating arm to rotate.

[0024] Furthermore, the rotating arm driving unit includes:

[0025] A driving motor fixedly connected to the frame;

[0026] A worm rotatably connected to the frame and a worm gear fixedly connected to the rotating shaft;

[0027] The worm is fixedly connected to the output shaft of the driving motor, and the worm meshes with the worm gear to drive the worm gear to rotate.

[0028] Furthermore, the grabbing device also includes:

[0029] The angle recognition unit is used to measure the position of the rotating arm in real time to control the precise rotation of the rotating arm.

[0030] Furthermore, the angle recognition unit includes:

[0031] At least two resistance belts fixedly connected to the rotating shaft, the resistance belts being arranged in parallel and in an annular shape;

[0032] A measuring instrument, electrically connected to the resistance belt to measure the resistance in the measuring instrument;

[0033] A conductive part is fixedly connected to the frame, and the conductive part contacts the resistance belt so as to change the resistance value of the resistance belt connected to the measuring instrument through the rotation of the rotating shaft.

[0034] Furthermore, the angle recognition unit further includes:

[0035] A shell fixedly connected to the frame, the conductive part being slidably connected to the shell;

[0036] A compression spring is arranged in the housing, and two ends of the compression spring are respectively abutted against the conductive part and the housing, so as to press the conductive part against the resistance belt.

[0037] Furthermore, the angle recognition unit includes:

[0038] A guide rail fixedly connected to the frame;

[0039] at least two resistance strips disposed on the guide rail;

[0040] A measuring instrument electrically connected to the resistance belt, used to measure the resistance value of the resistance belt connected to the measuring instrument;

[0041] A conductive part slidably connected to the guide rail, the conductive part contacts the resistance belt, and the conductive part slides on the guide rail to change the resistance value of the resistance belt connected to the measuring instrument;

[0042] A linkage rod is arranged on the rotating arm, and two ends of the linkage rod are respectively hinged to the rotating arm and the conductive part, and is used to drive the conductive part to slide on the guide rail when the rotating arm rotates.

[0043] In summary, the present invention has the following beneficial effects compared with the prior art:

[0044] The present invention comprises a fixed pressure part, a lifting part, and a movable pressure part sleeved together to form a telescopic structure. By changing the medium in the first sealing cavity, the lifting part and the movable pressure part are pushed to slide within the fixed pressure part, thereby driving the lifting of the lifting part. This structure has the advantage of a small volume compared to the lead screw structure and can drive the lifting of the mechanical claw in a smaller space. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic structural diagram of one embodiment of the present invention.

[0046] Figure 2 is Figure 1 An exploded view of the disclosed LED lamp transfer and grasping device.

[0047] Figure 3 It is a schematic structural diagram of the lifting unit in the present invention.

[0048] Figure 4 is Figure 3 A partial enlarged view of I in

[0049] Figure 5 It is a schematic structural diagram of the angle recognition unit in one embodiment of the present invention.

[0050] Figure 6 It is a schematic structural diagram of the LED lamp transfer and grasping device disclosed in another embodiment of the present invention.

[0051] Figure 7 It is a schematic structural diagram of the angle recognition unit in another embodiment of the present invention.

[0052] Figure 8 It is a schematic structural diagram of the conductive part in another embodiment of the present invention.

[0053] Reference numerals: 1, frame; 11, first ear; 2, rotating arm; 21, cross beam; 22, diagonal bracing; 23, rotating shaft; 24, rotating shaft cover; 25, rotating shaft sleeve; 3, rotating arm driving unit; 31, driving motor; 32, worm; 33, worm gear; 4, angle recognition unit; 41, housing; 42, resistance strip; 43, conductive part; 44, insulating part; 45, compression spring; 46, linkage rod; 47, guide rail; 48, second ear; 49, slider; 5, lifting unit; 51, first mounting part; 52, second mounting part; 53, fixed pressure part; 54, lifting part; 55, movable pressure part; 56, first limiting part; 57, second limiting part; 58, movable limiting part. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to 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 the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0055] Embodiment 1

[0056] Figure 1 、 Figure 2 and Figure 3 As shown in Figure 2 and Figure 3 , a transfer and grasping device for an LED lamp provided by an embodiment of the present invention includes:

[0057] A frame 1;

[0058] A rotating arm 2 rotatably connected to the frame 1, which is used to drive the LED lamp to flow between production lines during rotation;

[0059] A lifting unit 5 provided at one end of the rotating arm 2 away from the frame 1, which is used to connect the mechanical claw and drive the LED lamp to lift after grasping the LED lamp;

[0060] The lifting unit 5 includes:

[0061] A first mounting portion 51 provided on the rotating arm 2;

[0062] A fixed pressure portion 53 hermetically connected to the first mounting portion 51;

[0063] A lifting portion 54 and a movable pressure portion 55 slidably connected within the fixed pressure portion 53. The fixed pressure portion 53, the lifting portion 54, and the movable pressure portion 55 form a first sealed cavity with a variable volume. When the volume of the first sealed cavity changes, it drives the lifting portion 54 and the movable pressure portion 55 to slide within the fixed pressure portion 53. The movable pressure portion 55 is sleeved on the lifting portion 54, and the fixed pressure portion 53 is sleeved on the movable pressure portion 55;

[0064] A limiting module provided on the first mounting portion 51, which is used to limit the lifting portion 54 to control that the lifting portion 54 can only slide within the fixed pressure portion 53;

[0065] In this embodiment, before the start of LED production, the mechanical claw is installed on the lifting part 54. When grasping the LED lamp, a pressure medium is filled into the first sealing cavity formed by the fixed pressure part 53 and the lifting part 54, so that the lifting part 54 and the movable pressure part 55 slide out of the fixed pressure part 53. At this time, the height of the end of the lifting part 54 away from the fixed pressure part 53 decreases, and the lifting part 54 drives the mechanical claw to descend. When the mechanical claw grasps the LED lamp, the pressure medium in the first sealing cavity is extracted, so that the lifting part 54 and the movable pressure part 55 retract into the fixed pressure part 53, thereby causing the lifting part 54 to rise to drive the mechanical claw to rise;

[0066] During the sliding process of the lifting part 54 and the movable pressure part 55, the limiting module limits the lifting part 54, thereby preventing the lifting part 54 from rotating, and further improving the accuracy of the mechanical claw grasping;

[0067] The present invention forms a telescopic structure by the fixed pressure part 53, the lifting part 54 and the movable pressure part 55 sleeved together, and changes the medium in the first sealing cavity to push the lifting part 54 and the movable pressure part 55 to slide in the fixed pressure part 53, thereby driving the lifting part 54 to rise and fall. This structure has the advantage of small volume compared with the lead screw structure, and can drive the mechanical claw to rise and fall in a smaller space;

[0068] As one implementation manner of this embodiment, the first mounting part 51 is disc-shaped, the fixed pressure part 53 is cylindrical with openings at both ends, one end of the fixed pressure part 53 is sealed and fixedly connected to the first mounting part 51 by welding or bolt connection, the movable pressure part 55 is cylindrical with openings at both ends, the movable pressure part 55 is slidably connected in the fixed pressure part 53, and the outer wall of the movable pressure part 55 is sealed with the inner wall of the fixed pressure part 53. The lifting part 54 is rod-shaped, one end of the lifting part 54 is slidably connected in the movable pressure part 55, and the position where the lifting part 54 contacts the fixed pressure part 53 is sealed;

[0069] In some examples, a first sealing ring is provided between the fixed pressure part 53 and the movable pressure part 55, and a second sealing ring is provided between the lifting part 54 and the fixed pressure part 53;

[0070] Preferably, the movable pressure part 55 can be provided with one or multiple, which is used to increase the elongation length of the lifting unit 5;

[0071] As Figure 4 shown, as a preferred implementation manner in this embodiment, the limiting unit includes:

[0072] A first limiting part 56 hermetically connected to the first mounting part 53;

[0073] A second limiting part 57 slidably connected within the first limiting part 56. The first limiting part 56 and the second limiting part 57 form an integrally variable second sealing cavity therebetween. One end of the second limiting part 57 away from the first mounting part 51 is connected to the lifting part 54;

[0074] A pressure sensor disposed within the second sealing cavity for measuring the elongation length of the lifting part 54 based on the pressure change in the second sealing cavity;

[0075] In this embodiment, the first limiting part 56 is a cylindrical shape with openings at both ends. One end of the first limiting part 56 is hermetically connected to the first mounting part 51 by welding or screw connection. The second limiting part 57 is a cylindrical shape with an opening at one end. The end of the second limiting part 57 with the opening is disposed within the first limiting part 56. The second limiting part 57 and the second limiting part 57 are sealed by a third sealing ring;

[0076] One end of the second limiting part 57 away from the first limiting part 56 is fixedly connected to a second mounting part 52 by screw or welding. The second mounting part 52 is fixedly connected to the lifting part 54 by screw or welding. The second mounting part 52 is used to connect the mechanical claw;

[0077] During the sliding process of the lifting part 54, the lifting part 54 drives the second limiting part 57 to slide within the first limiting part 56, changing the volume of the second sealing cavity, thereby causing a pressure change within the second sealing cavity. By measuring the pressure change in the second sealing cavity, the elongation length of the second limiting part 57 can be measured;

[0078] Further, an active limiting part 58 is sleeved outside the second limiting part 57. The active limiting part 58 is a cylindrical shape with openings at both ends. The active limiting part 58 is sleeved within the first limiting part 56. The first limiting part 56 is hermetically connected to the active limiting part 58, and the active limiting part 58 is hermetically connected to the second limiting part 57;

[0079] In some examples, the first limiting part 56, the second limiting part 57, and the active limiting part 58 are hermetically connected by a fourth sealing ring;

[0080] In some examples, the first mounting part 51 is fixedly connected to the rotating arm 2 by bolt connection.

[0081] Embodiment 2

[0082] As Figure 2 shown, in an embodiment of the present invention, the rotating arm 2 includes:

[0083] A cross beam 21, the cross beam 21 is perpendicularly arranged to the frame 1, and one end of the cross beam 21 is rotatably connected to the frame 1;

[0084] A stay brace 22 fixedly connected to the cross beam 21, an acute angle is formed between the cross beam 21 and the stay brace 22, and the end of the stay brace 22 away from the cross beam 21 is rotatably connected to the frame 1;

[0085] A rotating shaft 23 rotatably connected to the frame 1, both ends of the rotating shaft 23 are fixedly connected to the cross beam 21 and the stay brace 22 respectively;

[0086] In this embodiment, a first ear 11 is arranged on the frame 1, a first spline hole is arranged on the cross beam 21, a second spline hole is arranged at the end of the stay brace 22 close to the frame 1, first spline shafts are arranged at both ends of the rotating shaft 23, and the first spline shafts at both ends of the rotating shaft 23 are respectively sleeved in the first spline hole and the second spline hole, so that the cross beam 21, the stay brace 22 and the rotating shaft 23 are fixedly connected;

[0087] In some examples, the rotating shaft 23 is installed on the first ear 11 through a shaft cover 24 and a shaft sleeve 25;

[0088] The shaft cover 24 is in a cylindrical shape with an opening at one end, a first flange is arranged on the shaft cover 24, the shaft cover 24 is sleeved on the rotating shaft 23, and the first flange is fixedly connected to the first ear 11 through bolts;

[0089] The shaft sleeve 25 is in a cylindrical shape with openings at both ends, a second flange is arranged at one end of the shaft sleeve 25, the shaft sleeve 25 is sleeved on the rotating shaft 23, and the second flange is fixedly connected to the first ear 11 through bolts;

[0090] The shaft cover 24 and the shaft sleeve 25 play a role in limiting the rotating shaft 23. When a first spline shaft is arranged on the rotating shaft 23, for the convenience of processing, the aperture of the hinge hole on the first ear 11 is larger than the shaft diameter of the rotating shaft 23, so that there is a gap between the rotating shaft 23 and the hinge hole. Through the arrangement of the shaft cover 24 and the shaft sleeve 25, the rotating shaft 23 can be prevented from shaking on the first ear 11. At the same time, the shaft cover 24 can install the rotating shaft 23 on the first ear 11, thereby preventing the rotating shaft 23 from moving axially on the frame 1;

[0091] As a preferred implementation in this embodiment, the grasping device further includes:

[0092] A rotating arm driving unit 3 disposed on the frame 1 for driving the rotating arm 2 to rotate;

[0093] In this embodiment, the rotating arm driving unit 3 includes:

[0094] A driving motor 31 fixedly connected to the frame 1;

[0095] A worm 32 rotatably connected to the frame 1 and a worm wheel 33 fixedly connected to the rotating shaft 23;

[0096] The worm 32 is fixedly connected to the output shaft of the driving motor 31, and the worm 32 meshes with the worm wheel 33 to drive the worm wheel 33 to rotate;

[0097] In some examples, the driving motor 31 is fixedly connected to the worm 32 through a coupling, the worm wheel 33 is fixedly connected to the rotating shaft 23 through a spline structure, a third spline hole is provided in the worm wheel 33, a second spline shaft is provided in the middle of the rotating shaft 23, the third spline hole is fixedly connected to the second spline shaft, and snap rings are further provided on both sides of the worm wheel 33 to prevent the worm wheel 33 from moving axially on the rotating shaft 23;

[0098] After the driving motor 31 is energized and rotates, the driving motor 31 drives the worm 32 to rotate, the worm 32 drives the worm wheel 33 to rotate when rotating, and the worm wheel 33 drives the rotating shaft 23 to rotate when rotating.

[0099] Embodiment 3

[0100] As Figure 2 shown, in an embodiment of the present invention, the grasping device further includes:

[0101] An angle recognition unit 4 for measuring the position of the rotating arm 2 in real time to control the precise rotation of the rotating arm 2;

[0102] As Figure 5 shown, the angle recognition unit 4 includes:

[0103] At least two resistance bands 42 fixedly connected to the rotating shaft 23, the resistance bands 42 being arranged in parallel and annularly;

[0104] A measuring instrument electrically connected to the resistance bands 42 to measure the resistance connected into the measuring instrument;

[0105] The conductive part 43 fixedly connected to the frame 1, the conductive part 43 contacts with the resistance strip 42 to change the resistance value of the resistance strip 42 connected to the measuring instrument through the rotation of the rotating shaft 23;

[0106] In this embodiment, when the rotating shaft 23 rotates, the rotating shaft 23 drives the resistance strip 42 to rotate. When the resistance strip 42 rotates, it can change the position of the conductive part 43 on the resistance strip 42. Since the resistance strips 42 are not connected, when the position of the conductive part 43 on the resistance strip 42 changes, the resistance value of the resistance strip 42 connected to the measuring instrument changes. Here, the principle of variable resistance can be referred to; the measuring instrument can measure the angle of the rotating shaft 23 by measuring the resistance value of the resistance strip 42 connected to the measuring instrument;

[0107] In some examples, the conductive part 43 is a U-shaped metal sheet;

[0108] As a preferred implementation manner in this embodiment, the resistance strip 42 is arranged on the insulating part 44. The insulating part 44 is a cylindrical shape with openings at both ends, and the insulating part 44 is fixedly connected to the rotating shaft 23 by an adhesive method;

[0109] Preferably, the angle recognition unit 4 further includes:

[0110] The housing 41 fixedly connected to the frame 1, the conductive part 43 is slidably connected to the housing 41;

[0111] The compression spring 45 arranged in the housing 41, both ends of the compression spring 45 respectively abut against the conductive part 43 and the housing 41, and are used to press the conductive part 43 tightly on the resistance strip 42;

[0112] In this implementation manner, the function of the compression spring 45 can prevent the problem of poor contact with the resistance strip 42 when the conductive part 43 is worn;

[0113] It should be noted that the angle recognition unit 4 can also be other structures. For example, as Figure 6 and Figure 7 shown, the angle recognition unit 4 includes:

[0114] The guide rail 47 fixedly connected to the frame 1;

[0115] At least two resistance strips 42 arranged on the guide rail 47;

[0116] The measuring instrument electrically connected to the resistance strip 42, and is used to measure the resistance value of the resistance strip 42 connected to the measuring instrument;

[0117] A conductive part 43 slidably connected to the guide rail 47, the conductive part 43 contacts the resistance strip 42, and when the conductive part 43 slides on the guide rail 47 to change the resistance value of the resistance strip 42 connected into the measuring instrument;

[0118] A linkage rod 46 provided on the rotating arm 2, both ends of the linkage rod 46 are hinged to the rotating arm 2 and the conductive part 43 respectively, and are used to drive the conductive part 43 to slide on the guide rail 47 when the rotating arm 2 rotates;

[0119] In this embodiment, the guide rail 47 is a straight track, the resistance strip 42 is fixed to the guide rail 47 by gluing, the conductive part 43 is a metal slider, the conductive part 43 can connect two resistance strips 42, and when the rotating arm 2 rotates, the rotating arm 2 drives the conductive part 43 to slide on the guide rail 47 through the linkage rod 46;

[0120] Further, a limiting groove is provided in the guide rail 47, a slider 49 is provided on the guide rail 47, and the slider 49 is slidably connected in the limiting groove to prevent the conductive part 43 from falling off the guide rail 47;

[0121] As Figure 8 shown, a second ear 48 connecting the linkage rod 46 is further provided on the conductive part 43, and the second ear 48 and the slider 49 are respectively arranged on both sides of the conductive part 43.

[0122] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An LED lamp transfer and grasping device, characterized in that, The grasping device includes: a frame; a rotating arm rotatably connected to the frame, which is used to drive the LED lamp to flow between each production line during rotation; a lifting unit provided at one end of the rotating arm away from the frame, which is used to connect the mechanical claw and drive the LED lamp to lift after grasping the LED lamp; the lifting unit includes: a fixed pressure part provided on the rotating arm; a lifting part and a movable pressure part slidably connected in the fixed pressure part, the fixed pressure part, the lifting part and the movable pressure part form a first sealed cavity with variable volume, when the volume of the first sealed cavity changes, it drives the lifting part and the movable pressure part to slide in the fixed pressure part, the movable pressure part is sleeved on the lifting part, and the fixed pressure part is sleeved on the movable pressure part; a limiting module, which is used to limit the lifting part to control that the lifting part can only slide in the fixed pressure part; the limiting module includes: a first limiting part connected to the fixed pressure part; a second limiting part slidably connected in the first limiting part, a second sealed cavity with variable volume is formed in the first limiting part and the second limiting part, and one end of the second limiting part away from the rotating arm is connected to the lifting part; a pressure sensor provided in the second sealed cavity, which is used for the pressure change of the second sealed cavity to measure the elongation length of the lifting part; an active limiting part is also sleeved outside the second limiting part, the active limiting part is sleeved in the first limiting part, the first limiting part is hermetically connected to the active limiting part, and the active limiting part is hermetically connected to the second limiting part; the rotating arm includes: a cross beam, the cross beam is perpendicular to the frame, and one end of the cross beam is rotatably connected to the frame; an inclined cable support fixedly connected to the cross beam, an acute angle is provided between the cross beam and the inclined cable support, and one end of the inclined cable support away from the cross beam is rotatably connected to the frame; a rotating shaft rotatably connected to the frame, and both ends of the rotating shaft are fixedly connected to the cross beam and the inclined cable support respectively.

2. The LED lamp transfer and grasping device according to claim 1, characterized in that, The grasping device further includes: a rotating arm driving unit provided on the frame, which is used to drive the rotating arm to rotate.

3. The LED lamp transfer and grasping device according to claim 2, wherein The rotating arm driving unit includes: a driving motor fixedly connected to the frame; a worm rotatably connected to the frame and a worm gear fixedly connected to the rotating shaft; the worm is fixedly connected to the output shaft of the driving motor, and the worm meshes with the worm gear to drive the worm gear to rotate.

4. The LED lamp transfer and grasping device according to any one of claims 1-3, characterized in that, The grasping device further includes: an angle recognition unit, which is used to measure the position of the rotating arm in real time to control the precise rotation of the rotating arm.

5. The LED lamp transfer and grasping device according to claim 4, wherein The angle recognition unit includes: at least two resistance bands fixedly connected to the rotating shaft, and the resistance bands are arranged in parallel and annularly; a measuring instrument electrically connected to the resistance band to measure the resistance connected into the measuring instrument; a conductive part fixedly connected to the frame, the conductive part contacts the resistance band to change the resistance value of the resistance band connected into the measuring instrument through the rotation of the rotating shaft.

6. The LED lamp transfer and grasping device according to claim 5, characterized in that, The angle recognition unit further includes: a housing fixedly connected to the frame, and the conductive part is slidably connected to the housing; a compression spring disposed in the housing, with both ends of the compression spring respectively abutting against the conductive part and the housing, for pressing the conductive part against the resistor strip.

7. The LED lamp transfer and grasping device according to claim 6, characterized in that, The angle recognition unit includes: a guide rail fixedly connected to the frame; at least two resistor strips disposed on the guide rail; a measuring instrument electrically connected to the resistor strip, for measuring the resistance value of the resistor strip connected to the measuring instrument; a conductive part slidably connected to the guide rail, the conductive part contacting the resistor strip, and when the conductive part slides on the guide rail, it changes the resistance value of the resistor strip connected to the measuring instrument; a linkage rod disposed on the rotating arm, with both ends of the linkage rod respectively hinged to the rotating arm and the conductive part, for driving the conductive part to slide on the guide rail when the rotating arm rotates.

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