A robotic arm auxiliary mechanism for stable vehicle operation

Abstract

This invention discloses a robotic arm auxiliary mechanism for stable vehicle movement, comprising a mounting platform capable of self-moving along a suspended rail. A universal joint is embedded inside the mounting platform, and a carrier frame is mounted on the bottom of the universal joint. Four regularly distributed positioning springs are installed between the opposing surfaces of the carrier frame and the mounting platform. A multi-axis robotic arm mechanism is mounted on the bottom surface of the carrier frame, and a multi-axis adjustable gripper arm is connected to the surface of the multi-axis robotic arm mechanism. A self-locking mechanism that cooperates with the mounting platform is mounted on the top surface of the gripper arm, and a negative pressure suction mechanism is mounted on the bottom surface of the gripper arm. A horizontal alignment mechanism and a vertical alignment mechanism are respectively mounted on the surface of the gripper arm. This invention effectively improves the stability of the multi-axis robotic arm mechanism during movement by maintaining the carrier frame's center of gravity vertically downward.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically, to a robotic arm auxiliary mechanism for stabilizing vehicle operation. Background Technology

[0002] As a green, clean, and renewable energy source, the solar photovoltaic industry will play an increasingly important role in the future energy system. However, the solar photovoltaic industry also faces many challenges, such as the conversion efficiency and lifespan of solar cells. Based on the material of photovoltaic cells, crystalline silicon solar cells, using high-purity silicon as the main raw material, are the mainstream product. The manufacturing process of solar cells requires multiple steps, including diffusion and printing. Because the silicon wafers processed through slicing, grinding, chamfering, and polishing have adsorbed various impurities on their surface, such as particles, metal particles, silicon powder dust, and organic impurities, they need to be cleaned before diffusion to remove these contaminants and to create a textured surface structure (texturing) that reduces surface solar reflection. The cleanliness of this cleaning directly affects the yield and reliability of the solar cells. Therefore, photovoltaic silicon wafers undergo texturing and cleaning processes in multiple process tanks during production, requiring robotic arms to move baskets loaded with silicon wafers between these tanks.

[0003] In the prior art, various types of robotic arms have emerged. For example, patent document CN206632995U discloses a walking robotic arm device, including a gripper, a movable gear, a gripper rotating base, a lower support, a load-bearing block, a walking device, a support column, an upper plate, a rotating fixed base, a longitudinal moving axis, and a transverse moving axis. This device, through its walking device, can freely move and control the direction of the robotic arm, enabling multi-directional material grasping. Furthermore, the conveyor belt and rolling wheels are movably connected, resulting in a compact structure and smooth transmission, thus solving the problem of limited walking range and improving work efficiency. However, in use, the aforementioned robotic arm is prone to deflection during walking, reducing the stability of battery cell transport. Additionally, it lacks self-locking safety during walking, and after grasping the battery cells, it cannot effectively position them, hindering the subsequent stacking process. Therefore, this invention provides a robotic arm auxiliary mechanism for stable movement to address the problems mentioned in the background art. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a robotic arm auxiliary mechanism for stable operation, which effectively improves the stability of multi-axis robotic arm mechanisms during movement by maintaining the center of gravity of the carrier vertically downward.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A robotic arm auxiliary mechanism for stable vehicle operation includes a mounting platform that can move along a suspended rail. The mounting platform is equipped with a universal ball, and a carrier is installed at the bottom of the universal ball. Four regularly distributed positioning springs are installed between the carrier and the opposite surface of the mounting platform.

[0007] The bottom surface of the carrier is equipped with a multi-axis robotic arm mechanism, and the surface of the multi-axis robotic arm mechanism is connected to a multi-axis adjustable gripper arm. The top surface of the gripper arm is equipped with a self-locking walking mechanism that cooperates with the mounting platform, the bottom surface of the gripper arm is equipped with a negative pressure suction mechanism, and the surface of the gripper arm is respectively equipped with a horizontal alignment mechanism and a vertical alignment mechanism.

[0008] As a preferred embodiment, the multi-axis robotic arm mechanism includes an electric rotary table fixed to the bottom surface of the carrier frame. A rotating plate is fixedly installed on the bottom surface of the electric rotary table. A large arm is hinged to the bottom surface of the rotating plate. A small arm is hinged to the end of the large arm. The end of the small arm is hinged to a gripper arm. A set of arm adjustment push rods are hinged between the relative surfaces of the large arm and the rotating plate, between the relative surfaces of the small arm and the large arm, and between the relative surfaces of the gripper arm and the small arm.

[0009] As a preferred embodiment, the frame is provided with a guide arc groove inside, and the top surface of the rotating plate is rotatably connected to a guide roller that fits into the guide arc groove. Limiting rings are fixedly installed on the circumferential side of the guide roller and at positions corresponding to both sides of the guide arc groove. The arc of the guide arc groove is 300°.

[0010] As a preferred embodiment, the self-locking walking mechanism includes a hanger fixed to the surface of the mounting platform and a locking beam fixed to the top surface of the grab arm. An electromagnetic block is embedded in the bottom surface of the hanger, and a self-locking hanging hole is fixedly opened inside the hanger. A magnetic block that cooperates with the electromagnetic block is embedded in the top surface of the locking beam, and a locking post that cooperates with the self-locking hanging hole is fixedly installed on the top surface of the locking beam. Two symmetrically arranged stop magnetic rods are slidably connected to the inner wall of the locking post. An electromagnetic block is fixedly installed inside the locking post at a position corresponding to the position between the two stop magnetic rods. An anti-compression spring is sleeved on the peripheral side of the two stop magnetic rods at a position corresponding to the position inside the locking post.

[0011] As a preferred embodiment, the magnetism of the first electromagnetic block after being energized is opposite to that of the magnetic block, and the magnetism of the second electromagnetic block after being energized is the same as that of the stop magnetic rod. The cross-section of the stop magnetic rod is T-shaped, and the axis of the stop magnetic rod is perpendicular to the axis of the self-locking hanging hole.

[0012] As a preferred embodiment, the negative pressure suction mechanism includes a lifting frame, a set of lifting push rods installed between the opposing surfaces of the lifting frame and the gripper arm, a screw drive module fixedly installed on the inner wall of the lifting frame, a movable seat rotatably connected to the peripheral side of the screw drive module, a negative pressure vortex tube driven by a rotary motor rotatably connected to the inner wall of the movable seat, a negative pressure connecting pipe fixedly connected to the bottom end of the negative pressure vortex tube, a set of negative pressure suction cups arranged in a linear array fixedly installed at the bottom end of the negative pressure connecting pipe, a negative pressure pump fixedly installed on the top surface of the lifting frame, the port of the negative pressure pump rotatably connected to the negative pressure vortex tube through a pressure supply pipe, and a pressure probe and a pressure relief valve fixedly installed inside the pressure supply pipe.

[0013] As a preferred embodiment, both the lateral alignment mechanism and the longitudinal alignment mechanism include a lead screw adjustment module installed on the inner wall of the gripper arm. The circumferential side of the lead screw adjustment module is connected to two symmetrically arranged and adjustable centering clamps. The centering clamps have an L-shaped structure. The surfaces of the centering clamps are respectively fixedly provided with a vertically arranged clamping surface and a material supporting surface. The surface of the clamping surface is fixedly installed with a clamping bladder assembly, and the interior of the material supporting surface is embedded with a set of regularly distributed universal balls.

[0014] As a preferred embodiment, a central control unit is fixedly installed on the surface of the hanger. The port of the central control unit is electrically connected to the air pressure probe. A set of centering cameras electrically connected to the central control unit is installed on the surface of the negative pressure connecting pipe. The central control unit has an image recognition module built into it to cooperate with the centering cameras.

[0015] As a preferred embodiment, the lead screw adjustment module includes a drive motor fixed to the surface of the gripper arm and an adjustment lead screw rotatably connected between the inner surfaces of the gripper arm. The output shaft end of the drive motor is fixedly connected to the adjustment lead screw. The circumferential side of the adjustment lead screw is symmetrically provided with a forward threaded portion and a reverse threaded portion. The circumferential side of the forward threaded portion and the reverse threaded portion are respectively connected to two centering clamps for transmission.

[0016] As a preferred embodiment, the clamping bag assembly includes a clamping bag body fixed to the clamping surface, an air chamber fixedly opened inside the clamping bag body, the air chamber being filled with gas, the clamping bag body being made of silicone, and a second air pressure probe and a valve core cooperating with the air chamber being fixedly installed on the surface of the clamping bag body, the port of the second air pressure probe being electrically connected to the central control host.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. This invention, through the setting of universal hanging ball and positioning spring, enables the center of gravity of the carrier frame to remain vertically downward when the mounting platform moves, without being affected by the movement amplitude of the mounting platform. By achieving the effect of keeping the center of gravity of the carrier frame vertically downward, the stability of the multi-axis robotic arm mechanism during movement is effectively improved. Through the setting of the walking self-locking mechanism, the robotic arm mechanism can be effectively and safely locked before the robotic arm moves, thereby further improving the stability and safety of battery cell transportation.

[0019] 2. This invention, through the setting of a negative pressure suction mechanism, a lateral alignment mechanism, and a longitudinal alignment mechanism, can automatically correct and center the position of the battery cells after the robotic arm grasps them. By achieving the automatic correction and centering effect of the battery cells, the functionality of this device is effectively improved on the one hand, and it is also beneficial for the subsequent precise stacking of the battery cells on the other hand. Through the multi-probe monitoring structure, the grasping force of the robotic arm mechanism on the battery cells can be precisely controlled. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0021] Figure 2 For the present invention Figure 1 A magnified schematic diagram of the partial structure at point A in the middle;

[0022] Figure 3 For the present invention Figure 1 A magnified schematic diagram of the local structure at point B;

[0023] Figure 4 This is a cross-sectional structural diagram of the universal ball and positioning spring of the present invention;

[0024] Figure 5 For the present invention Figure 4 A magnified schematic diagram of the local structure at point C;

[0025] Figure 6 This is a schematic diagram of the lifting frame and lifting push rod of the present invention;

[0026] Figure 7 This is a schematic diagram of the structure of the movable base and rotary motor of the present invention;

[0027] Figure 8 This is a schematic diagram of the negative pressure vortex tube and the centering camera of the present invention;

[0028] Figure 9 This is a schematic diagram of the structure of the gripper arm and lead screw pitch adjustment module of the present invention;

[0029] Figure 10 This is a schematic diagram of the centering clamp and the second air pressure probe of the present invention.

[0030] In the diagram: 1. Suspension rail; 2. Mounting platform; 3. Universal ball bearing; 4. Carrier frame; 5. Positioning spring; 6. Grab arm; 7. Electric rotary table; 8. Rotary plate; 9. Main boom; 10. Forearm; 11. Adjusting boom push rod; 12. Guide arc groove; 13. Guide roller; 14. Hanger; 15. Locking beam; 16. Electromagnetic block one; 17. Locking column; 18. Stop magnetic rod; 19. Electromagnetic block two; 20. Anti-compression spring; 21. Lifting frame; 22. Lifting push rod; 23. Screw drive module; 24. Moving seat; 25. Rotary motor; 26. Negative pressure rotary tube; 27. Negative pressure connecting pipe; 28. Negative pressure suction cup; 29. ​​Negative pressure pump; 30. Screw distance adjustment module; 31. Centering clamp plate; 32. Universal ball bearing; 33. Central control host; 34. Centering camera; 35. Clamping bag body; 36. Air pressure probe two. Detailed Implementation

[0031] The present invention will be further described and illustrated below with reference to specific embodiments and the accompanying drawings:

[0032] Please see Figure 1-10 The present invention provides a robotic arm auxiliary mechanism for stabilizing vehicle operation, including a mounting platform 2 that can move along a hanging rail 1. A universal ball 3 is embedded inside the mounting platform 2. A carrier frame 4 is installed at the bottom of the universal ball 3. Four regularly distributed positioning springs 5 ​​are installed between the carrier frame 4 and the opposite surface of the mounting platform 2. A multi-axis robotic arm mechanism is installed on the bottom surface of the carrier frame 4.

[0033] By setting the positioning spring 5 and the universal ball 3, the center of gravity of the carrier 4 can remain vertically downward when the mounting platform 2 moves, and is not affected by the movement amplitude of the mounting platform 2. By achieving the effect of keeping the center of gravity of the carrier 4 vertically downward, the stability of the multi-axis robotic arm mechanism during movement is effectively improved.

[0034] The surface of the multi-axis robotic arm mechanism is connected to a multi-axis adjustable gripper 6;

[0035] The multi-axis robotic arm mechanism includes an electric rotary table 7 fixed to the bottom surface of the carrier 4, and a rotating plate 8 is fixedly installed on the bottom surface of the electric rotary table 7.

[0036] The frame 4 has a guide arc groove 12 fixedly opened inside. The top surface of the rotating plate 8 is rotatably connected to a guide roller 13 that fits with the guide arc groove 12. Limiting rings are fixedly installed on the circumferential side of the guide roller 13 and at positions corresponding to both sides of the guide arc groove 12. The arc of the guide arc groove 12 is 300°.

[0037] The bottom surface of the rotary plate 8 is hinged to a large arm 9, the end of the large arm 9 is hinged to a small arm 10, the end of the small arm 10 is hinged to a grab arm 6, and a set of adjusting arm push rods 11 are hinged between the large arm 9 and the relative surface of the rotary plate 8, between the small arm 10 and the relative surface of the large arm 9, and between the grab arm 6 and the small arm 10.

[0038] By using the three-section structure of the upper arm 9, lower arm 10, and gripper arm 6, and the setting of the arm adjustment push rod 11, the spatial position and arrangement angle of the gripper arm 6 can be adjusted in all directions, thereby effectively improving the operational flexibility of the robot.

[0039] The top surface of the grab arm 6 is equipped with a self-locking mechanism that cooperates with the mounting platform 2;

[0040] The self-locking walking mechanism includes a hanger 14 fixed to the surface of the mounting platform 2 and a locking beam 15 fixed to the top surface of the grab arm 6. An electromagnetic block 16 is embedded in the bottom surface of the hanger 14, and a self-locking hanging hole is fixedly opened inside the hanger 14. A magnetic block that cooperates with the electromagnetic block 16 is embedded in the top surface of the locking beam 15.

[0041] The magnetism of the electromagnetic block 16 after being energized is opposite to that of the magnetic block.

[0042] A locking pin 17 that mates with a self-locking hole is fixedly installed on the top surface of the locking beam 15. Two symmetrically arranged stop magnetic rods 18 are slidably connected to the inner wall of the locking pin 17. An electromagnetic block 19 is fixedly installed inside the locking pin 17 at a position corresponding to the position between the two stop magnetic rods 18. An anti-compression spring 20 is sleeved on the peripheral side of the two stop magnetic rods 18 at a position corresponding to the position inside the locking pin 17.

[0043] The magnetism of the electromagnetic block 19 after being energized is the same as that of the stop magnetic rod 18. The cross-section of the stop magnetic rod 18 is T-shaped, and the axis of the stop magnetic rod 18 is perpendicular to the axis of the self-locking hanging hole.

[0044] Electromagnetic block 16 and electromagnetic block 29 are both electromagnets, and the stop magnetic rod 18 and magnetic attraction block are both permanent magnets. Electromagnetic block 16 and electromagnetic block 29 generate magnetic attraction when energized and lose magnetism when de-energized.

[0045] A negative pressure suction mechanism is installed on the bottom surface of the grab arm 6;

[0046] The negative pressure suction mechanism includes a lifting frame 21. A set of lifting push rods 22 is installed between the opposing surfaces of the lifting frame 21 and the grab arm 6. A screw drive module 23 is fixedly installed on the inner wall of the lifting frame 21. A movable seat 24 is rotatably connected to the peripheral side of the screw drive module 23. A negative pressure vortex tube 26 driven by a rotary motor 25 is rotatably connected to the inner wall of the movable seat 24. A negative pressure connecting pipe 27 is fixedly connected to the bottom end of the negative pressure vortex tube 26. A set of negative pressure suction cups 28 arranged in a linear array are fixedly installed at the bottom end of the negative pressure connecting pipe 27. A negative pressure pump 29 is fixedly installed on the top surface of the lifting frame 21. The port of the negative pressure pump 29 is rotatably connected to the negative pressure vortex tube 26 through a pressure supply pipe. A pressure probe and a pressure relief valve are fixedly installed inside the pressure supply pipe.

[0047] The air pressure probe is used to monitor the negative pressure suction force of the negative pressure suction cup 28 on the workpiece in real time, and the pressure relief valve is used to restore the internal pressure of the negative pressure connecting pipe 27 to normal.

[0048] The surface of the grab arm 6 is respectively equipped with a horizontal alignment mechanism and a vertical alignment mechanism.

[0049] Both the transverse alignment mechanism and the longitudinal alignment mechanism include a lead screw adjustment module 30 installed on the inner wall of the grab arm 6. The circumferential side of the lead screw adjustment module 30 is connected to two symmetrically arranged and adjustable centering clamps 31.

[0050] The lead screw adjustment module 30 includes a drive motor fixed to the surface of the gripper arm 6 and an adjustment lead screw rotatably connected between the inner surfaces of the gripper arm 6. The output shaft end of the drive motor is fixedly connected to the adjustment lead screw. The circumferential side of the adjustment lead screw is symmetrically provided with a forward thread and a reverse thread. The circumferential side of the forward thread and the reverse thread are respectively connected to two centering clamps 31 for transmission.

[0051] By setting forward and reverse thread sections, the distance between the two centering clamps 31 can be quickly adjusted, thereby effectively clamping the workpiece to be moved.

[0052] The centering clamp 31 has an L-shaped structure. The surface of the centering clamp 31 is fixedly provided with a clamping surface and a material support surface that are arranged vertically. The clamping surface is fixedly installed with a clamping bladder assembly, and a set of regularly distributed universal balls 32 are embedded inside the material support surface.

[0053] The clamping bag assembly includes a clamping bag body 35 fixed to the clamping surface. An air chamber is fixedly opened inside the clamping bag body 35 and filled with gas. The clamping bag body 35 is made of silicone. A second air pressure probe 36 and a valve core that cooperate with the air chamber are fixedly installed on the surface of the clamping bag body 35. The port of the second air pressure probe 36 is electrically connected to the central control host 33.

[0054] The second air pressure probe 36 is used to monitor the air pressure inside the clamping bag body 35 in real time, and then assists in monitoring the clamping strength and clamping force of the clamping bag body 35 on the workpiece to be conveyed. The valve core is used to control the initial air volume and initial air pressure of the clamping bag body 35 in the non-forced state.

[0055] A central control host 33 is fixedly installed on the surface of the hanger 14. The port of the central control host 33 is electrically connected to the air pressure probe. A set of centering cameras 34 electrically connected to the central control host 33 is installed on the surface of the negative pressure connecting pipe 27. The central control host 33 has an image recognition module that works with the centering cameras 34.

[0056] The centering camera 34 is used to identify the image data of the workpiece to be transported. The centering camera 34 transmits the collected image data to the image recognition module in real time. The image recognition module identifies the edges and key points of the workpiece to be transported based on the data collected by the centering camera 34, thereby ensuring that the negative pressure suction cup 28 can act on the center of the workpiece to be transported.

[0057] The working principle of this invention is:

[0058] When this device is used for conveying operations during the processing of crystalline silicon photovoltaic cells, it is especially suitable for continuous conveying and transfer operations of crystalline silicon photovoltaic cells of a certain specification.

[0059] Before operation, the lifting push rod 22 drives the negative pressure suction cup 28 to move down fully. When the crystalline silicon photovoltaic cell is picked up, the centering camera 34, in cooperation with the image recognition module and the multi-axis robotic arm mechanism, causes the negative pressure suction cup 28 to act on the center of the crystalline silicon photovoltaic cell. After the crystalline silicon photovoltaic cell is picked up, the lifting push rod 22 returns to its original position.

[0060] After the lifting push rod 22 is reset, the crystalline silicon photovoltaic cell moves to the working area of ​​the lateral alignment mechanism and the longitudinal alignment mechanism. During the alignment adjustment, the lateral alignment mechanism works first. When the lateral alignment mechanism works, it first drives the lead screw adjustment module 30 to move the material support surface to the bottom of the crystalline silicon photovoltaic cell and make it fit with the crystalline silicon photovoltaic cell. The clamping body 35 does not work. Then, the negative pressure suction cup 28 loses negative pressure, and the crystalline silicon photovoltaic cell falls onto the material support surface. Then, the lead screw adjustment module 30 works again and makes the crystalline silicon photovoltaic cell fully clamped between the clamping bodies 35 of the two lateral alignment mechanisms, thereby realizing the lateral positioning of the crystalline silicon photovoltaic cell. After the lateral positioning is completed, the two clamping bodies 35 move away from each other and lose the lateral clamping effect on the crystalline silicon photovoltaic cell. Then, the longitudinal alignment mechanism repeats the alignment process of the lateral alignment mechanism.

[0061] After the lateral positioning and longitudinal alignment are completed, the clamping body 35 in both the axial alignment mechanism and the longitudinal alignment mechanism fully clamps the crystalline silicon photovoltaic cell. Before movement, the negative pressure suction cup 28 cooperates with the clamping body 35 to perform multiple positioning of the crystalline silicon photovoltaic cell. Before movement, the grab arm 6 self-locks to the hanger 14 to effectively improve the stability of the crystalline silicon photovoltaic cell during movement and transportation.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A robotic arm auxiliary mechanism for stable vehicle operation, characterized in that: Includes a mounting platform (2) that can move along the hanging rail (1), the mounting platform (2) is equipped with a universal ball (3), a carrier frame (4) is installed at the bottom of the universal ball (3), and four regularly distributed positioning springs (5) are installed between the carrier frame (4) and the opposite surface of the mounting platform (2). The bottom surface of the carrier (4) is equipped with a multi-axis robotic arm mechanism, and the surface of the multi-axis robotic arm mechanism is connected to a multi-axis adjustable gripper (6). The top surface of the gripper (6) is equipped with a walking self-locking mechanism that cooperates with the mounting platform (2). The bottom surface of the gripper (6) is equipped with a negative pressure suction mechanism. The surface of the gripper (6) is respectively equipped with a horizontal alignment mechanism and a vertical alignment mechanism.

2. The robotic arm auxiliary mechanism for stabilizing vehicle operation according to claim 1, characterized in that: The multi-axis robotic arm mechanism includes an electric rotary table (7) fixed to the bottom surface of the carrier (4). A rotary plate (8) is fixedly installed on the bottom surface of the electric rotary table (7). A large arm (9) is hinged to the bottom surface of the rotary plate (8). A small arm (10) is hinged to the end of the large arm (9). The end of the small arm (10) is hinged to the gripper (6). A set of arm adjustment push rods (11) are hinged between the relative surfaces of the large arm (9) and the rotary plate (8), between the relative surfaces of the small arm (10) and the large arm (9), and between the relative surfaces of the gripper (6) and the small arm (10).

3. The robotic arm auxiliary mechanism for stabilizing vehicle operation according to claim 2, characterized in that: The carrier (4) has a fixed guide arc groove (12) inside. The top surface of the rotating plate (8) is rotatably connected to a guide roller (13) that fits into the guide arc groove (12). Limiting rings are fixedly installed on the circumferential side of the guide roller (13) and at positions corresponding to both sides of the guide arc groove (12). The arc of the guide arc groove (12) is 300°.

4. The robotic arm auxiliary mechanism for stabilizing vehicle operation according to claim 1, characterized in that: The self-locking walking mechanism includes a hanger (14) fixed to the surface of the mounting platform (2) and a locking beam (15) fixed to the top surface of the grab arm (6). An electromagnetic block (16) is embedded in the bottom surface of the hanger (14). A self-locking hanging hole is fixedly opened inside the hanger (14). A magnetic block that cooperates with the electromagnetic block (16) is embedded in the top surface of the locking beam (15). A locking post (17) that cooperates with the self-locking hanging hole is fixedly installed on the top surface of the locking beam (15). Two symmetrically arranged stop magnetic rods (18) are slidably connected to the inner wall of the locking post (17). An electromagnetic block (19) is fixedly installed inside the locking post (17) at the position between the two stop magnetic rods (18). An anti-compression spring (20) is sleeved on the periphery of the two stop magnetic rods (18) at the position inside the locking post (17).

5. The robotic arm auxiliary mechanism for stabilizing vehicle operation according to claim 4, characterized in that: The magnetism of the first electromagnetic block (16) after being energized is opposite to that of the magnetic block. The magnetism of the second electromagnetic block (19) after being energized is the same as that of the stop magnetic rod (18). The cross-section of the stop magnetic rod (18) is T-shaped, and the axis of the stop magnetic rod (18) is perpendicular to the axis of the self-locking hole.

6. The robotic arm auxiliary mechanism for stabilizing vehicle operation according to claim 4, characterized in that: The negative pressure suction mechanism includes a lifting frame (21), a set of lifting push rods (22) are installed between the relative surfaces of the lifting frame (21) and the grab arm (6), a screw drive module (23) is fixedly installed on the inner wall of the lifting frame (21), a movable seat (24) is rotatably connected to the peripheral side of the screw drive module (23), a negative pressure vortex tube (26) driven by a rotary motor (25) is rotatably connected to the inner wall of the movable seat (24), the bottom end of the negative pressure vortex tube (26) is fixedly connected to a negative pressure connecting pipe (27), a set of negative pressure suction cups (28) arranged in a linear array are fixedly installed at the bottom end of the negative pressure connecting pipe (27), a negative pressure pump (29) is fixedly installed on the top surface of the lifting frame (21), the port of the negative pressure pump (29) is rotatably connected to the negative pressure vortex tube (26) through a pressure supply pipe, and a pressure probe and a pressure relief valve are fixedly installed inside the pressure supply pipe.

7. The robotic arm auxiliary mechanism for stabilizing vehicle operation according to claim 6, characterized in that: Both the transverse alignment mechanism and the longitudinal alignment mechanism include a screw adjustment module (30) installed on the inner wall of the gripper arm (6). The peripheral side of the screw adjustment module (30) is connected to two symmetrically arranged and adjustable centering clamps (31). The centering clamps (31) have an L-shaped structure. The surfaces of the centering clamps (31) are respectively fixedly provided with a vertically arranged clamping surface and a material support surface. The surface of the clamping surface is fixedly installed with a clamping bladder assembly. The material support surface is embedded with a set of regularly distributed universal balls (32).

8. The robotic arm auxiliary mechanism for stabilizing vehicle operation according to claim 7, characterized in that: The central control host (33) is fixedly installed on the surface of the hanger (14). The port of the central control host (33) is electrically connected to the air pressure probe. A set of centering cameras (34) electrically connected to the central control host (33) is installed on the surface of the negative pressure pipe (27). The central control host (33) has an image recognition module built in its interior to cooperate with the centering cameras (34).

9. The robotic arm auxiliary mechanism for stabilizing vehicle operation according to claim 7, characterized in that: The lead screw adjustment module (30) includes a drive motor fixed to the surface of the gripper (6) and an adjustment lead screw rotatably connected between the inner surfaces of the gripper (6). The output shaft end of the drive motor is fixedly connected to the adjustment lead screw. The circumferential side of the adjustment lead screw is symmetrically provided with a forward thread and a reverse thread. The circumferential side of the forward thread and the reverse thread are respectively connected to two centering clamps (31) for transmission.

10. The robotic arm auxiliary mechanism for stabilizing vehicle operation according to claim 8, characterized in that: The clamping bag assembly includes a clamping bag body (35) fixed to the clamping surface. An air chamber is fixedly opened inside the clamping bag body (35), and the air chamber is filled with gas. The clamping bag body (35) is made of silicone. A second air pressure probe (36) and a valve core that cooperate with the air chamber are fixedly installed on the surface of the clamping bag body (35). The port of the second air pressure probe (36) is electrically connected to the central control host (33).

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