Self-adaptive three-dimensional mechanical arm capable of preventing scratching and slipping

Abstract

The application discloses a self-adaptive three-dimensional mechanical arm capable of preventing goods from slipping and being grabbed, and relates to the field of mechanical arms.The self-adaptive three-dimensional mechanical arm comprises an arm body, a connecting seat, a mounting block and a clamping mechanism.The connecting seat is installed at the end of the arm body, and the mounting block is fixed below the connecting seat.The clamping mechanism is arranged on the outer side of the mounting block and is used for grabbing goods.The clamping mechanism comprises a transverse clamping plate and a longitudinal clamping plate.The transverse clamping plate is symmetrically arranged left and right about the center line of the mounting block, and the longitudinal clamping plate is symmetrically arranged front and back about the center line of the mounting block.A first control block is arranged above the transverse clamping plate.The self-adaptive three-dimensional mechanical arm can provide clamping for the four sides of the goods through the transverse clamping plate and the longitudinal clamping plate, and can move the goods through the longitudinal clamping plate after clamping.The bottom supporting plate can be moved below the goods to provide support and protection for the bottom of the goods, so that the goods can be prevented from slipping.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of mechanical arms, in particular to an autonomous adaptive three-dimensional mechanical arm capable of preventing slipping. BACKGROUND

[0002] A mechanical arm is a commonly used product moving device in automatic production and processing. A three-dimensional mechanical arm can move in three directions (x, y and z) and can move products in multiple directions. When the mechanical arm is in use, the product can be clamped by the clamping part at the end of the arm, and then the product can be moved to a specified position by the movement of the arm. A mechanical hand capable of preventing goods from slipping, disclosed on May 22, 2020, and applied for under the application number CN201921357761.7, can generate negative air pressure in the second air pipe, the movable pipe and the suction cup by pumping the air in the air connector through the air pump, so as to generate a certain adsorption force on the top of the goods through the suction cup when the suction cup contacts the top of the goods, thereby improving the stability of the goods during transportation. The extension structure facilitates the recovery of the suction cup to the initial position after unloading through the rebound of the spring, and the spring can provide a certain buffering capacity when the suction cup contacts the goods, thereby improving the convenience of use. A mechanical clamping arm for mechanical manufacturing, disclosed on November 14, 2023, and applied for under the application number CN202321271218.1, can drive the clamping plate to move and clamp the workpiece by driving the bidirectional screw to rotate through the servo motor. When clamping the special-shaped workpiece, the clamping plate first contacts the special-shaped workpiece, and then the piston is moved by starting the air pump, thereby pushing the plurality of insertion rods to extrude at different positions of the special-shaped workpiece, thereby improving the contact area between the clamping arm and the outer side of the special-shaped workpiece, and thereby improving the stability of the clamping arm in clamping the special-shaped workpiece, and further avoiding damage caused by the special-shaped workpiece falling during clamping.

[0003] The current mechanical arm generally uses clamping to limit the goods when grabbing the goods, and then controls the movement of the goods by moving the arm. Since the goods are placed on the supporting surface before clamping, the bottom of the goods is in a suspended state after the goods are clamped. When the goods move or are externally bumped, the goods are prone to slip downward. Only relying on the clamping force to fix the goods also requires a large clamping force, and the possibility of damage to the surface of the goods increases with the increase of the clamping force. SUMMARY

[0004] The autonomous adaptive three-way mechanical arm of the present application can solve the problem that the current mechanical arm is generally used to limit the goods by clamping when grabbing the goods, and then the goods are moved by controlling the movement of the arm.

[0005] To achieve the above object, the present application provides the following technical solution: an autonomous adaptive three-way mechanical arm for preventing the goods from slipping off during grabbing, comprising an arm body, a connecting seat, a mounting block and a clamping mechanism, the connecting seat is installed at the end of the arm body, and the mounting block is fixed below the connecting seat, the clamping mechanism is arranged on the outer side of the mounting block for grabbing the goods, the clamping mechanism comprises a transverse clamping plate and a longitudinal clamping plate, the transverse clamping plate is symmetrically arranged about the center line of the mounting block, and the longitudinal clamping plate is symmetrically arranged about the center line of the mounting block.

[0006] A first control block is arranged above the transverse clamping plate, and a left-right sliding structure is formed between the first control block and the mounting block, a second control block is arranged above the longitudinal clamping plate, and a front-rear sliding structure is formed between the second control block and the mounting block, a movement control mechanism is connected to the outer sides of the first control block and the second control block for controlling the movement of the first control block and the second control block, a rotating wheel is arranged on the inner side of the transverse clamping plate, a support frame is arranged on the outer side of the rotating wheel, the support frame is located inside the transverse clamping plate, a first telescopic controller is connected to the outer side of the support frame for controlling the contact between the rotating wheel and the goods, an adaptive adjustment mechanism is arranged between the transverse clamping plate and the first control block for adjusting the position of the transverse clamping plate when the rotating wheel moves, a bottom supporting plate is arranged below the transverse clamping plate, a rotating control mechanism is connected above the bottom supporting plate, the bottom supporting plate is moved to the bottom of the goods to provide anti-slip protection for the bottom of the goods, a connecting plate is arranged through the upper end of the longitudinal clamping plate, the connecting plate is fixedly connected with the second control block, and a vertical control mechanism is arranged above the longitudinal clamping plate for controlling the vertical position of the longitudinal clamping plate.

[0007] Further optimization of the technical solution, the movement control mechanism comprises a traction rope, a first reset spring, a control shaft and a motor.

[0008] The traction rope is arranged on the inner side of the first control block and the second control block to control the movement thereof.

[0009] The first reset spring is arranged on the inner side of the first control block and the second control block to provide an outward reset force for the first control block and the second control block.

[0010] A control shaft is rotatably installed inside the mounting block, and the control shaft is connected with the end of the traction rope to control the winding of the traction rope, and the traction rope is distributed on the control shaft in a staggered manner;

[0011] A motor is installed above the control shaft to control the rotation of the control shaft.

[0012] Further optimization of the technical solution, the outer end of the traction rope is connected with a winding shaft, the outer side of the winding shaft is rotatably connected with a movable block, and the movable block is located inside the first control block and the second control block respectively, and the end of the winding shaft is provided with a torsion spring to provide a rotary reset force for the winding shaft.

[0013] Further optimization of the technical solution, the movable block and the first control block and the second control block form a sliding connection, and the inner side of the movable block is provided with a limiting mechanism to limit the movement of the first control block and the second control block.

[0014] Further optimization of the technical solution, the limiting mechanism comprises a second reset spring, a locking block and a third reset spring;

[0015] The second reset spring is arranged on the inner side of the movable block to provide a pushing force for the movable block, and the elastic force of the second reset spring is greater than that of the first reset spring;

[0016] The locking block is arranged inside the first control block and the second control block and forms an up-down sliding structure, and the locking block is located inside the movable block, and the outer side of the movable block is designed in an inclined structure, and the upper end of the locking block penetrates the upper surface of the first control block and the second control block;

[0017] The third reset spring is arranged on the outer side of the locking block to provide a downward reset force for the locking block.

[0018] Further optimization of the technical solution, the self-adaptive adjusting mechanism comprises a fixed block, a connecting block and a fourth reset spring;

[0019] The fixed block is fixed below the first control block;

[0020] The connecting block is fixed above the transverse clamping plate, and the connecting block is located inside the fixed block and forms a left-right sliding structure between the fixed block;

[0021] The fourth reset spring is arranged on the outer side of the connecting block to provide a pushing force for the connecting block, so that the transverse clamping plate can move below the first control block.

[0022] Further optimization of the technical solution, the lower side of the transverse clamping plate is provided with a detector to detect the upward position of the goods.

[0023] Further optimize the technical scheme, the rotating control mechanism includes a gear plate, a movable gear and a rotating shaft;

[0024] The gear plate is fixed on the outer side of the support frame and moves synchronously with the support frame;

[0025] The movable gear is arranged between the outer side of the gear plate and the gear plate to form a meshing connection;

[0026] The rotating shaft is fixed in the middle of the movable gear, and the rotating shaft and the transverse clamping plate are connected in rotation;

[0027] The bottom supporting plate is fixed below the rotating shaft and is located below the transverse clamping plate and moves with the rotation of the rotating shaft.

[0028] Further optimize the technical scheme, the vertical control mechanism includes a control plate, a connecting head and a second telescopic controller;

[0029] The control plate is arranged above the longitudinal clamping plate;

[0030] The connecting head is fixed to the upper end of the longitudinal clamping plate, and the connecting head and the control plate form a front and rear sliding structure;

[0031] The second telescopic controller is fixed above the mounting block, and the upper side of the second telescopic controller is connected with the control plate to control the movement of the control plate.

[0032] Compared with the prior art, the beneficial effects of the present application are:

[0033] (1) The transverse clamping plate and the longitudinal clamping plate provide clamping on four sides of the goods, and after clamping, the longitudinal clamping plate can drive the goods to move, and the bottom supporting plate can be moved below the goods to provide support and protection for the bottom of the goods, thereby preventing the goods from slipping off, and the subsequent movement of the goods is more stable and reliable, reducing the possibility of goods falling;

[0034] (2) The rotating wheel arranged on the transverse clamping plate can make the longitudinal clamping plate drive the goods to move stably in the vertical direction, and after the goods are moved, the rotating wheel can be stored in the inside of the transverse clamping plate, so that the transverse clamping plate and the goods are in contact, thereby increasing the contact area of the goods and improving the subsequent clamping stability;

[0035] (3) The meshing of the gear plate and the movable gear can automatically drive the rotating shaft to rotate when the rotating wheel is stored, so that the rotating shaft can automatically bring the bottom supporting plate out below the goods to prevent the goods from falling, and when the movable wheel is extended outward, the bottom supporting plate is automatically turned to the outside, without affecting the movement of the goods from the clamping plate;

[0036] (4) through the traction rope and the cooperation of the winding shaft can be re-clamping plate and longitudinal clamping plate between a group of complete holding after another group can continue to move, so as to realize the clamping of rectangular goods, and cooperate with the movement of the movable block to extrude the locking block, the first control block and the second control block can be limited in the mounting block, improve the subsequent clamping stability;

[0037] (5) through the second telescopic controller drive control plate can drive the longitudinal clamping plate to move, so that it can drive the goods to move, and the longitudinal clamping plate can slide on the control plate in the horizontal direction through the connecting head, so that the second control block can stably drive the longitudinal clamping plate to move. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is the schematic diagram of the three-dimensional structure of the present application;

[0039] Figure 2 is the schematic diagram of the three-dimensional structure of the mounting block of the present application;

[0040] Figure 3 is the schematic diagram of the bottom view structure of the mounting block of the present application;

[0041] Figure 4 is the schematic diagram of the main section structure of the mounting block of the present application;

[0042] Figure 5 is the schematic diagram of the main section structure of the transverse clamping plate of the present application;

[0043] Figure 6 is the schematic diagram of the main section structure of the movable block of the present application;

[0044] Figure 7 is the schematic diagram of the three-dimensional structure of the bottom supporting plate of the present application;

[0045] Figure 8 is the schematic diagram of the side section structure of the mounting block of the present application;

[0046] Figure 9 is the schematic diagram of the main section structure of the mounting block of the present application.

[0047] In the figure: 1, arm main body; 2, connecting seat; 3, mounting block; 4, transverse clamping plate; 5, longitudinal clamping plate; 6, first control block; 7, second control block; 8, traction rope; 9, first reset spring; 10, control shaft; 11, motor; 12, movable block; 13, second reset spring; 14, locking block; 15, third reset spring; 16, winding shaft; 17, torsion spring; 18, rotating wheel; 19, support frame; 20, first telescopic controller; 21, fixed block; 22, connecting block; 23, fourth reset spring; 24, toothed plate; 25, movable gear; 26, rotating shaft; 27, bottom supporting plate; 28, detector; 29, connecting plate; 30, control panel; 31, connector; 32, second telescopic controller. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0049] Please refer to Figures 1-9 The present application provides the following technical solutions: a self-adaptive three-dimensional mechanical arm capable of preventing slipping and grabbing, comprising an arm main body 1, a connecting seat 2, a mounting block 3, and a clamping mechanism, the connecting seat 2 is installed at the end of the arm main body 1, and the mounting block 3 is fixed below the connecting seat 2, the outer side of the mounting block 3 is provided with the clamping mechanism for grabbing goods. Embodiment one:

[0050] As Figures 1-5 shown, the present application provides a technical solution: a self-adaptive three-dimensional mechanical arm capable of preventing slipping and grabbing, which discloses:

[0051] The clamping mechanism comprises a transverse clamping plate 4 and a longitudinal clamping plate 5, the transverse clamping plate 4 is symmetrically arranged about the center line of the mounting block 3, the longitudinal clamping plate 5 is symmetrically arranged about the center line of the mounting block 3, a first control block 6 is arranged above the transverse clamping plate 4, a left-right sliding structure is formed between the first control block 6 and the mounting block 3, a second control block 7 is arranged above the longitudinal clamping plate 5, a front-rear sliding structure is formed between the second control block 7 and the mounting block 3, and a movement control mechanism is connected to the outer sides of the second control block 7 and the first control block 6 to control the movement of the first control block 6 and the second control block 7, a rotating wheel 18 is arranged on the inner side of the transverse clamping plate 4, a support frame 19 is arranged on the outer side of the rotating wheel 18, the support frame 19 is located in the interior of the transverse clamping plate 4, and a first telescopic controller 20 is connected to the outer side of the support frame 19 to control the contact between the rotating wheel 18 and the goods, a self-adaptive adjustment mechanism is arranged between the transverse clamping plate 4 and the first control block 6 to adjust the position of the transverse clamping plate 4 when the rotating wheel 18 moves, a bottom supporting plate 27 is arranged below the transverse clamping plate 4, a rotating control mechanism is connected to the upper side of the bottom supporting plate 27, the bottom supporting plate 27 is moved to the bottom of the goods to provide anti-falling protection for the bottom of the goods, a connecting plate 29 penetrates through the upper end of the longitudinal clamping plate 5, the connecting plate 29 is fixedly connected with the second control block 7, and a vertical control mechanism is arranged above the longitudinal clamping plate 5 to control the vertical position of the longitudinal clamping plate 5.

[0052] In use, the connecting seat 2 and the mounting block 3 can be moved by the arm body 1, the goods can be clamped by the clamping mechanism after being moved to the goods to be transferred, the side edges of the goods can be clamped by the transverse clamping plate 4 and the longitudinal clamping plate 5, after the goods are clamped, the longitudinal clamping plate 5 can be moved to move the goods upward, the goods can be moved on the inner side of the transverse clamping plate 4 by the rotating wheel 18, the bottom supporting plate 27 can be moved to the bottom of the goods to provide bottom support for the goods, so that the risk of sliding and falling of the goods is prevented. Embodiment two

[0053] As Figures 6-9 shown, on the basis of embodiment one, the application provides a technical solution: a self-adaptive three-dimensional mechanical arm capable of preventing grabbing and sliding, which discloses

[0054] The mobile control mechanism comprises a traction rope 8, a first reset spring 9, a control shaft 10 and a motor 11. The traction rope 8 is arranged inside the first control block 6 and the second control block 7 to control the movement thereof. The first reset spring 9 is arranged inside the first control block 6 and the second control block 7 to provide an outward pushing reset force for the first control block 6 and the second control block 7. The control shaft 10 is rotatably arranged inside the mounting block 3. The control shaft 10 is connected with the end of the traction rope 8 to control the winding of the traction rope 8. The traction rope 8 is staggered on the control shaft 10. The motor 11 is arranged above the control shaft 10 to control the rotation of the control shaft 10. The outer end of the traction rope 8 is connected with a winding shaft 16. The winding shaft 16 is rotatably connected with a movable block 12. The movable block 12 is arranged inside the first control block 6 and the second control block 7. The end of the winding shaft 16 is provided with a torsion spring 17 to provide a rotating reset force for the winding shaft 16. The movable block 12 is slidably connected with the first control block 6 and the second control block 7. The inner side of the movable block 12 is provided with a limiting mechanism to limit the movement of the first control block 6 and the second control block 7. The limiting mechanism comprises a second reset spring 13, a locking block 14 and a third reset spring 15. The second reset spring 13 is arranged inside the movable block 12 to provide a pushing force for the movable block 12. The elastic force of the second reset spring 13 is greater than that of the first reset spring 9. The locking block 14 is arranged inside the first control block 6 and the second control block 7 to form an up-and-down sliding structure. The locking block 14 is arranged inside the movable block 12. The outer side of the movable block 12 is designed in an inclined structure. The upper end of the locking block 14 penetrates through the upper surface of the first control block 6 and the second control block 7. The third reset spring 15 is arranged outside the locking block 14 to provide a downward pushing reset force for the locking block 14. The self-adaptive adjusting mechanism comprises a fixed block 21, a connecting block 22 and a fourth reset spring 23. The fixed block 21 is fixed below the first control block 6. The connecting block 22 is fixed above the horizontal clamping plate 4. The connecting block 22 is arranged inside the fixed block 21 to form a left-and-right sliding structure. The fourth reset spring 23 is arranged outside the connecting block 22 to provide a pushing force for the connecting block 22 so that the horizontal clamping plate 4 can move below the first control block 6.

[0055] When controlling the movement of the transverse clamping plate 4 and the longitudinal clamping plate 5, the control shaft 10 can be rotated by the motor 11, causing the control shaft 10 to wind up the traction rope 8, pulling the first control block 6 and the second control block 7 to move. The first control block 6 and the second control block 7 respectively drive the transverse clamping plate 4 and the longitudinal clamping plate 5 to move. After the transverse clamping plate 4 or the longitudinal clamping plate 5 clamps the goods, the control shaft 10 continues to rotate to drive the other set to move. At the same time, the control block that has completed clamping stops moving, and the traction rope 8 will pull the movable block 12 to move, causing the movable block 12 to press the locking block 14. The locking block 14 is connected to the mounting block 3 to lock its position. After the movable block 12 stops moving, the traction rope 8 continues to be subjected to... Pulling the traction rope 8 allows it to unwind on the winding shaft 16, while the torsion spring 17 stores force, enabling the transverse clamping plate 4 and the longitudinal clamping plate 5 to accommodate goods with different aspect ratios. After the transverse clamping plate 4 clamps the goods via the rotating wheel 18, the first control block 6 is moved, causing the connecting block 22 to compress the fourth return spring 23, providing space for the transverse clamping plate 4 to move. Subsequently, when the support frame 19 is moved via the first telescopic controller 20, the support frame 19 will drive the rotating wheel 18 to move. As the rotating wheel 18 moves into the transverse clamping plate 4, the fourth return spring 23 will push the connecting block 22 to move the transverse clamping plate 4, allowing the transverse clamping plate 4 to fit snugly against the goods, resulting in more stable clamping. Example 3:

[0056] like Figures 1-9 As shown, based on Embodiment 2, the present invention provides a technical solution: an autonomously adaptable three-directional robotic arm with anti-grasping slippage capability, which discloses:

[0057] A detector 28 is installed below the transverse clamping plate 4 to detect the upward movement of the goods. The rotation control mechanism includes a toothed plate 24, a movable gear 25, and a rotating shaft 26. The toothed plate 24 is fixed to the outside of the support frame 19 and moves synchronously with the support frame 19. The movable gear 25 is located on the outside of the toothed plate 24 and forms a meshing connection with the toothed plate 24. The rotating shaft 26 is fixed in the middle of the movable gear 25, and forms a rotatable connection between the rotating shaft 26 and the transverse clamping plate 4. The bottom support plate 27 is fixed below the rotating shaft 26, and the bottom... The support plate 27 is located below the horizontal clamping plate 4 and moves with the rotation of the rotating shaft 26. The vertical control mechanism includes a control plate 30, a connector 31, and a second telescopic controller 32. The control plate 30 is located above the vertical clamping plate 5. The connector 31 is fixed to the upper end of the vertical clamping plate 5, and the connector 31 and the control plate 30 form a front-to-back sliding structure. The second telescopic controller 32 is fixed above the mounting block 3, and the upper part of the second telescopic controller 32 is connected to the control plate 30 to control the movement of the control plate 30.

[0058] When the goods are controlled to move, the second telescopic controller 32 drives the control plate 30 to move, the control plate 30 drives the vertical movement of the longitudinal clamping plate 5, and the goods are moved, the detector 28 detects when the goods move above the horizontal clamping plate 4, thereby controlling the support frame 19 to move to retract the rotating wheel 18, and the gear plate 24 drives the rotating shaft 26 to rotate through the meshing between the movable gear 25, the rotating shaft 26 drives the bottom supporting plate 27 to move, and the bottom supporting plate 27 is extended into the goods below to prevent the goods from slipping.

[0059] The contents not described in detail in the specification belong to the prior art known to the person skilled in the art.

[0060] Although the present application is described in detail with reference to the foregoing embodiments, the skilled in the art can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An autonomous adaptive three-way mechanical arm with anti-grabbing and slipping, comprising an arm body (1), a connecting seat (2), a mounting block (3) and a clamping mechanism, the connecting seat (2) is installed at the end of the arm body (1), and the lower part of the connecting seat (2) is fixed with the mounting block (3), the outer side of the mounting block (3) is provided with the clamping mechanism for grabbing goods; characterized in that The clamping mechanism comprises a transverse clamping plate (4) and a longitudinal clamping plate (5), the transverse clamping plate (4) is symmetrically arranged about the center line of the mounting block (3), and the longitudinal clamping plate (5) is symmetrically arranged about the center line of the mounting block (3); The upper part of the transverse clamping plate (4) is provided with a first control block (6), and the first control block (6) and the mounting block (3) constitute a left-right sliding structure, the upper part of the longitudinal clamping plate (5) is provided with a second control block (7), the second control block (7) and the mounting block (3) constitute a front-rear sliding structure, and the outer side of the second control block (7) and the first control block (6) is connected with a movement control mechanism, the movement of the first control block (6) and the second control block (7) is controlled, the inner side of the transverse clamping plate (4) is provided with a rotating wheel (18), and the outer side of the rotating wheel (18) is provided with a support frame (19), the support frame (19) is located in the interior of the transverse clamping plate (4), and the outer side of the support frame (19) is connected with a first telescopic controller (20), the contact between the rotating wheel (18) and the goods is controlled, an adaptive adjustment mechanism is arranged between the transverse clamping plate (4) and the first control block (6), the position of the transverse clamping plate (4) is adjusted when the rotating wheel (18) moves, the lower part of the transverse clamping plate (4) is provided with a bottom supporting plate (27), and the upper part of the bottom supporting plate (27) is connected with a rotating control mechanism, the bottom supporting plate (27) moves to the lower part of the goods to provide anti-slip insurance for the bottom of the goods, the upper end of the longitudinal clamping plate (5) penetrates through a connecting plate (29), the connecting plate (29) and the second control block (7) are fixedly connected, and the upper part of the longitudinal clamping plate (5) is provided with a vertical control mechanism, the vertical position of the longitudinal clamping plate (5) is controlled; The movement control mechanism comprises a traction rope (8), a first reset spring (9), a control shaft (10) and a motor (11); The traction rope (8) is arranged on the inner side of the first control block (6) and the second control block (7) to control the movement thereof; The first reset spring (9) is arranged on the inner side of the first control block (6) and the second control block (7) to provide an outward reset force for the first control block (6) and the second control block (7); The control shaft (10) is rotatably installed in the interior of the mounting block (3), the end of the control shaft (10) is connected with the traction rope (8), the traction rope (8) is controlled to be wound on the control shaft (10), and the traction rope (8) is distributed on the control shaft (10) in a staggered manner; The motor (11) is installed above the control shaft (10) to control the rotation of the control shaft (10). The outer end of the traction rope (8) is connected with a winding shaft (16), the outer side of the winding shaft (16) is rotationally connected with a movable block (12), the movable block (12) is located inside the first control block (6) and the second control block (7) respectively, and the end of the winding shaft (16) is provided with a torsion spring (17) to provide a rotary reset force for the winding shaft (16); The movable block (12) and the first control block (6) and the second control block (7) are slidably connected, and the inner side of the movable block (12) is provided with a limiting mechanism to limit the movement of the first control block (6) and the second control block (7); The limiting mechanism comprises a second reset spring (13), a locking block (14) and a third reset spring (15); The second reset spring (13) is arranged on the inner side of the movable block (12) to provide a pushing force for the movable block (12), and the elastic force of the second reset spring (13) is greater than that of the first reset spring (9); The locking block (14) is arranged inside the first control block (6) and the second control block (7) and forms an up-down sliding structure, and the locking block (14) is located on the inner side of the movable block (12), and the outer side of the movable block (12) is designed in an inclined structure, and the upper end of the locking block (14) penetrates through the upper surface of the first control block (6) and the second control block (7); The third reset spring (15) is arranged on the outer side of the locking block (14) to provide a downward reset force for the locking block (14).

2. The self-adaptive three-dimensional mechanical arm of claim 1, wherein: The self-adaptive adjusting mechanism comprises a fixed block (21), a connecting block (22) and a fourth reset spring (23); The fixed block (21) is fixed below the first control block (6); The connecting block (22) is fixed above the horizontal clamping plate (4), and the connecting block (22) is located inside the fixed block (21) and forms a left-right sliding structure between the fixed block (21); The fourth reset spring (23) is arranged on the outer side of the connecting block (22) to provide a pushing force for the connecting block (22), so that the horizontal clamping plate (4) can move below the first control block (6).

3. The self-adaptive three-dimensional mechanical arm of claim 1, wherein: A detector (28) is installed below the horizontal clamping plate (4) to detect the upward position of the goods.

4. The self-adaptive three-dimensional mechanical arm of claim 1, wherein: The rotary control mechanism comprises a toothed plate (24), a movable gear (25) and a rotary shaft (26); The toothed plate (24) is fixed on the outer side of the support frame (19) and moves synchronously with the support frame (19); The movable gear (25) is arranged on the outer side of the toothed plate (24) and forms a meshing connection with the toothed plate (24); The rotary shaft (26) is fixed in the middle of the movable gear (25), and the rotary shaft (26) and the horizontal clamping plate (4) are rotationally connected; The bottom supporting plate (27) is fixed below the rotary shaft (26), and the bottom supporting plate (27) is located below the horizontal clamping plate (4) and moves with the rotation of the rotary shaft (26).

5. The self-adapting three-dimensional mechanical arm of claim 1, wherein: The vertical control mechanism comprises a control plate (30), a connecting head (31) and a second telescopic controller (32); The control plate (30) is arranged above the longitudinal clamping plate (5); The connecting head (31) is fixed at the upper end of the longitudinal clamping plate (5), and a front and back sliding structure is formed between the connecting head (31) and the control plate (30). The second telescopic controller (32) is fixed above the mounting block (3), and the upper portion of the second telescopic controller (32) is connected with the control plate (30) to control the movement of the control plate (30).

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