A stable door and window profile processing and transfer robot arm

Abstract

The present invention discloses a stable door and window profile processing and transfer mechanical arm, which relates to the technical field of mechanical arms. The mechanical arm is designed to clamp and transfer irregularly shaped long door and window profiles. The characteristic is that an adjustment structure with adjustable clamping force is arranged in the clamping structure, and the power is transmitted to the adjustment structure through the transmission structure to realize the uniform adjustment of the clamping force of the clamping strip. At the same time, the limiting structure limits the clamping force of the clamping strip to ensure that it can be automatically reduced when the clamping force is too large, so as to ensure the fitting clamping and transfer of irregularly shaped long profiles. In addition, the clamping structure also includes a clamping plate driven by a hydraulic rod, and a plurality of independent clamping strips, which can be clamped and fixed more closely according to the shape of the profile surface. The design of the mechanical arm improves the efficiency and stability of door and window profile processing.

Description

Technical Field

[0001] The invention relates to a mechanical arm technology, in particular to a stable door and window profile processing and transfer mechanical arm. Background Art

[0002] As is known to all, robotic arms, as an automated equipment, play a vital role in industrial production. Especially in the field of door and window profile processing, the application of robotic arms can significantly improve production efficiency and quality stability. Through its flexible clamping structure and precise motion control, robotic arms can achieve efficient transfer and processing of door and window profiles of various shapes and sizes.

[0003] The disadvantage of the prior art is that, in the process of clamping irregular long strip profiles, relatively fixed clamping plates are generally used to clamp the irregular long strip profiles, and the clamping force at each location cannot be adjusted. When clamping irregular long strip door and window profiles, there are still problems such as uneven clamping force and unstable clamping. These problems not only affect the processing quality of door and window profiles, but also limit the scope of application and efficiency of the robot arm. Summary of the invention

[0004] The object of the present invention is to provide a stable door and window profile processing and transfer robot arm to solve the above-mentioned deficiencies in the prior art.

[0005] In order to achieve the above-mentioned object, the present invention provides the following technical solution: comprising: an irregularly shaped long strip profile for producing doors and windows and a mechanical arm for transferring the irregularly shaped long strip profile, a clamping structure is installed on the top of the mechanical arm to clamp the irregularly shaped long strip profile and place it on the door and window production line for door and window production;

[0006] The clamping structure is provided with an adjustable structure for adjusting the clamping force in the transfer frame, so that when the clamping structure clamps and transfers the irregular-shaped long strip profile, the clamping force on the surface of the irregular-shaped long strip profile is self-balanced;

[0007] Multiple groups of independent clamping strips arranged in the clamping structure are connected by a transmission structure, and the transmission structure applies power to the adjustment structure to achieve unified adjustment of the clamping force of the clamping strips when clamping irregularly shaped long strips of profiles. At the same time, the clamping force of the clamping strips is limited by the limiting structure, and when the clamping force of the clamping strips is too large, the clamping force can be automatically reduced, thereby achieving a more fitting clamping transfer for the irregularly shaped long strips of profiles.

[0008] As a further description of the above technical solution: the clamping structure is installed on the top of the robot arm through an internally arranged transfer frame, and is used to achieve the clamping and transfer of irregularly shaped long strip profiles through the coordinated clamping force between the up and down sliding clamping plate arranged on the transfer frame and the gasket arranged at the bottom of the transfer frame surface.

[0009] As a further description of the above technical solution: the clamping structure includes a transfer frame installed on the top of the mechanical arm by fixing bolts, and hydraulic rods are installed on both sides of the surface of the transfer frame, and the bottom ends of the hydraulic rods are connected to the two ends of the clamping plate. The clamping plate slides up and down on the surface of the transfer frame and cooperates with the gaskets set at the two ends of the bottom of the transfer frame surface to clamp and transfer irregular-shaped long strips of profiles. A plurality of independent hollow cavity-shaped expansion grooves are provided at both ends of the bottom of the clamping plate, and each expansion groove is movably provided with an independent clamping strip, and each clamping strip can move up and down by itself at different distances, so as to achieve a more fitting clamping and fixation of the irregular-shaped long strips of profiles according to the shape of the surface.

[0010] As a further description of the above technical solution: the transmission structure connects the power between multiple independent clamping strips arranged at both ends of the bottom of the clamping plate through a gear-shaped transmission belt on the inner side. After the transmission structure is connected, the generated power is applied to the adjustment structure to uniformly adjust the maximum clamping force of multiple clamping strips on irregularly shaped long profiles. While uniformly adjusting multiple clamping strips, it does not affect the self-adjustment of each clamping strip after exceeding the maximum force during the clamping process.

[0011] As a further description of the above technical solution: the transmission structure includes a servo motor installed in the middle of the clamping plate surface to provide a power source, the top power output end of the servo motor is connected to the transmission shaft installed at both ends of the clamping plate surface through a transmission belt, a group of transmission rods are movably inserted in the transmission shaft, and the surface of the transmission rod is provided with a limit bar for not affecting the up and down sliding of the transmission rod while being able to rotate with the rotation of the transmission shaft, the limit bar is movably inserted in the limit groove provided on the inner side wall of the through groove penetrating through the rotating wheel and the transmission shaft, the rotating wheel is provided with multiple corresponding clamping bars and the number is matched with the clamping bars, each rotating wheel is movably inserted with a transmission rod and restricted by the limit bar, the bottom end of the transmission rod passes through the interior of the fixed sleeve and is fixedly connected to the top of the sliding column, so as to realize the power input to the adjustment structure.

[0012] As a further description of the above technical solution: an adjustment structure, an adjustment rod with a spiral groove on its surface, and a compression spring that provides clamping force is spirally inserted in the spiral groove, and the ultimate clamping force of the clamp is adjusted by the length of the compression spring inserted in the spiral groove on the surface of the adjustment rod.

[0013] As a further description of the above technical solution: the adjustment structure includes a fixed sleeve arranged at the top of the splint, a sliding column is arranged in the fixed sleeve, an adjusting rod is fixedly connected to the bottom end of the sliding column, a spiral groove is spirally opened on the surface of the adjusting rod, one end of a compression spring is spirally inserted in the spiral groove, the adjusting rod and the compression spring are inserted in the fixed groove, the fixed grooves are opened on both sides of the telescopic groove, a sliding bar is movably inserted in the end of the adjusting rod away from the sliding column, and the sliding bar passes through the adjusting rod and is inserted in the sliding column to connect the limiting structure.

[0014] As a further description of the above technical solution: the limiting structure is installed in the fixed sleeve arranged in the adjustment structure, and mainly produces two functions:

[0015] Part 1: After the limit clamping force of the clamping strip is adjusted by the adjusting structure, the position of the clamping strip is fixed;

[0016] The second part: In the process of clamping the irregular-shaped long strip profile by the clamping bar, the clamping within the limit clamping force range is limited to achieve the firm clamping of the irregular-shaped long strip profile. At the same time, after the clamping force exceeds the limit clamping force, the excess clamping force is self-balanced, and the position of the clamping bar is fixed again after balancing.

[0017] As a further description of the above technical solution: the limiting structure includes a sliding plate arranged at the end of the compression spring away from the sliding column for connecting to the rack, the sliding plate is slidably connected in the fixed groove, and sliding plates for limiting the sliding of the sliding plate are arranged on both sides of the sliding plate, the sliding plates are slidably connected in the sliding rails, and the sliding rails are opened on the inner walls on both sides of the fixed groove.

[0018] In the above technical scheme, the present invention provides a stable door and window profile processing and transfer robot arm, and the limiting structure also includes a resistance rod that movably penetrates the adjusting rod and is inserted in the sliding column. The resistance rod is inserted in the sliding column and one end is fixedly connected to form an adjustment column of the I-type. Slide grooves are opened on both sides of the surface of the adjusting column and slide along the size of the surface of the adjusting column to slide and resist one end of the connecting slide bar. The other end of the slide bar is connected to the bottom of the resistance box, and a clamping tooth is provided on the top of the resistance box through the outside of the sliding column. The outside of the clamping tooth is meshed with a connecting clamping ring, and the clamping ring is provided on the inner wall of the fixed sleeve. The other end of the adjusting column is connected to the inner wall of the sliding column through an electric push rod.

[0019] The present invention has the following advantages:

[0020] 1. Improve clamping stability: Through the adjustable clamping structure and transmission structure, the long strips of irregular shapes can be stably clamped to ensure the balance during the transfer process.

[0021] 2. Uniform adjustment of clamping force: The transmission structure can transmit power to the adjustment structure, uniformly adjust the clamping force of multiple clamps, and simplify the operation process.

[0022] 3. Automatically balance the clamping force: The limit structure can automatically adjust when the clamping force is too large, reduce the clamping force, avoid damage to the profile, and improve the applicability of the robotic arm.

[0023] 4. Enhanced clamping firmness: Multiple sets of independent clamping strips in the clamping structure can be clamped according to different profile shapes, which increases the firmness and stability of the clamping.

[0024] 5. Easy to operate: The robot arm has a reasonable design, compact structure, and easy operation, which can effectively improve the efficiency and quality of door and window profile processing and transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0026] Figure 1 A schematic diagram of the overall structure provided by an embodiment of the present invention;

[0027] Figure 2 A schematic diagram of the structure of a splint provided in an embodiment of the present invention;

[0028] Figure 3 A schematic diagram of the structure of a fixing sleeve provided in an embodiment of the present invention;

[0029] Figure 4 A schematic diagram of the structure of an adjustment rod provided in an embodiment of the present invention;

[0030] Figure 5 A schematic diagram of the structure of a clamping strip provided in an embodiment of the present invention;

[0031] Figure 6 A schematic diagram of the structure of a sliding column provided in an embodiment of the present invention;

[0032] Figure 7 A schematic diagram of the structure of a snap ring provided in an embodiment of the present invention;

[0033] Figure 8 A schematic diagram of the structure of a conflict box provided by an embodiment of the present invention;

[0034] Fig. 9 A schematic diagram of the structure of an adjustment column provided in an embodiment of the present invention;

[0035] Fig.10 A schematic diagram of the structure of a sliding disk provided in an embodiment of the present invention;

[0036] Fig.11 A schematic structural diagram of a telescopic slot provided in an embodiment of the present invention.

[0037] Description of reference numerals:

[0038] 1-mechanical arm; 2-irregular shaped long strip profile; 3-gasket; 4-transfer frame; 5-plywood; 6-hydraulic rod; 7-transmission belt; 8-transmission shaft; 9-clamp strip; 10-servo motor; 11-fixed sleeve; 12-compression spring; 13-transmission rod; 14-limiting strip; 15-adjusting rod; 16-slide plate; 17-rotating wheel; 18-telescopic slot; 19-spiral slot; 20-fixed slot; 21-slide; 22-slide rail; 23-contact rod; 24-grip; 25-retaining ring; 26-slide column; 27-limiting slot; 28-through slot; 29-electric push rod; 30-adjusting column; 32-slide strip; 33-contact box; 34-slide slot. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0040] See also Figure 1-Figure 11 The embodiment of the present invention provides a technical solution for a stable door and window profile processing and transfer robot arm: comprising: an irregularly shaped long strip profile 2 for producing doors and windows and a robot arm 1 for transferring the irregularly shaped long strip profile 2, a clamping structure is installed at the top of the robot arm 1 to clamp the irregularly shaped long strip profile 2 and place it on the door and window production line for door and window production;

[0041] The clamping structure is provided with an adjustable clamping force adjustment structure in the transfer frame 4, so that when the clamping structure clamps and transfers the irregular-shaped long strip profile 2, the clamping force on the surface of the irregular-shaped long strip profile 2 is self-balanced;

[0042] Multiple groups of independent clamping strips 9 arranged in the clamping structure are connected by a transmission structure, and the transmission structure applies power to the adjustment structure to achieve uniform adjustment of the clamping force of the clamping strips 9 when clamping irregularly shaped long strip profiles 2. At the same time, the clamping force of the clamping strips 9 is limited by the limiting structure, and when the clamping force of the clamping strips 9 is too large, the clamping force can be automatically reduced, thereby achieving a more fitting clamping transfer of the irregularly shaped long strip profiles 2.

[0043] In another embodiment provided by the present invention, the clamping structure is installed on the top of the robot arm 1 through an internally arranged transfer frame 4, and is used to achieve the clamping and transfer of irregularly shaped long strip profiles 2 through the coordinated clamping force between the up and down sliding clamping plate 5 arranged on the transfer frame 4 and the gasket 3 arranged at the bottom of the surface of the transfer frame 4.

[0044] In another embodiment provided by the present invention, the clamping structure includes a transfer frame 4 installed on the top of the mechanical arm 1 by fixing bolts, and hydraulic rods 6 are installed on both sides of the surface of the transfer frame 4, and the bottom ends of the hydraulic rods 6 are connected to the two ends of the clamping plate 5. The clamping plate 5 slides up and down on the surface of the transfer frame 4 to cooperate with the gaskets 3 set at the two ends of the bottom of the surface of the transfer frame 4 to clamp and transfer the irregular-shaped long strip profile 2. A plurality of independent cavity-shaped expansion grooves 18 are opened at both ends of the bottom of the clamping plate 5, and each expansion groove 18 is movably provided with an independent clamping strip 9, and each clamping strip 9 can move up and down by itself at different distances, so as to realize a more fitting clamping and fixation of the irregular-shaped long strip profile 2 according to the shape of the surface.

[0045] In another embodiment provided by the present invention, the transmission structure connects the power between the multiple independent clamping strips 9 arranged at the two ends of the inner bottom of the clamping plate 5 through the transmission belt 7 with a gear on the inner side. After the transmission structure is connected, the generated power is applied to the adjustment structure to uniformly adjust the maximum clamping force of the multiple clamping strips 9 on the irregularly shaped long strip profiles 2. While uniformly adjusting the multiple clamping strips 9, it does not affect the self-adjustment of each clamping strip 9 after exceeding the maximum force during the clamping process.

[0046] In another embodiment provided by the present invention, the transmission structure includes a servo motor 10 installed in the middle of the surface of the splint 5 to provide a power source, and the top power output end of the servo motor 10 is connected to the transmission shaft 8 rotatably installed at both ends of the surface of the splint 5 through a transmission belt 7. A group of transmission rods 13 are movably inserted in the transmission shaft 8. The surface of the transmission rod 13 is provided with a limit bar 14 for not affecting the up and down sliding of the transmission rod 13 while being able to rotate with the rotation of the transmission shaft 8. The limit bar 14 is movably inserted in the limit groove 27 provided on the inner side wall of the through groove 28 penetrating through the rotating wheel 17 and the transmission shaft 8. The rotating wheel 17 is provided with multiple corresponding clamping strips 9 and the number is adapted to the clamping strips 9. Each rotating wheel 17 is movably inserted with a transmission rod 13 and is restricted by the limit bar 14. The bottom end of the transmission rod 13 passes through the interior of the fixed sleeve 11 and is fixedly connected to the top of the sliding column 26, so as to realize the input of power to the adjustment structure.

[0047] In another embodiment provided by the present invention, an adjusting structure is provided inside an adjusting rod 15 having a spiral groove 19 on its surface, and a compression spring 12 providing clamping force is spirally inserted in the spiral groove 19. The ultimate clamping force of the clamping strip 9 is adjusted by adjusting the insertion length of the compression spring 12 in the spiral groove 19 on the surface of the adjusting rod 15.

[0048] In another embodiment provided by the present invention, the adjustment structure includes a fixed sleeve 11 arranged at the top of the splint 5, a sliding column 26 is arranged in the fixed sleeve 11, and an adjusting rod 15 is fixedly connected to the bottom end of the sliding column 26. A spiral groove 19 is spirally opened on the surface of the adjusting rod 15, and one end of the compression spring 12 is spirally inserted in the spiral groove 19. The adjusting rod 15 and the compression spring 12 are inserted in the fixed groove 20, and the fixed groove 20 is opened on both sides of the telescopic groove 18. A sliding bar 32 is movably inserted in the end of the adjusting rod 15 away from the sliding column 26, and the sliding bar 32 passes through the adjusting rod 15 and is inserted in the sliding column 26 to connect the limiting structure.

[0049] In another embodiment provided by the present invention, the limiting structure is installed in the fixing sleeve 11 provided in the adjusting structure, and mainly performs two functions:

[0050] Part 1: After the limit clamping force of the clamping strip 9 is adjusted by the adjusting structure, the position of the clamping strip 9 is fixed;

[0051] The second part: During the process of the clamping strip 9 clamping the irregularly shaped long strip profile 2, a limitation is provided on the clamping within the range of the limit clamping force, so as to achieve the firmness of the clamping of the irregularly shaped long strip profile 2. At the same time, after the clamping force exceeds the limit clamping force, the excess clamping force is self-balanced, and the position of the clamping strip 9 is fixed again after balancing.

[0052] In another embodiment provided by the present invention, the limiting structure includes a sliding plate 16 for connecting to a rack, which is arranged at the end of the compression spring 12 away from the sliding column 26. The sliding plate 16 is slidably connected in the fixed groove 20, and sliding plates 21 for limiting the sliding of the sliding plate 16 are arranged on both sides of the sliding plate 16. The sliding plates 21 are slidably connected in the sliding rails 22, and the sliding rails 22 are opened on the inner walls on both sides of the fixed groove 20.

[0053] In another embodiment provided by the present invention, preferably, the limiting structure also includes a resistance rod 23 that movably penetrates the adjusting rod 15 and is inserted into the sliding column 26. The resistance rod 23 is inserted into the sliding column 26 and one end is fixedly connected to form an I-shaped adjusting column 30. Slide grooves 34 are provided on both sides of the surface of the adjusting column 30 and slide along the size of the surface of the adjusting column 30 to slide and resist one end of the connecting slide bar 32. The other end of the slide bar 32 is connected to the bottom of the resistance box 33. The top of the resistance box 33 passes through the outside of the sliding column 26 and is provided with a latch tooth 24. The outside of the latch tooth 24 is meshed with a snap ring 25. The snap ring 25 is arranged on the inner wall of the fixed sleeve 11. The other end of the adjusting column 30 is connected to the inner wall of the sliding column 26 through an electric push rod 29.

[0054] When the irregular-shaped long strip profile 2 is clamped and transferred by the robot arm 1, the servo motor 10 is started according to the type of the irregular-shaped long strip profile 2 to be clamped and the clamping force that can be sustained. The servo motor 10 is started to drive the transmission shaft 8 to rotate through the transmission belt 7. While the transmission shaft 8 rotates, it is limited by the internally inserted transmission rod 13 and the limit strip 14 and the limit groove 27 set on the surface, thereby driving the multiple transmission rods 13 to rotate. While the transmission rod 13 rotates, it drives the sliding column 26 installed in the fixed sleeve 11 to move forward. The slide column 26 rotates in the fixed sleeve 11 and drives the adjusting rod 15 to rotate. The adjusting rod 15 rotates and the spiral groove 19 on the surface of the adjusting rod 15 rotates, so that the compression spring 12 is folded in the spiral groove 19 or popped outward. The multiple groups of adjusting rods 15 and the slide column 26 rotate synchronously, so that the multiple independent clamping strips 9 are adjusted at the bottom of the clamping plate 5, and the separation length between the compression spring 12 and the adjusting rod 15 is adjusted, and the elastic distance of the compression spring 12 is adjusted, so as to adjust the elasticity of the compression spring 12;

[0055] After the limit clamping force of the clamping strip 9 is adjusted, the position of the transfer rack 4 can be adjusted by the mechanical arm 1 to clamp and fix the irregular long strip profile 2 placed on the storage rack and then transfer it. During clamping, the hydraulic rod 6 is started to drive the clamping plate 5 to slide downward on the surface of the transfer rack 4, so that the clamping plate 5 cooperates with the gasket 3 to clamp the irregular long strip profile 2, and then the irregular long strip profile 2 can be transferred by the mechanical arm 1;

[0056] During the clamping and transferring process, a plurality of mutually independent clamping strips 9 will adhere to the surface of the irregularly shaped long strip profile 2 for clamping. When the surface of the irregularly shaped long strip profile 2 is concave downward or clamped at a lower position, the clamping force of the clamping strip 9 here will be relatively small. When the surface of the irregularly shaped long strip profile 2 is clamped at a higher position where it bulges upward, the resistance force on the clamping strip 9 is relatively large. At this time, the clamping strip 9 has a relatively large extrusion force on the sliding plate 16 and the compression spring 12, which also leads to a relatively large clamping force on the irregularly shaped long strip profile 2. When the clamping strip 9 is retracted inward to After reaching the limit position, the sliding plate 16 provided at the bottom end of the clamping strip 9 will squeeze the abutment rod 23, inserting the abutment rod 23 into the sliding column 26. At this time, the electric push rod 29 is squeezed by the adjusting column 30 and starts to shrink, thereby sliding the adjusting column 30 upward in the sliding column 26, so that the sliding strip 32 slides upward with the sliding column 26, and the sliding strip 32 is restricted in the sliding groove 34 opened on the surface of the sliding column 26. The abutment box 33 is restricted by the position of the sliding strip 32 contacting the surface of the adjusting column 30, and the abutment box 33 is retracted into the sliding column 26, thereby the latching teeth 24 on the surface of the abutment box 33 are contacted with the fixed teeth 24. The retaining ring 25 provided on the inner wall of the fixed sleeve 11 is separated, and at this time, the fixed sleeve 11 and the sliding column 26 are separated, so that the sliding column 26 will slide to the top in the fixed sleeve 11 as the contact rod 23 is squeezed, and at this time, the transmission rod 13 can be pushed upward in the rotating wheel 17, and the excessive squeezing force on the compression spring 12 can be released by lifting the bottom end upward. After being released to a certain extent, the contact force between the sliding plate 16 and the top of the contact rod 23 disappears, and the electric push rod 29 automatically rebounds, thereby moving the adjusting column 30 downward in the fixed sleeve 11. The sliding rod 23 will continue to contact the sliding plate 16, and thus the sliding column 26 will continue to be pushed upward in the fixing sleeve 11. At this time, the sliding restriction of the sliding bar 32 in the sliding groove 34 on the surface of the adjusting column 30 will cause the contact box 33 to slide downward, so that the outward protruding area of ​​the adjusting column 30 will press and contact the contact box 33, so that the clamping teeth 24 and the clamping ring 25 provided on the inner side wall of the fixing sleeve 11 will be engaged with each other, so as to fix the sliding column 26 and the fixing sleeve 11, and the clamping force of the multiple independent clamping strips 9 on the irregular-shaped long strip profile 2 is relatively balanced;

[0057] During the clamping process, the lengths of the clamping strips 9 contacting the surface of the irregularly shaped long strip profile 2 are different, which also provides a limiting effect on the lateral displacement of the irregularly shaped long strip profile 2, thereby achieving better fixing and clamping of the irregularly shaped long strip profile 2;

[0058] It should be noted that the limit bars 14 arranged on both sides of the transmission rod 13 can ensure that the transmission rod 13 can slide up and down with the sliding column 26. At the same time, through the limiting effect of the limit bars 14 and the limit grooves 27 opened on both sides of the through groove 28, the adjustment rod 15 can drive the sliding column 26 to rotate with the rotation of the rotating wheel 17.

[0059] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A stable door and window profile processing and transfer robot arm, comprising: Irregularly shaped long strips of profile (2) for producing doors and windows and a mechanical arm (1) for transferring the irregularly shaped long strips of profile (2), wherein a clamping structure is installed at the top end of the mechanical arm (1) to clamp the irregularly shaped long strips of profile (2) and place them on a door and window production line for door and window production, characterized in that: The clamping structure is provided with an adjustable structure for adjusting the clamping force in the transfer frame (4), so that when the clamping structure clamps and transfers the irregular-shaped long strip profile (2), the clamping force on the surface of the irregular-shaped long strip profile (2) is self-balanced; A plurality of mutually independent clamping strips (9) arranged in the clamping structure are connected via a transmission structure, and the transmission structure applies power to the adjustment structure, so as to uniformly adjust the clamping force of the clamping strips (9) when clamping the irregularly shaped long strip profile (2). At the same time, the clamping force of the clamping strips (9) is limited by the limiting structure, and when the clamping force of the clamping strips (9) is too large, the clamping force can be automatically reduced, so as to achieve a more fitting clamping transfer of the irregularly shaped long strip profile (2); The clamping structure comprises a transfer frame (4) mounted on the top of the mechanical arm (1) by means of fixing bolts, hydraulic rods (6) are mounted on both sides of the surface of the transfer frame (4), the bottom ends of the hydraulic rods (6) are connected to the two ends of the clamping plate (5), the clamping plate (5) slides up and down on the surface of the transfer frame (4) to cooperate with the gaskets (3) arranged at the two ends of the bottom of the surface of the transfer frame (4) to clamp and transfer the irregularly shaped long strip profile (2), a plurality of independent hollow cavity-shaped telescopic grooves (18) are provided at the two ends of the bottom of the clamping plate (5), each of the telescopic grooves (18) is movably provided with an independent clamping strip (9), each of the clamping strips (9) can move up and down by itself at different distances, so as to achieve a more fitting clamping and fixing of the irregularly shaped long strip profile (2) according to the shape of the surface; The transmission structure comprises a servo motor (10) for providing a power source and installed in the middle of the surface of the clamping plate (5); the power output end at the top of the servo motor (10) is connected to a transmission shaft (8) rotatably installed at both ends of the surface of the clamping plate (5) through a transmission belt (7); a group of transmission rods (13) are movably inserted in the transmission shaft (8); and a limit strip (14) is provided on the surface of the transmission rod (13) for rotating with the rotation of the transmission shaft (8) without affecting the up and down sliding of the transmission rod (13); and the limit strip (14) is (14) is movably inserted into a limiting groove (27) provided on the inner side wall of a through groove (28) penetrating through the rotating wheel (17) and the transmission shaft (8); the rotating wheel (17) is provided with a plurality of corresponding clamping strips (9) and the number of the clamping strips (9) is adapted to the clamping strips (9); a transmission rod (13) is movably inserted into each rotating wheel (17) and is restricted by the limiting strip (14); the bottom end of the transmission rod (13) passes through the interior of the fixing sleeve (11) and is fixedly connected to the top end of the sliding column (26), so as to realize the input of power to the adjustment structure.

2. A stable door and window profile processing and transfer robot arm (1) according to claim 1, characterized in that: The adjustment structure comprises a fixing sleeve (11) arranged at the top of the clamping plate (5), a sliding column (26) being arranged in the fixing sleeve (11), an adjusting rod (15) being fixedly connected to the bottom end of the sliding column (26), a spiral groove (19) being spirally provided on the surface of the adjusting rod (15), one end of a compression spring (12) being spirally inserted in the spiral groove (19), the adjusting rod (15) and the compression spring (12) being inserted in a fixing groove (20), the fixing groove (20) being provided on both sides of the telescopic groove (18), a sliding bar (32) being movably inserted in the end of the adjusting rod (15) away from the sliding column (26), and the sliding bar (32) passing through the adjusting rod (15) and being inserted in the sliding column (26) to connect with the limiting structure.

3. A stable door and window profile processing and transfer robot arm (1) according to claim 2, characterized in that: The limiting structure comprises a sliding plate (16) arranged at one end of the compression spring (12) away from the sliding column (26) for connecting to the rack, the sliding plate (16) being slidably connected in the fixed groove (20), and sliding plates (21) for limiting the sliding of the sliding plate (16) being arranged on both sides of the sliding plate (16), the sliding plates (21) being slidably connected in the sliding rails (22), and the sliding rails (22) being arranged on the inner side walls on both sides of the fixed groove (20).

4. A stable door and window profile processing and transfer robot arm (1) according to claim 3, characterized in that: The limiting structure also includes a resistance rod (23) that movably passes through the adjustment rod (15) and is inserted into the sliding column (26). The resistance rod (23) is inserted into the sliding column (26) and one end is fixedly connected to form an I-shaped adjustment column (30). Slide grooves (34) are provided on both sides of the surface of the adjustment column (30) and slide along the size of the surface of the adjustment column (30) to slide and resist one end of the connecting slide bar (32). The other end of the slide bar (32) is connected to the bottom of the resistance box (33). The top of the resistance box (33) passes through the outside of the sliding column (26) and is provided with a clamping tooth (24). The outer side of the clamping tooth (24) is meshed with a clamping ring (25). The clamping ring (25) is arranged on the inner wall of the fixed sleeve (11). The other end of the adjustment column (30) is connected to the inner wall of the sliding column (26) through an electric push rod (29).

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