Negative pressure adsorption type transfer mechanical arm for metal plate machining

Abstract

The invention discloses a negative pressure adsorption type transfer mechanical arm for metal plate machining, and relates to the field of transfer mechanical arms, the negative pressure adsorption type transfer mechanical arm comprises a mechanical arm body, a negative pressure adsorption assembly is mounted at the tail end of the mechanical arm body, the negative pressure adsorption assembly at the tail end of the mechanical arm body comprises a mounting plate, and rotating boxes are rotationally connected to the four corners of the mounting plate correspondingly; telescopic rods are slidably connected into the rotating boxes, angle adjusting assemblies used for adjusting the angles of the rotating boxes on the two sides respectively are arranged on the mounting plate, and telescopic adjusting assemblies used for adjusting the elongation of the telescopic rods in the rotating boxes at the two ends respectively are further arranged on the mounting plate. The angle of the mounting box and the elongation of the telescopic rod are controlled through the angle adjusting mechanism and the sliding adjusting mechanism on the mounting plate, the positions of the suction cups can be adjusted when metal plates of different shapes and sizes are sucked, and the suction cups are reasonably distributed on the surfaces of the metal plates; and the situation that the metal plate is bent downwards and falls off due to the gravity of the metal plate in the transferring process after being sucked and held is effectively avoided.

Description

Technical Field

[0001] The invention relates to the field of transfer robot arms, and in particular to a negative pressure adsorption type transfer robot arm for metal plate processing. Background Art

[0002] The negative pressure adsorption transfer robot is a tool used to transfer metal sheets during the metal sheet processing process. It is generally composed of a multi-axis robot arm and a negative pressure suction cup fixedly connected to the robot arm. The negative pressure suction cup is used to hold the metal sheet, and then the multi-axis robot arm transfers the sheet to the predetermined position.

[0003] The Chinese patent with the relevant announcement number CN217626279U discloses a negative pressure adsorption type steel cabinet production and processing parts transfer robot arm, which is provided with a support base, the top of the support base is movably connected to one end of the robot arm, and the other end of the robot arm is movably installed with a connecting arm, and the bottom of the connecting arm is fixedly connected to a fixed plate; a vacuum pump is installed on the upper end surface of the fixed plate by bolts; it includes a connecting hose, a movable plate, and a guide rod, which can reduce the impact between the suction cup and the steel cabinet and blow away the dust at the suction cup when transporting a steel cabinet made of metal plates.

[0004] With regard to the above-mentioned related technologies, the negative pressure suction cups of existing negative pressure transfer robotic arms are mostly fixedly installed, and it is difficult to change the position of the negative pressure suction cups according to the shape and size of the metal plates to be transferred, so as to prevent the edges or the middle of the metal plates from bending and deforming due to gravity, which may easily cause the negative pressure suction cups to leak during the transfer of the metal plates, affecting the safety of the metal plate transfer process. In addition, the air outlet of the existing blowing structure is tilted to blow air toward the position where the suction cup is to be sucked, which may easily blow the dust on the side of the suction cup close to the air outlet to the side of the suction cup away from the air intake. There is still a certain amount of dust between the suction cup and the suction surface during the suction process, which reduces the suction stability of the suction cup. In summary, it is not easy for the existing negative pressure adsorption transfer robotic arms to adjust the position of the vacuum suction cups according to the shape of the metal plates, so as to achieve the purpose of stably sucking the metal plates. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a negative pressure adsorption transfer robot arm for metal plate processing, so as to solve the technical problem that the existing negative pressure adsorption transfer robot arm is not easy to stably hold metal plates of different shapes and sizes.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a negative pressure adsorption transfer robot arm for metal sheet processing, comprising a robot arm body, a negative pressure suction holding component installed at the end of the robot arm body, the negative pressure suction holding component at the end of the robot arm body comprising a mounting plate, the four corners of the mounting plate are rotatably connected to a rotating box, a telescopic rod is slidably connected in the rotating box, the mounting plate is provided with angle adjustment components for adjusting the angles of the rotating boxes on both sides respectively, the mounting plate is also provided with telescopic adjustment components for adjusting the elongation of the telescopic rods in the rotating boxes at both ends respectively, and the ends of the telescopic rods are connected to suction cups.

[0007] By adopting the above technical solution, the angle of the mounting box and the extension of the telescopic rod are respectively controlled by the angle adjustment mechanism on the mounting plate and the sliding adjustment mechanism. When adsorbing metal sheets of different shapes and sizes, the position of the suction cup can be adjusted so that the suction cup is reasonably distributed on the surface of the metal sheet, effectively preventing the metal sheet from bending downward due to its own gravity and falling during the transportation process after being sucked.

[0008] The present invention is further configured such that the angle adjustment assembly on the mounting plate includes a telescopic column, the telescopic column includes a fixed part fixedly connected to the mounting plate and a telescopic part that can be slidably extended and retracted, the end of the telescopic part of the telescopic column is fixedly connected to a connecting block, the top and bottom surfaces of the connecting block are fixedly connected to coaxial guide blocks, the end of the rotating box away from the suction cup is fixedly connected to a rotating seat, the rotating seats on the two rotating boxes on one side of the mounting plate are respectively located at the top and bottom ends of the rotating box, a slide groove is arranged in the rotating seat along the length direction, and the two guide blocks connected to the top and bottom surfaces of the connecting block are respectively slidably connected to the two slide grooves.

[0009] By adopting the above technical solution, the purpose of controlling the angle between the two rotating boxes on one side of the mounting plate is achieved by controlling the length of the telescopic column.

[0010] The present invention is further configured such that the mounting plate is connected to mutually parallel fixing plates via a fixing structure, the mounting plate and the fixing plate are respectively provided with a first guide groove and a second guide groove at positions corresponding to the movement trajectory of the connecting block, and the guide blocks connected to the top and bottom surfaces of the connecting block are respectively and simultaneously slidably connected in the first guide groove and the second guide groove.

[0011] By adopting the above technical solution, it is avoided that the telescopic column is disturbed by the rotating seat and deviates during the telescopic process.

[0012] The present invention is further configured such that a driving rod for driving the telescopic rod to be telescopically extended and retracted is rotatably connected in the rotating box, one end of the driving rod is extended out of the rotating box and is connected to a sliding rod through a universal joint, the sliding rod is slidably connected in a transmission column, the end of the transmission column is connected to the output end of the adjusting motor, and the adjusting motor is slidably installed on the mounting plate along the width direction of the mounting plate.

[0013] By adopting the above technical solution, the forward and reverse rotation of the sliding rod can adjust the extension amount of the telescopic rod from the rotating box.

[0014] The present invention is further configured such that an airbag is connected to the bottom of the suction cup through a fixing block, the bottom surface of the airbag is lower than the bottom surface of the suction cup and is fixedly connected to a supporting structure, and an air hole is opened at the center of the bottom surface of the airbag.

[0015] By adopting the above technical solution, the stability of the suction cup in holding the metal plate can be effectively improved.

[0016] The present invention is further configured such that a plurality of inclined support rods are connected to the bottom surface of the airbag at intervals along the circumferential direction, and the support rods gradually approach the bottom surface of the airbag during the process of the airbag being compressed after contacting the metal plate.

[0017] By adopting the above technical solution, the contact between the support rod and the surface of the metal plate can provide better flow space for the gas blown out of the airbag.

[0018] The present invention is further configured such that the fixing block is fixedly connected between the top surface of the airbag and the inner wall of the suction cup at intervals along the circumferential direction, and a spring is arranged in the airbag.

[0019] By adopting the above technical solution, the spring in the airbag helps the airbag to reset.

[0020] The present invention is further configured such that the mounting plate is provided with slide rails at both ends of the telescopic column along the width direction, a sliding platform is slidably connected to the slide rails, an adjusting motor is installed on the sliding platform, and output ends are provided at both coaxial ends of the adjusting motor and are both connected to a transmission column.

[0021] By adopting the above technical solution, the regulating motor can slide and adjust its position along the direction of the sliding table during the process of the rotating box rotating to adjust the angle, so as to ensure stable torque output for the driving rod.

[0022] The present invention is further configured such that the two rotating seats on the same side of the mounting plate are parallel to each other, and the transmission column and the sliding rod are located between the rotating seats at different heights.

[0023] By adopting the above technical solution, the sliding rod and the transmission column are prevented from interfering with the rotating seat when the rotating box is rotated to adjust the angle.

[0024] In summary, the present invention mainly has the following beneficial effects: 1. The present invention installs a rotating box capable of rotating and adjusting the angle on the robot arm body, and slides a telescopic rod along the length of the rotating box, installs a suction cup on the end of the telescopic rod, and controls the angle of the installation box and the elongation of the telescopic rod through the angle adjustment mechanism on the installation plate and the sliding adjustment mechanism, respectively. When adsorbing metal sheets of different shapes and sizes, the position of the suction cup can be adjusted, so that the suction cup is reasonably distributed on the surface of the metal sheet, effectively preventing the metal sheet from bending downward due to its own gravity and falling during the transportation process after being adsorbed; 2. The present invention fixes and installs a telescopic column on the mounting plate, and fixes and connects the ends of two rotating boxes on one side of the mounting plate to the rotating seat, and uses the guide block structure connected to the ends of the telescopic column to cooperate with the slide grooves arranged along the length direction of the rotating seat, so that the rotating boxes on both sides of the mounting plate can rotate synchronously in opposite directions. When it is necessary to suck and transport the long strip metal sheet, the rotating boxes on both sides of the mounting plate can be brought close to each other so as to better suck and transport the metal sheet. On the contrary, when it is necessary to suck and transport the square metal sheet, the two groups of rotating boxes are moved away from each other. 3. The present invention fixes and connects the airbag structure in the suction cup. When the suction cup moves toward the metal plate, the support rod at the bottom of the suction cup will first contact the surface of the metal plate. As the suction cup continues to move toward the metal plate, the airbag is compressed, and the air inside the airbag blows the metal plate and then flows to the surroundings, with the center of the suction cup as the center of the circle, so that the dust on the metal plate is blown away from the position corresponding to the suction cup, and the dust will not be blown from one side of the suction cup corresponding to the metal plate to the other side of the suction cup corresponding to the metal plate, effectively improving the stability of the suction between the suction cup and the metal plate; 4. The present invention installs a driving structure for driving the driving rod in the rotating box on the mounting plate. The driving structure can synchronously rotate the driving rods in the two rotating boxes at both ends of the mounting plate through the transmission of the rotating structures at both ends, so as to achieve the purpose of synchronously adjusting the length of the telescopic rods at both ends of the mounting plate. After adjusting the angle of the rotating box, the two telescopic rods at one end of the mounting plate are extended, and the two telescopic rods at the other end are shortened, so as to realize the stable suction and transportation of the fan-shaped metal plate; 5. The present invention provides guide grooves for matching guide blocks on both the mounting plate and the fixed plate along the extension direction of the telescopic column, so that the telescopic part of the telescopic column can be more stable during telescoping, thereby enabling the guide block to more stably push the rotating seat to rotate; 6. The present invention slides a driving structure on the mounting plate to rotate the driving rod. When the rotating box rotates to adjust the angle, the driving structure on the mounting plate can slide on the sliding track to adjust the position, and output torque to the driving rod stably through the transmission of the transmission structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A perspective view of the present invention; Figure 2 It is a three-dimensional diagram of the negative pressure adsorption component of the present invention; Figure 3 A three-dimensional diagram of a negative pressure adsorption assembly from another perspective of the present invention; Figure 4 A three-dimensional diagram of the internal structure of the negative pressure adsorption component of the present invention; Figure 5 For the present invention Figure 4 A magnified image of the middle; Figure 6 For the present invention Figure 4 Enlarged view of middle B; Figure 7 It is a three-dimensional diagram of the internal structure of the rotating box of the present invention; Figure 8 For the present invention Figure 7 Enlarged view of middle C; Fig. 9 A three-dimensional diagram of a blowing assembly of the present invention; Fig.10 It is a three-dimensional diagram of the blowing assembly of the present invention.

[0026] In the figure: 1. Robot arm body; 2. Mounting plate; 201. First guide groove; 3. Fixed plate; 301. Second guide groove; 4. Rotating box; 401. Rotating seat; 402. Slide groove; 5. Telescopic rod; 6. Suction cup; 7. Telescopic column; 8. Connecting block; 9. Guide block; 10. Adjusting motor; 11. Sliding table; 12. Slide rail; 13. Transmission column; 14. Sliding rod; 15. Universal joint; 16. Driving rod; 17. Fixed block; 18. Airbag; 19. Support rod. DETAILED DESCRIPTION

[0027] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0028] The following describes an embodiment of the present invention based on its overall structure.

[0029] Embodiment 1 A negative pressure adsorption transfer robot arm for metal sheet processing, such as Figure 1-8As shown, it includes a robot body 1. Specifically, the robot body 1 is a multi-axis robot commonly used in the prior art. A negative pressure suction holding component is installed at the end of the robot body 1. The negative pressure suction holding component at the end of the robot body 1 includes a mounting plate 2. Specifically, the center of the mounting plate 2 is fixedly connected to the last section of the movable joint of the robot body 1 by bolts. The four corners of the mounting plate 2 are rotatably connected with a rotating box 4. The rotating box 4 is rotatably connected between the mounting plate 2 and the fixed plate 3. A telescopic rod 5 is slidably connected in the rotating box 4. The mounting plate 2 is provided with angle adjustment components for adjusting the angles of the rotating boxes 4 on both sides. Specifically, the angle adjustment component includes a telescopic column 7. The mounting plate 2 is also provided with a telescopic adjustment component for adjusting the elongation of the telescopic rod 5 in the rotating boxes 4 at both ends. Specifically, the telescopic adjustment component includes an adjusting motor 10. The end of the telescopic rod 5 is connected with a suction cup 6. Specifically, the upper part of the suction cup 6 is connected with a vacuum exhaust pipe in the prior art.

[0030] See also Figure 4-6 The angle adjustment assembly on the mounting plate 2 includes a telescopic column 7, the telescopic column 7 includes a fixed part fixedly connected to the mounting plate 2 and a telescopic part that can slide and telescope, the end of the telescopic part of the telescopic column 7 is fixedly connected to a connecting block 8, the top and bottom surfaces of the connecting block 8 are fixedly connected to a coaxial guide block 9, the end of the rotating box 4 away from the suction cup 6 is fixedly connected to a rotating seat 401, the rotating seats 401 on the two rotating boxes 4 on one side of the mounting plate 2 are respectively located at the top and bottom ends of the rotating box 4, so that the rotating seats 401 will not interfere with each other when rotating, and the inner edge of the rotating seat 401 A slide groove 402 is provided in the length direction, and the two guide blocks 9 connected to the top surface and the bottom surface of the connecting block 8 are respectively slidably connected in the two slide grooves 402. Specifically, when the guide block 9 slides along the telescopic direction of the telescopic column 7, the two guide blocks 9 on the connecting block 8 are respectively slidably connected in the upper and lower slide grooves 402. Since the rotating box 4 is rotatably connected between the fixed plate 3 and the mounting plate 2, when the guide block 9 slides, the rotating box 4 can be pushed by the guide block 9 to rotate, and the purpose of controlling the angle between the two rotating boxes 4 on one side of the mounting plate 2 is achieved by controlling the length of the telescopic column 7.

[0031] See also Figure 2-6The mounting plate 2 is connected with the fixing plates 3 which are parallel to each other through the fixing structure. The mounting plate 2 and the fixing plate 3 are respectively provided with the first guide groove 201 and the second guide groove 301 at the positions corresponding to the movement trajectory of the connecting block 8. The guide blocks 9 connected with the top surface and the bottom surface of the connecting block 8 are respectively slidably connected in the first guide groove 201 and the second guide groove 301. Specifically, the guide blocks 9 are cylindrical, and their diameters are the same as the widths of the first guide groove 201 and the second guide groove 301, and are also equal to the widths of the slide grooves 402. The guide blocks 9 also pass through the mounting plate 2 and the fixing plate 3 respectively, and are fixedly connected with the protrusions which limit the axial movement of the guide blocks 9 at the passing parts. Specifically, the protrusions of the guide blocks 9 have a diameter larger than that of the guide blocks 9, and are respectively connected with the fixing plates 3. 3 and the surface of the mounting plate 2, the fixing plate 3 and the guiding structure on the mounting plate 2 can make the connecting block 8 slide stably along the telescopic direction of the telescopic column 7, so as to avoid the telescopic column 7 being disturbed by the rotating seat 401 and deviating during the telescopic process, the two rotating seats 401 on the same side of the mounting plate 2 are parallel to each other, the transmission column 13 and the sliding rod 14 are located between the rotating seats 401 at different heights, when the rotating seat 401 rotates, because the position of the driving rod 16 on the rotating box 4 connecting the universal joint 15 will change its position in the width direction of the mounting plate 2, the sliding rod 14 and the transmission column 13 will follow and slide along the width direction of the mounting plate 2, so as to avoid the sliding rod 14 and the transmission column 13 from interfering with the rotating seat 401 when the rotating box 4 rotates to adjust the angle.

[0032] See also Figure 4-8 , a driving rod 16 for driving the telescopic rod 5 to be extended and retracted is rotatably connected in the rotating box 4. One end of the driving rod 16 extends out of the rotating box 4 and is connected to a sliding rod 14 through a universal joint 15. The sliding rod 14 is slidably connected to the transmission column 13. The sliding rod 14 cannot rotate relative to the transmission column 13. Therefore, the transmission column 13 can transmit torque through the sliding rod 14. The end of the transmission column 13 is connected to the output end of the adjusting motor 10. The adjusting motor 10 is slidably installed on the mounting plate 2 along the width direction of the mounting plate 2. The adjusting motor 10 is used to cooperate with the transmission component to rotate the sliding rod 14. The forward and reverse rotation of the sliding rod 14 can adjust the extension amount of the telescopic rod 5 from the rotating box 4. The specific sliding rod 14 rotates the driving rod 16 through the universal joint 15. The driving rod 16 is specifically a threaded rod. The telescopic rod 5 is fixedly connected with a threaded connection platform that cooperates with the driving rod 16 in the rotating box 4, so that the extension amount of the telescopic rod 5 can be adjusted when the driving rod 16 rotates.

[0033] See also Figure 4-8, the mounting plate 2 is provided with slide rails 12 at both ends of the telescopic column 7 along the width direction, and a sliding table 11 is slidably connected to the slide rail 12, and an adjusting motor 10 is installed on the sliding table 11. The coaxial ends of the adjusting motor 10 are both provided with output ends, and both are connected with a transmission column 13. Specifically, when the rotating boxes 4 rotate away from each other, the position where the driving rod 16 in the rotating box 4 is connected to the universal joint 15 slides along the width direction of the mounting plate 2, gradually moving away from the center of the mounting plate 2. At this time, the sliding rod 14 and the transmission column 13 connected to the universal joint 15 will also be driven to synchronously slide and adjust the position along the width direction of the mounting plate 2 when the universal joint 15 moves, and the sliding The rod 14 will also slide along the axial direction of the transmission column 13, and the total length of the adaptive sliding rod 14 and the transmission column 13 will match the distance between the universal joint 15 and the adjusting motor 10. The adjusting motor 10 can slide and adjust its position along the direction of the sliding table 11 during the process of rotating the rotating box 4 to adjust the angle, so as to ensure a stable torque output for the driving rod 16. Furthermore, when the transmission column 13 itself is relatively long, in order to make the transmission column 13 slide stably along the width direction of the mounting plate 2, the transmission column 13 is connected to a rotating seat in the direction away from the adjusting motor 10, and the rotating seat is slidably connected to the mounting plate 2, and the sliding track is parallel to the slide rail 12.

[0034] Embodiment 2 A negative pressure adsorption transfer robot arm for metal sheet processing, such as Figure 1-10 As shown, on the basis of embodiment one, the difference from embodiment one is that an airbag 18 is connected to the bottom of the suction cup 6 through a fixed block 17. Specifically, the airbag 18 is in the shape of a bellows, the bottom surface of the airbag 18 is lower than the bottom surface of the suction cup 6, and is fixedly connected to a supporting structure. An air hole is opened in the center of the bottom surface of the airbag 18. In the process of sucking and transporting the metal sheet, the airbag 18 will first contact the surface of the metal sheet. When the airbag 18 is compressed, the gas blown out can effectively blow the dust at the position corresponding to the suction cup 6 on the metal sheet from the center to the surrounding area, thereby effectively improving the stability of the suction cup 6 in sucking the metal sheet.

[0035] See also Figure 2-3 , Figure 9-10 The bottom surface of the airbag 18 is connected with a plurality of inclined support rods 19 at intervals along the annular direction. The support rods 19 will gradually approach the bottom surface of the airbag 18 during the process of the airbag 18 being compressed after contacting the metal sheet. Specifically, since the support rods 19 are obliquely installed on the bottom surface of the airbag 18, after contacting the metal sheet, the airbag 18 is compressed and blows air, and the position where the support rods 19 contact the metal sheet will gradually slide and will not always be in the same position on the surface of the metal sheet, effectively avoiding the situation where the support structure blocks the airflow to blow away dust. The contact between the support rods 19 and the surface of the metal sheet can provide better flow space for the gas blown out of the airbag 18, thereby achieving a better dust removal effect.

[0036] See also Figure 2-3 , Figure 9-10 The fixing blocks 17 are fixedly connected between the top surface of the airbag 18 and the inner wall of the suction cup 6 along the circumferential interval. Specifically, vents are left between the fixing blocks 17, so that the negative pressure exhaust pipe can stably extract the air in the suction cup 6 when the airbag 18 is compressed, and the airbag 18 will not affect the normal use of the suction cup 6 when it is compressed. A spring is arranged in the airbag 18. Specifically, when the airbag 18 is compressed, the spring is also compressed. When the suction cup 6 is separated from the surface of the metal plate, the spring releases its elastic potential energy to make the airbag 18 recover quickly. The spring in the airbag 18 helps to reset the airbag 18.

[0037] The working principle of the present invention is as follows: the robot arm body 1 moves to the top of the metal sheet to be transported, the telescopic part of the telescopic column 7 is extended or shortened, so that the rotating boxes 4 on both sides of the mounting plate 2 are rotated to adjust the angle, and at the same time, the adjusting motor 10 on the mounting plate 2 works, and the driving rod 16 is transmitted in turn through the transmission column 13, the sliding rod 14, and the universal joint 15, so as to adjust the sliding amount of the telescopic rod 5 in the rotating box 4, so that the telescopic rod 5 is extended to a suitable length, thereby achieving the purpose of adjusting the position of the suction cup 6, and better holding special-shaped metal sheets or metal sheets of different sizes. In the process of holding the metal sheet, the mounting plate 2 is kept relatively parallel to the metal sheet and then moves toward the direction of the metal sheet. The airbag 18 first contacts the metal sheet and blows air on the surface of the metal sheet, so that the dust on the surface of the metal sheet corresponding to the position of the suction cup 6 is blown to the surroundings, effectively improving the stability of the holding between the metal sheet and the suction cup 6.

[0038] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contributions as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A negative pressure adsorption transfer robot arm for metal plate processing, comprising a robot arm body (1), a negative pressure suction holding component being installed at the end of the robot arm body (1), characterized in that: The negative pressure holding assembly at the end of the robot arm body (1) comprises a mounting plate (2), the four corners of the mounting plate (2) are rotatably connected to a rotating box (4), a telescopic rod (5) is slidably connected inside the rotating box (4), the mounting plate (2) is provided with angle adjustment assemblies for adjusting the angles of the rotating boxes (4) at both sides, the mounting plate (2) is also provided with telescopic adjustment assemblies for adjusting the elongation of the telescopic rods (5) in the rotating boxes (4) at both ends, the ends of the telescopic rods (5) are connected to suction cups (6), the angle adjustment assembly on the mounting plate (2) comprises a telescopic column (7), the telescopic column (7) comprises a fixedly connected to the mounting plate (2) The end of the telescopic part of the telescopic column (7) is fixedly connected to a connecting block (8), and the top and bottom surfaces of the connecting block (8) are fixedly connected to a coaxial guide block (9). The end of the rotating box (4) away from the suction cup (6) is fixedly connected to a rotating seat (401). The rotating seats (401) on the two rotating boxes (4) on one side of the mounting plate (2) are respectively located at the top and bottom ends of the rotating boxes (4). A sliding groove (402) is arranged in the rotating seat (401) along the length direction. The two guide blocks (9) connected to the top and bottom surfaces of the connecting block (8) are respectively slidably connected to the two sliding grooves (402).

2. The negative pressure adsorption transfer robot arm for metal sheet processing according to claim 1 is characterized in that: The mounting plate (2) is connected to mutually parallel fixing plates (3) via a fixing structure; the mounting plate (2) and the fixing plate (3) are respectively provided with a first guide groove (201) and a second guide groove (301) at positions corresponding to the movement trajectory of the connecting block (8); and the guide blocks (9) connected to the top and bottom surfaces of the connecting block (8) are respectively and simultaneously slidably connected in the first guide groove (201) and the second guide groove (301).

3. The negative pressure adsorption transfer robot arm for metal sheet processing according to claim 2 is characterized in that: A driving rod (16) for driving the telescopic rod (5) to be telescopic is rotatably connected in the rotating box (4); one end of the driving rod (16) extends out of the rotating box (4) and is connected to a sliding rod (14) via a universal joint (15); the sliding rod (14) is slidably connected in a transmission column (13); an end of the transmission column (13) is connected to an output end of an adjusting motor (10); and the adjusting motor (10) is slidably mounted on the mounting plate (2) along a width direction of the mounting plate (2).

4. The negative pressure adsorption transfer robot arm for metal sheet processing according to claim 1, characterized in that: An air bag (18) is connected to the bottom of the suction cup (6) via a fixing block (17); the bottom surface of the air bag (18) is lower than the bottom surface of the suction cup (6) and is fixedly connected to a supporting structure; an air hole is provided at the center of the bottom surface of the air bag (18).

5. The negative pressure adsorption transfer robot arm for metal sheet processing according to claim 4, characterized in that: The bottom surface of the airbag (18) is connected to a plurality of inclined support rods (19) at intervals along the circumferential direction. The support rods (19) gradually approach the bottom surface of the airbag (18) during the process of compression of the airbag (18) after contacting the metal plate.

6. The negative pressure adsorption transfer robot arm for metal sheet processing according to claim 4, characterized in that: The fixing blocks (17) are fixedly connected between the top surface of the airbag (18) and the inner wall of the suction cup (6) at intervals along the circumferential direction, and a spring is arranged in the airbag (18).

7. The negative pressure adsorption transfer robot arm for metal sheet processing according to claim 3, characterized in that: The mounting plate (2) is provided with slide rails (12) along the width direction at both ends of the telescopic column (7); a slide table (11) is slidably connected to the slide rails (12); an adjustment motor (10) is installed on the slide table (11); and output ends are provided at both ends of the coaxial axis of the adjustment motor (10), and both ends are connected to a transmission column (13).

8. The negative pressure adsorption transfer robot arm for metal sheet processing according to claim 3, characterized in that: The two rotating seats (401) on the same side of the mounting plate (2) are parallel to each other, and the transmission column (13) and the sliding rod (14) are located between the rotating seats (401) at different heights.

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