A negative pressure adsorption transfer robot arm for metal sheet processing

Abstract

The present invention discloses a negative pressure adsorption type transfer robot arm for metal sheet processing, which relates to the field of transfer robot arms, including a robot arm body, a negative pressure suction holding component installed at the end of the robot arm body, and the negative pressure suction holding component at the end of the robot arm body includes a mounting plate, and the four corners of the mounting plate are rotatably connected to a rotating box, and a telescopic rod is slidably connected in the rotating box. An angle adjustment component for adjusting the angles of the rotating boxes on both sides is provided on the mounting plate, and a telescopic adjustment component for adjusting the elongation of the telescopic rod in the rotating boxes at both ends is also provided on the mounting plate. The present invention controls the angle of the mounting box and the elongation of the telescopic rod respectively through the angle adjustment mechanism on the mounting plate and the sliding adjustment mechanism, and can adjust the position of the suction cup when adsorbing metal sheets of different shapes and sizes, so that the suction cup is reasonably distributed on the surface of the metal sheet, and effectively prevents the metal sheet from bending downward due to its own gravity and falling during the transportation process after being adsorbed.

Description

Technical Field

[0001] This invention relates to the field of transfer robotic arms, specifically a negative pressure adsorption transfer robotic arm for processing metal sheets. Background Technology

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

[0003] Chinese patent CN217626279U discloses a negative pressure adsorption type steel cabinet production and processing component transfer robot arm, which is equipped with a support base, the top of the support base is movably connected to one end of the robot arm, and a connecting arm is movably installed at the other end of the robot arm, with a fixed plate fixedly connected to the bottom of the connecting arm; a vacuum pump is installed on the upper end face of the fixed plate by bolts; and includes a connecting hose, a movable plate, and a guide rod. When handling steel cabinets composed of metal plates, it can reduce the impact between the suction cup and the steel cabinet and blow away dust at the suction cup.

[0004] Regarding the aforementioned technologies, existing negative pressure transfer robotic arms typically employ fixed-installation vacuum suction cups. This makes it difficult to adjust the suction cup's position according to the shape and size of the metal sheet being transferred, preventing the edges or center of the metal sheet from bending and deforming due to gravity. This can easily lead to air leakage during the transfer process, affecting the safety of the metal sheet transfer. Furthermore, the air outlet of existing blowing structures is tilted towards the suction cup's intended gripping position, easily blowing dust from the side of the suction cup near the outlet to the side away from the outlet. Dust remains between the suction cup and the gripping surface during the gripping process, reducing the suction cup's stability. In conclusion, existing negative pressure suction transfer robotic arms cannot easily adjust the vacuum suction cup's position according to the shape of the metal sheet to achieve stable gripping. Summary of the Invention

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

[0006] To achieve the above objectives, the present invention provides the following technical solution: a negative pressure adsorption transfer robotic arm for metal sheet processing, comprising a robotic arm body, a negative pressure suction assembly installed at the end of the robotic arm body, the negative pressure suction assembly at the end of the robotic arm body comprising a mounting plate, rotating boxes rotatably connected to the four corners of the mounting plate, telescopic rods slidably connected inside the rotating boxes, angle adjustment components for adjusting the angles of the rotating boxes on both sides provided on the mounting plate, and telescopic adjustment components for adjusting the extension of the telescopic rods inside the rotating boxes at both ends provided on the mounting plate, the ends of the telescopic rods being 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 controlled by the angle adjustment mechanism on the mounting plate and the sliding adjustment mechanism, respectively. When adsorbing metal plates 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 plate, effectively preventing the metal plate from bending downwards and falling due to its own weight during the transfer process after being held.

[0008] The 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 slide and extend, a connecting block is fixedly connected to the end of the telescopic part of the telescopic column, and coaxial guide blocks are fixedly connected to the top and bottom surfaces of the connecting block, a rotating seat is fixedly connected to the end of the rotating box away from the suction cup, 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 boxes, a sliding groove is provided 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 slidably connected in the two sliding grooves respectively.

[0009] By adopting the above technical solution, the included angle between the two rotating boxes on one side of the mounting plate can be controlled by controlling the length of the telescopic column.

[0010] The invention is further configured such that the mounting plate is connected to a fixed plate that is parallel to each other by a fixed structure, and the mounting plate and the fixed plate are respectively provided with a first guide groove and a second guide groove at the position of the corresponding connecting block movement trajectory. The guide blocks connected to the top and bottom surfaces of the connecting block are simultaneously slidably connected in the first guide groove and the second guide groove.

[0011] By adopting the above technical solution, the displacement of the telescopic column due to interference from the rotating seat during the telescopic process can be avoided.

[0012] The invention is further configured such that a drive rod for driving the telescopic rod to extend and retract is rotatably connected inside the rotating box, one end of the drive rod extends out of the rotating box and is connected to a sliding rod via a universal joint, the sliding rod is slidably connected inside the transmission column, the end of the transmission column is connected to the output end of the adjusting motor, and the adjusting motor is slidably mounted 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 of the telescopic rod from the rotating box.

[0014] The invention is further configured such that an airbag is connected below the suction cup via a fixing block, the bottom surface of the airbag is lower than the bottom surface of the suction cup, and a support structure is fixedly connected thereto, and an air hole is opened in the center of the bottom surface of the airbag.

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

[0016] The invention is further configured such that a plurality of inclined support rods are connected circumferentially at intervals on the bottom surface of the airbag, and the support rods gradually approach the bottom surface of the airbag during the compression process after contacting the metal plate.

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

[0018] The invention is further configured such that the fixing block is fixedly connected circumferentially between the top surface of the airbag and the inner wall of the suction cup, and a spring is provided inside the airbag.

[0019] By adopting the above technical solution, the spring inside the airbag helps the airbag to return to its original position.

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

[0021] By adopting the above technical solution, the motor can slide and adjust its position along the sliding table direction during the rotation and adjustment of the rotating box, so as to ensure stable torque output to the drive 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, interference between the sliding rod and the transmission column and the rotating seat is avoided when the rotating box rotates to adjust its angle.

[0024] In summary, the present invention has the following main beneficial effects:

[0025] 1. This invention installs a rotating box that can be rotated and adjusted on the main body of a robotic arm, and slides a telescopic rod along its length inside the rotating box. The suction cup is installed at the end of the telescopic rod. The angle of the mounting box and the extension of the telescopic rod are controlled by the angle adjustment mechanism on the mounting plate and the sliding adjustment mechanism, respectively. When adsorbing metal plates 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 plate, effectively preventing the metal plate from bending downwards and falling due to its own weight during the transfer process after being held.

[0026] 2. This invention fixes telescopic columns on the mounting plate and connects rotating seats to the ends of two rotating boxes on one side of the mounting plate. The guide block structure connected to the ends of the telescopic columns, in conjunction with the sliding grooves set along the length of the rotating seats, allows the rotating boxes on both sides of the mounting plate to rotate synchronously in opposite directions. When it is necessary to hold and transport long strip metal plates, the rotating boxes on both sides of the mounting plate can be brought closer to each other to better hold the metal plates securely. Conversely, when it is necessary to hold and transport square metal plates, the two sets of rotating boxes are moved away from each other.

[0027] 3. This invention uses an airbag structure fixedly connected inside 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 blows the metal plate and flows to all sides. With the center of the suction cup as the center, 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 to the other side of the metal plate, effectively improving the stability of the suction cup and the metal plate.

[0028] 4. The present invention installs a drive structure on the mounting plate to drive the drive rods inside the rotating box to rotate. The drive structure can synchronously rotate the drive rods inside the two rotating boxes at both ends of the mounting plate through the transmission of the rotating structure 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 achieve stable suction and transfer of the fan-shaped metal plate.

[0029] 5. The present invention provides guide grooves for the telescopic column along the extension direction of the telescopic column on both the mounting plate and the fixing plate, so that the telescopic part of the telescopic column can be more stable during telescopic movement, thereby enabling the guide block to drive the rotating seat to rotate more stably.

[0030] 6. The present invention provides a drive structure for rotating the drive rod by sliding it on the mounting plate. When the rotating box is rotating to adjust the angle, the drive structure on the mounting plate can slide and adjust its position on the sliding track, and output torque to the drive rod through the transmission structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a perspective view of the present invention;

[0032] Figure 2 This is a perspective view of the negative pressure adsorption component of the present invention;

[0033] Figure 3 This is a perspective view of the negative pressure adsorption component of the present invention.

[0034] Figure 4 This is a three-dimensional view of the internal structure of the negative pressure adsorption component of the present invention;

[0035] Figure 5 For the present invention Figure 4 A magnified view of A in the middle;

[0036] Figure 6 For the present invention Figure 4 Enlarged view of B in the middle;

[0037] Figure 7 This is a perspective view of the internal structure of the rotating box of the present invention;

[0038] Figure 8 For the present invention Figure 7 Enlarged view of C in the middle;

[0039] Figure 9 This is a perspective view of the air blowing assembly of the present invention;

[0040] Figure 10 This is a perspective view of the air blowing assembly of the present invention.

[0041] In the diagram: 1. Robotic arm body; 2. Mounting plate; 201. First guide groove; 3. Fixing 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. Drive rod; 17. Fixing block; 18. Airbag; 19. Support rod. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0043] The embodiments of the present invention will now be described.

[0044] Example 1

[0045] A negative pressure adsorption transfer robotic arm for processing metal sheets, such as Figure 1-8 As shown, the robot includes a robotic arm body 1. Specifically, the robotic arm body 1 is a common multi-axis robot in the prior art. A negative pressure suction assembly is installed at the end of the robotic arm body 1. The negative pressure suction assembly at the end of the robotic arm body 1 includes a mounting plate 2. Specifically, the center of the mounting plate 2 is fixedly connected to the last movable section of the robotic arm body 1 by bolts. Rotating boxes 4 are rotatably connected to the four corners of the mounting plate 2. The rotating boxes 4 are rotatably connected between the mounting plate 2 and the fixed plate 3. Telescopic rods 5 are slidably connected inside the rotating boxes 4. Angle adjustment components for adjusting the angle of the rotating boxes 4 on both sides are provided on the mounting plate 2. Specifically, the angle adjustment components include telescopic columns 7. Telescopic adjustment components for adjusting the extension of the telescopic rods 5 inside the rotating boxes 4 at both ends are also provided on the mounting plate 2. Specifically, the telescopic adjustment components include an adjustment motor 10. A suction cup 6 is connected to the end of the telescopic rod 5. Specifically, a vacuum pumping pipe in the prior art is connected above the suction cup 6.

[0046] Please see 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 extend. A connecting block 8 is fixedly connected to the end of the telescopic part of the telescopic column 7. Coaxial guide blocks 9 are fixedly connected to the top and bottom surfaces of the connecting block 8. A rotating seat 401 is fixedly connected to the end of the rotating box 4 away from the suction cup 6. The rotating seats 401 on the two rotating boxes 4 on one side of the mounting plate 2 are located at the top and bottom ends of the rotating boxes 4, respectively, so that the rotating seats 401 will not interfere with each other when rotating. The inner edge of the rotating seat 401 A groove 402 is provided along the length direction. Two guide blocks 9 connected to the top and bottom surfaces of the connecting block 8 are slidably connected in the two grooves 402. Specifically, when the guide block 9 slides along the telescopic column 7, the two guide blocks 9 on the connecting block 8 are slidably connected in the upper and lower grooves 402. Since the rotating box 4 is rotatably connected between the fixed plate 3 and the mounting plate 2, the rotating box 4 can be pushed by the guide block 9 to rotate when the guide block 9 slides. By controlling the length of the telescopic column 7, the included angle of the two rotating boxes 4 on one side of the mounting plate 2 can be controlled.

[0047] Please see Figure 2-6Mounting plate 2 is connected to parallel fixing plates 3 via a fixed structure. Mounting plate 2 and fixing plates 3 have first guide grooves 201 and second guide grooves 301 respectively at positions corresponding to the movement trajectory of connecting block 8. Guide blocks 9, connected to the top and bottom surfaces of connecting block 8, are simultaneously slidably connected within the first guide groove 201 and second guide groove 301. Specifically, guide blocks 9 are cylindrical, with a diameter equal to the width of the first guide groove 201 and second guide groove 301, and also equal to the width of the slide groove 402. Guide blocks 9 also extend through mounting plate 2 and fixing plates 3, and protrusions that restrict the axial movement of guide blocks 9 are fixedly connected to the extended portions. Specifically, the diameter of the protrusions of guide blocks 9 is larger than that of guide blocks 9, and they are respectively connected to the fixing plates 2 and 3. 3 and the surface of the mounting plate 2 are in contact. The guide structure on the fixing plate 3 and the mounting plate 2 can make the connecting block 8 slide stably along the extension direction of the telescopic column 7, so as to avoid the telescopic column 7 being offset by the interference of the rotating seat 401 during the extension 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 rotating seats 401 at different heights. When the rotating seat 401 rotates, since the position of the drive rod 16 connected to the universal joint 15 on the rotating box 4 will change in the width direction of the mounting plate 2, the sliding rod 14 and the transmission column 13 will slide along the width direction of the mounting plate 2, so as to avoid the sliding rod 14 and the transmission column 13 interfering with the rotating seat 401 when the rotating box 4 rotates to adjust the angle.

[0048] Please see Figure 4-8 Inside the rotating box 4, a drive rod 16 is rotatably connected to drive the telescopic rod 5 to extend and retract. One end of the drive 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 inside the transmission column 13. The sliding rod 14 cannot rotate relative to the transmission column 13, so 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 mounted on the mounting plate 2 along the width direction of the mounting plate 2. The adjusting motor 10, in conjunction with the transmission assembly, causes the sliding rod 14 to rotate. The forward and reverse rotation of the sliding rod 14 can adjust the extension of the telescopic rod 5 from inside the rotating box 4. Specifically, the sliding rod 14 causes the drive rod 16 to rotate via the universal joint 15. The drive rod 16 is specifically a threaded rod. The telescopic rod 5 is fixedly connected inside the rotating box 4 to a threaded connecting platform that matches the drive rod 16, so that the extension of the telescopic rod 5 can be adjusted when the drive rod 16 rotates.

[0049] Please see Figure 4-8Mounting plate 2 has slide rails 12 at both ends of telescopic column 7 along the width direction. A sliding table 11 is slidably connected to the slide rails 12, and an adjusting motor 10 is mounted on the sliding table 11. Both ends of the adjusting motor 10 are coaxially equipped with output ends, and both are connected to transmission columns 13. Specifically, when the rotating boxes 4 rotate away from each other, the position of the drive rod 16 connected to the universal joint 15 inside the rotating box 4 slides along the width direction of mounting plate 2, gradually moving away from the center of mounting plate 2. At this time, the sliding rod 14 connected to the universal joint 15 and the transmission column 13 are also driven to slide synchronously along the width direction of mounting plate 2 to adjust their positions as the universal joint 15 moves. The rod 14 also slides along the axial direction of the transmission column 13, adapting to the total length of the sliding rod 14 and the transmission column 13 to match the distance between the universal joint 15 and the adjusting motor 10. During the rotation of the rotating box 4 to adjust the angle, the adjusting motor 10 can slide along the direction of the sliding table 11 to adjust its position, so as to ensure stable torque output for the drive rod 16. Furthermore, when the transmission column 13 itself is 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. The rotating seat is slidably connected to the mounting plate 2, and the sliding track is parallel to the slide rail 12.

[0050] Example 2

[0051] A negative pressure adsorption transfer robotic arm for processing metal sheets, such as Figure 1-10 As shown, based on Embodiment 1, the difference is that an airbag 18 is connected to the bottom of the suction cup 6 via a fixing block 17. Specifically, the airbag 18 is corrugated and its bottom surface is lower than that of the suction cup 6. It is fixedly connected to a support structure. An air hole is opened in the center of the bottom surface of the airbag 18. During the process of suctioning and transferring the metal plate, the airbag 18 will first contact the surface of the metal plate. When the airbag 18 is compressed, the gas blown out can effectively blow the dust on the metal plate corresponding to the position of the suction cup 6 from the center to the surrounding area, thereby effectively improving the stability of the suction cup 6 in holding the metal plate.

[0052] Please see Figure 2-3 , Figure 9-10 Multiple inclined support rods 19 are connected circumferentially at intervals on the bottom surface of the airbag 18. As the airbag 18 is compressed after contacting the metal plate, the support rods 19 gradually move closer to the bottom surface of the airbag 18. Specifically, because the support rods 19 are installed at an incline on the bottom surface of the airbag 18, after contacting the metal plate, the airbag 18 is compressed and blown out. The position of the support rods 19 in contact with the metal plate will gradually slide, and will not remain in the same position on the surface of the metal plate. This effectively avoids the situation where the support structure blocks the airflow and blows away dust. The contact between the support rods 19 and the surface of the metal plate allows the gas blown out by the airbag 18 to have better flow space, thereby achieving a better dust removal effect.

[0053] Please see Figure 2-3 , Figure 9-10 The fixing blocks 17 are fixedly connected circumferentially between the top surface of the airbag 18 and the inner wall of the suction cup 6. Specifically, there are air vents between the fixing blocks 17 so that the negative pressure suction pipe can stably extract the air from the suction cup 6 when the airbag 18 is compressed. The airbag 18 will not affect the normal use of the suction cup 6 when it is compressed. A spring is installed inside 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 quickly recover. The spring inside the airbag 18 helps the airbag 18 to return to its original position.

[0054] The working principle of this invention is as follows: The robotic arm body 1 moves to the top of the metal plate to be transferred. The telescopic part of the telescopic column 7 extends or shortens, causing the rotating boxes 4 on both sides of the mounting plate 2 to rotate and adjust the angle. At the same time, the adjustment motor 10 on the mounting plate 2 works, and transmits the drive rod 16 through the transmission column 13, the sliding rod 14, and the universal joint 15 in sequence. The sliding amount of the telescopic rod 5 in the rotating box 4 is adjusted so that the telescopic rod 5 extends to a suitable length, thereby achieving the purpose of adjusting the position of the suction cup 6, so as to better hold the irregularly shaped metal plate or metal plates of different sizes. During the process of holding the metal plate, the mounting plate 2 is kept relatively parallel to the metal plate and then moves towards the direction of the metal plate. The air bag 18 first contacts the metal plate and blows air onto the surface of the metal plate, causing the dust on the surface of the metal plate corresponding to the position of the suction cup 6 to be blown to the surroundings, effectively improving the stability of the grip between the metal plate and the suction cup 6.

[0055] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the invention and are not intended to limit it. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and spirit of the invention, but such modifications, substitutions, and variations are protected by patent law as long as they are within the scope of the claims of the present invention.

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 suction component 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 components for adjusting the angles of the rotating boxes (4) at both sides, the mounting plate (2) is also provided with telescopic adjustment components 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), and the angle adjustment component on the mounting plate (2) comprises a telescopic column (7), the telescopic column (7) comprises a The invention comprises a fixed part fixedly connected to the mounting plate (2) and a telescopic part capable of sliding and telescoping, 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 boxes (4), a sliding groove (402) is arranged in the rotating seat (401) along the length direction, the top and bottom surfaces of the connecting block (8) are fixedly connected to the rotating seat (401), and the rotating seat (401) is fixedly connected to the rotating seat (401) along the length direction. The two connected guide blocks (9) are respectively slidably connected to the two slide grooves (402); the mounting plate (2) is connected to a mutually parallel fixed plate (3) through a fixed structure; the mounting plate (2) and the fixed plate (3) are respectively provided with a first guide groove (201) and a second guide groove (301) at positions corresponding to the movement track of the connecting block (8); the guide blocks (9) connected to the top surface and the bottom surface of the connecting block (8) are respectively slidably connected to the first guide groove (201) and the second guide groove (301) at the same time; 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) via a universal joint (15); the sliding rod (14) is slidably connected to a transmission column (13); an end of the transmission column (13) is connected to an output end of an adjusting motor (10); the adjusting motor (10) is slidably mounted on the mounting plate (2) along a width direction of the mounting plate (2); 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).

2. The negative pressure adsorption transfer robot arm for metal sheet processing according to claim 1 is 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.

3. The negative pressure adsorption transfer robot arm for metal sheet processing according to claim 1, 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).

4. The negative pressure adsorption transfer robot arm for metal sheet processing according to claim 1, 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).

5. The negative pressure adsorption transfer robot arm for metal sheet processing according to claim 1, 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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