Automatic positioning mechanical arm of robot

Abstract

The invention belongs to the technical field of robots, and particularly discloses a robot automatic positioning mechanical arm which comprises a mechanical arm body and a fixing column arranged at the moving end of the mechanical arm body, a fixing frame is arranged below the fixing column, a two-way lead screw is rotationally connected to the inner side of the fixing frame, and the outer wall of the two-way lead screw is in threaded connection with an upper sliding block and a lower sliding block. The side wall of the fixing frame is fixedly connected with a clamping motor, the output end of the clamping motor penetrates through the side wall of the fixing frame to be fixedly connected with the side wall of the bidirectional lead screw, and a first clamping plate is arranged at the bottom of the upper sliding block. Gaps between box bodies on a tray are reduced, automatic positioning procedures of a mechanical arm are not required to be changed, operation actions of the mechanical arm are reduced, stacking efficiency is improved, normal operation can be achieved when the box bodies of different specifications are stacked, and the application range of the device is greatly widened.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to an automatic positioning mechanical arm of a robot. Background Art

[0002] The robotic arm is the most widely used automated mechanical device in the field of robotics technology. It can be seen in industrial manufacturing, medical treatment, entertainment services and other fields. Although their shapes are different, they all have one common feature, which is the ability to receive instructions and accurately locate a point in three-dimensional or two-dimensional space to perform operations.

[0003] In the automated production line, robotic arms are used to automatically palletize the packaged products. In order to ensure the stability of the products during transportation on the pallet, the products on the same layer must have both horizontal and vertical swing modes, and the corresponding placement positions of the products on two adjacent layers cannot be the same. Therefore, visual computing is used to automatically position the robotic arms to palletize the products.

[0004] When the existing automatic positioning robot arm places the box on the pallet for stacking, there will be a gap between the box and the previously placed box due to the clamping part. However, the operation trajectory of the existing automatic positioning robot arm is fixed after setting, which makes it impossible to adjust the placed products. As the height of the stacked boxes becomes higher and higher, the gaps between the boxes will cause the goods on the pallet to shake during transportation, and may even tip over and cause damage to the goods. Therefore, during transportation, it is necessary to manually push the goods on the pallet to reduce the gap in order to ensure stability during transportation, which greatly reduces the automation efficiency of the robot arm.

[0005] Therefore, a robot automatic positioning manipulator is proposed to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a robot automatic positioning mechanical arm.

[0007] To achieve the above purpose, the present invention provides a robot automatic positioning mechanical arm, comprising a mechanical arm body, and a fixed column arranged at the moving end of the mechanical arm body, a fixed frame is arranged below the fixed column, a bidirectional screw is rotatably connected to the inner side of the fixed frame, an upper sliding block and a lower sliding block are respectively threadedly connected to the outer wall of the bidirectional screw, a clamping motor is fixedly connected to the side wall of the fixed frame, an output end of the clamping motor passes through the side wall of the fixed frame and is fixedly connected to the side wall of the bidirectional screw, a first clamping plate is arranged at the bottom of the upper sliding block, a top plate is fixedly connected to the side wall of the lower sliding block, an L-shaped clamping plate is slidably connected to the top plate and one side close to the first clamping plate, and a driving mechanism for extracting the L-shaped clamping plate and pulling the first clamping plate is arranged on the top plate; The driving mechanism includes an adjusting motor and a wire-taking roller, an inward-recessed sliding groove is provided at the bottom of the upper sliding block, the top of the first clamping plate is slidably connected to the inner side of the sliding groove, a lower spring is fixedly connected between the inner side of the sliding groove and the side wall of the first clamping plate, an inward-recessed receiving groove is provided on the side wall of the lower sliding block, the wire-taking roller is rotatably connected to the inner side of the receiving groove, and the adjusting motor is fixedly connected to the side wall of the top plate, a lower rack is fixedly connected to the top of the L-shaped clamping plate, and the output end of the adjusting motor is fixedly connected to a lower gear and passes through the side wall of the top plate and the lower gear The gears are meshed with each other, the side wall of the lower sliding block is rotatably connected to the upper gear, the side wall of the take-up roller is fixedly connected to the side wall of the upper gear through the storage groove, and the bottom of the lower rack close to the first clamping plate is fixedly connected to a plurality of tooth blocks meshing with the upper gear, a pull rope is wrapped around the outer wall of the take-up roller, and one end of the pull rope is fixedly connected to the outer wall of the take-up roller, and the other end of the pull rope is fixedly connected to the side wall of the first clamping plate, and the side wall of the upper gear is provided with an adjustment mechanism for avoiding obstruction of the first clamping plate and the L-shaped clamping plate from clamping and stacking different specifications.

[0008] In the above technical scheme, further, the adjusting mechanism includes an extrusion rod and an adjusting gear, the upper gear side wall is provided with an inwardly recessed moving groove, a circular plate is slidably connected to the inner side of the moving groove, the adjusting gear is fixedly connected to the side wall of the circular plate, an upper rack meshing with the adjusting gear is provided below the adjusting gear, the upper rack is fixedly connected to the top inner side of the fixed frame through a pair of support rods, an upper spring is fixedly connected between the inner side of the moving groove and the side wall of the circular plate, the extrusion rod is fixedly connected to the side wall of the adjusting gear, and a pushing plate for pushing the extrusion rod is fixedly connected to the top of the L-shaped clamping plate.

[0009] In the above technical solution, further, the top end of the push plate is inclined toward the side of the adjusting gear, and the side wall of the extrusion rod is configured as a smooth arc surface.

[0010] In the above technical solution, further, a pair of positioning grooves are opened inside the movable groove, and positioning blocks are fixedly connected to the outer wall of the circular plate and at positions corresponding to the positioning grooves.

[0011] In the above technical solution, further, a through groove is provided through the top of the fixed frame and at a position corresponding to the lower rack.

[0012] In the above technical solution, further, the fixed frame is rotatably connected to the bottom end of the fixed column, a gear ring is fixedly connected to the top of the fixed frame and located outside the fixed column, a drive motor is fixedly connected to the side wall of the fixed column, and a rotating gear meshing with the gear ring is fixedly connected to the output end of the drive motor.

[0013] In the above technical solution, further, the pull rope passes through the bottom of the take-up roller and is evenly wound around its outer wall, and the bottom of the upper sliding block is fixedly connected to the conductor roller.

[0014] In the above technical solution, further, the side wall of the L-shaped clamping plate is provided with an inwardly recessed bottom groove, the inner side of the bottom groove is slidably connected to a limiting plate, the limiting plate and the side close to the first clamping plate are fixedly connected with an anti-slip pad, and the side wall of the top plate is provided with a limiting groove.

[0015] In the above technical solution, further, an inward-facing expansion groove is provided inside the L-shaped clamping plate and above the limiting plate, a conical block is fixedly connected to the top of the limiting plate and at a position corresponding to the limiting groove, a sliding rod is slidably connected through the inner side of the expansion groove, the sliding rod is fixedly connected to the side wall of the conical block, and a limiting spring is fixedly connected between the inner side of the expansion groove and the outer wall of the sliding rod.

[0016] In the above technical solution, further, the limiting groove is provided above the L-shaped clamping plate, the side wall of the conical block abuts against the side wall of the top plate, and the bottom of the limiting groove is inclined.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. Through the cooperation of the driving mechanism and the adjusting mechanism, when putting down the box, the L-shaped clamping plate can be pulled out and then the first clamping plate can be driven to quickly push the box, thereby reducing the gap between the boxes on the pallet. This can be achieved without changing the automatic positioning program of the mechanical wall, reducing the operation of the robot arm and improving the palletizing efficiency. Moreover, it can also operate normally when palletizing boxes of different specifications, greatly improving the scope of application of the device.

[0018] 2. The setting of the anti-skid pad can improve the anti-skid performance when clamping the box, and through the cooperation of the conical block, the limit spring and the slide rod and other structures, the corresponding anti-skid pad can be stored in the bottom groove when the L-shaped clamping plate is pulled out, thereby reducing the friction between the box and the silkiness of the device during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall appearance of the three-dimensional structure of the robotic arm proposed by the present invention; Figure 2 This is a schematic diagram of the top view of the three-dimensional structure of the fixing frame proposed by the present invention; Figure 3 This is a schematic diagram of the front full-section three-dimensional structure of the fixing frame proposed by the present invention; Figure 4 The present invention is attached Figure 3 A schematic diagram of the partially enlarged structure at center A; Figure 5 This is a schematic diagram of the full-section three-dimensional structure of the fixing frame proposed by the present invention; Figure 6 This is a schematic diagram of the overall appearance of the driving mechanism proposed by the present invention; Figure 7 This is a schematic diagram of the overall appearance of the take-up roller and the upper gear proposed in the present invention; Figure 8 This is a schematic diagram of the full-cut side three-dimensional structure of the lower sliding block proposed by the present invention; Fig. 9 The present invention is attached Figure 8 Schematic diagram of the local enlarged structure at point B in the middle.

[0020] In the figure: 1. Robot arm body; 2. Fixed column; 3. Fixed frame; 4. Bidirectional screw rod; 5. Upper sliding block; 6. First clamping plate; 7. Top plate; 8. L-shaped clamping plate; 9. Adjustment motor; 10. Take-up roller; 11. Lower sliding block; 12. Slide slot; 13. Storage slot; 14. Lower rack; 15. Lower gear; 16. Upper gear; 17. Gear block; 18. Pull rope; 19. Clamping motor; 20. Extrusion rod; 21. Adjustment gear; 2 2. Moving groove; 23. Circular plate; 24. Upper rack; 25. Support rod; 26. Upper spring; 27. Limit spring; 28. Push plate; 29. ​​Positioning groove; 30. Positioning block; 31. Through groove; 32. Gear ring; 33. Driving motor; 34. Rotating gear; 35. Bottom groove; 36. Limit plate; 37. Anti-skid pad; 38. Limiting groove; 39. Lower spring; 40. Wire roller; 41. Telescopic groove; 42. Conical block; 43. Sliding rod. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figure 1-Figure 9A robot automatic positioning mechanical arm shown in the figure includes a mechanical arm body 1, and a fixed column 2 arranged at the moving end of the mechanical arm body 1, a fixed frame 3 is provided below the fixed column 2, a two-way screw rod 4 is rotatably connected to the inner side of the fixed frame 3, and an upper sliding block 5 and a lower sliding block 11 are respectively threadedly connected to the outer walls of the two-way screw rod 4, a clamping motor 19 is fixedly connected to the side wall of the fixed frame 3, and the output end of the clamping motor 19 passes through the side wall of the fixed frame 3 and is fixedly connected to the side wall of the two-way screw rod 4, a first clamping plate 6 is provided at the bottom of the upper sliding block 5, and a top plate 7 is fixedly connected to the side wall of the lower sliding block 11, and an L-shaped clamping plate 8 is slidably connected to the top plate 7 and the side close to the first clamping plate 6, and a driving mechanism for pulling out the L-shaped clamping plate 8 and pulling the first clamping plate 6 is provided on the top plate 7.

[0023] The driving mechanism includes an adjusting motor 9 and a take-up roller 10. An inward-recessed slide groove 12 is provided at the bottom of the upper sliding block 5. The top of the first clamping plate 6 is slidably connected to the inner side of the slide groove 12. A lower spring 39 is fixedly connected between the inner side of the slide groove 12 and the side wall of the first clamping plate 6. An inward-recessed receiving groove 13 is provided on the side wall of the lower sliding block 11. The take-up roller 10 is rotatably connected to the inner side of the receiving groove 13, and the adjusting motor 9 is fixedly connected to the side wall of the top plate 7. A lower rack 14 is fixedly connected to the top of the L-shaped clamping plate 8. A lower gear 15 is fixedly connected to the output end of the adjusting motor 9 and passes through the side wall of the top plate 7 and is meshed with the lower rack 14. The side wall of the lower sliding block 11 is rotatably connected to the upper gear 16, and the side wall of the take-up roller 10 passes through the receiving groove 13 and is fixedly connected to the side wall of the upper gear 16.

[0024] The lower rack 14 is fixedly connected to the bottom of one side near the first clamping plate 6 with several tooth blocks 17 meshing with the upper gear 16. A pull rope 18 is wound around the outer wall of the take-up roller 10, and one end of the pull rope 18 is fixedly connected to the outer wall of the take-up roller 10, and the other end of the pull rope 18 is fixedly connected to the side wall of the first clamping plate 6. The side wall of the upper gear 16 is provided with an adjustment mechanism for avoiding obstruction of the first clamping plate 6 and the L-shaped clamping plate 8 for clamping and stacking of different specifications. The pull rope 18 passes through the bottom of the take-up roller 10 and is evenly wound around its outer wall. A wire roller 40 is fixedly connected to the bottom of the upper sliding block 5. Through the setting of the wire roller 40, a guiding and supporting role can be played for the pull rope 18 to avoid contact between the pull rope 18 and the side wall of the upper sliding block 5 to cause wear, thereby affecting the service life of the device. A through groove 31 is opened at the top of the fixed frame 3 and at a position corresponding to the lower rack 14. Through the setting of the through groove 31, it is avoided to hinder the normal extension and contraction of the lower rack 14, thereby affecting the normal operation of the device.

[0025] When the robot arm is in the process of automatically positioning and stacking the box, the clamping motor 19 is controlled to start the bidirectional screw rod 4 to rotate, thereby driving the threaded upper sliding block 5 and the lower sliding block 11 to move toward the closer side, thereby driving the first clamping plate 6 and the L-shaped clamping plate 8 to move and clamp the box. Then, when the robot arm places the box on the pallet, the adjustment motor 9 can be controlled to start and drive the lower gear 15 to rotate, thereby driving the meshing lower rack 14 to move upward, and at the same time drive the L-shaped clamping plate 8 to slide upward on the side wall of the top plate 7, thereby driving the bottom end of the L-shaped clamping plate 8 to slide out between the boxes. At the gap, when the L-shaped clamping plate 8 is completely moved out of the gap between the boxes, as the lower rack 14 continues to move, the tooth block 17 will be driven to move to the side of the upper gear 16, so that through the mutual engagement of the tooth block 17 and the upper gear 16, the upper gear 16 will be driven to rotate, thereby driving the take-up roller 10 to rotate, and the pull rope 18 is wound up, so that the first clamping plate 6 is driven to move toward the side close to the top plate 7 through the winding of the pull rope 18, and then the box will be pushed to reduce the gap between the boxes on the pallet, and the lower spring 39 will be compressed at the same time, and finally the operating adjustment motor 9 will rotate in the reverse direction to reset the mechanism.

[0026] In order to ensure that the driving mechanism can operate normally when clamping boxes of different specifications, the adjustment mechanism includes an extrusion rod 20 and an adjustment gear 21. The side wall of the upper gear 16 is provided with an inward moving groove 22, and a circular plate 23 is slidably connected to the inner side of the moving groove 22. The adjusting gear 21 is fixedly connected to the side wall of the circular plate 23. An upper rack 24 meshing with the adjusting gear 21 is provided below the adjusting gear 21. The upper rack 24 is fixedly connected to the top inner side of the fixed frame 3 through a pair of support rods 25. An upper spring 26 is fixedly connected between the inner side of the moving groove 22 and the side wall of the circular plate 23. The extrusion rod 20 is fixedly connected to the side wall of the adjusting gear 21. The L-shaped A pushing plate 28 for pushing the extrusion rod 20 is fixedly connected to the top of the clamping plate 8, and the top of the pushing plate 28 is inclined toward the side of the adjusting gear 21. The side wall of the extrusion rod 20 is set as a smooth arc surface, and a pair of positioning grooves 29 are opened on the inner side of the movable groove 22. Positioning blocks 30 are fixedly connected to the outer wall of the circular plate 23 and the corresponding positions of the positioning grooves 29. Through the setting of the positioning grooves 29 and the positioning blocks 30, the sliding of the circular plate 23 can be limited to prevent the circular plate 23 from slipping out of the movable groove 22, causing the adjusting gear 21 to slip out of the meshing area with the upper rack 24, thereby improving the stability of the device during operation.

[0027] When clamping boxes of different specifications, the clamping motor 19 is controlled to start and drive the bidirectional screw rod 4 to rotate, thereby driving the threaded upper sliding block 5 and the lower sliding block 11 to slide toward or away from the side, so as to adjust the distance between the L-shaped clamping plate 8 and the first clamping plate 6, which can meet the needs of clamping and stacking boxes of different specifications. In this process, the movement of the lower sliding block 11 will drive the adjustment gear 21 to move, and then drive the adjustment gear 21 to rotate through the mutual engagement with the upper rack 24, and then drive the upper gear 16 to rotate through the positioning block 30, and then drive the take-up roller 10 to rotate, so that the upper sliding block 5 and the lower sliding block 11 can be moved closer to each other. When moving to one side, the pull rope 18 on the take-up roller 10 is pulled, and vice versa when moving in the opposite direction, so that the pull rope 18 is always in a taut state, which is convenient for quickly pulling the first clamping plate 6, and when the driving mechanism pulls the L-shaped clamping plate 8 to move upward, it will drive the push plate 28 to move upward, and then the inclined surface of the top of the push plate 28 will squeeze the squeezing rod 20, driving the adjusting gear 21 and the circular plate 23 to slide into the moving groove 22, and at the same time compressing the upper spring 26, so that the adjusting gear 21 slides out of the meshing position with the upper rack 24, so that when the take-up roller 10 tightens the pull rope 18, the normal operation of the driving mechanism will not be hindered by the upper rack 24, and the above movement is repeated in reverse when the driving mechanism is reset.

[0028] In order to flexibly adjust the pushing position of the first clamping plate 6 according to the stacking position, the fixed frame 3 is rotatably connected to the bottom end of the fixed column 2, and a gear ring 32 is fixedly connected to the top of the fixed frame 3 and located on the outside of the fixed column 2. A driving motor 33 is fixedly connected to the side wall of the fixed column 2, and a rotating gear 34 meshing with the gear ring 32 is fixedly connected to the output end of the driving motor 33. When the placement position of the box on the pallet changes, the driving motor 33 can be controlled to start and drive the rotating gear 34 to rotate, thereby driving the meshing gear ring 32 to rotate, and then driving the fixed frame 3 to rotate at the bottom of the fixed column 2, thereby adjusting the position of the first clamping plate 6 to meet the various swinging requirements of the boxes on the pallet.

[0029] In order to improve the clamping effect of the device and not hinder the normal operation of the driving mechanism, an inward-recessed bottom groove 35 is provided on the side wall of the L-shaped clamping plate 8, and a limit plate 36 is slidably connected to the inner side of the bottom groove 35. The limit plate 36 and the first clamping plate 6 are fixedly connected to an anti-slip pad 37 on one side. A limit groove 38 is provided on the side wall of the top plate 7. An inward-recessed telescopic groove 41 is provided inside the L-shaped clamping plate 8 and above the limit plate 36. A conical block 42 is fixedly connected to the top of the limit plate 36 and at a position corresponding to the limit groove 38. The inner side of the telescopic groove 41 passes through a sliding connection A slide rod 43 is connected, and the slide rod 43 is fixedly connected to the side wall of the conical block 42, and a limit spring 27 is fixedly connected between the inner side of the telescopic groove 41 and the outer wall of the slide rod 43. The limit groove 38 is arranged above the L-shaped clamping plate 8, and the side wall of the conical block 42 is abutted against the side wall of the top plate 7. The bottom of the limit groove 38 is inclined. The bottom of the limit groove 38 is inclined to facilitate the L-shaped clamping plate 8 to gradually squeeze the inclined surface of the conical block 42 when driving the conical block 42 to reset, so that the conical block 42 can slide, and then the limit plate 36 and the anti-slip pad 37 can be quickly pushed to reset.

[0030] The provision of the anti-skid pad 37 can improve the anti-skid performance of the first clamping plate 6 and the L-shaped clamping plate 8 when clamping the box body, thereby improving the stacking effect of the robot arm, and when the driving mechanism is running, by driving the L-shaped clamping plate 8 to move upward, the conical block 42 will be driven to slide out of the extrusion surface with the top plate 7 and slide into the limiting groove 38, and then the elastic force of the limiting spring 27 will push the conical block 42 to slide into the limiting groove 38, thereby driving the limiting plate 36 and the anti-skid pad 37 to slide into the inner side of the bottom groove 35, so that the anti-skid pad 37 slides out of the contact position with the box body, which can reduce the friction between the L-shaped clamping plate 8 and the box body when moving upward, improve the silkiness during the operation of the device, and reverse the operation when resetting.

[0031] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A robot automatic positioning mechanical arm, comprising a mechanical arm body (1), and a fixed column (2) arranged at a moving end of the mechanical arm body (1), characterized in that: A fixing frame (3) is provided below the fixing column (2), a bidirectional screw rod (4) is rotatably connected to the inner side of the fixing frame (3), an upper sliding block (5) and a lower sliding block (11) are respectively threadedly connected to the outer wall of the bidirectional screw rod (4), a clamping motor (19) is fixedly connected to the side wall of the fixing frame (3), an output end of the clamping motor (19) passes through the side wall of the fixing frame (3) and is fixedly connected to the side wall of the bidirectional screw rod (4), a first clamping plate (6) is provided at the bottom of the upper sliding block (5), a top plate (7) is fixedly connected to the side wall of the lower sliding block (11), an L-shaped clamping plate (8) is slidably connected to the top plate (7) and close to the first clamping plate (6), and a driving mechanism for extracting the L-shaped clamping plate (8) and pulling the first clamping plate (6) is provided on the top plate (7); The driving mechanism comprises an adjusting motor (9) and a wire-receiving roller (10); a recessed sliding groove (12) is provided at the bottom of the upper sliding block (5); the top of the first clamping plate (6) is slidably connected to the inner side of the sliding groove (12); a lower spring (39) is fixedly connected between the inner side of the sliding groove (12) and the side wall of the first clamping plate (6); a recessed receiving groove (13) is provided on the side wall of the lower sliding block (11); the wire-receiving roller (10) is rotatably connected to the inner side of the receiving groove (13); the adjusting motor (9) is fixedly connected to the side wall of the top plate (7); a lower rack (14) is fixedly connected to the top of the L-shaped clamping plate (8); a lower gear (15) is fixedly connected to the output end of the adjusting motor (9) and passes through the side wall of the top plate (7) and the lower gear. The racks (14) are meshed with each other, the side wall of the lower sliding block (11) is rotatably connected to the upper gear (16), the side wall of the take-up roller (10) passes through the storage groove (13) and is fixedly connected to the side wall of the upper gear (16), the bottom of the lower rack (14) close to the first clamping plate (6) is fixedly connected to a plurality of tooth blocks (17) meshing with the upper gear (16), the outer wall of the take-up roller (10) is wrapped with a pull rope (18), one end of the pull rope (18) is fixedly connected to the outer wall of the take-up roller (10), and the other end of the pull rope (18) is fixedly connected to the side wall of the first clamping plate (6), and the side wall of the upper gear (16) is provided with an adjustment mechanism for avoiding obstruction of the first clamping plate (6) and the L-shaped clamping plate (8) from clamping and stacking different specifications.

2. The robot automatic positioning mechanical arm according to claim 1, characterized in that: The adjustment mechanism comprises an extrusion rod (20) and an adjustment gear (21); a side wall of the upper gear (16) is provided with an inwardly recessed moving groove (22); a circular plate (23) is slidably connected to the inner side of the moving groove (22); the adjustment gear (21) is fixedly connected to the side wall of the circular plate (23); an upper rack (24) meshing with the adjusting gear (21) is provided below the adjusting gear (21); the upper rack (24) is fixedly connected to the inner top of the fixed frame (3) via a pair of support rods (25); an upper spring (26) is fixedly connected between the inner side of the moving groove (22) and the side wall of the circular plate (23); the extrusion rod (20) is fixedly connected to the side wall of the adjustment gear (21); and a pushing plate (28) for pushing the extrusion rod (20) is fixedly connected to the top of the L-shaped clamping plate (8).

3. The robot automatic positioning mechanical arm according to claim 2, characterized in that: The top end of the push plate (28) is arranged to be inclined toward one side of the adjustment gear (21), and the side wall of the extrusion rod (20) is arranged to be a smooth arc surface.

4. The robot automatic positioning mechanical arm according to claim 2, characterized in that: A pair of positioning grooves (29) are provided inside the movable groove (22), and positioning blocks (30) are fixedly connected to the outer wall of the circular plate (23) at positions corresponding to the positioning grooves (29).

5. The robot automatic positioning mechanical arm according to claim 1, characterized in that: A through slot (31) is provided through the top of the fixed frame (3) and at a position corresponding to the lower rack (14).

6. The robot automatic positioning mechanical arm according to claim 1, characterized in that: The fixed frame (3) is rotatably connected to the bottom end of the fixed column (2); a gear ring (32) is fixedly connected to the top end of the fixed frame (3) and located outside the fixed column (2); a driving motor (33) is fixedly connected to the side wall of the fixed column (2); and a rotating gear (34) meshing with the gear ring (32) is fixedly connected to the output end of the driving motor (33).

7. The robot automatic positioning mechanical arm according to claim 1, characterized in that: The pull rope (18) passes through the bottom of the take-up roller (10) and is evenly wound around its outer wall, and the bottom of the upper sliding block (5) is fixedly connected to a conductor roller (40).

8. The robot automatic positioning mechanical arm according to claim 1, characterized in that: The side wall of the L-shaped clamping plate (8) is provided with an inwardly recessed bottom groove (35), the inner side of the bottom groove (35) is slidably connected to a limit plate (36), the limit plate (36) and the first clamping plate (6) are fixedly connected to an anti-slip pad (37) on the side close to each other, and the side wall of the top plate (7) is provided with a limit groove (38).

9. The robot automatic positioning mechanical arm according to claim 8, characterized in that: An inwardly recessed telescopic groove (41) is provided inside the L-shaped clamping plate (8) and above the limiting plate (36); a conical block (42) is fixedly connected to the top of the limiting plate (36) and at a position corresponding to the limiting groove (38); a sliding rod (43) is slidably connected to the inside of the telescopic groove (41); the sliding rod (43) is fixedly connected to the side wall of the conical block (42); and a limiting spring (27) is fixedly connected between the inside of the telescopic groove (41) and the outer wall of the sliding rod (43).

10. The robot automatic positioning mechanical arm according to claim 9, characterized in that: The limiting groove (38) is provided above the L-shaped clamping plate (8), the side wall of the conical block (42) abuts against the side wall of the top plate (7), and the bottom of the limiting groove (38) is arranged at an angle.

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