A robot automatically positioning a mechanical arm

Abstract

The application belongs to the technical field of robots, and specifically discloses a robot automatic positioning mechanical arm, which comprises a mechanical arm body, a fixed column arranged at the moving end of the mechanical arm body, a fixed frame arranged below the fixed column, a bidirectional screw rod rotatably connected to the inner side of the fixed frame, an upper sliding block and a lower sliding block threadedly connected to the outer wall of the bidirectional screw rod respectively, a clamping motor fixedly connected to the side wall of the fixed frame, a first clamping plate arranged at the bottom of the upper sliding block, and a first clamping plate arranged at the bottom of the upper sliding block. Through the cooperation of the above structure, the L-shaped clamping plate can be pulled out when the box body is placed down, and then the first clamping plate is driven to quickly push the box body, so that the gap between the box bodies on the tray is reduced, and the automatic positioning program of the mechanical wall does not need to be changed, the operation action of the mechanical arm is reduced, the stacking efficiency is improved, the device can also operate normally when stacking box bodies of different specifications, and the application range of the device is greatly improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a robot automatic positioning mechanical arm. BACKGROUND

[0002] The mechanical arm is an automatic mechanical device most widely used in the technical field of robots, and can be seen in the fields of industrial manufacturing, medical treatment and entertainment service. Although the mechanical arms have different forms, they all have a common feature that they can receive instructions and accurately position to a certain point in three-dimensional or two-dimensional space for work.

[0003] In the automatic production line, the mechanical arm is used to automatically stack the products after packaging. In order to ensure the stability of the products during transportation on the pallet, the products in the same layer must have horizontal and vertical swinging modes, and the corresponding positions of the products in adjacent layers cannot be the same. Therefore, the vision calculation automatic positioning mechanical arm is used to automatically stack the products.

[0004] When the existing automatic positioning mechanical arm stacks the boxes on the pallet, a gap is left between the box and the box placed before due to the clamping part. However, the running track of the existing automatic positioning mechanical arm is fixed after setting, so that the products cannot be adjusted, and then as the height of the stacked boxes is higher and higher, the gap between the boxes will cause the goods on the pallet to shake during transportation, which may cause the goods to fall and be damaged. Therefore, the goods on the pallet need to be manually pushed to reduce the gap during transportation, so as to ensure the stability during transportation, which greatly reduces the automatic efficiency of the mechanical arm.

[0005] Therefore, the robot automatic positioning mechanical arm is proposed to solve the above problems. SUMMARY

[0006] The robot automatic positioning mechanical arm is proposed to solve the problems in the prior art.

[0007] To achieve the above object, the application provides a robot automatic positioning mechanical arm, which comprises 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 rod is rotatably connected to the inner side of the fixed frame, upper and lower sliding blocks are respectively threadedly connected to the outer wall of the bidirectional screw rod, a clamping motor is fixedly connected to the side wall of the fixed frame, the output end of the clamping motor is fixedly connected to the side wall of the bidirectional screw rod through the side wall of the fixed frame, 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 side of the first clamping plate of the top plate, and a driving mechanism for pulling out the L-shaped clamping plate and pulling the first clamping plate is arranged on the top plate.

[0008] The driving mechanism comprises an adjusting motor and a take-up roller, the bottom of the upper sliding block is provided with a recessed sliding groove, the top end 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, the side wall of the lower sliding block is provided with a recessed receiving groove, the take-up roller is rotatably connected to the inner side of the receiving groove, the adjusting motor is fixedly connected to the side wall of the top plate, the top of the L-shaped clamping plate is fixedly connected with a lower rack, the output end of the adjusting motor is fixedly connected with a lower gear which penetrates through the side wall of the top plate and is in meshing connection with the lower rack, the side wall of the lower sliding block is rotatably connected with an upper gear, the side wall of the take-up roller is fixedly connected to the side wall of the upper gear through the receiving groove, a plurality of gear blocks in meshing connection with the upper gear are fixedly connected to the bottom of the side of the lower rack close to the first clamping plate, a pull rope is wound around the outer wall of the take-up roller, 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 adjusting mechanism for avoiding the obstruction of the first clamping plate and the L-shaped clamping plate to clamping and stacking different specifications.

[0009] In the above technical solution, further, the adjusting mechanism comprises a pressing rod and an adjusting gear, the side wall of the upper gear is provided with a 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, a upper rack in meshing connection with the adjusting gear is arranged below the adjusting gear, the upper rack is fixedly connected to the top end of the inner side of the fixed frame through a pair of supporting rods, an upper spring is fixedly connected between the inner side of the moving groove and the side wall of the circular plate, the pressing rod is fixedly connected to the side wall of the adjusting gear, and a pushing plate for pushing the pressing rod is fixedly connected to the top of the L-shaped clamping plate.

[0010] In the above technical solution, further, the top end of the pushing plate is inclined to the side of the adjusting gear, and the side wall of the pressing rod is provided as a smooth circular arc surface.

[0011] In the above technical solution, further, a pair of positioning grooves are arranged in the inner side of the moving groove, and a positioning block is fixedly connected to the outer wall of the circular plate at a position corresponding to the positioning grooves.

[0012] In the above technical solution, further, a through slot is formed in the top of the fixed frame and at a position corresponding to the lower rack.

[0013] In the above technical solution, further, the fixed frame is rotationally connected to the bottom end of the fixed column, a gear ring is fixedly connected to the top end 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 engaged with the gear ring is fixedly connected to the output end of the drive motor.

[0014] In the above technical solution, further, the pull rope passes through the bottom of the take-up roller and is uniformly wound on the outer wall thereof, and a wire guide roller is fixedly connected to the bottom of the upper sliding block.

[0015] In the above technical solution, further, an inwardly recessed bottom groove is formed in the side wall of the L-shaped clamping plate, a limiting plate is slidingly connected to the inner side of the bottom groove, a non-slip pad is fixedly connected to the side of the limiting plate and the first clamping plate that are close to each other, and a limiting groove is formed in the side wall of the top plate.

[0016] In the above technical solution, further, an inwardly recessed telescopic groove is formed in the inside of 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 slidingly connected through the inner side of the telescopic 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 telescopic groove and the outer wall of the sliding rod.

[0017] In the above technical solution, further, the limiting groove is formed 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 obliquely arranged.

[0018] Compared with the prior art, the present application has the following beneficial effects:

[0019] 1. Through the cooperation of the drive mechanism and the adjusting mechanism, the L-shaped clamping plate can be extracted and then the first clamping plate can quickly push the box when the box is lowered, thereby reducing the gap between the boxes on the tray, and the automatic positioning program of the mechanical wall does not need to be changed, the operation of the mechanical arm is reduced, the stacking efficiency is improved, the device can normally operate when stacking boxes of different specifications, and the application range of the device is greatly improved.

[0020] 2. The anti-slip performance when clamping the box can be improved through the arrangement of the non-slip pad, and through the cooperation of the conical block, the limiting spring and the sliding rod, the corresponding non-slip pad can be stored in the bottom groove when the L-shaped clamping plate is extracted, the friction with the box is reduced, and the smoothness during the operation of the device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1The schematic diagram of the overall appearance of the mechanical arm is shown in the figure;

[0022] Figure 2 The schematic diagram of the overall appearance of the fixed frame is shown in the figure;

[0023] Figure 3 The schematic diagram of the overall appearance of the fixed frame is shown in the figure;

[0024] Figure 4 The schematic diagram of the overall appearance of the fixed frame is shown in the figure; Figure 3 The schematic diagram of the overall appearance of the fixed frame is shown in the figure;

[0025] Figure 5 The schematic diagram of the overall appearance of the fixed frame is shown in the figure;

[0026] Figure 6 The schematic diagram of the overall appearance of the fixed frame is shown in the figure;

[0027] Figure 7 The schematic diagram of the overall appearance of the fixed frame is shown in the figure;

[0028] Figure 8 The schematic diagram of the overall appearance of the fixed frame is shown in the figure;

[0029] Figure 9 The schematic diagram of the overall appearance of the fixed frame is shown in the figure; Figure 8 The schematic diagram of the overall appearance of the fixed frame is shown in the figure;

[0030] In the figure: 1, mechanical 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, adjusting motor; 10, take-up roller; 11, lower sliding block; 12, sliding groove; 13, storage groove; 14, lower rack; 15, lower gear; 16, upper gear; 17, tooth block; 18, pull rope; 19, clamping motor; 20, extrusion rod; 21, adjusting gear; 22, moving groove; 23, circular plate; 24, upper rack; 25, support rod; 26, upper spring; 27, limiting spring; 28, pushing plate; 29, positioning groove; 30, positioning block; 31, through groove; 32, gear ring; 33, driving motor; 34, rotating gear; 35, bottom groove; 36, limiting plate; 37, non-slip pad; 38, limiting groove; 39, lower spring; 40, wire roller; 41, telescopic groove; 42, conical block; 43, sliding rod. DETAILED DESCRIPTION

[0031] In order to enable the above-mentioned objects, features and advantages of the present application to be more clearly understood, the present application will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0032] As Figures 1-9The illustrated robot automatic positioning mechanical arm includes a mechanical arm body 1, a fixed column 2 arranged at the moving end of the mechanical arm body 1, a fixed frame 3 arranged below the fixed column 2, a bidirectional screw rod 4 rotatably connected to the inner side of the fixed frame 3, an upper sliding block 5 and a lower sliding block 11 threadedly connected to the outer wall of the bidirectional screw rod 4 respectively, a clamping motor 19 fixedly connected to the side wall of the fixed frame 3, a first clamping plate 6 arranged at the bottom of the upper sliding block 5, a top plate 7 fixedly connected to the side wall of the lower sliding block 11, an L-shaped clamping plate 8 slidably connected to the side of the top plate 7 close to the first clamping plate 6, and a driving mechanism arranged on the top plate 7 and used for pulling out the L-shaped clamping plate 8 and pulling the first clamping plate 6.

[0033] The driving mechanism includes an adjusting motor 9 and a take-up roller 10. The bottom of the upper sliding block 5 is provided with a recessed sliding groove 12, the top end 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, the side wall of the lower sliding block 11 is provided with a recessed receiving groove 13, the take-up roller 10 is rotatably connected to the inner side of the receiving groove 13, the side wall of the top plate 7 is fixedly connected with the adjusting motor 9, the top of the L-shaped clamping plate 8 is fixedly connected with a lower rack 14, the output end of the adjusting motor 9 is fixedly connected with a lower gear 15 and penetrates through the side wall of the top plate 7 to be in mesh with the lower rack 14, the side wall of the lower sliding block 11 is rotatably connected with an upper gear 16, and the side wall of the take-up roller 10 penetrates through the receiving groove 13 and is fixedly connected with the side wall of the upper gear 16.

[0034] A plurality of tooth blocks 17 in mesh with the upper gear 16 are fixedly connected to the bottom of the side of the lower rack 14 close to the first clamping plate 6, the outer wall of the take-up roller 10 is wound 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, 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 adjusting mechanism for avoiding the first clamping plate 6 and the L-shaped clamping plate 8 from blocking the clamping and stacking of different specifications, the pull rope 18 penetrates through the bottom of the take-up roller 10 and is uniformly wound on the outer wall thereof, the bottom of the upper sliding block 5 is fixedly connected with a wire roller 40, the wire roller 40 can guide and support the pull rope 18, avoid the pull rope 18 from contacting the side wall of the upper sliding block 5 to cause abrasion, and affect the service life of the device, the top of the fixed frame 3 is provided with a through groove 31 corresponding to the position of the lower rack 14, the through groove 31 avoids blocking the normal extension and retraction of the lower rack 14, thereby affecting the normal operation of the device.

[0035] When the mechanical arm is in the process of automatically positioning and stacking the boxes, the bidirectional screw rod 4 is rotated by controlling the clamping motor 19 to start, which drives the threaded upper sliding block 5 and lower sliding block 11 to move to the side of approach, thereby driving the first clamping plate 6 and the L-shaped clamping plate 8 to move to clamp the boxes. After the mechanical arm places the boxes on the tray, the adjusting motor 9 can be controlled to start to drive the lower gear 15 to rotate, which in turn drives the meshing lower rack 14 to move upwards, simultaneously driving the L-shaped clamping plate 8 to slide upwards on the side wall of the top plate 7, thereby driving the bottom end of the L-shaped clamping plate 8 to slide out of the gap between the boxes. When the L-shaped clamping plate 8 completely moves out of the gap between the boxes, the continued movement of the lower rack 14 will drive the gear block 17 to move next to the upper gear 16, thereby driving the upper gear 16 to rotate through the mutual meshing of the gear block 17 and the upper gear 16, which in turn drives the take-up roller 10 to rotate, thereby winding the pull rope 18 to move the first clamping plate 6 to the side of the top plate 7, thereby pushing the boxes to reduce the gap between the boxes on the tray, and simultaneously compressing the lower spring 39. Finally, the adjusting motor 9 is reversed to rotate to reset the mechanism.

[0036] In order to drive the mechanism to normally operate when clamping boxes of different specifications, the adjusting mechanism includes an extrusion rod 20 and an adjusting gear 21. The side wall of the upper gear 16 is provided with an inwardly recessed moving groove 22, and a circular plate 23 is slidably connected inside the moving groove 22. The adjusting gear 21 is fixedly connected to the side wall of the circular plate 23, and an upper rack 24 meshing with the adjusting gear 21 is arranged below the adjusting gear 21. The upper rack 24 is fixedly connected to the inner top end 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. A push plate 28 for pushing the extrusion rod 20 is fixedly connected to the top of the L-shaped clamping plate 8. The top end of the push plate 28 is inclined towards the side of the adjusting gear 21. The side wall of the extrusion rod 20 is provided with a smooth arc surface. A pair of positioning grooves 29 are arranged inside the moving groove 22. Positioning blocks 30 are fixedly connected to the outer wall of the circular plate 23 and correspond to the positioning grooves 29. The positioning grooves 29 and the positioning blocks 30 can limit the sliding of the circular plate 23, prevent the circular plate 23 from sliding out of the moving groove 22, and improve the stability of the device during operation.

[0037] When clamping different specifications of boxes, the clamping motor 19 is controlled to start to drive the bidirectional screw rod 4 to rotate, and the upper sliding block 5 and the lower sliding block 11 connected with threads are driven to slide to the side of approaching or moving away, so as to adjust the distance between the L-shaped clamping plate 8 and the first clamping plate 6, and meet the demand of clamping and stacking different specifications of boxes. In this process, the movement of the lower sliding block 11 drives the adjusting gear 21 to move, and then drives the adjusting gear 21 to rotate through the meshing with the upper rack 24, and then drives the upper gear 16 to rotate through the positioning block 30, and then drives the take-up roller 10 to rotate. When the upper sliding block 5 and the lower sliding block 11 move to the side of approaching, the pull rope 18 on the take-up roller 10 is pulled, and vice versa, so that the pull rope 18 is always in a tight state, which is convenient for quickly pulling the first clamping plate 6. When the driving mechanism pulls the L-shaped clamping plate 8 to move upward, the pushing plate 28 moves upward, and then the inclined surface at the top of the pushing plate 28 causes the extrusion of the extrusion rod 20, drives the adjusting gear 21 and the circular plate 23 to slide into the moving groove 22, and compresses the upper spring 26, so that the adjusting gear 21 slides out of the meshing position with the upper rack 24. Thus, 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 driving mechanism is reset in reverse to repeat the above movement.

[0038] In order to flexibly adjust the pushing position of the first clamping plate 6 according to the stacking position, the fixed frame 3 is rotationally connected at the bottom end of the fixed column 2, and the top end of the fixed frame 3 and outside the fixed column 2 are fixedly connected with a gear ring 32. The side wall of the fixed column 2 is fixedly connected with a driving motor 33, and the output end of the driving motor 33 is fixedly connected with a rotating gear 34 meshing with the gear ring 32. When the placement position of the boxes on the tray changes, the driving motor 33 can be controlled to start to drive the rotating gear 34 to rotate, and then drive the meshing gear ring 32 to rotate, and then drive the fixed frame 3 to rotate at the bottom of the fixed column 2, so as to adjust the position of the first clamping plate 6, and meet the demand of various swinging of the boxes on the tray.

[0039] In order to improve the clamping effect of the device and not hinder the normal operation of the driving mechanism, the L-shaped clamping plate 8 is provided with a recessed bottom groove 35 on the side wall, the inside of the bottom groove 35 is slidably connected with a limiting plate 36, the limiting plate 36 and the first clamping plate 6 are fixedly connected with anti-skid pads 37 on the side close to each other, the top plate 7 is provided with a limiting groove 38 on the side wall, the inside of the L-shaped clamping plate 8 and above the limiting plate 36 is provided with a recessed expansion slot 41, the top of the limiting plate 36 and the corresponding position of the limiting groove 38 are fixedly connected with a tapered block 42, a slide rod 43 is slidably connected in the expansion slot 41, the slide rod 43 is fixedly connected on the side wall of the tapered block 42, and the limiting spring 27 is fixedly connected between the inside of the expansion slot 41 and the outer wall of the slide rod 43, the limiting groove 38 is arranged above the L-shaped clamping plate 8, the side wall of the tapered block 42 abuts against the side wall of the top plate 7, and the bottom of the limiting groove 38 is inclined, so that when the L-shaped clamping plate 8 drives the tapered block 42 to reset, the tapered block 42 is gradually pressed, the tapered block 42 slides, and the limiting plate 36 and the anti-skid pad 37 can be quickly reset.

[0040] 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, thereby improving the stacking effect of the mechanical arm, and when the driving mechanism operates, the L-shaped clamping plate 8 is driven to move upward, which drives the tapered block 42 to slide out of the pressing surface of the top plate 7 and slide into the limiting groove 38, then the tapered block 42 is pushed to slide into the limiting groove 38 under the elastic force of the limiting spring 27, thereby driving the limiting plate 36 and the anti-skid pad 37 to slide into the inside of the bottom groove 35, so that the anti-skid pad 37 slides out of the contact position with the box, the friction between the L-shaped clamping plate 8 and the box when moving upward is reduced, the smoothness during the operation of the device is improved, and the reverse operation is performed during resetting.

[0041] The basic principles, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection claimed by the present application is defined by the appended 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 the moving end of the mechanical arm body (1), characterized in that, The fixed column (2) is provided below with a fixed frame (3), the inner side of the fixed frame (3) is rotatably connected with a bidirectional screw rod (4), the outer wall of the bidirectional screw rod (4) is respectively threadedly connected with an upper sliding block (5) and a lower sliding block (11), the side wall of the fixed frame (3) is fixedly connected with a clamping motor (19), the output end of the clamping motor (19) penetrates through the side wall of the fixed frame (3) and is fixedly connected with the side wall of the bidirectional screw rod (4), the bottom of the upper sliding block (5) is provided with a first clamping plate (6), the side wall of the lower sliding block (11) is fixedly connected with a top plate (7), the top plate (7) and the side close to the first clamping plate (6) are slidably connected with an L-shaped clamping plate (8), the top plate (7) is provided with a driving mechanism for pulling out the L-shaped clamping plate (8) and pulling the first clamping plate (6); The driving mechanism comprises an adjusting motor (9) and a take-up roller (10), the bottom of the upper sliding block (5) is provided with a recessed sliding groove (12), the top end 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), the side wall of the lower sliding block (11) is provided with a recessed storage groove (13), the take-up roller (10) is rotatably connected to the inner side of the storage groove (13), and the side wall of the top plate (7) is fixedly connected with the adjusting motor (9), the top of the L-shaped clamping plate (8) is fixedly connected with a lower rack (14), the output end of the adjusting motor (9) is fixedly connected with a lower gear (15) and penetrates through the side wall of the top plate (7) and is in meshing connection with the lower rack (14), the side wall of the lower sliding block (11) is rotatably connected with an upper gear (16), the side wall of the take-up roller (10) is fixedly connected with the side wall of the upper gear (16) through the storage groove (13), a plurality of gear blocks (17) in meshing connection with the upper gear (16) are fixedly connected to the bottom of the side of the lower rack (14) close to the first clamping plate (6), the outer wall of the take-up roller (10) is wound 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), 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 adjusting mechanism for avoiding blocking the first clamping plate (6) and the L-shaped clamping plate (8) from clamping and stacking different specifications. The adjusting mechanism comprises a pressing rod (20) and an adjusting gear (21), the upper gear (16) side wall is provided with a recessed moving groove (22), the moving groove (22) inner side is slidably connected with a circular plate (23), the adjusting gear (21) is fixedly connected on the circular plate (23) side wall, an upper rack (24) engaged with the adjusting gear (21) is arranged below the adjusting gear (21), the upper rack (24) is fixedly connected on the fixed frame (3) inner side top end through a pair of supporting rods (25), an upper spring (26) is fixedly connected between the moving groove (22) inner side and the circular plate (23) side wall, the pressing rod (20) is fixedly connected on the adjusting gear (21) side wall, and a pushing plate (28) for pushing the pressing rod (20) is fixedly connected on the L-shaped clamping plate (8) top.

2. The robotic automatic positioning robotic arm of claim 1, wherein, The pushing plate (28) top end is obliquely arranged towards the adjusting gear (21) side, and the pressing rod (20) side wall is arranged as a smooth circular arc surface.

3. The robotic automatic positioning robotic arm of claim 1, wherein, A pair of positioning grooves (29) are arranged in the moving groove (22) inner side, and positioning blocks (30) are fixedly connected on the circular plate (23) outer wall and corresponding positions of the positioning grooves (29).

4. The robotic automatic positioning robotic arm of claim 1, wherein, A through groove (31) is arranged in the fixed frame (3) top and corresponding position of the lower rack (14).

5. The robotic automatic positioning robotic arm of claim 1, wherein, The fixed frame (3) is rotatably connected on the fixed column (2) bottom end, a gear ring (32) is fixedly connected on the fixed frame (3) top and outside the fixed column (2), a driving motor (33) is fixedly connected on the fixed column (2) side wall, and a rotating gear (34) engaged with the gear ring (32) is fixedly connected on the driving motor (33) output end.

6. The robotically automated positioning robotic arm of claim 1, wherein, The pull rope (18) passes through the wire guide roller (40) from the take-up roller (10) bottom and is uniformly wound on the wire guide roller (40) outer wall.

7. The robotically automated positioning robotic arm of claim 1, wherein, The L-shaped clamping plate (8) side wall is provided with a recessed bottom groove (35), the bottom groove (35) inner side is slidably connected with a limiting plate (36), the limiting plate (36) and the first clamping plate (6) are fixedly connected with anti-skid pads (37) on the sides close to each other, and the top plate (7) side wall is provided with a limiting groove (38).

8. The robotically automated positioning robotic arm of claim 7, wherein, The L-shaped clamping plate (8) inside and above the limiting plate (36) is provided with a recessed telescopic groove (41), the limiting plate (36) top and corresponding position of the limiting groove (38) are fixedly connected with a conical block (42), the telescopic groove (41) inner side is slidably connected with a sliding rod (43) penetrating through, the sliding rod (43) is fixedly connected on the conical block (42) side wall, and the limiting spring (27) is fixedly connected between the telescopic groove (41) inner side and the sliding rod (43) outer wall.

9. The robotically automated positioning robotic arm of claim 8, wherein, The limiting groove (38) is arranged above the L-shaped clamping plate (8), the conical block (42) side wall abuts against the top plate (7) side wall, and the limiting groove (38) bottom is obliquely arranged.

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