Mechanical arm for optical modem production

Abstract

The invention discloses a mechanical arm for optical modem production, which relates to the technical field of mechanical arms for production, and comprises a mechanical arm body, a quick-change connector arranged at the end part of the mechanical arm body, and a first air pipe for communicating the quick-change connector with the mechanical arm body through air, the connecting plate is arranged in the quick-change connector in a clamped mode through a clamping connector, the quick-change assembly is arranged in the quick-change connector and fixes the clamping connector based on vacuum negative suction, and the clamping structure is arranged at the bottom of the connecting plate in a sliding mode. The driving assembly is arranged in the connecting plate and is used for controlling the clamping structure to slidably clamp the optical modem shell; and the pneumatic assembly is arranged at the end part of the clamping structure and is used for adsorbing the PCB. By means of the mechanical arm, the problems that in an actual production scene, if special mechanical arms are selected to be arranged for an optical modem shell grabbing mode and a PCB grabbing mode respectively, or clamping jaw switching operation is frequently conducted on a single mechanical arm, the equipment cost and occupied space can be inevitably increased, and then production benefits are affected are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of production robot arms, and specifically to a production robot arm for optical modems. Background Art

[0002] The optical modem production robot is the core equipment in the automated production line. It is used to achieve high-precision and high-efficiency operations in the optical modem production process, covering assembly, testing, packaging and other links.

[0003] For example, the industrial robot arm for brake disc production with publication number CN115213876B can lift the brake disc body from the bottom to avoid the problem of directly grabbing the annular surface of the brake disc body, which may cause scratches on the annular surface, or damage due to rotation and falling during transfer. In addition, the method of using anti-skid pads to increase friction against the inner wall of the brake disc body can prevent the brake disc body from sliding during the transfer process. However, the existing production robot arm still has certain defects in the production of optical modems: During the production of optical modems, since there are significant differences in materials, structural characteristics and subsequent processing procedures between the optical modem shell and the PCB circuit board, the robotic arm needs to adopt appropriate grasping methods according to the characteristics of different components. For example, the optical modem shell is usually grasped by a clamp, because the optical modem shell is generally made of plastic and other materials, the shape is relatively regular and has a certain strength. The clamp can stably clamp the edge of the shell or a specific structure to ensure the firmness of the grasp. The PCB circuit board has a delicate and easily damaged surface, so a suction cup is required for adsorption and grasping. The suction cup can provide uniform adsorption force to avoid damage to the precision components on the circuit board caused by the clamping force. In actual production scenarios, if dedicated robotic arms are configured for the two grasping methods of optical modem shell grasping and PCB circuit board grasping, or if a single robotic arm is switched between clamps, it will inevitably increase equipment costs and space occupancy, thereby affecting production efficiency.

[0004] In response to the above problems, it is urgently necessary to carry out innovative designs based on the original optical modem production robotic arms. Summary of the invention

[0005] The technical solution of the present invention aims at the technical problem that the existing technical solutions are too single, and provides a solution that is significantly different from the existing technologies. Specifically, the purpose of the present invention is to provide a robotic arm for optical modem production, so as to solve the problem proposed in the above background technology that in actual production scenarios, if dedicated robotic arms are configured for the two grasping methods of optical modem shell grasping and PCB circuit board grasping, respectively, or if the gripper switching operation is frequently performed on a single robotic arm, it will inevitably increase the equipment cost and space occupancy, thereby affecting the production efficiency.

[0006] To achieve the above object, the present invention provides the following technical solution: A robotic arm for optical modem production, including a robotic arm body, a quick-change joint provided at the end of the robotic arm body, and a first air pipe for gas communication between the quick-change joint and the robotic arm body. It further includes a connecting plate clamped in the quick-change joint through a clamping joint, a quick-change assembly provided in the quick-change joint for fixing the clamping joint based on vacuum negative suction, a clamping structure slidably provided at the bottom of the connecting plate, a driving assembly provided in the connecting plate for controlling the clamping structure to slide and clamp the outer shell of the optical modem, and a pneumatic assembly provided at the end of the clamping structure for adsorbing the PCB circuit board. The clamping joint is fixedly connected to the top of the connecting plate, and a sliding groove for the clamping structure to slide is provided at the bottom of the connecting plate.

[0007] Preferably, the quick-change assembly includes limit insertion rods symmetrically distributed on the inner wall of the quick-change joint, a piston plate slidably provided at the center of the inner wall of the quick-change joint, and a first spring provided at the bottom of the piston plate. Air cavities are provided at the bottom of the inner walls on both sides of the quick-change joint, and the air cavities are connected to the first air pipe.

[0008] Preferably, the exhaust port at the other end of the air cavity is located directly above the piston plate. A push groove is provided on the outer wall of the limit insertion rod, a convex block for driving the limit insertion rod to slide is provided at the bottom of the piston plate, and the end of the limit insertion rod is movably inserted into the clamping joint.

[0009] Preferably, the clamping structure includes sliding rails symmetrically distributed on the connecting plate, sliding plates slidably provided on the sliding rails, sliding rods symmetrically distributed and installed on the top of the sliding plates, and a push plate fixedly connected to the top of the sliding rods. One end of the push plate is fixedly connected to a clamping block, a connecting piece is rotatably provided at the bottom of the clamping block, the connecting piece is in a "V" shape, and clamping wheels are rotatably provided at both ends thereof.

[0010] Preferably, a slider is fixedly connected to the bottom of the sliding plate, the slider is slidably provided in the sliding rail, and a sensor for detecting the clamped workpiece is electrically connected between the sliding rails.

[0011] Preferably, a connecting rod is fixedly connected to the bottom of the clamping block, a connecting rod is fixedly connected to the bottom of one end of the connecting piece, and a second spring is sleeved between the connecting rod and the connecting rod.

[0012] Preferably, a limiting rod is fixedly connected to the other side of the bottom of the clamping block, and the limiting rod is located on one side of the other end of the connecting piece.

[0013] Preferably, the driving assembly includes a main driving rotating rod rotatably provided at the center of the connecting plate, pulling rods rotatably provided at both ends of the main driving rotating rod, the ends of the pulling rods are connected to one side of the sliding plate, a hydraulic cylinder is provided in the connecting plate, and the end of the hydraulic cylinder is fixedly connected to the outer wall of one of the sliding plates.

[0014] Preferably, the pneumatic assembly includes a pneumatic valve fixedly connected to the top of the clamping block and a suction cup arranged at the center of the clamping wheel. The top of the suction cup is respectively communicated with a second air pipe and a third air pipe. The other ends of the second air pipe and the third air pipe are communicated with an air outlet head, and the air outlet head is communicated with the pneumatic valve.

[0015] Preferably, a rubber sleeve is sleeved on the outer wall of the clamping wheel, and friction surfaces are arranged on the surface of the rubber sleeve at equal angles.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. When the optical modem housing is placed directly below the connecting plate, the robotic arm body extends downward so that the pushing plate is located on both sides of the optical modem housing. The hydraulic cylinder is started, and the hydraulic cylinder contracts, pulling the sliding plate to slide inwards on the slide rail through the slider. The clamping wheels on the bottom connecting member of the clamping block gradually contact the corners of the optical modem housing and rotate. The connecting member pulls the second spring. In addition, under the restriction of the limiting rod, the rotation angle of the connecting member will not be too large to adapt to the angle of the optical modem housing. Subsequently, the slider continues to slide to increase the clamping force, so that the clamping wheels firmly clamp the optical modem housing for assembly work. When the optical modem housing is placed on the conveyor belt, it may turn to a certain extent due to the vibration of the conveyor belt movement (the normal state that needs to be clamped should be a horizontal state). When the rotatable connecting member contacts the optical modem housing, the optical modem housing that has turned is gradually pushed back to a horizontal state through the inward clamping force and the rotation amplitude, making it more convenient to clamp the optical modem housing; 2. When the main driving rotating rod rotates to the maximum amplitude, it is determined that the workpiece to be clamped is not the optical modem housing. Subsequently, the sensor between the slide rails detects the clamping situation in real time. If the optical modem housing is not contacted (such as when a PCB circuit board is conveyed), the sensor sends a stop sliding signal to the slider (the slider is an electromagnetic slider) to prepare for subsequent adsorption and clamping of the PCB circuit board. At this time, the robotic arm body continues to move downward so that the suction cup at the center of the clamping wheel presses against the surface of the PCB circuit board. Subsequently, the pneumatic valve at the top of the clamping block is started, and the air outlet heads on the pneumatic valve suck the second air pipe and the third air pipe respectively, so that the suction cup adsorbs the surface of the PCB circuit board, completing the adsorption and clamping of the PCB circuit board. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the robotic arm of the present invention.

[0018] Figure 2 It is a schematic diagram of the overall structure of the robotic arm of the present invention from another angle.

[0019] Figure 3 It is a schematic diagram of the fixture structure of the robotic arm of the present invention.

[0020] Figure 4Schematic diagram of the quick-change structure inside the fixture of the present invention.

[0021] Figure 5 Schematic diagram of the flipping state of the robotic arm fixture of the present invention.

[0022] Figure 6 Another perspective schematic diagram of the flipping state of the robotic arm fixture of the present invention.

[0023] Figure 7 Schematic diagram of the drive assembly inside the fixture structure of the present invention.

[0024] Figure 8 Schematic diagram of the clamping structure of the present invention.

[0025] Figure 9 Another perspective schematic diagram of the clamping structure of the present invention.

[0026] Figure 10 Schematic diagram of the pneumatic assembly of the clamping structure of the present invention.

[0027] In the figure: 1, robotic arm body; 2, quick-change joint; 3, first air pipe; 4, connecting plate; 401, clamping joint; 5, push plate; 501, sliding rod; 502, sliding plate; 503, slider; 6, clamping block; 7, pneumatic valve; 701, air outlet head; 702, second air pipe; 8, connecting piece; 801, connecting rod; 9, limiting rod; 10, clamping wheel; 1001, suction cup; 11, third air pipe; 12, air cavity; 13, first spring; 14, piston plate; 15, limiting insertion rod; 16, second spring; 17, slide rail; 18, sensor; 19, main driving rotating rod; 20, pulling rod; 21, hydraulic cylinder. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0029] Please refer to Figures 1 to 10, the present invention provides a technical solution: a robotic arm for optical modem production, including a robotic arm body 1, a quick-change joint 2 provided at the end of the robotic arm body 1, and a first air pipe 3 for gas communication between the quick-change joint 2 and the robotic arm body 1. It also includes a connecting plate 4 clamped in the quick-change joint 2 through a clamping joint 401, a quick-change component provided in the quick-change joint 2 for fixing the clamping joint 401 based on vacuum negative suction, a clamping structure slidably provided at the bottom of the connecting plate 4, a driving component provided in the connecting plate 4 for controlling the sliding clamping of the optical modem housing by the clamping structure, and a pneumatic component provided at the end of the clamping structure for adsorbing the PCB circuit board. The clamping joint 401 is fixedly connected to the top of the connecting plate 4, and a sliding groove for the clamping structure to slide is opened at the bottom of the connecting plate 4.

[0030] In this embodiment, the connecting plate 4 is clamped into the quick-change joint 2 through the clamping joint 401. Subsequently, the quick-change joint 2 clamps the clamping joint 401 through the internal quick-change component. Then, the air in the quick-change joint 2 is evacuated through the cooperation of the first air pipe 3 and the quick-change component, so that the clamping joint 401 is more firmly fixed in the quick-change joint 2, and the connecting plate 4 fixedly connected to the bottom of the clamping joint 401 is installed on the robotic arm body 1. When the optical modem housing to be clamped and assembled is conveyed to directly below the connecting plate 4 through the conveyor belt, the robotic arm body 1 starts to work, and the clamping structure at the bottom of the connecting plate 4 is placed on both sides of the optical modem housing. Subsequently, the driving component in the connecting plate 4 is started, so that the driving component drives the clamping structure to slide inward, and the clamping structure contacts the corners of the optical modem housing, and firmly clamps the optical modem housing through the clamping force. In addition, when the PCB circuit board is placed directly below the connecting plate 4, the driving component continues to drive the clamping structure to slide inward. When the clamping structure does not contact the workpiece, the internal sensing unit controls the clamping structure to move downward, so that the pneumatic component on the clamping structure is started, and the clamping structure adsorbs and clamps the PCB circuit board, increasing the clamping diversity of the robotic arm body 1.

[0031] The quick-change component includes limiting insertion rods 15 symmetrically distributed on the inner wall of the quick-change joint 2, a piston plate 14 slidably provided at the center of the inner wall of the quick-change joint 2, and a first spring 13 provided at the bottom of the piston plate 14. Air cavities 12 are opened at the bottom of both inner walls of the quick-change joint 2, and the air cavities 12 are connected to the first air pipe 3.

[0032] The other exhaust port of the air cavity 12 is placed directly above the piston plate 14. A pushing groove is opened on the outer wall of the limiting insertion rod 15, and a convex block for driving the limiting insertion rod 15 to slide is provided at the bottom of the piston plate 14. The end of the limiting insertion rod 15 is movably inserted into the clamping joint 401.

[0033] As an example of this embodiment, when the card connector 401 is placed in the quick-change connector 2, the first air pipe 3 injects gas into the air chamber 12, causing the piston plate 14 to move downward. Subsequently, the piston plate 14 pushes the limit insertion rod 15 to move outward through the convex block. Then, the air in the air chamber 12 is continuously sucked through the first air pipe 3 (to ensure that the air chamber 12 is in a vacuum negative suction state), causing the piston plate 14 to move upward. While moving, the convex block on the piston plate 14 pushes the push groove on the limit insertion rod 15, so that the limit insertion rod 15 moves inward and is stuck in the card slot of the card connector 401, thereby firmly fixing the connecting plate 4 on the quick-change connector 2.

[0034] The clamping structure includes slide rails 17 symmetrically arranged on the connecting plate 4, sliding plates 502 slidably arranged on the slide rails 17, slide rods 501 symmetrically arranged and mounted on the tops of the sliding plates 502, and a push plate 5 fixedly connected to the tops of the slide rods 501. One end of the push plate 5 is fixedly connected to a clamping block 6. A connecting member 8 is rotatably arranged at the bottom of the clamping block 6. The connecting member 8 is in a "V" shape, and clamping wheels 10 are rotatably arranged at both ends thereof.

[0035] The bottom of the sliding plate 502 is fixedly connected to a slider 503. The slider 503 is slidably arranged in the slide rail 17. A sensor 18 for detecting the clamped workpiece is electrically connected between the slide rails 17.

[0036] A connecting rod is fixedly connected to the bottom of the clamping block 6. A connecting rod 801 is fixedly connected to the bottom of one end of the connecting member 8. A second spring 16 is sleeved between the connecting rod 801 and the connecting rod.

[0037] A limiting rod 9 is fixedly connected to the other side of the bottom of the clamping block 6. The limiting rod 9 is located on one side of the other end of the connecting member 8.

[0038] As for this embodiment, when the optical modem housing is placed directly below the connecting plate 4, the manipulator body 1 extends downward. Subsequently, the push plates 5 are located on both sides of the optical modem housing. Then, the driving assembly is activated, causing the sliding plate 502 to slide on the slide rail 17 through the slider 503. Subsequently, the clamping wheels 10 on the bottom connecting member 8 of the clamping block 6 gradually come into contact with the corners of the optical modem housing and rotate to a certain extent. When rotating, the connecting member 8 pulls the second spring 16. The connecting member 8 is provided with a limiting rod 9 to prevent its rotation angle from being too large, and the clamping angle just adapts to the angle of the optical modem housing. Then, by continuing to slide the push plate 5, the clamping force on the optical modem housing is increased, so that the clamping wheels 10 firmly clamp the optical modem housing for the assembly work of the optical modem housing. When the clamping wheels 10 release the clamping of the optical modem housing, the second spring 16 between the limiting rod 9 and the bottom connecting rod 801 of the connecting member 8 is reset, causing the connecting member 8 to return to its original state. (It should be noted that when the optical modem housing is placed on the conveyor belt, it may turn to a certain extent due to the vibration of the conveyor belt movement (the normal state to be clamped should be a horizontal state). The rotatable connecting member 8 can gradually push the turned optical modem housing back to a horizontal state through the inward clamping force and the rotation amplitude when contacting the optical modem housing, making it more convenient to clamp the optical modem housing). In addition, when not in contact with the optical modem housing (such as when a PCB circuit board is being conveyed), the sensor 18 between the slide rails 17 sends a signal to stop sliding to the slider 503 placed on the slide rail 17 (the slider 503 is an electromagnetic slider). Then, the manipulator body 1 continues to move downward, and the clamping structure cooperates with the pneumatic assembly to adsorb and clamp the PCB circuit board to increase the diversity of the manipulator body 1.)

[0039] The driving assembly includes a main driving rotating rod 19 rotatably arranged at the center of the connecting plate 4, pulling rods 20 rotatably arranged at both ends of the main driving rotating rod 19. The end of the pulling rod 20 is connected to one side of the sliding plate 502. A hydraulic cylinder 21 is arranged in the connecting plate 4, and the end of the hydraulic cylinder 21 is fixedly connected to the outer wall of one of the sliding plates 502.

[0040] As for this embodiment, when a workpiece needs to be clamped, the hydraulic cylinder 21 starts to contract. While contracting, it pulls the sliding plate 502, causing the sliding plate 502 to slide inward on the slide rail 17 through the slider 503. While sliding, the main driving rotating rod 19 is driven to rotate through the pulling rod 20. (It should be noted that due to the connection of the pulling rod 20, the rotation angle of the main driving rotating rod 19 is limited. When the rotation angle of the main driving rotating rod 19 reaches the maximum amplitude, it indicates that the workpiece to be clamped is not the optical modem housing (the size of the optical modem housing is wider than the maximum amplitude of the rotation of the main driving rotating rod 19), but the PCB circuit board. At this time, a signal to start adsorbing and clamping the PCB circuit board is sent to the sensor 18, and the sliding of the slider 503 is stopped), and then the subsequent clamping work can be carried out.

[0041] The pneumatic components include a pneumatic valve 7 fixedly connected to the top of the clamping block 6 and a suction cup 1001 disposed at the center of the clamping wheel 10. The top of the suction cup 1001 is respectively communicated with a second air pipe 702 and a third air pipe 11. The other ends of the second air pipe 702 and the third air pipe 11 are communicated with an air outlet head 701, and the air outlet head 701 is communicated with the pneumatic valve 7.

[0042] In this embodiment, when it is necessary to adsorb and clamp the PCB circuit board, the main driving rotating rod 19 rotates to the maximum amplitude, and then the robotic arm body 1 continues to move downward so that the suction cup 1001 at the center of the clamping wheel 10 presses and contacts the surface of the PCB circuit board. Subsequently, the pneumatic valve 7 at the top of the clamping block 6 is started, so that the air outlet head 701 on the pneumatic valve 7 sucks the second air pipe 702 and the third air pipe 11 respectively, so that the suction cup 1001 adsorbs the surface of the PCB circuit board, so as to facilitate the efficient and non-destructive completion of various processes on the PCB circuit board.

[0043] A rubber sleeve is sleeved on the outer wall of the clamping wheel 10, and friction surfaces are arranged on the surface of the rubber sleeve at equal angles.

[0044] In this embodiment, the rubber sleeve provided on the surface of the clamping wheel 10 can relieve the rigid clamping force on the outer shell of the optical modem, avoiding damage to the outer shell of the optical modem caused by rigid clamping. The friction surfaces arranged at equal angles can better increase the friction force of contacting the outer shell of the optical modem, making the clamping of the outer shell of the optical modem more firm.

[0045] Working principle: When using this robotic arm for optical modem production, I. Chuck installation stage: Inject gas into the air cavity 12 through the first air pipe 3 to push the piston plate 14 to move downward. The piston plate 14 pushes the limit insertion rod 15 to move outward through the convex block. Subsequently, the card joint 401 is inserted into the quick-change joint 2. Then, the first air pipe 3 continuously sucks the air in the air cavity 12 to form a vacuum negative pressure state. The piston plate 14 moves upward, and the convex block at its bottom pushes the push groove on the limit insertion rod 15, so that the limit insertion rod 15 moves inward and is stuck in the card slot of the card joint 401, thereby firmly fixing the connecting plate 4 on the quick-change joint 2 to achieve chuck installation; II. Clamping stage of the optical modem housing: When the optical modem housing is placed directly below the connecting plate 4, the main body 1 of the robotic arm extends downward so that the pushing plate 5 is located on both sides of the optical modem housing. Then, the hydraulic cylinder 21 is activated, and the hydraulic cylinder 21 contracts, pulling the sliding plate 502 to slide inward on the slide rail 17 through the slider 503. The clamping wheels 10 on the bottom connecting member 8 of the clamping block 6 gradually contact the corners of the optical modem housing and rotate. The connecting member 8 pulls the second spring 16. In addition, under the restriction of the limiting rod 9, the rotation angle of the connecting member 8 will not be too large to adapt to the angle of the optical modem housing. Subsequently, the slider 503 continues to slide to increase the clamping force, enabling the clamping wheels 10 to firmly clamp the optical modem housing for assembly work. When the clamping wheels 10 release the clamping of the optical modem housing, the second spring 16 between the limiting rod 9 and the bottom connecting rod 801 of the connecting member 8 resets, causing the connecting member 8 to return to its original state; III. Detection of the workpiece and clamping stage of the PCB circuit board: When the main driving rotating rod 19 rotates to the maximum amplitude, it is determined that the workpiece to be clamped is not the optical modem housing. Subsequently, the sensor 18 between the slide rails 17 detects the clamping situation in real time. If the optical modem housing is not contacted (such as when a PCB circuit board is conveyed), the sensor 18 sends a stop-sliding signal to the slider 503 (the slider 503 is an electromagnetic slider) to prepare for subsequent adsorption and clamping of the PCB circuit board. At this time, the main body 1 of the robotic arm continues to move downward so that the suction cup 1001 at the center of the clamping wheel 10 presses against and contacts the surface of the PCB circuit board. Subsequently, the pneumatic valve 7 at the top of the clamping block 6 is activated, and the air outlet heads 701 on the pneumatic valve 7 suck the second air pipe 702 and the third air pipe 11 respectively, causing the suction cup 1001 to adsorb the surface of the PCB circuit board, completing the adsorption and clamping of the PCB circuit board; In addition, the rubber sleeve provided on the surface of the clamping wheel 10 can relieve the clamping force on the optical modem housing to avoid damaging the optical modem housing. The friction surfaces distributed at equal angles increase the friction force of contacting the optical modem housing, making the clamping more firm.

[0046] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A robot arm for optical modem production, comprising a robot arm body (1), a quick-change joint (2) arranged at the end of the robot arm body (1), and a first air pipe (3) for gas communication between the quick-change joint (2) and the robot arm body (1), characterized in that: It also includes a connecting plate (4) arranged in the quick-change joint (2) and connected by means of a clamping joint (401), a quick-change assembly arranged in the quick-change joint (2) and fixing the clamping joint (401) based on vacuum negative suction, a clamping structure slidably arranged at the bottom of the connecting plate (4), a driving assembly arranged in the connecting plate (4) and used to control the clamping structure to slide and clamp the optical modem housing, and a pneumatic assembly arranged at the end of the clamping structure and used to adsorb a PCB circuit board, wherein the clamping joint (401) is fixedly connected to the top of the connecting plate (4), and a sliding groove for the sliding movement of the clamping structure is provided at the bottom of the connecting plate (4).

2. The optical modem production robot according to claim 1, characterized in that: The quick-change assembly comprises limit rods (15) symmetrically distributed on the inner wall of the quick-change joint (2), a piston plate (14) slidably arranged at the center of the inner wall of the quick-change joint (2), and a first spring (13) arranged at the bottom of the piston plate (14). The bottom of the inner walls on both sides of the quick-change joint (2) are provided with air cavities (12), and the air cavities (12) are connected to the first air pipe (3).

3. The optical modem production robot according to claim 2, characterized in that: The exhaust port at the other end of the air cavity (12) is placed directly above the piston plate (14); a push groove is provided on the outer wall of the limit rod (15); a protrusion for driving the limit rod (15) to slide is provided at the bottom of the piston plate (14); and an end of the limit rod (15) is movably plugged into the clamping joint (401).

4. The optical modem production robot according to claim 1, characterized in that: The clamping structure comprises a slide rail (17) symmetrically arranged on the connecting plate (4), a slide plate (502) slidably arranged on the slide rail (17), a slide rod (501) symmetrically installed on the top of the slide plate (502), and a push plate (5) fixedly connected to the top of the slide rod (501), one end of the push plate (5) is fixedly connected to a clamping block (6), the bottom of the clamping block (6) is rotatably provided with a connecting member (8), the connecting member (8) is "V"-shaped, and clamping wheels (10) are rotatably provided at both ends.

5. The optical modem production robot according to claim 4, characterized in that: A slider (503) is fixedly connected to the bottom of the slide plate (502); the slider (503) is slidably disposed within a slide rail (17); and a sensor (18) for detecting a clamped workpiece is electrically connected between the slide rails (17).

6. The optical modem production robot according to claim 4, characterized in that: The bottom of the clamping block (6) is fixedly connected to a connecting rod, the bottom of one end of the connecting member (8) is fixedly connected to a connecting rod (801), and a second spring (16) is sleeved between the connecting rod (801) and the connecting rod.

7. The optical modem production robot according to claim 4, characterized in that: The other side of the bottom of the clamping block (6) is fixedly connected to a limiting rod (9), and the limiting rod (9) is located on one side of the other end of the connecting piece (8).

8. The optical modem production robot according to claim 1, characterized in that: The driving assembly comprises a main driving rotating rod (19) rotatably arranged at the center of the connecting plate (4), and pulling rods (20) rotatably arranged at both ends of the main driving rotating rod (19), the ends of the pulling rods (20) being connected to one side of the slide plate (502), and a hydraulic cylinder (21) being arranged in the connecting plate (4), and the ends of the hydraulic cylinder (21) being fixedly connected to the outer wall of one of the slide plates (502).

9. The optical modem production robot according to claim 6, characterized in that: The pneumatic assembly comprises a pneumatic valve (7) fixedly connected to the top of the clamping block (6), and a suction cup (1001) arranged at the center of the clamping wheel (10); the top of the suction cup (1001) is respectively connected to a second air pipe (702) and a third air pipe (11); the other ends of the second air pipe (702) and the third air pipe (11) are connected to an air outlet (701); and the air outlet (701) is connected to the pneumatic valve (7).

10. The optical modem production robot according to claim 9, characterized in that: The outer wall of the clamping wheel (10) is provided with a rubber sleeve, and the surface of the rubber sleeve is provided with friction surfaces distributed at equal angles.

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