Grabbing and positioning manipulator

Abstract

The invention relates to the technical field of manipulators, in particular to a grabbing and positioning manipulator which is used for solving the problem that damage is easily caused when an arc acrylic plate is grabbed and assembled by a manual or universal manipulator. The manipulator comprises a mechanical arm and a mounting plate mounted on the mechanical arm, mounting pipes are hinged to the four corners of the mounting plate, suction cups are communicated to the mounting pipes, a sliding rod is slidably connected to the middle of the mounting plate, pull ropes are connected between the sliding rod and the four mounting pipes, and after the mechanical arm gets close to the cambered surface workpiece, the sliding rod slides in the direction of the mounting plate; the pull rope pulls the mounting pipe to enable the suction cup to face the cambered surface of the cambered surface workpiece; according to the mechanical arm, the orientation of the suction cup is changed through sliding of the sliding rod, so that the mechanical arm can be suitable for grabbing acrylic plates on the outer arc surface and the inner arc surface.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, in particular to a grasping and positioning manipulator. Background Art

[0002] In the manufacturing of virtual image display systems and high-end optical equipment, curved acrylic sheets serve as the substrate for core components such as rear-projection screens. Their shape accuracy, surface quality, and assembly stability directly impact the optical imaging effect. Due to process requirements, curved acrylic sheets must possess high-precision spherical curvature (for example, some components must match a spherical reference with a radius of 3048mm). Their surfaces must be free of scratches, indentations, and other defects. Furthermore, deformation or cracking caused by stress concentration must be avoided during handling and assembly.

[0003] The traditional grasping and positioning process of curved acrylic sheets relies on manual assistance or general mechanical grippers, which has the following problems: Poor adaptability to curved surfaces: Curved acrylic plates have two types of curved surfaces: outer curved surface and inner curved surface. The suction cups of general-purpose manipulators are mostly fixed in orientation, making it difficult to adaptively fit curved surfaces of different curvatures. Surface damage (such as suction cup marks and microcracks) may occur due to poor adsorption and excessive local force.

[0004] Insufficient positioning accuracy: When manually adjusting the suction cup angle, it is difficult to ensure uniform contact between multiple suction cups and the curved surface, which can easily cause the plate to tilt or the center of gravity to shift, affecting the subsequent assembly and the alignment accuracy of the spherical reference (the required error is ≤±1.5mm).

[0005] Low operational safety: Acrylic sheets are brittle and easily scratched. Manual handling or rigid contact with general mechanical grippers can easily cause the sheets to break or damage their optical properties, increasing the scrap rate.

[0006] Compatibility limitations: Existing equipment is mostly designed for curved surfaces with specific curvatures, making it difficult to quickly switch to adapt to curved acrylic panels of different specifications (such as the diverse requirements for the outer diameter and height of rear projection imaging screens), resulting in low production changeover efficiency.

[0007] In the large-scale production of virtual image systems, the gripping and positioning of curved acrylic sheets is a key link connecting substrate molding, coating treatment and final assembly. Its efficiency and precision directly restrict the overall production rhythm. Summary of the Invention

[0008] The present invention provides a grabbing and positioning robot to solve the problem that arc-shaped acrylic plates are easily damaged when being grabbed and assembled by manual or general robots.

[0009] In order to alleviate the above technical problems, the technical solution provided by the present invention is: The utility model provides a kind of grabbing positioning manipulator, including mechanical arm and mounting plate installed on the mechanical arm, four corners of the mounting plate are hinged with mounting tube, suction cup is communicated on the mounting tube, sliding connection is slidably connected with slide bar in the middle of the mounting plate, slide rope is connected between the slide bar and four mounting tubes, after mechanical arm is close to arc surface workpiece, slide bar slides towards the direction of mounting plate, so that the suction cup is pulled towards the arc surface of arc surface workpiece by the slide rope.

[0010] Further, the end of the slide bar is provided with a grab disc, the middle of the grab disc is provided with an atomizing nozzle, and the atomizing nozzle is connected with a water supply pipe; When the suction cup is negatively adsorbed to the arc surface workpiece, the atomizing nozzle sprays water mist to the arc surface workpiece, the temperature control assembly controls the temperature to decrease so that the grab disc is frozen on the arc surface workpiece, and when the suction cup is positively released to the arc surface workpiece, the temperature control assembly controls the temperature to increase so that the grab disc is unfrozen on the arc surface workpiece.

[0011] Further, the temperature control assembly includes refrigeration fins and heating fins symmetrically sliding on both sides of the slide bar, when the slide bar slides towards the mounting plate, the refrigeration fins are close to the slide bar, and the heating fins are away from the slide bar, and when the slide bar slides away from the mounting plate, the refrigeration fins are away from the slide bar, and the heating fins are close to the slide bar.

[0012] Further, the slide bar is fixedly connected with a mounting shell, and the refrigeration fins and the heating fins symmetrically slide in the mounting shell.

[0013] Further, a groove is formed in the mounting plate and matched with the mounting shell, two active hydraulic rods are symmetrically connected between the mounting shell and the mounting plate, passive hydraulic rods are connected between the refrigeration fins, the heating fins and the mounting shell, and an oil pipe is communicated between the active hydraulic rods and the passive hydraulic rods.

[0014] Further, a negative pressure pipe is communicated on the mounting tube, and the negative pressure pipe is connected to an external pressure control device. A rotating shaft is fixedly connected on the mounting tube, and the rotating shaft is rotatably connected to the mounting plate.

[0015] Further, the mechanical arm includes a rotating seat and a swing seat hinged to the rotating seat, and the mounting plate is fixedly connected to the swing seat. A sliding hole that cooperates with the sliding rod is provided in the swing seat, a small cylinder is connected between the sliding rod and the swing seat, an exhaust pipe is connected between the negative pressure pipe and the small cylinder, a one-way valve is provided on the exhaust pipe, and an air release pipe is connected to the exhaust pipe located between the one-way valve and the small cylinder, and a solenoid valve is provided on the air release pipe.

[0016] Furthermore, a first spring is connected between the slide rod and the swing seat.

[0017] Furthermore, a piston assembly is provided in the swing seat, a cleaning pipe is connected to the piston assembly, and a port of the cleaning pipe faces the suction cup.

[0018] Furthermore, the piston assembly includes a piston cylinder, a piston plate sliding in the piston cylinder, and a piston rod connected to the piston plate; The exhaust pipe is connected to a connecting pipe, the piston rod slides in the connecting pipe, a second spring is connected between the piston plate and the piston cylinder, the cleaning pipe is connected to the piston cylinder, and the piston cylinder is connected to an extraction pipe, and both the extraction pipe and the cleaning pipe are provided with a one-way valve.

[0019] The beneficial effects of the present invention are analyzed as follows: A grasping and positioning robot comprises a robot arm and a mounting plate mounted on the robot arm, wherein the four corners of the mounting plate are hinged with mounting tubes, the mounting tubes are connected to suction cups, a slide rod is slidably connected to the middle of the mounting plate, and a pull rope is connected between the slide rod and the four mounting tubes. After the robot arm approaches the curved workpiece, the slide rod slides toward the mounting plate, so that the pull rope pulls the mounting tube to make the suction cup face the curved surface of the curved workpiece.

[0020] The four mounting tubes swing in the direction of the slide bar, and the suction cups on the mounting tubes can be oriented toward the curved surface of the acrylic plate, so that the suction cups can fit the curved surface of the acrylic plate, and then negative pressure is applied to the suction cups, so that the suction cups are firmly adsorbed on the curved surface of the acrylic plate, and then the manipulator can lift the acrylic plate to the desired installation position; in addition, the slide bar can be set to slide in the direction away from the mounting plate in the initial state, so that the slide bar pulls the four mounting tubes to swing in the direction away from the slide bar through the four pull ropes, so that the manipulator can grab the inner curved surface of the curved workpiece; by changing the direction of the suction cups by sliding the slide bar, the manipulator can adapt to grabbing acrylic plates with outer and inner curved surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to make the technical solutions in the specific embodiments or related art of the present application clearer, the accompanying drawings needed in the specific embodiments or related art description will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without any creative work on the premise of the embodiments in the present application also belong to the protection scope of the present application.

[0022] Figure 1 Structure schematic diagram of the state of the acrylic plate grabbed by the present application; Figure 2 Structure schematic diagram of the whole structure of the present application; Figure 3 Structure schematic diagram of the state of the mounting plate of the present application; Figure 4 Structure schematic diagram of the state of the grabbing disc of the present application; Figure 5 Structure schematic diagram of the state of the mounting shell of the present application; Figure 6 Structure schematic diagram of the state of the small-sized cylinder of the present application; Figure 7 Structure schematic diagram of the state of the piston plate of the present application.

[0023] Icon: 100, rotating seat; 110, swinging seat; 120, mounting plate; 200, mounting pipe; 210, negative pressure pipe; 220, suction disc; 230, rotating shaft; 240, sliding rod; 250, pull rope; 260, grabbing disc; 270, atomizing nozzle; 280, water supply pipe; 300, mounting shell; 310, refrigeration fin; 320, heating fin; 330, active hydraulic rod; 340, passive hydraulic rod; 350, oil pipe; 400, small-sized cylinder; 410, first spring; 420, air extraction pipe; 430, air exhaust pipe; 440, piston cylinder; 450, connecting pipe; 460, second spring; 470, piston plate; 480, piston rod; 490, cleaning pipe; 491, extraction pipe. Specific embodiments

[0024] The technical solutions of the present application will be described below in connection with the accompanying drawings, obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative work on the premise of the embodiments in the present application also belong to the protection scope of the present application.

[0025] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0027] like Figure 1-Figure 7 As shown, a grasping and positioning robot includes a robot arm and a mounting plate 120 installed on the robot arm, the four corners of the mounting plate 120 are hinged with mounting tubes 200, the mounting tubes 200 are connected to suction cups 220, and a slide rod 240 is slidably connected to the middle of the mounting plate 120, and a pull rope 250 is connected between the slide rod 240 and the four mounting tubes 200. After the robot arm approaches the curved workpiece, the slide rod 240 slides toward the mounting plate 120, so that the pull rope 250 pulls the mounting tube 200 to make the suction cup 220 face the curved surface of the curved workpiece.

[0028] The working mechanism of the gripping and positioning manipulator provided in this embodiment is as follows: When the manipulator grabs the curved acrylic plate, the mounting plate 120 approaches the convex curved surface of the acrylic plate, and the slide bar 240 is first pushed by the curved acrylic plate. At this time, the slide bar 240 slides in the direction of the mounting plate 120, so that the slide bar 240 pulls the four mounting tubes 200 to swing synchronously through the four pull ropes 250. The four mounting tubes 200 swing in the direction of the slide bar 240. At this time, the suction cups 220 on the mounting tubes 200 can face the curved surface of the acrylic plate, so that the suction cups 220 can fit the curved surface of the acrylic plate. Then, negative pressure is applied to the suction cups 220, so that the suction cups 220 are firmly adsorbed on the curved surface of the acrylic plate. Then, the manipulator can lift the acrylic plate to the desired installation location. In addition, the slide bar 240 can be set to slide in a direction away from the mounting plate 120 in the initial state, so that the slide bar 240 pulls the four mounting tubes 200 to swing away from the slide bar 240 through the four pull ropes 250, so that the manipulator can grasp the inner curved surface of the curved workpiece. By sliding the slide bar 240 to change the orientation of the suction cup 220 , the robot arm can adapt to grabbing acrylic plates with outer and inner curved surfaces.

[0029] Among the optional methods of this embodiment, the more preferred ones are: A grabbing plate 260 is installed at the end of the sliding rod 240, and an atomizing nozzle 270 is provided in the middle of the grabbing plate 260, and a water supply pipe 280 is connected to the atomizing nozzle 270; a temperature control component is provided on the sliding rod 240, and when the suction cup 220 adsorbs the curved workpiece under negative pressure, the atomizing nozzle 270 sprays water mist toward the curved workpiece, and the temperature control component controls the temperature to be lowered so that the grabbing plate 260 is frozen to the curved workpiece, and when the suction cup 220 releases the curved workpiece under positive pressure, the temperature control component controls the temperature to be raised so that the grabbing plate 260 is thawed to the curved workpiece.

[0030] After the mounting plate 120 approaches the acrylic plate and makes the gripping plate 260 contact the acrylic plate, the system detects the sliding signal of the slide bar 240 and controls the atomizing nozzle 270 to work. At this time, the atomizing nozzle 270 sprays a small amount of water mist onto the acrylic plate. At this time, the water fills the space between the gripping plate 260 and the acrylic plate. Then, the temperature control component transmits low temperature to the slide bar 240, causing the gripping plate 260 to freeze on the acrylic plate, thereby ensuring a firm contact between the gripping plate 260 and the acrylic plate. Moreover, when the manipulator has not transported the acrylic plate to the desired position, the temperature control component continues to transmit low temperature to the slide bar 240 to prevent the ice between the gripping plate 260 and the acrylic plate from melting. By freezing the gripping plate 260 on the acrylic plate, when the manipulator grabs the acrylic plate through the suction cup 220, even if all the suction cups 220 fall off the acrylic plate, the acrylic plate will not fall, thereby ensuring the safety of grabbing.

[0031] Among the optional methods of this embodiment, the more preferred ones are: The temperature control component includes a cooling fin 310 and a heating fin 320 that slide symmetrically on both sides of the slide rod 240. When the slide rod 240 slides toward the mounting plate 120, the cooling fin 310 approaches the slide rod 240 and the heating fin 320 moves away from the slide rod 240; and when the slide rod 240 slides toward the mounting plate 120, the cooling fin 310 moves away from the slide rod 240 and the heating fin 320 approaches the slide rod 240.

[0032] When the manipulator grasps the raised curved surface of the acrylic plate, the mounting plate 120 is in a state of approaching the acrylic plate. At this time, the slide bar 240 is pushed to slide in the direction of the mounting plate 120. In this state, the cooling plate 310 approaches the slide bar 240. At the same time, the cooling plate 310 operates to transfer low temperature to the slide bar 240. The slide bar 240 is made of a material with good temperature conductivity, such as copper. The gripping plate 260 is also provided with a metal wire or sheet with good temperature conductivity and is connected to the gripping plate 260, so that the low temperature can be transferred to the gripping plate 260, thereby freezing the moisture between the gripping plate 260 and the acrylic plate, so that the gripping plate 260 is fixed to the acrylic plate. After the acrylic plate is installed, positive pressure is applied to the suction cup 220 to separate the suction cup 220 from the acrylic plate. Then the robot drives the mounting plate 120 to move away from the acrylic plate. At this time, the slide bar 240 moves away from the mounting plate 120, so that the cooling plate 310 stops running and moves away from the slide bar 240, and the heating plate 320 starts and moves closer to the slide bar 240, thereby heating the slide bar 240, causing the ice between the grabbing plate 260 and the acrylic plate to melt due to the heat, and then the grabbing plate 260 is separated from the acrylic plate.

[0033] Among the optional methods of this embodiment, the more preferred ones are: The slide rod 240 is fixedly connected to the mounting shell 300 , and the cooling fins 310 and the heating fins 320 slide symmetrically in the mounting shell 300 .

[0034] The cooling fins 310 and the heating fins 320 are arranged in the mounting shell 300, which is a sealed shell. Moisture is removed in advance in the mounting shell 300 to ensure that the inside of the mounting shell 300 will not freeze when the cooling fins 310 and the heating fins 320 are in operation, thereby causing the cooling fins 310 and the heating fins 320 to be frozen in the mounting shell 300.

[0035] Among the optional methods of this embodiment, the more preferred ones are: The mounting plate 120 is provided with a groove that cooperates with the mounting shell 300. Two active hydraulic rods 330 are symmetrically connected between the mounting shell 300 and the mounting plate 120. Passive hydraulic rods 340 are connected between the cooling plate 310 and the heating plate 320 and the mounting shell 300. An oil pipe 350 is connected between the active hydraulic rod 330 and the passive hydraulic rod 340.

[0036] When the slide bar 240 slides toward the mounting plate 120, the mounting shell 300 simultaneously approaches the mounting plate 120. At this time, the active hydraulic rod 330 between the two is pressed and shortened, so that the hydraulic oil in the active hydraulic rod 330 is transferred through the oil pipe 350 to the passive hydraulic rod 340 between the cooling fin 310 and the mounting shell 300, causing the passive hydraulic rod 340 to extend, so that the cooling fin 310 approaches the slide bar 240. The other active hydraulic rod 330 is also shortened, and the hydraulic oil in this active hydraulic rod 330 is transferred to the passive hydraulic rod 340 between the heating fin 320 and the mounting shell 300 through the oil pipe 350. The cylinder connection between this oil pipe 350 and the passive hydraulic rod 340 is set at the port of the cylinder body. After the hydraulic oil enters the passive hydraulic rod 340, the passive hydraulic rod 340 is shortened. Therefore, when the two active hydraulic rods 330 are shortened synchronously, the cooling fin 310 can be controlled to approach the slide bar 240 and the heating fin 320 to move away from the slide bar 240. When the mounting shell 300 moves away from the mounting plate 120, the active hydraulic rod 330 extends, and the cooling fin 310 moves away from the slide bar 240, and the heating fin 320 moves close to the slide bar 240.

[0037] Among the optional methods of this embodiment, the more preferred ones are: The mounting tube 200 is connected to a negative pressure tube 210 , which is connected to an external pressure control device. The mounting tube 200 is fixedly connected to a rotating shaft 230 , which is rotatably connected to the mounting plate 120 .

[0038] The negative pressure tube 210 is connected to an external pressure control device and relies on program control to change between positive and negative pressure states, thereby achieving the grasping and releasing of the acrylic plate. The connection part of the pull rope 250 and the mounting tube 200 is located between the rotating shaft 230 and the plate surface of the mounting plate 120, thereby ensuring that when the pull rope 250 pulls the mounting tube 200, the mounting tube 200 can be rotated around the rotating shaft 230, so that the suction cup 220 faces the outer curved surface of the acrylic plate.

[0039] Among the optional methods of this embodiment, the more preferred ones are: The robotic arm includes a rotating base 100 and a swinging base 110 hinged on the rotating base 100, and the mounting plate 120 is fixedly connected to the swinging base 110; a sliding hole that cooperates with the slide rod 240 is opened in the swinging base 110, and a small cylinder 400 is connected between the slide rod 240 and the swinging base 110, and an exhaust pipe 420 is connected between the negative pressure pipe 210 and the small cylinder 400, and a one-way valve is provided on the exhaust pipe 420, and an air release pipe 430 is connected to the exhaust pipe 420 located between the one-way valve and the small cylinder 400, and an electromagnetic valve is provided on the air release pipe 430.

[0040] After the mounting plate 120 is brought close to the acrylic plate so that the gripping disc 260 contacts the acrylic plate, the suction cup 220 faces the outer curved surface of the acrylic plate and contacts it. After the gripping disc 260 is frozen on the acrylic plate, the system controls the operation of the external pressure control device so that the suction cup 220 is firmly attached to the acrylic plate. In this state, there is a negative pressure in the negative pressure tube 210. At this time, the negative pressure tube 210 simultaneously extracts the air in the small cylinder 400 through the exhaust pipe 420, causing the small cylinder 400 to shorten. At this time, the sliding rod 240 has a tendency to pull the acrylic plate closer to the mounting plate 120, thereby further increasing the contact pressure between the acrylic plate and the suction cup 220 after being pulled, thereby ensuring the firm connection between the suction cup 220 and the acrylic plate. After the acrylic plate is installed, the system controls the external pressure control device to operate, so that positive pressure is generated inside the suction cup 220, so that the suction cup 220 is separated from the acrylic plate. In addition, the system controls the solenoid valve on the air release pipe 430 to open, so that the small cylinder 400 can extend. After the mounting plate 120 is away from the acrylic plate, the sliding rod 240 can extend out of the mounting plate 120 again to facilitate the subsequent continued grasping operation.

[0041] Among the optional methods of this embodiment, the more preferred ones are: A first spring 410 is connected between the slide rod 240 and the swing seat 110 .

[0042] The first spring 410 is provided so that after the negative pressure state in the small cylinder 400 is released and the solenoid valve is opened, the first spring 410 pushes the slide rod 240 to slide away from the mounting plate 120, so that the small cylinder 400 extends and resets.

[0043] Among the optional methods of this embodiment, the more preferred ones are: A piston assembly is provided in the swing seat 110 , and a cleaning pipe 490 is connected to the piston assembly. The end of the cleaning pipe 490 faces the suction cup 220 .

[0044] The piston assembly is used to provide power for the flow of cleaning liquid, or it can also provide power for the flow of air, so that the outlet of the cleaning tube 490 sprays out cleaning liquid or air, so that the area between the suction cup 220 and the acrylic plate is cleaned, ensuring the firm contact between the suction cup 220 and the acrylic plate.

[0045] Among the optional methods of this embodiment, the more preferred ones are: The piston assembly includes a piston cylinder 440, a piston plate 470 sliding in the piston cylinder 440, and a piston rod 480 connected to the piston plate 470; the exhaust pipe 420 is connected to a connecting pipe 450, the piston rod 480 slides in the connecting pipe 450, a second spring 460 is connected between the piston plate 470 and the piston cylinder 440, the cleaning pipe 490 is connected to the piston cylinder 440, and the piston cylinder 440 is connected to an extraction pipe 491, and both the extraction pipe 491 and the cleaning pipe 490 are provided with a one-way valve.

[0046] The connecting tube 450 is connected to the exhaust pipe 420. If the suction cup 220 at the end of the corresponding negative pressure tube 210 connected to the exhaust pipe 420 falls off the acrylic plate, and the negative pressure tube 210 is in a vacuum state at this time, a large amount of external air will enter the negative pressure tube 210 through the suction cup 220. At this time, the negative pressure in the connecting tube 450 is reduced, so that the second spring 460 elastically contracts, pulling the piston plate 470 to slide into the piston cylinder 440. At this time, the cleaning medium in the piston cylinder 440 is sprayed to the suction cup 220 through the cleaning tube 490. If the cleaning medium is a cleaning liquid, the cleaning liquid can fill the micro gap between the suction cup 220 and the acrylic plate, so that the contact part between the suction cup 220 and the acrylic plate is sealed again, so that the suction cup 220 can be adsorbed on the acrylic plate again. When the negative pressure in the negative pressure tube 210 is restored, the piston rod 480 is sucked into the connecting tube 450 by the negative pressure, and the piston plate 470 pulls the second spring 460 to extend, thereby extracting the cleaning medium into the piston cylinder 440 through the extraction tube 491 for subsequent use. After the negative pressure in the negative pressure tube 210 leaks, the cleaning tube 490 only discharges the cleaning medium once, so that there will not be too much cleaning liquid remaining in the area of ​​the acrylic plate and the suction cup 220.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gripping and positioning manipulator, characterized in that: The invention comprises a robotic arm and a mounting plate (120) mounted on the robotic arm, wherein four corners of the mounting plate (120) are hinged with mounting tubes (200), the mounting tubes (200) are connected with suction cups (220), a slide rod (240) is slidably connected to the middle of the mounting plate (120), and a pull rope (250) is connected between the slide rod (240) and the four mounting tubes (200). After the robotic arm approaches the curved workpiece, the slide rod (240) slides toward the mounting plate (120), so that the pull rope (250) pulls the mounting tubes (200) to make the suction cups (220) face the curved surface of the curved workpiece.

2. The gripping and positioning manipulator according to claim 1, characterized in that: A grabbing plate (260) is installed at the end of the sliding rod (240), an atomizing nozzle (270) is provided in the middle of the grabbing plate (260), and a water supply pipe (280) is connected to the atomizing nozzle (270); A temperature control component is provided on the slide bar (240). When the suction cup (220) absorbs the curved workpiece under negative pressure, the atomizing nozzle (270) sprays water mist toward the curved workpiece. The temperature control component controls the temperature to decrease so that the gripping disc (260) is frozen on the curved workpiece. When the suction cup (220) releases the curved workpiece under positive pressure, the temperature control component controls the temperature to increase so that the gripping disc (260) is thawed on the curved workpiece.

3. The gripping and positioning manipulator according to claim 2, characterized in that: The temperature control assembly includes a cooling fin (310) and a heating fin (320) that slide symmetrically on both sides of the slide rod (240). When the slide rod (240) slides in a direction close to the mounting plate (120), the cooling fin (310) approaches the slide rod (240) and the heating fin (320) moves away from the slide rod (240). Moreover, when the slide rod (240) slides in a direction away from the mounting plate (120), the cooling fin (310) moves away from the slide rod (240) and the heating fin (320) moves close to the slide rod (240).

4. The gripping and positioning manipulator according to claim 3, characterized in that: The sliding rod (240) is fixedly connected to a mounting shell (300), and the cooling fin (310) and the heating fin (320) slide symmetrically in the mounting shell (300).

5. The gripping and positioning manipulator according to claim 4, characterized in that: The mounting plate (120) is provided with a groove that cooperates with the mounting shell (300). Two active hydraulic rods (330) are symmetrically connected between the mounting shell (300) and the mounting plate (120). Passive hydraulic rods (340) are connected between the cooling plate (310) and the heating plate (320) and the mounting shell (300). An oil pipe (350) is connected between the active hydraulic rod (330) and the passive hydraulic rod (340).

6. The gripping and positioning manipulator according to claim 1, characterized in that: The installation pipe (200) is connected to a negative pressure pipe (210), and the negative pressure pipe (210) is connected to an external pressure control device; A rotating shaft (230) is fixedly connected to the mounting tube (200), and the rotating shaft (230) is rotatably connected to the mounting plate (120).

7. The gripping and positioning robot according to claim 6, characterized in that: The mechanical arm comprises a rotating seat (100) and a swing seat (110) hinged to the rotating seat (100), and the mounting plate (120) is fixedly connected to the swing seat (110); A sliding hole cooperating with the slide rod (240) is provided in the swing seat (110); a small cylinder (400) is connected between the slide rod (240) and the swing seat (110); an air extraction pipe (420) is connected between the negative pressure pipe (210) and the small cylinder (400); a one-way valve is provided on the air extraction pipe (420); an air discharge pipe (430) is connected to the air extraction pipe (420) between the one-way valve and the small cylinder (400); and a solenoid valve is provided on the air discharge pipe (430).

8. The gripping and positioning manipulator according to claim 7, characterized in that: A first spring (410) is connected between the slide rod (240) and the swing seat (110).

9. The gripping and positioning robot according to claim 7, characterized in that: A piston assembly is provided in the swing seat (110), a cleaning pipe (490) is connected to the piston assembly, and an end of the cleaning pipe (490) faces the suction cup (220).

10. The gripping and positioning robot according to claim 9, characterized in that: The piston assembly includes a piston cylinder (440), a piston plate (470) sliding in the piston cylinder (440), and a piston rod (480) connected to the piston plate (470); The exhaust pipe (420) is connected to a connecting pipe (450), the piston rod (480) slides in the connecting pipe (450), and a second spring (460) is connected between the piston plate (470) and the piston cylinder (440). The cleaning pipe (490) is connected to the piston cylinder (440), and the piston cylinder (440) is connected to an extraction pipe (491), and both the extraction pipe (491) and the cleaning pipe (490) are provided with a one-way valve.

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