A gripping positioning robot

Abstract

This invention relates to the field of robotic arm technology, and in particular to a gripping and positioning robotic arm to solve the problem of damage easily caused by manual or general robotic arms when gripping and assembling curved acrylic sheets. The robotic arm includes a robotic arm and a mounting plate mounted on the robotic arm. Mounting tubes are hinged to the four corners of the mounting plate, and suction cups are connected to the mounting tubes. A sliding rod is slidably connected to the center of the mounting plate, and a pull rope connects the sliding rod to the four mounting tubes. When the robotic arm approaches the curved workpiece, the sliding rod slides towards the mounting plate, thereby pulling the mounting tubes with the pull ropes so that the suction cups face the curved surface of the workpiece. By changing the orientation of the suction cups through the sliding of the sliding rod, the robotic arm can adapt to gripping acrylic sheets with both outer and inner curved surfaces.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a grasping and positioning robotic arm. Background Technology

[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 imaging screens. Their shape accuracy, surface quality, and assembly stability directly affect the optical imaging effect. According to process requirements, curved acrylic sheets must have a high-precision spherical curvature (e.g., some components need to match a spherical reference with a radius of 3048mm), and the surface must be free of defects such as scratches and indentations. Furthermore, stress concentration that could lead to deformation or breakage must be avoided during handling and assembly.

[0003] The traditional gripping and positioning process for curved acrylic sheets relies on manual assistance or general-purpose mechanical grippers, which has the following drawbacks:

[0004] Poor surface adaptability: Curved acrylic sheets have two curved surface shapes: outer curved surface and inner curved surface. The suction cups of general robotic arms are mostly fixed in orientation, making it difficult to adapt to and fit curved surfaces with different curvatures. This can easily lead to poor adhesion and surface damage (such as suction cup marks and microcracks) caused by excessive local stress.

[0005] 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 lead to the tilting of the board or the shift of the center of gravity, affecting the alignment accuracy of subsequent assembly with the spherical reference (the required error is ≤ ±1.5mm).

[0006] 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.

[0007] Compatibility limitations: Existing equipment is mostly designed for curved surfaces with specific curvatures, making it difficult to quickly switch to adapt to curved acrylic sheets 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.

[0008] In the mass production of virtual imaging systems, the gripping and positioning of curved acrylic sheets is a key link connecting substrate forming, coating treatment and final assembly, and its efficiency and precision directly restrict the overall production pace. Summary of the Invention

[0009] This invention provides a gripping and positioning robot to solve the problem that manual or general-purpose robots are prone to damage when gripping and assembling curved acrylic sheets.

[0010] To alleviate the above-mentioned technical problems, the technical solution provided by the present invention is as follows:

[0011] A gripping and positioning robot includes a robotic arm and a mounting plate mounted on the robotic arm. Mounting tubes are hinged to the four corners of the mounting plate, and suction cups are connected to the mounting tubes. A sliding rod is slidably connected to the center of the mounting plate, and a pull rope connects the sliding rod to the four mounting tubes. When the robotic arm approaches a curved workpiece, the sliding rod slides towards the mounting plate, thereby pulling the mounting tubes so that the suction cups face the curved surface of the workpiece.

[0012] Furthermore, a gripping disc is installed at the end of the slide bar, and an atomizing nozzle is provided in the middle of the gripping disc, with a water supply pipe connected to the atomizing nozzle;

[0013] The slide bar is equipped with a temperature control component. When the suction cup adsorbs the curved workpiece under negative pressure, the atomizing nozzle sprays water mist onto the curved workpiece, and the temperature control component controls the temperature to decrease so that the gripping plate freezes on the curved workpiece. When the suction cup releases the curved workpiece under positive pressure, the temperature control component controls the temperature to increase so that the gripping plate thaws on the curved workpiece.

[0014] Furthermore, the temperature control component includes a cooling plate and a heating plate that slide symmetrically on both sides of the slide rod. When the slide rod slides towards the mounting plate, the cooling plate moves closer to the slide rod and the heating plate moves away from the slide rod. Conversely, when the slide rod slides away from the mounting plate, the cooling plate moves away from the slide rod and the heating plate moves closer to the slide rod.

[0015] Furthermore, a mounting shell is fixedly connected to the slide rod, and the cooling plate and the heating plate slide symmetrically within the mounting shell.

[0016] Furthermore, the mounting plate has a groove that mates with the mounting shell, and two active hydraulic rods are symmetrically connected between the mounting shell and the mounting plate. Passive hydraulic rods are connected between the cooling element and the heating element and the mounting shell, and an oil pipe connects the active hydraulic rod and the passive hydraulic rod.

[0017] Furthermore, a negative pressure pipe is connected to the installation pipe, and the negative pressure pipe is connected to an external pressure control device;

[0018] A rotating shaft is fixedly connected to the mounting tube, and the rotating shaft is rotatably connected to the mounting plate.

[0019] Furthermore, the robotic arm includes a rotating base and a swing base hinged to the rotating base, and the mounting plate is fixedly connected to the swing base;

[0020] The swing seat has a sliding hole that mates with the slide rod. A small cylinder is connected between the slide rod and the swing seat. A suction pipe is connected between the negative pressure pipe and the small cylinder. A one-way valve is installed on the suction pipe. A vent pipe is connected to the suction pipe located between the one-way valve and the small cylinder. A solenoid valve is installed on the vent pipe.

[0021] Furthermore, a first spring connects the slide rod to the swing seat.

[0022] Furthermore, a piston assembly is provided inside the swing seat, and a cleaning tube is connected to the piston assembly, with the port of the cleaning tube facing the suction cup.

[0023] Furthermore, the piston assembly includes a piston cylinder, a piston plate sliding within the piston cylinder, and a piston rod connected to the piston plate;

[0024] The suction pipe is connected to a connecting pipe, the piston rod slides inside the connecting pipe, a second spring connects the piston plate and the piston cylinder, the cleaning pipe is connected to the piston cylinder, the piston cylinder is connected to an extraction pipe, and both the extraction pipe and the cleaning pipe are equipped with one-way valves.

[0025] The beneficial effects of this invention are analyzed as follows:

[0026] A gripping and positioning robot includes a robotic arm and a mounting plate mounted on the robotic arm. Mounting tubes are hinged to the four corners of the mounting plate, and suction cups are connected to the mounting tubes. A sliding rod is slidably connected to the middle of the mounting plate, and a pull rope is connected between the sliding rod and the four mounting tubes. When the robotic arm approaches the curved workpiece, the sliding rod slides towards the mounting plate, thereby pulling the mounting tubes with the pull ropes so that the suction cups face the curved surface of the workpiece.

[0027] When the robotic arm grasps a curved acrylic sheet, the mounting plate moves closer to the convex curved surface of the acrylic sheet. The sliding rod is first pushed by the curved acrylic sheet, and then slides towards the mounting plate. This causes the sliding rod to pull four mounting tubes to swing synchronously via four pull ropes. The four mounting tubes swing towards the sliding rod, allowing the suction cups on the mounting tubes to face the curved surface of the acrylic sheet, thus allowing the suction cups to adhere to the curved surface. Negative pressure is then applied to the suction cups, firmly adhering them to the curved surface of the acrylic sheet. The robotic arm can then lift the acrylic sheet to the desired installation location. Alternatively, by setting the sliding rod to slide away from the mounting plate in its initial state, the four mounting tubes can be pulled away from the sliding rod via the four pull ropes, allowing the robotic arm to grasp the inner curved surface of the curved workpiece. By adjusting the sliding of the sliding rod to change the orientation of the suction cups, the robotic arm can adapt to grasping both outer and inner curved acrylic sheets. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of the present invention in the state of grasping the acrylic plate;

[0030] Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0031] Figure 3 This is a schematic diagram of the structure of the mounting plate of the present invention;

[0032] Figure 4 This is a schematic diagram of the structure of the gripper plate in this invention;

[0033] Figure 5 This is a schematic diagram of the structure of the mounting shell of the present invention;

[0034] Figure 6 This is a schematic diagram of the structure of the small cylinder of the present invention;

[0035] Figure 7 This is a schematic diagram of the piston plate of the present invention.

[0036] icon:

[0037] 100. Rotating seat; 110. Swinging seat; 120. Mounting plate; 200. Mounting tube; 210. Negative pressure tube; 220. Suction cup; 230. Rotating shaft; 240. Slide rod; 250. Pull rope; 260. Grab plate; 270. Atomizing nozzle; 280. Water supply tube; 300. Mounting shell; 310. Cooling element; 320. Heating element; 330. Active hydraulic rod; 340. Passive hydraulic rod; 350. Oil pipe; 400. Small cylinder; 410. First spring; 420. Suction tube; 430. Vent tube; 440. Piston cylinder; 450. Connecting tube; 460. Second spring; 470. Piston plate; 480. Piston rod; 490. Cleaning tube; 491. Extraction tube. Detailed Implementation

[0038] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the 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.

[0040] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] like Figures 1-7 As shown, a gripping and positioning robot includes a robotic arm and a mounting plate 120 mounted on the robotic arm. Mounting tubes 200 are hinged to the four corners of the mounting plate 120. Suction cups 220 are connected to the mounting tubes 200. A sliding rod 240 is slidably connected to the middle of the mounting plate 120. Pull ropes 250 are connected between the sliding rod 240 and the four mounting tubes 200. After the robotic arm approaches the curved workpiece, the sliding rod 240 slides towards the mounting plate 120, thereby pulling the mounting tubes 200 with the pull ropes 250 so that the suction cups 220 face the curved surface of the curved workpiece.

[0042] The working mechanism of the gripping and positioning robot provided in this embodiment is as follows:

[0043] When the robotic arm grasps the curved acrylic sheet, the mounting plate 120 moves closer to the convex curved surface of the acrylic sheet. The sliding rod 240 is first pushed by the curved acrylic sheet. At this time, the sliding rod 240 slides towards the mounting plate 120, so that the sliding rod 240 pulls the four mounting tubes 200 to swing synchronously through the four pull ropes 250. The four mounting tubes 200 swing towards the sliding rod 240. At this time, the suction cups 220 on the mounting tubes 200 can face the curved surface of the acrylic sheet, so that the suction cups 220 can adhere to the curved surface of the acrylic sheet. Then, negative pressure is applied to the suction cups 220, so that the suction cups 220 are firmly attached to the curved surface of the acrylic sheet. Then the robotic arm can lift the acrylic sheet to the required installation position.

[0044] In addition, by setting the slide bar 240 to slide away from the mounting plate 120 in its initial state, the slide bar 240 can be pulled by four ropes 250 to swing the four mounting tubes 200 away from the slide bar 240, which enables the robot to grasp the inner arc surface of the arc workpiece.

[0045] By adjusting the sliding of the slide bar 240 to change the orientation of the suction cup 220, the robotic arm can adapt to gripping acrylic sheets with both outer and inner curved surfaces.

[0046] Among the optional methods in this embodiment, the more preferred one is:

[0047] A gripping plate 260 is installed at the end of the slide rod 240, and an atomizing nozzle 270 is provided in the middle of the gripping plate 260. A water supply pipe 280 is connected to the atomizing nozzle 270. A temperature control component is provided on the slide rod 240. When the suction cup 220 adsorbs the curved workpiece under negative pressure, the atomizing nozzle 270 sprays water mist onto the curved workpiece, and the temperature control component controls the temperature to decrease so that the gripping plate 260 freezes 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 plate 260 thaws on the curved workpiece.

[0048] After the mounting plate 120 approaches the acrylic plate and the gripping plate 260 contacts 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. The water fills the space between the gripping plate 260 and the acrylic plate. Then, the temperature control component conducts low temperature to the slide bar 240, causing the gripping plate 260 to freeze onto the acrylic plate, thus ensuring a firm contact between the gripping plate 260 and the acrylic plate. Furthermore, when the robot arm has not transported the acrylic plate to the required position, the temperature control component continues to conduct 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 onto the acrylic plate, even if all the suction cups 220 detach from the acrylic plate when the robot arm grips it, the acrylic plate will not fall off, ensuring the safety of the gripping process.

[0049] Among the optional methods in this embodiment, the more preferred one is:

[0050] The temperature control assembly includes a cooling element 310 and a heating element 320 that slide symmetrically on both sides of a slide bar 240. When the slide bar 240 slides toward the mounting plate 120, the cooling element 310 moves closer to the slide bar 240 and the heating element 320 moves away from the slide bar 240. Conversely, when the slide bar 240 slides away from the mounting plate 120, the cooling element 310 moves away from the slide bar 240 and the heating element 320 moves closer to the slide bar 240.

[0051] When the robotic arm grasps the raised arc surface of the acrylic sheet, the mounting plate 120 is in a state of approaching the acrylic sheet. At this time, the slide bar 240 is pushed and slides towards the mounting plate 120. In this state, the cooling chip 310 approaches the slide bar 240 and runs, conducting 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 equipped 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 conducted to the gripping plate 260, thereby freezing the moisture between the gripping plate 260 and the acrylic sheet, and fixing the gripping plate 260 to the acrylic sheet.

[0052] After the acrylic plate is installed, positive pressure is applied to the suction cup 220, causing the suction cup 220 to detach from the acrylic plate. Then, the robotic arm moves the mounting plate 120 away from the acrylic plate. At this time, the slide bar 240 moves away from the mounting plate 120, so that the cooling element 310 stops running and moves away from the slide bar 240. The heating element 320 starts and moves closer to the slide bar 240, thereby heating the slide bar 240. This causes the ice between the gripping plate 260 and the acrylic plate to melt, thereby causing the gripping plate 260 to detach from the acrylic plate.

[0053] Among the optional methods in this embodiment, the more preferred one is:

[0054] A mounting housing 300 is fixedly connected to the slide rod 240, and the cooling plate 310 and the heating plate 320 slide symmetrically within the mounting housing 300.

[0055] The cooling element 310 and the heating element 320 are housed inside the mounting shell 300, which is a sealed shell. Moisture is removed from the mounting shell 300 in advance to ensure that the cooling element 310 and the heating element 320 will not freeze inside the mounting shell 300 during operation, thus preventing the cooling element 310 and the heating element 320 from freezing inside the mounting shell 300.

[0056] Among the optional methods in this embodiment, the more preferred one is:

[0057] The mounting plate 120 has a groove that mates 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 connects the active hydraulic rods 330 and the passive hydraulic rods 340.

[0058] When the slide bar 240 slides toward the mounting plate 120, the mounting shell 300 moves closer to 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 conducted through the oil pipe 350 to the passive hydraulic rod 340 between the cooling chip 310 and the mounting shell 300, so that the passive hydraulic rod 340 is extended, and the cooling chip 310 moves closer to the slide bar 240.

[0059] Another active hydraulic rod 330 also shortens. The hydraulic oil in this active hydraulic rod 330 is transferred through the oil pipe 350 to the passive hydraulic rod 340 between the heating element 320 and the mounting shell 300. The connection between the oil pipe 350 and the cylinder of the passive hydraulic rod 340 is located at the end of the cylinder. After the hydraulic oil enters the passive hydraulic rod 340, it causes the passive hydraulic rod 340 to shorten. Thus, when the two active hydraulic rods 330 shorten synchronously, they can control the cooling element 310 to move closer to the slide bar 240 and the heating element 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 element 310 moves away from the slide bar 240, while the heating element 320 moves closer to the slide bar 240.

[0060] Among the optional methods in this embodiment, the more preferred one is:

[0061] A negative pressure pipe 210 is connected to the mounting pipe 200, and the negative pressure pipe 210 is connected to an external pressure control device; a rotating shaft 230 is fixedly connected to the mounting pipe 200, and the rotating shaft 230 is rotatably connected to the mounting plate 120.

[0062] The negative pressure tube 210 is connected to an external pressure control device and changes between positive and negative pressure states by program control, thereby enabling the gripping and release of the acrylic plate. The connection between the pull rope 250 and the mounting tube 200 is located between the rotating shaft 230 and the surface of the mounting plate 120, thereby ensuring that when the pull rope 250 pulls the mounting tube 200, the mounting tube 200 can rotate around the rotating shaft 230, so that the suction cup 220 faces the outer arc surface of the acrylic plate.

[0063] Among the optional methods in this embodiment, the more preferred one is:

[0064] The robotic arm includes a rotating base 100 and a swing base 110 hinged to the rotating base 100. A mounting plate 120 is fixedly connected to the swing base 110. The swing base 110 has a sliding hole that cooperates with the slide rod 240. A small cylinder 400 is connected between the slide rod 240 and the swing base 110. A suction pipe 420 is connected between the negative pressure pipe 210 and the small cylinder 400. A one-way valve is provided on the suction pipe 420. A vent pipe 430 is connected to the suction pipe 420 located between the one-way valve and the small cylinder 400. A solenoid valve is provided on the vent pipe 430.

[0065] After the mounting plate 120 approaches the acrylic plate, causing the gripper 260 to contact the acrylic plate, the suction cup 220 faces and contacts the outer arc surface of the acrylic plate. After the gripper 260 freezes on the acrylic plate, the system controls the operation of the external pressure control device, so that the suction cup 220 is firmly adsorbed on the acrylic plate. In this state, there is negative pressure in the negative pressure pipe 210. At this time, the negative pressure pipe 210 simultaneously draws air from the small cylinder 400 through the air extraction pipe 420, causing the small cylinder 400 to shorten. At this time, the slide bar 240 has the tendency to pull the acrylic plate closer to the mounting plate 120, thereby increasing the contact pressure between the acrylic plate and the suction cup 220 after being pulled, thus ensuring the firmness of the connection between the suction cup 220 and the acrylic plate.

[0066] 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, thereby causing the suction cup 220 to detach from the acrylic plate. In addition, the system controls the solenoid valve on the vent pipe 430 to open, so that the small cylinder 400 can extend. After the mounting plate 120 moves away from the acrylic plate, the slide bar 240 can extend out of the mounting plate 120 to facilitate subsequent gripping operations.

[0067] Among the optional methods in this embodiment, the more preferred one is:

[0068] A first spring 410 is connected between the slide rod 240 and the swing seat 110.

[0069] The first spring 410 is provided so that the negative pressure state in the small cylinder 400 is released and the solenoid valve is opened. The first spring 410 pushes the slide bar 240 to slide away from the mounting plate 120, so that the small cylinder 400 extends and resets.

[0070] Among the optional methods in this embodiment, the more preferred one is:

[0071] A piston assembly is provided inside the swing seat 110, and a cleaning tube 490 is connected to the piston assembly. The port of the cleaning tube 490 faces the suction cup 220.

[0072] The piston assembly is used to power the flow of cleaning fluid or air, so that cleaning fluid or air is sprayed out of the cleaning tube 490 outlet, so that the part of the suction cup 220 that is in contact with the acrylic plate is cleaned, ensuring the firm contact between the suction cup 220 and the acrylic plate.

[0073] Among the optional methods in this embodiment, the more preferred one is:

[0074] The piston assembly includes a piston cylinder 440, a piston plate 470 sliding within the piston cylinder 440, and a piston rod 480 connected to the piston plate 470; a connecting pipe 450 is connected to the suction pipe 420, the piston rod 480 slides within the connecting pipe 450, a second spring 460 is connected between the piston plate 470 and the piston cylinder 440, a cleaning pipe 490 is connected to the piston cylinder 440, an extraction pipe 491 is connected to the piston cylinder 440, and a one-way valve is provided on both the extraction pipe 491 and the cleaning pipe 490.

[0075] The connecting pipe 450 is connected to the suction pipe 420. If the suction cup 220 at the end of the corresponding negative pressure pipe 210 connected to the suction pipe 420 falls off the acrylic plate, and the negative pressure pipe 210 is in a vacuum state at this time, a large amount of external air will enter the negative pressure pipe 210 through the suction cup 220. At this time, the negative pressure in the connecting pipe 450 will decrease, and the second spring 460 will elastically contract, pulling the piston plate 470 to slide into the piston cylinder 440. At this time, the cleaning medium in the piston cylinder 440 will be sprayed to the suction cup 220 through the cleaning pipe 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, thereby resealing the contact part between the suction cup 220 and the acrylic plate, so that the suction cup 220 can be adsorbed onto the acrylic plate again.

[0076] When the negative pressure in the negative pressure pipe 210 is restored, the piston rod 480 is attracted by the negative pressure and enters the connecting pipe 450. The piston plate 470 pulls the second spring 460 to extend, thereby drawing the cleaning medium back into the piston cylinder 440 through the extraction pipe 491 for subsequent use. Furthermore, after the negative pressure in the negative pressure pipe 210 leaks, the cleaning pipe 490 only discharges the cleaning medium once, thus preventing excessive cleaning fluid from remaining at the acrylic plate and suction cup 220.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gripping and positioning robotic arm, characterized in that: The system includes a robotic arm and a mounting plate (120) mounted on the robotic arm. Mounting tubes (200) are hinged to the four corners of the mounting plate (120). A suction cup (220) is connected to the mounting tube (200). A sliding rod (240) is slidably connected to the middle of the mounting plate (120). A pull rope (250) is connected between the sliding rod (240) and the four mounting tubes (200). When the robotic arm approaches the arc-shaped workpiece, the sliding rod (240) slides toward the mounting plate (120), thereby pulling the mounting tubes (200) with the pull rope (250) so that the suction cup (220) faces the arc surface of the arc-shaped workpiece. The end of the slide bar (240) is equipped with a gripping plate (260), and the middle of the gripping plate (260) is provided with an atomizing nozzle (270), 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) adsorbs the arc-shaped workpiece under negative pressure, the atomizing nozzle (270) sprays water mist onto the arc-shaped workpiece. The temperature control component controls the temperature to decrease so that the gripping plate (260) freezes onto the arc-shaped workpiece. When the suction cup (220) releases the arc-shaped workpiece under positive pressure, the temperature control component controls the temperature to increase so that the gripping plate (260) thaws onto the arc-shaped workpiece. The temperature control component includes a cooling element (310) and a heating element (320) symmetrically sliding on both sides of the slide bar (240). When the slide bar (240) slides towards the mounting plate (120), the cooling element (310) moves closer to the slide bar (240) and the heating element (320) moves away from the slide bar (240). When the slide bar (240) slides away from the mounting plate (120), the cooling element (310) moves away from the slide bar (240) and the heating element (320) moves closer to the slide bar (240). The mounting pipe (200) is connected to a negative pressure pipe (210), which 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). The robotic arm includes a rotating base (100) and a swing base (110) hinged to the rotating base (100), and the mounting plate (120) is fixedly connected to the swing base (110). The swing seat (110) has a sliding hole that cooperates with the slide rod (240). A small cylinder (400) is connected between the slide rod (240) and the swing seat (110). A suction pipe (420) is connected between the negative pressure pipe (210) and the small cylinder (400). A one-way valve is provided on the suction pipe (420). A vent pipe (430) is connected to the suction pipe (420) located between the one-way valve and the small cylinder (400). A solenoid valve is provided on the vent pipe (430).

2. The gripping and positioning robot according to claim 1, characterized in that: A mounting shell (300) is fixedly connected to the slide rod (240), and the cooling plate (310) and the heating plate (320) slide symmetrically within the mounting shell (300).

3. The gripping and positioning robot according to claim 2, characterized in that: The mounting plate (120) has a groove that mates 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) connects the active hydraulic rod (330) and the passive hydraulic rod (340).

4. The gripping and positioning robot according to claim 1, characterized in that: A first spring (410) is connected between the slide rod (240) and the swing seat (110).

5. The gripping and positioning robot according to claim 1, characterized in that: A piston assembly is provided inside the swing seat (110), and a cleaning tube (490) is connected to the piston assembly. The port of the cleaning tube (490) faces the suction cup (220).

6. The gripping and positioning robot according to claim 5, characterized in that: The piston assembly includes a piston cylinder (440), a piston plate (470) sliding within the piston cylinder (440), and a piston rod (480) connected to the piston plate (470). The suction pipe (420) is connected to a connecting pipe (450), the piston rod (480) slides inside 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), the piston cylinder (440) is connected to an extraction pipe (491), and both the extraction pipe (491) and the cleaning pipe (490) are equipped with one-way valves.

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