An adjustable robotic arm workshop construction platform

Abstract

The application relates to the technical field of workshop equipment, and discloses an adjustable mechanical arm workshop operation platform, which comprises a mechanical arm, the upper end of a chuck is connected with one end of the mechanical arm, the mechanical arm is used for controlling the magnetic adhesion of the chuck on an object to be moved, an adjusting device is installed at one end of the chuck, one end of an auxiliary device is connected with one end of the adjusting device, the auxiliary device is used for assisting the magnetic adhesion of the chuck on the object, and the auxiliary device comprises a second rotating shaft, an extension column, a short shaft, a connecting arm, a steel cable and a second magnetic force. The adjusting device is used for pushing the auxiliary device to move, the second magnetic force of the auxiliary device is used for magnetically adhering to the position of the object far away from the chuck, then the second magnetic force is lifted upwards, the curved object is pulled upwards by the second magnetic force, so that the curved object is horizontal, and the contact area between the object and the chuck is reduced, so that the object is separated from the lower end of the chuck.

Description

Technical Field

[0001] This invention relates to the field of workshop equipment technology, specifically to an adjustable robotic arm workshop construction operation platform. Background Technology

[0002] The adjustable robotic arm workshop construction platform is a highly flexible industrial robot composed of six rotary joints, enabling six degrees of freedom of movement in space. Its core structure includes a base, links, joints, and an end effector, driven by servo motors and reducers, and equipped with a high-precision encoder for accurate positioning. Key features include: a wide working range covering complex three-dimensional spaces; repeatability of positioning accuracy up to ±0.02mm; a load capacity typically ranging from 3-20kg; support for offline programming and teach pendant operation; and typical applications including automotive welding, electronic product assembly, palletizing and handling, and medical surgery assistance. Key technologies involve inverse kinematics algorithms, collision detection, and force control technology. Emerging trends include AI vision guidance and collaborative design. Currently, the domestic production rate exceeds 35%, but high-end harmonic reducers still rely on imports. Future development will focus on modularity, lightweight design, and digital twins.

[0003] However, when existing robotic arms move objects by gripping them, they generally grip the center of the object to ensure that the force on both sides of the object is even. But when the mass on both sides of the object is large, the center of the object is prone to bending. In this case, gripping the center of the object by the robotic arm will cause the two sides of the object to bend and deform, or even cause the object to fall directly off the robotic arm. Summary of the Invention

[0004] This invention provides an adjustable robotic arm workshop construction platform, which has the beneficial effect of convenient clamping and solves the problem mentioned in the background art that the clamped object is prone to falling off when the robotic arm clamps and moves due to uneven mass on both sides or the object being heavier.

[0005] This invention provides the following technical solution: an adjustable robotic arm workshop construction platform, comprising:

[0006] robotic arm;

[0007] A gripper, the upper end of which is connected to one end of a robotic arm, the robotic arm being used to control the gripper to magnetically adhere to the object to be moved;

[0008] Adjustment device, the adjustment device being installed at one end of the chuck;

[0009] An auxiliary device, one end of which is connected to one end of an adjustment device, is used to assist the clamp in magnetically adhering the object.

[0010] The auxiliary device includes a second rotating shaft, a telescopic column, a short shaft, a connecting arm, a steel cable, and a second magnetic force;

[0011] The second rotating shaft is rotatably connected to one end of the adjusting device. A telescopic column is installed at one end of the second rotating shaft. A short shaft is rotatably connected to one end of the telescopic column. A connecting arm is installed at one end of the short shaft. A steel cable is installed at one end of the connecting arm. A second magnet is installed at one end of the steel cable. The second magnet is used to assist the clamp in magnetically adhering the object.

[0012] As an optional solution for the adjustable robotic arm workshop construction platform described in this invention, it further includes:

[0013] A magnetic device used to determine whether an object bends;

[0014] The magnetic device includes a first rotating shaft rotatably connected to one end of the clamp, an extension rod installed at one end of the first rotating shaft, and a first magnetic plate installed at one end of the extension rod. The first magnetic plate is used to magnetically adhere to an object.

[0015] A bending sensor is also installed on the outer surface of the first rotating shaft. The bending degree, size and material properties of the object obtained by the bending sensor are used to calculate and determine the sliding distance of the auxiliary device.

[0016] As an optional solution to the adjustable robotic arm workshop construction platform of the present invention, it further includes a driving device, which is used to push the auxiliary device to slide.

[0017] The driving device includes a hydraulic tank connected to the upper end of the adjusting device, a toothed plate slidably connected to one end of the hydraulic tank, and a rack installed at the lower end of the toothed plate;

[0018] A gear is mounted on the outer surface of the second rotating shaft, and the rack at the lower end of the gear plate meshes with the gear.

[0019] As an optional solution for the adjustable robotic arm workshop construction platform of the present invention, wherein: the rack has several segments, and a gap is provided between every two racks;

[0020] The outer surface of the second rotating shaft is also equipped with spray holes.

[0021] As an optional solution for the adjustable robotic arm workshop construction platform of the present invention, wherein: one end of the second magnet is provided with a spray hole, and the other end of the second magnet is equipped with a hose, the hose being used to transmit cleaning liquid to the spray hole.

[0022] As an optional solution for the adjustable robotic arm workshop construction platform of the present invention, the telescopic column includes a sleeve, a square shaft and a support spring. One end of the sleeve is connected to the outer surface of the short shaft. The square shaft is slidably connected inside the sleeve. The square shaft and the sleeve are connected by the support spring.

[0023] The short shaft is mounted on one end of the square shaft.

[0024] As an optional solution for the adjustable robotic arm workshop construction platform of the present invention, wherein: there are several magnetic devices, and the several magnetic devices are arranged around the axis of the gripper;

[0025] The curvature of the object in various directions is determined by magnetically attaching several of the aforementioned magnetic devices to the object.

[0026] As an optional solution for the adjustable robotic arm workshop construction platform of the present invention, the magnetic device further includes an extrusion block installed on the outer surface of the first rotating shaft. There are three extrusion blocks, the diameters of the three extrusion blocks gradually increase, and the three extrusion blocks are installed sequentially along the axis of the first rotating shaft.

[0027] The adjusting device includes a piston cylinder installed on one side of the chuck, a piston plate slidably connected inside the piston cylinder, a shaft post installed at one end of the piston plate, and three limiting posts installed on one side of the piston cylinder, with the lengths of the three limiting posts increasing sequentially.

[0028] Three slide bars are slidably connected to one end of the clamp. The pressing block is used to press the slide bars to move. A protrusion is installed on one side of the slide bar. The protrusion is used to press the limiting post to move.

[0029] As an optional solution for the adjustable robotic arm workshop construction platform of the present invention, wherein: a pressure relief valve is provided at one end of the piston plate, a flow groove is provided inside the shaft column, and the flow groove, the pressure relief valve and the hydraulic tank are connected.

[0030] As an optional solution for the adjustable robotic arm workshop construction platform of the present invention, wherein: one end of the slide bar is connected to the clamp by a first spring;

[0031] A return spring is sleeved on the outer surface of the limiting post, and the limiting post and the piston cylinder are connected by the return spring;

[0032] A second spring is installed inside the hydraulic tank, and the other end of the toothed plate is connected to the hydraulic tank via the second spring.

[0033] The first rotating shaft is connected to the chuck by a first torque spring.

[0034] The present invention has the following beneficial effects:

[0035] 1. This adjustable robotic arm workshop construction platform moves the auxiliary device through the adjustment device. The auxiliary device uses the second magnetic force to stick the object away from the gripper. Then, the second magnetic force is lifted upwards, thus pulling the bent object upwards and making it horizontal. This avoids the object bending and reducing the contact area between it and the gripper, which would cause the object to fall off the bottom of the gripper.

[0036] 2. This adjustable robotic arm workshop construction platform uses an adjustment device to move the auxiliary device to the point of maximum bending. This allows the second magnetic force of the auxiliary device to lift the object at the point of maximum bending, thus keeping the lower end of the object horizontal and improving the overall adsorption and clamping effect.

[0037] 3. The adjustable robotic arm workshop construction platform releases elastic force through the second torque spring, thereby resetting the second rotating shaft. When the second magnetic force approaches the object, the second magnetic force is energized, thereby generating magnetic force to attract impurities on the object and prevent the object from falling off the second magnetic force. Subsequently, when the second rotating shaft is reset, the second magnetic force is de-energized, thereby allowing the second magnetic force to throw the impurities out. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0039] Figure 2 This is a schematic diagram of the auxiliary device of the present invention.

[0040] Figure 3 This is a schematic diagram of the structure of the driving device of the present invention.

[0041] Figure 4 This is a cross-sectional view of the clamp of the present invention.

[0042] Figure 5 This is a schematic diagram of the structure of the regulating device of the present invention.

[0043] In the diagram: 1. Chuck; 2. Adjustment device; 3. Magnetic device; 4. Drive device; 5. Auxiliary device; 6. Robotic arm; 21. Piston cylinder; 22. Piston plate; 23. Shaft column; 24. Pressure relief valve; 31. First rotating shaft; 32. Extending rod; 33. First magnetic plate; 34. Extrusion block; 35. First torque spring; 41. Sliding bar; 42. Protrusion; 43. Limiting post; 44. Return spring; 45. Hydraulic tank; 46. Gear plate; 47. Gear; 51. Second rotating shaft; 52. Telescopic column; 53. Short shaft; 54. Connecting arm; 55. Steel cable; 56. Second magnetic force; 57. Spray nozzle; 58. Second torque spring. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0045] Example 1: Please refer to Figure 1-3 This embodiment discloses an adjustable robotic arm workshop construction operation platform, comprising:

[0046] Robotic arm 6;

[0047] The upper end of the gripper 1 is connected to one end of the robotic arm 6. The robotic arm 6 is used to control the gripper 1 to magnetically adhere to the object that needs to be moved.

[0048] Adjustment device 2 is installed at one end of the chuck 1;

[0049] Auxiliary device 5, one end of which is connected to one end of adjustment device 2, is used to assist the clamp 1 in magnetically adhering the object;

[0050] The auxiliary device 5 includes a second rotating shaft 51, a telescopic column 52, a short shaft 53, a connecting arm 54, a steel cable 55, and a second magnet 56;

[0051] The second rotating shaft 51 is rotatably connected to one end of the adjusting device 2. A telescopic column 52 is installed at one end of the second rotating shaft 51. A short shaft 53 is rotatably connected to one end of the telescopic column 52. A connecting arm 54 is installed at one end of the short shaft 53. A steel cable 55 is installed at one end of the connecting arm 54. A second magnet 56 is installed at one end of the steel cable 55. The second magnet 56 is used to assist the clamp 1 in magnetically adhering the object.

[0052] When existing robotic arms move objects, they usually grip the center of the object to ensure that the force on both sides of the object is even. However, when the mass on both sides of the object is large, the center of the object is prone to bending. In this case, gripping the center of the object with the robotic arm will cause the two sides of the object to bend and deform, or even cause the object to fall directly off the robotic arm.

[0053] according to Figure 1As shown, the robotic arm 6 moves the gripper 1 to the center of the object, and the object is magnetically attracted by the gripper 1 and the magnetic device 3. Then, the robotic arm 6 lifts the object by moving the gripper 1. When the two sides of the object bend, the adjustment device 2 pushes the auxiliary device 5 to move. The second magnetic force 56 of the auxiliary device 5 is used to magnetically adhere the object to a position away from the gripper 1. Then, the second magnetic force 56 is lifted upward. In this way, the second magnetic force 56 pulls the bent object upward, so that the bent object is horizontal. This avoids the object bending and reducing the contact area between it and the gripper 1, which would cause the object to fall off the lower end of the gripper 1.

[0054] It should be noted that, according to Figure 2 and Figure 3 As shown, the telescopic column 52 and the second magnet 56 are moved by the adjusting device 2. Then the telescopic column 52 and the second magnet 56 are rotated. The second magnet 56 is magnetically attached to the object. Then the telescopic column 52 is rotated. The telescopic column 52 drives the second magnet 56 to pull the object upward, thus achieving the shaping of the object.

[0055] Example 2: This example is an improvement on Example 1. For details, please refer to [link / reference]. Figure 1-4 It also includes:

[0056] Magnetic device 3 is used to determine whether an object bends.

[0057] The magnetic device 3 includes a first rotating shaft 31 rotatably connected to one end of the clamp 1, an extension rod 32 is installed at one end of the first rotating shaft 31, and a first magnetic plate 33 is installed at one end of the extension rod 32. The first magnetic plate 33 is used to magnetically adhere to an object.

[0058] A bending sensor is also installed on the outer surface of the first rotating shaft 31. The bending sensor obtains the degree of bending of the object, the size of the object and the material properties to calculate and judge the sliding distance of the auxiliary device 5.

[0059] There are several magnetic devices 3, and the several magnetic devices 3 are arranged around the axis of the chuck 1;

[0060] The curvature of an object in various directions is determined by using several magnetic devices 3 magnetically attached to it.

[0061] according to Figure 4As shown, when the gripper 1 is magnetically attached to the object, the object is piled on the ground, so the upper surface of the object is not yet deformed, allowing the first magnetic plate 33 to be magnetically attached to the object. When the robotic arm 6 lifts the object upwards with the gripper 1, the bending of the object's sides pulls the first magnetic plate 33 and the extension rod 32 downwards. This causes the extension rod 32 to rotate the first rotating shaft 31. The bending angle of the first rotating shaft 31 is obtained through a bending sensor, and then the curvature is obtained by comparing the bending angle with the object's dimensions. The point of maximum bending amplitude can then be determined. The curvature K is calculated using the bending moment M using the following formula:

[0062] ;

[0063] I represents the moment of inertia of the cross section, which is related to the dimensions of the object's cross-section, such as a rectangular cross-section. Where b is the width and h is the thickness; This represents the maximum distance from the edge of the cross section to the neutral axis.

[0064] The formula for calculating the bending sensor is: ;

[0065] By measuring local angle changes Calculate the curvature K by combining the length of the object;

[0066] The formula for the relationship between curvature and bending moment is: E is Young's modulus, and R is the radius of curvature.

[0067] The position of the adjustment device 2 is adjusted according to the bending amplitude. The adjustment device 2 pushes the auxiliary device 5 to the point of maximum bending amplitude. This allows the second magnetic force 56 of the auxiliary device 5 to lift the object to a greater bending amplitude, thereby keeping the lower end of the object horizontal and improving the overall adsorption and clamping effect.

[0068] Example 3: This example is an improvement on Example 5. For details, please refer to [link / reference]. Figure 1-5 It also includes a drive device 4, which is used to push the auxiliary device 5 to slide;

[0069] The drive unit 4 includes a hydraulic tank 45 connected to the upper end of the adjustment device 2. One end of the hydraulic tank 45 is slidably connected to a toothed plate 46, and a rack is installed at the lower end of the toothed plate 46.

[0070] A gear 47 is mounted on the outer surface of the second rotating shaft 51, and the rack at the lower end of the gear plate 46 meshes with the gear 47.

[0071] The rack has several segments, with a gap between every two rack segments;

[0072] The outer surface of the second rotating shaft 51 is also equipped with spray holes 57;

[0073] The telescopic column 52 includes a sleeve, a square shaft, and a support spring. One end of the sleeve is connected to the outer surface of the short shaft 53. The square shaft is slidably connected inside the sleeve, and the square shaft is connected to the sleeve by the support spring.

[0074] The short shaft 53 is mounted on one end of the square shaft;

[0075] One end of the slide bar 41 is connected to the clamp 1 by a first spring;

[0076] A return spring 44 is sleeved on the outer surface of the limiting post 43, and the limiting post 43 is connected to the piston cylinder 21 through the return spring 44.

[0077] A second spring is installed inside the hydraulic tank 45, and the other end of the toothed plate 46 is connected to the hydraulic tank 45 through the second spring;

[0078] The first rotating shaft 31 is connected to the chuck 1 by a first torque spring 35.

[0079] according to Figure 2 As shown, by injecting liquid into the hydraulic tank 45, the toothed plate 46 is pushed to slide by hydraulic pressure. Then, the rack at the lower end of the toothed plate 46 drives the gear 47 to rotate. The gear 47 drives the second rotating shaft 51 to rotate. The second rotating shaft 51 drives the telescopic column 52 to rotate. The telescopic column 52 drives the connecting arm 54 and the second magnet 56 to rotate, so that the second magnet 56 is brought close to the curved part of the object. Then, the second magnet 56 is magnetically attached to the object. Then, the toothed plate 46 continues to slide, so that the rack at the lower end of the toothed plate 46 continues to drive the gear 47 to rotate, so that the vertical telescopic column 52 rotates counterclockwise. This allows the telescopic column 52 to drive the second magnet 56 to pull the curved part of the object upward, thereby leveling the object.

[0080] It should be noted that the rack at the lower end of the toothed plate 46 has at least two segments. When the first segment of the rack contacts the gear 47, it first drives the gear 47, the second rotating shaft 51, and the second torque spring 58 to rotate. This causes the second rotating shaft 51 to drive the telescopic column 52 and the second magnet 56 to approach the object. Then, when the gap at the lower end of the toothed plate 46 moves to the upper end of the gear 47, the second torque spring 58 releases its elastic force, thereby resetting the second rotating shaft 51. When the second magnet 56 approaches the object, it is energized, so that the second magnet 56 generates a magnetic force to attract impurities on the object, preventing the object from falling off the second magnet 56. Then, when the second rotating shaft 51 is reset, the second magnet 56 is de-energized, so that the second magnet 56 throws out the impurities.

[0081] Then, by continuing to slide the toothed plate 46, the second rack drive gear 47 at the lower end of the toothed plate 46 can achieve the lifting of the object by the second magnetic force 56 driven by the telescopic column 52 in Embodiment 1, thus realizing the shaping of the object;

[0082] Furthermore, the connection between the connecting arm 54 and the second magnet 56 is a steel cable 55, which is made of a flexible material. Therefore, when the second rotating shaft 51 is reset, the steel cable 55 drives the second magnet 56 to swing back and forth under inertia and approach the object to attract impurities.

[0083] Example 4: This example is an improvement on Example 6. For details, please refer to [link / reference]. Figure 1-5 One end of the second magnet 56 is provided with a spray hole 57, and the other end of the second magnet 56 is equipped with a hose, which is used to deliver cleaning liquid to the spray hole 57.

[0084] according to Figure 2 As shown, a nozzle 57 is provided at one end of the second magnet 56. When the second magnet 56 approaches the object, cleaning fluid is sprayed through the nozzle 57 to corrode the bent impurities, such as rust and oil. At this time, the two sides of the object are still bent, so the cleaning fluid will flow along the curvature to achieve self-cleaning. This, together with the second magnet 56 adsorbing objects such as iron slag, ensures the cleanliness of the bent object. This improves the adsorption effect of the second magnet 56 and prevents the object from detaching when the second magnet 56 lifts the two sides of the object upward.

[0085] Example 5: This example is an improvement on Example 4. For details, please refer to [link / reference]. Figure 1-5 The magnetic device 3 also includes a pressing block 34 installed on the outer surface of the first rotating shaft 31. There are three pressing blocks 34, the diameters of the three pressing blocks 34 gradually increase, and the three pressing blocks 34 are installed sequentially along the axis of the first rotating shaft 31.

[0086] The adjusting device 2 includes a piston cylinder 21 installed on one side of the chuck 1. A piston plate 22 is slidably connected inside the piston cylinder 21. A shaft post 23 is installed at one end of the piston plate 22. Three limiting posts 43 are installed on one side of the piston cylinder 21. The lengths of the three limiting posts 43 increase sequentially.

[0087] Three slide bars 41 are slidably connected to one end of the chuck 1. The pressing block 34 is used to press the slide bars 41 to move. A protrusion 42 is installed on one side of the slide bar 41. The protrusion 42 is used to press the limiting post 43 to move.

[0088] A pressure relief valve 24 is provided at one end of the piston plate 22, and a flow groove is provided inside the shaft column 23. The flow groove, the pressure relief valve 24 and the interior of the hydraulic tank 45 are connected.

[0089] according to Figure 4 and Figure 5As shown, when the first rotating shaft 31 rotates, it drives the pressing blocks 34 to abut against the slide bar 41. The diameters of the three pressing blocks 34 gradually increase, and the three pressing blocks 34 are installed sequentially along the axis of the first rotating shaft 31. For example,

[0090] The maximum bending angle of 10 degrees corresponds to the first extrusion block 34, and the first extrusion block 34 can abut against the first slide bar 41;

[0091] The maximum bending angle of 25 degrees corresponds to the second extrusion block 34, and the second extrusion block 34 can abut against the second slide bar 41;

[0092] The maximum bending angle of the hydraulic tank is 45 degrees, which corresponds to the third extrusion block 34. The third extrusion block 34 can abut against the third slide bar 41.

[0093] When the object bends 25 degrees on both sides, the first rotating shaft 31 will cause the first pressing block 34 to first abut against the slide bar 41. Since the circumference of the first pressing block 34 can only reach a maximum of 10 degrees, after exceeding 10 degrees, the first pressing block 34 will cross the first slide bar 41. At this time, the second pressing block 34 will abut against the second slide bar 41, thereby pushing the second slide bar 41 to move. The second slide bar 41 will drive the protrusion 42 to press the second limiting post 43 to move, thereby allowing one end of the second limiting post 43 to be inserted into the piston cylinder 21. Then, liquid is injected into the piston cylinder 21, and the piston plate 22 is pushed to one end by hydraulic pressure. The piston plate 22 drives the shaft post 23 and the telescopic post 52 to move. When the piston plate 22 abuts against the second protrusion 42, it indicates that the current position of the auxiliary device 5 is the point of maximum bending of the object, thereby realizing automatic adjustment of the position of the auxiliary device 5.

[0094] It should be noted that there are several limit posts 43 to adapt to different objects. For example, by calculating the curvature of the object in advance, it can be determined whether the currently set limit posts 43 meet the adjustment range.

[0095] When the piston plate 22 is in the limit position, as the hydraulic pressure increases, the hydraulic pressure opens the pressure relief valve 24, allowing liquid to enter the hydraulic tank 45, thus pushing the toothed plate 46 to slide.

[0096] It should be noted that one end of its toothed plate 46 is adapted to the internal dimensions of the hydraulic tank 45.

[0097] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0098] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An adjustable robotic arm work cell platform, comprising: The utility model relates to a magnetic force device (3) for judging whether the object produces bending, the magnetic force device (3) includes still rotary connection in the one end of the clamp head (1) first rotary shaft (31), the one end of first rotary shaft (31) is installed with the extension rod (32), the one end of extension rod (32) is installed with first magnetic force board (33), and first magnetic force board (33) is used for magnetically adhering on the object, the outer surface of first rotary shaft (31) still is installed with bending sensor, and the bending degree of object, object size and material characteristics that the bending sensor obtains are calculated to judge the distance that auxiliary device (5) slides. The utility model relates to a magnetic force device (3) for judging whether the object produces bending, the magnetic force device (3) includes still rotary connection in the one end of the clamp head (1) first rotary shaft (31), the one end of first rotary shaft (31) is installed with the extension rod (32), the one end of extension rod (32) is installed with first magnetic force board (33), and first magnetic force board (33) is used for magnetically adhering on the object, the outer surface of first rotary shaft (31) still is installed with bending sensor, and the bending degree of object, object size and material characteristics that the bending sensor obtains are calculated to judge the distance that auxiliary device (5) slides. Further comprising: drive device (4) for pushing auxiliary device to slide, the drive device (4) includes the hydraulic tank (45) of connection on the upper end of adjusting device (2), the one end sliding connection of hydraulic tank (45) has the toothed plate (46), and the lower end of toothed plate (46) is installed with the rack, the outer surface of second rotary shaft (51) is installed with gear (47), and the rack of the lower end of toothed plate (46) is engaged with gear (47). The rack has several sections, and a gap is arranged between every two racks. The outer surface of second rotary shaft (51) is further provided with a spray hole (57). One end of the second magnetic force (56) is provided with a spray hole (57), the other end of the second magnetic force (56) is provided with a hose, and the hose is used to transmit cleaning liquid to the spray hole (57). The telescopic column (52) includes a sleeve, a square shaft and a supporting spring, one end of the sleeve is connected with the outer surface of the short shaft (53), the square shaft is slidingly connected in the sleeve, and the square shaft and the sleeve are connected by the supporting spring. The short shaft (53) is installed at one end of the square shaft. The magnetic force device (3) has a plurality of magnetic force devices (3) arranged around the axis of the clamp head (1).

2. The adjustable robotic work cell of claim 1, wherein, ​ ​ ​ ​ 3. The adjustable robotic work cell of claim 2, wherein: ​ ​ 4. The adjustable robotic work cell of claim 1, wherein: ​ 5. The adjustable robotic arm job shop work platform of claim 1, wherein: ​ ​ 6. The adjustable robotic arm job shop work platform of claim 5, wherein: ​ The magnetic force device (3) is used for judging the bending degree of the object in each direction by being magnetically adhered to the object.

7. The adjustable robotic arm job shop work platform of claim 2, wherein: The magnetic force device (3) further comprises extrusion blocks (34) mounted on the outer surface of the first rotating shaft (31), the three extrusion blocks (34) have gradually increasing diameters, and the three extrusion blocks (34) are sequentially mounted along the axis of the first rotating shaft (31). The adjusting device (2) comprises a piston cylinder (21) mounted on one side of the clamp head (1), the piston cylinder (21) is slidably connected with a piston plate (22) inside, one end of the piston plate (22) is mounted with a shaft column (23), and one side of the piston cylinder (21) is mounted with three limiting columns (43) with gradually increasing lengths. One end of the clamp head (1) is slidably connected with three sliding bars (41), the extrusion blocks (34) are used for extruding the sliding bars (41) to move, one side of the sliding bar (41) is mounted with a protruding block (42), and the protruding block (42) is used for extruding the limiting column (43) to move.

8. The adjustable robotic arm job shop work platform of claim 7, wherein: One end of the piston plate (22) is provided with a pressure relief valve (24), the inside of the shaft column (23) is provided with a flow-through groove, the flow-through groove, the pressure relief valve (24) and the inside of the hydraulic tank (45) are in communication.

9. The adjustable robotic arm job shop work platform of claim 7, wherein: One end of the sliding bar (41) and the clamp head (1) are connected through a first spring; The outer surface of the limiting column (43) is sleeved with a return spring (44), and the limiting column (43) and the piston cylinder (21) are connected through the return spring (44); The inside of the hydraulic tank (45) is mounted with a second spring, and the other end of the tooth plate (46) and the hydraulic tank (45) are connected through the second spring; The first rotating shaft (31) and the clamp head (1) are connected through a first torque spring (35).

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