Manipulator for grabbing and laying in mattress production

Abstract

The invention relates to the technical field of mechanical arms for mattress production, in particular to a mechanical arm for grabbing and laying in mattress production, which comprises a suspension plate frame, an adsorption plate frame is mounted on the lower side of the suspension plate frame in a penetrating manner, the adsorption plate frame adsorbs the surface of a contacted mattress, and a plurality of bed spring storage cylinders are mounted on the surface of the suspension plate frame in a penetrating manner; the bed spring storage cylinder is provided with pressing mechanisms on the upper side and the lower side of the suspension plate frame. According to the invention, the sponge mat can be subjected to high-pressure adsorption through the adsorption plate frame in the process of transferring the sponge mat, and after the suspension plate frame is controlled to move to a processing position to put down the sponge mat, the pressing mechanism on the lower side is controlled to loosen the clamping of the bed spring on the lowermost side, so that the pressing mechanism on the upper side presses the bed spring on the adjacent upper side; the bed spring on the lowermost side of each bed spring storage cylinder stays on the upper side of the sponge mat, and the sponge mat and the bed spring are transferred at a time through a mechanical arm.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hands for mattress production, and in particular to a mechanical hand for grabbing and laying in mattress production. BACKGROUND

[0002] In the process of mattress production, base materials (such as sponge blocks, spring nets, non-woven fabrics, etc.) of different materials and thicknesses need to be grabbed from the storage area or the feeding end and accurately laid on the designated position of the assembly line to complete the multi-layer composite structure, and some mattresses use separate springs arranged in an orderly manner.

[0003] Chinese patent CN112589779B discloses a mechanical hand for grabbing and laying in mattress production, which comprises a movable support flat frame connected with a robot, and an insertion needle movably arranged on the periphery of the movable support flat frame. SUMMARY

[0004] To solve the problems in the background art, the present application provides a mechanical hand for grabbing and laying in mattress production.

[0005] The mechanical hand for grabbing and laying in mattress production provided by the present application adopts the following technical solution: a suspension plate frame is provided, a suction plate frame is installed through the lower side of the suspension plate frame, the suction plate frame is in abutment with the surface of the mattress to be adsorbed, a plurality of bed spring storage cylinders are installed through the surface of the suspension plate frame, the bottom surface of the suction plate frame is located below the lower end of the bed spring storage cylinder, a pressing mechanism is installed on both sides of the suspension plate frame above and below the bed spring storage cylinder, and the pressing mechanism can press the bed spring inside the bed spring storage cylinder when rotating relative to one side of the bed spring storage cylinder.

[0006] One end of the suspension plate frame is provided with a transmission mechanism, the transmission mechanism can drive two pressing mechanisms on the surface of the same bed spring storage cylinder to rotate in opposite directions, and the suspension plate frame is provided with a power mechanism for applying power to the transmission mechanism.

[0007] Optionally, a slot structure vertically arranged upward and downward is formed on the surface of the bed spring storage cylinder.

[0008] The pressing mechanism comprises a fixed cylinder and a screwing cylinder, the fixed cylinder is coaxially installed on the outside of the bed spring storage cylinder, the screwing cylinder is located on the side of the fixed cylinder away from the suspension plate frame, and the screwing cylinder is rotationally sleeved on the outside of the bed spring storage cylinder.

[0009] The screwing cylinder is provided with a plurality of arc grooves on the side away from the suspension shelf, the distance between the two ends of the arc groove and the axis of the bed spring storage cylinder is different, a plug rod is slidingly inserted into the arc groove, a spring pressing block is installed at the end of the plug rod away from the suspension shelf, and the spring pressing block is slidingly inserted into the groove structure on the surface of the bed spring storage cylinder.

[0010] The transmission mechanism controls the rotation of the screwing cylinder.

[0011] Optionally, the transmission mechanism comprises two horizontally staggered rods and two double-headed telescopic swing rods, the middle part of the double-headed telescopic swing rod is rotationally connected with the suspension shelf, the two ends of each horizontally staggered rod are rotationally connected with two double-headed telescopic swing rods, the two horizontally staggered rods are respectively located on the upper and lower sides of the suspension shelf, each horizontally staggered rod is provided with a plurality of horizontally arranged control tooth plates, and the control tooth plates are slidingly connected with the suspension shelf.

[0012] The outer side of the screwing cylinder is coaxially provided with a tooth cylinder, the tooth cylinder can be bidirectionally elastically rotated relative to the screwing cylinder, and the tooth cylinder is meshed with the adjacent control tooth plate.

[0013] Optionally, the power mechanism comprises a movable frame, and the movable frame can be power-driven horizontally relative to the suspension shelf.

[0014] The double-headed telescopic swing rod is connected with the suspension shelf through a connecting shaft, the connecting shaft rotates relative to the suspension shelf, the connecting shaft is fixed to the central part of the double-headed telescopic swing rod, the connecting shaft is coaxially provided with a swing gear, one side of the swing gear is meshed with a swing tooth plate, and the swing tooth plate is fixed to the movable frame.

[0015] Optionally, the plurality of bed spring storage cylinders are distributed in a plurality of groups at equal distances, the bed spring storage cylinders in each group are distributed at equal distances, the lower end of the adsorption shelf is in the form of a plurality of uniformly distributed polygons, and each polygon of the adsorption shelf is spaced between a plurality of bed spring storage cylinders.

[0016] Optionally, the movable frame is fixed with a transmission tooth plate on each side of the suspension shelf, the transmission tooth plate is meshed with a transmission gear on one side, the transmission gear is rotationally connected with the suspension shelf, a vertical shaft is installed on the axis of the transmission gear, the vertical shaft rotates synchronously with the transmission gear, a horizontal swing plate is installed at the lower end of the vertical shaft, and a plurality of prismatic cylinders are installed on the bottom surface of the other end of the horizontal swing plate.

[0017] Optionally, the plurality of prismatic cylinders are connected with the horizontal swing plate through an outer shaft, the outer shaft is fixed to the plurality of prismatic cylinders, the outer shaft is rotationally connected with the horizontal swing plate, an inner shaft that can rotate relative to the outer shaft is installed on the axis of the outer shaft, and the inner shaft is installed with a horizontally arranged bottom supporting plate at one end on the lower side of the plurality of prismatic cylinders.

[0018] The horizontal swing plate is rotationally sleeved on the outer surface of the vertical shaft, the horizontal swing plate can be elastically screwed relative to the vertical shaft, and the inner shaft is driven by a transmission belt between the upper end of the inner shaft and the vertical shaft.

[0019] Optionally, the vertical shaft can move up and down relative to the transmission gear, the suspension plate frame is provided with an adjusting frame capable of moving up and down by power, and the upper end of the vertical shaft is rotationally connected with the adjusting frame, and the vertical shaft moves up and down along with the adjusting frame.

[0020] Optionally, a plurality of arc grooves on the surface of the screwing cylinder are uniformly distributed in a circumferential array along the axis of the screwing cylinder, and the extension line of the compression spring block is arranged to intersect the axis of the connected screwing cylinder.

[0021] Optionally, the transmission tooth plates on both sides of the suspension plate frame are symmetrically arranged, and the shape of the multi-ribbed cylinder is an equilateral polygon, and the two connected sides of the multi-ribbed cylinder are inversely provided with rounded corners.

[0022] In summary, the present application has the following beneficial technical effects: 1. By cooperating the bed spring storage cylinder, the adsorption plate frame and the compression mechanism and other components, the sponge pad is transferred by high-pressure adsorption of the adsorption plate frame, the lower compression mechanism supports the lowermost bed spring of the bed spring storage cylinder, the suspension plate frame is controlled to move to the processing position to place the sponge pad, then the lower compression mechanism is controlled to release the clamping of the lowermost bed spring, the upper compression mechanism clamps the adjacent upper bed spring, and the lowermost bed spring of each bed spring storage cylinder stays on the upper side of the sponge pad during the upward movement of the suspension plate frame, so that the sponge pad and the bed spring are transferred by the mechanical hand at one time, and secondary displacement is effectively prevented.

[0023] 2. By cooperating the swing gear, the swing tooth plate and the multi-ribbed cylinder and other components, the sponge is located between the multi-ribbed cylinders on both sides during the grabbing of the sponge assembly, the transmission of the transmission tooth plate and the transmission gear during the movement of the movable frame, the horizontal swing plate drives the corresponding multi-ribbed cylinder side to contact the sponge side on the corresponding side, and the two sides of the sponge are clamped to further prevent the sponge from falling off.

[0024] 3. By setting the bottom support plate, the vertical shaft rotates relative to the horizontal swing plate during the continuous rotation of the multi-ribbed cylinder and the sponge on both sides, the bottom support plate is driven to rotate by the transmission belt, and the bottom support plate gradually moves to the lower side of the transferred sponge pad during the rotation of the bottom support plate, so that the sponge pad is prevented from being separated during clamping. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a schematic diagram of the overall structure in the embodiment of the present application; Figure 2 is a schematic diagram of the structure of the lower side of the shaft in the embodiment of the present application; Figure 3 is a schematic diagram of the structure of the connection between the suspension plate frame and the control tooth plate in the embodiment of the present application; Figure 4 is a schematic diagram of the structure of the connection between the movable frame and the suspension plate frame in the embodiment of the present application; Figure 5This is a schematic diagram of the distribution of the adjusting frame and the movable frame in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the horizontal swing plate in an embodiment of the present invention; Figure 7 This is a schematic diagram of the distribution of the double-headed telescopic rocker arm and the swing gear in an embodiment of the present invention; Figure 8 This is a schematic diagram of the clamping structure in an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of the adsorption plate frame in an embodiment of the present invention.

[0026] Reference numerals: 1. Suspension plate frame; 2. Adsorption plate frame; 3. Bed spring storage cylinder; 4. Pressing mechanism; 41. Fixed cylinder; 42. Twisting cylinder; 43. Arc groove; 44. Compression spring block; 45. Insert rod; 5. Transmission mechanism; 51. Horizontal misalignment rod; 52. Double-headed telescopic swing rod; 53. Gear cylinder; 54. Control gear plate; 6. Power mechanism; 61. Movable frame; 62. Connecting shaft; 63. Swing gear; 64. Swing gear plate; 65. Transmission gear plate; 66. Transmission gear; 67. Horizontal swing plate; 68. Vertical shaft; 681. Adjustment frame; 69. Multi-faceted cylinder; 691. Outer shaft; 692. Inner shaft; 693. Base plate; 694. Conveyor belt. Detailed Implementation

[0027] The following is in conjunction with the appendix Figures 1-9 The present invention will be described in further detail below.

[0028] This invention discloses a robotic arm used for grasping and laying mattresses in mattress production. For example... Figures 1-9 As shown, it includes a suspension frame 1, the upper side of which is connected to a spatial displacement control mechanism to control the spatial movement of the suspension frame 1. An adsorption frame 2 is installed through the lower side of the suspension frame 1. The adsorption frame 2 is connected to a high-pressure air extraction device. The adsorption frame 2 adsorbs the surface of the mattress in contact with it. The bottom surface of the adsorption frame 2 has holes so that the adsorption frame 2 can adsorb the mattress. Multiple bed spring storage cylinders 3 are installed through the surface of the suspension frame 1. The bottom surface of the adsorption frame 2 is located below the lower end of the bed spring storage cylinders 3.

[0029] The surface of the bed spring storage cylinder 3 has vertically arranged grooves, and the bed springs are placed inside the bed spring storage cylinder 3 one after the other.

[0030] The spring storage cylinder 3 is equipped with a pressing mechanism 4 on both the upper and lower sides of the suspension plate frame 1. When the pressing mechanism 4 rotates relative to one side of the spring storage cylinder 3, it can press the springs inside the spring storage cylinder 3.

[0031] The compression mechanism 4 comprises a fixed cylinder 41 and a screwing cylinder 42. The fixed cylinder 41 is coaxially installed outside the bed spring storage cylinder 3. The screwing cylinder 42 is located on the side of the fixed cylinder 41 away from the suspension shelf 1. The screwing cylinder 42 is rotatably sleeved outside the bed spring storage cylinder 3.

[0032] The screwing cylinder 42 is provided with a plurality of arc grooves 43 on the side away from the suspension shelf 1. The two ends of the arc grooves 43 are different in distance from the axis of the bed spring storage cylinder 3. A plug rod 45 is slidably inserted into the arc grooves 43. The plug rod 45 is provided with a spring pressing block 44 at the end away from the suspension shelf 1. The spring pressing block 44 is slidably inserted into the slot structure on the surface of the bed spring storage cylinder 3. During the rotation of the screwing cylinder 42, the arc grooves 43 move relative to the plug rod 45. Because the two ends of the arc grooves 43 are different in distance from the axis of the bed spring storage cylinder 3, the screwing cylinder 42 drives the plug rod 45 and the spring pressing block 44 to move relative to the axis of the bed spring storage cylinder 3 during rotation.

[0033] The plurality of arc grooves 43 on the surface of the screwing cylinder 42 are uniformly distributed in the circumferential direction of the axis of the screwing cylinder 42. The extension line of the spring pressing block 44 intersects with the axis of the screwing cylinder 42 to which it is connected. The circumferentially distributed arc grooves 43 and spring pressing blocks 44 can uniformly apply pressure to the bed spring around the circumference, thereby stably compressing the bed spring around the circumference.

[0034] The suspension shelf 1 is provided with a transmission mechanism 5 at one end. The transmission mechanism 5 can drive two compression mechanisms 4 on the surface of the same bed spring storage cylinder 3 to rotate in opposite directions. The transmission mechanism 5 controls the rotation of the screwing cylinder 42.

[0035] The transmission mechanism 5 comprises two horizontally offset rods 51 and two double-headed telescopic swing rods 52. The two ends of the double-headed telescopic swing rods 52 can be telescoped. The middle part of the double-headed telescopic swing rods 52 is rotatably connected to the suspension shelf 1. The two ends of each horizontally offset rod 51 are rotatably connected to two double-headed telescopic swing rods 52. During the rotation of the double-headed telescopic swing rods 52, the two horizontally offset rods 51 are driven to move in opposite directions. The two horizontally offset rods 51 are respectively located on the upper and lower sides of the suspension shelf 1. Each horizontally offset rod 51 is provided with a plurality of horizontally arranged control tooth plates 54. The control tooth plates 54 are slidably connected to the suspension shelf 1. The control tooth plates 54 on the upper and lower sides of the suspension shelf 1 move in opposite directions. A tooth cylinder 53 is coaxially installed outside the screwing cylinder 42. The tooth cylinder 53 can be bidirectionally and elastically rotated relative to the screwing cylinder 42. The tooth cylinder 53 is meshed with the adjacent control tooth plate 54. Two arc springs are installed inside the tooth cylinder 53. The center of the circle of the arc of the arc springs is coaxial with the corresponding tooth cylinder 53. The other end of the arc springs is fixed to the screwing cylinder 42. When the plug rod 45 moves to the two ends of the arc groove 43 or the spring pressing block 44 contacts the bed spring, the screwing cylinder 42 cannot continue to rotate. When the tooth cylinder 53 continues to rotate, it rotates relative to the screwing cylinder 42. The two arc springs inside the tooth cylinder 53 correspondingly telescope.

[0036] The plurality of bed spring storage cylinders 3 are distributed in multiple groups at equal distances, and the bed spring storage cylinders 3 in each group are distributed at equal distances. The uniformly and equidistantly distributed bed spring storage cylinders 3 make the bed springs falling on the upper side of the sponge pad uniformly distributed. The lower end of the adsorption plate frame 2 is in the shape of a plurality of polygons uniformly distributed. Each polygon of the adsorption plate frame 2 is spaced between the plurality of bed spring storage cylinders 3. The polygon of the adsorption plate frame 2 increases the contact area with the sponge pad or the latex pad, so that the sponge pad is uniformly subjected to suction force.

[0037] The suspension plate frame 1 is provided with a power mechanism 6 for applying power to the transmission mechanism 5.

[0038] The power mechanism 6 comprises a movable frame 61 which can move horizontally relative to the suspension plate frame 1. The suspension plate frame 1 is provided with an electric telescopic rod or a hydraulic cylinder for controlling the power movement of the movable frame 61.

[0039] The double-head telescopic swing rod 52 is connected to the suspension plate frame 1 through a connecting shaft 62 which rotates relative to the suspension plate frame 1. The connecting shaft 62 is fixed to the central part of the double-head telescopic swing rod 52. The connecting shaft 62 is coaxially provided with a swing gear 63. The swing gear 63 is engaged with a swing tooth plate 64 on one side. The swing tooth plate 64 is fixed to the movable frame 61. The movable frame 61 drives the swing tooth plate 64 to engage with the swing gear 63 during movement. The swing gear 63 drives the double-head telescopic swing rod 52 to swing through the connecting shaft 62.

[0040] The movable frame 61 is fixed with a transmission tooth plate 65 on both sides of the suspension plate frame 1. The transmission tooth plate 65 is engaged with a transmission gear 66 on one side. The transmission gear 66 is rotatably connected to the suspension plate frame 1. The transmission gear 66 is provided with a vertical shaft 68 along the axis. The vertical shaft 68 rotates synchronously with the transmission gear 66. The lower end of the vertical shaft 68 is provided with a horizontal swing plate 67. The other end of the horizontal swing plate 67 is provided with a multi-rib cylinder 69 on the bottom surface. When the movable frame 61 moves and drives the lower side of the compression spring block 44 to compress the bed springs around, the movable frame 61 engages with the transmission tooth plate 65 and the transmission gear 66. The horizontal swing plate 67 drives the multi-rib cylinder 69 to move close to the side of the sponge pad during rotation. The multi-rib cylinders 69 on both sides of the sponge pad clamp the sponge pad on both sides to prevent the sponge pad from falling off.

[0041] The multi-rib cylinder 69 is connected to the horizontal swing plate 67 through an outer shaft 691. The outer shaft 691 is fixed to the multi-rib cylinder 69 and rotatably connected to the horizontal swing plate 67. The outer shaft 691 is provided with an inner shaft 692 which can rotate relative to the axis. The inner shaft 692 is provided with a horizontally arranged bottom support plate 693 at the lower side of the multi-rib cylinder 69.

[0042] The horizontal swing plate 67 is rotatably sleeved on the outer surface of the vertical shaft 68, and the horizontal swing plate 67 can be elastically screwed relative to the vertical shaft 68. The upper end of the inner shaft 692 and the vertical shaft 68 are connected through the transmission belt 694. When the multi-ribbed cylinder 69 contacts the two sides of the sponge and the vertical shaft 68 continues to rotate, the vertical shaft 68 rotates relative to the horizontal swing plate 67. Through the transmission of the transmission belt 694, the bottom supporting plate 693 is driven to rotate. The bottom supporting plate 693 gradually moves to the lower side of the transferred sponge pad during rotation, and further supports the sponge pad and the latex pad.

[0043] The vertical shaft 68 can move up and down relative to the transmission gear 66. The suspension rack 1 is provided with an adjusting rack 681 which can move up and down by power. The suspension rack 1 is provided with an electric telescopic rod or a hydraulic cylinder which controls the up-and-down movement of the adjusting rack 681. The upper end of the vertical shaft 68 is rotatably connected with the adjusting rack 681. The vertical shaft 68 moves up and down with the adjusting rack 681. During the up-and-down movement of the adjusting rack 681, the height of the multi-ribbed cylinder 69 and the bottom supporting plate 693 can be adjusted to adapt to sponge pads and latex pads of different thicknesses.

[0044] The transmission gear plates 65 on both sides of the suspension rack 1 are symmetrically arranged. The shape of the multi-ribbed cylinder 69 is an equilateral polygon. The two sides of the multi-ribbed cylinder 69 are provided with rounded corners. When the horizontal swing plate 67 drives the multi-ribbed cylinder 69 to approach the sponge side, the multi-ribbed cylinder 69 rotates under the blockage of the side surface of the sponge pad. Through rotation, the planar part of the multi-ribbed cylinder 69 fully contacts the sponge pad to fully support the sponge pad.

[0045] The working principle is as follows: the external control mechanism controls the movement of the suspension rack 1. The bottom of the suction plate rack 2 suctions the contacted sponge pad or latex pad. During the movement, the power mechanism 6 controls the lower compression mechanism 4 through the transmission mechanism 5 to compress the lowermost bed spring in the bed spring storage cylinder 3, so that the bed spring does not generate pressure on the lower transferred sponge pad and latex pad. After the suspension rack 1 is moved to the processing position and the sponge pad is placed down, the lower compression mechanism 4 is controlled to release the clamping of the lowermost bed spring, so that the upper compression mechanism 4 compresses the adjacent upper bed spring. During the upward movement of the suspension rack 1, the lowermost bed spring of each bed spring storage cylinder 3 stays on the upper side of the sponge pad. The sponge pad and the bed spring are transferred by the mechanical hand at one time. Then, before the next sponge pad is transferred, the upper compression mechanism 4 and the lower compression mechanism 4 are controlled to release the compression of the bed spring at the same time, so that the bed spring falls to contact the bed pad to be transferred. Then, the lower compression mechanism 4 is controlled to clamp the lowermost bed spring.

[0046] The above are preferred embodiments of the present application, which do not limit the protection scope of the present application. Any equivalent changes made on the basis of the structure, shape and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A robotic arm for grasping and laying mattresses in mattress production, comprising a suspended frame (1), characterized in that: An adsorption plate (2) is installed through the lower side of the suspension plate (1). The adsorption plate (2) adsorbs the contacting mattress surface. Multiple bed spring storage cylinders (3) are installed through the surface of the suspension plate (1). The bottom surface of the adsorption plate (2) is located below the lower end of the bed spring storage cylinder (3). The bed spring storage cylinder (3) is equipped with a pressing mechanism (4) on both the upper and lower sides of the suspension plate (1). When the pressing mechanism (4) rotates relative to one side of the bed spring storage cylinder (3), it can press the bed spring inside the bed spring storage cylinder (3). The suspension plate frame (1) is equipped with a transmission mechanism (5) at one end. The transmission mechanism (5) can drive two pressing mechanisms (4) on the surface of the same bed spring storage cylinder (3) to rotate in opposite directions. The suspension plate frame (1) is equipped with a power mechanism (6) that applies power to the transmission mechanism (5).

2. The robotic arm for grasping and laying mattresses in mattress production according to claim 1, characterized in that: The surface of the bed spring storage cylinder (3) is provided with a vertically arranged groove structure; The clamping mechanism (4) includes a fixed cylinder (41) and a rotating cylinder (42). The fixed cylinder (41) is coaxially installed on the outside of the bed spring storage cylinder (3). The rotating cylinder (42) is located on the side of the fixed cylinder (41) away from the suspension plate frame (1). The rotating cylinder (42) is rotated and sleeved on the outside of the bed spring storage cylinder (3). The screwing cylinder (42) has multiple arc grooves (43) on the side away from the suspension plate (1). The two ends of the arc groove (43) are at different distances from the axis of the connected bed spring storage cylinder (3). A rod (45) is slidably inserted inside the arc groove (43). A spring block (44) is installed at the end of the rod (45) away from the suspension plate (1). The spring block (44) is slidably inserted into the groove structure on the surface of the bed spring storage cylinder (3). The transmission mechanism (5) controls the rotation of the screwing cylinder (42).

3. The robotic arm for grasping and laying mattresses in mattress production according to claim 2, characterized in that: The transmission mechanism (5) includes two horizontally offset rods (51) and two double-headed telescopic swing rods (52). The middle part of the double-headed telescopic swing rods (52) is rotatably connected to the suspension frame (1). The two ends of each horizontally offset rod (51) are rotatably connected to the two double-headed telescopic swing rods (52). The two horizontally offset rods (51) are located on the upper and lower sides of the suspension frame (1). Each horizontally offset rod (51) is equipped with multiple horizontally arranged control tooth plates (54). The control tooth plates (54) are slidably connected to the suspension frame (1). A toothed cylinder (53) is coaxially mounted on the outside of the screwing cylinder (42). The toothed cylinder (53) can rotate elastically in both directions relative to the screwing cylinder (42). The toothed cylinder (53) meshes with the adjacent control toothed plate (54).

4. The robotic arm for grasping and laying mattresses in mattress production according to claim 3, characterized in that: The power mechanism (6) includes a movable frame (61) which is capable of moving horizontally relative to the suspended plate frame (1); The double-headed telescopic swing rod (52) is connected to the suspension plate frame (1) via a connecting shaft (62). The connecting shaft (62) rotates relative to the suspension plate frame (1). The connecting shaft (62) is fixed to the center of the double-headed telescopic swing rod (52). A swing gear (63) is coaxially mounted on the connecting shaft (62). A swing tooth plate (64) meshes on one side of the swing gear (63). The swing tooth plate (64) is fixed to the movable frame (61).

5. A robotic arm for grasping and laying mattresses in mattress production according to claim 3, characterized in that: Multiple bed spring storage cylinders (3) are distributed in multiple groups at equal distances. The bed spring storage cylinders (3) in each group are distributed at equal distances. The lower end of the adsorption plate frame (2) is a number of evenly distributed polygons. Each polygon of the adsorption plate frame (2) is between multiple bed spring storage cylinders (3).

6. A robotic arm for grasping and laying mattresses in mattress production according to claim 4, characterized in that: The movable frame (61) is fixed with transmission gear plates (65) on both sides of the suspended plate frame (1). A transmission gear (66) is meshed on one side of the transmission gear plate (65). The transmission gear (66) is rotatably connected to the suspended plate frame (1). A vertical shaft (68) is installed on the axis of the transmission gear (66). The vertical shaft (68) rotates synchronously with the transmission gear (66). A horizontal swing plate (67) is installed at the lower end of the vertical shaft (68). A polygonal cylinder (69) is installed on the bottom surface of the other end of the horizontal swing plate (67).

7. A robotic arm for grasping and laying mattresses in mattress production according to claim 6, characterized in that: The polygonal cylinder (69) and the horizontal swing plate (67) are connected by an outer shaft (691). The outer shaft (691) is fixed to the polygonal cylinder (69) and rotatably connected to the horizontal swing plate (67). An inner shaft (692) that can rotate relative to the outer shaft (691) is installed at the axis of the outer shaft (691). A horizontally arranged bottom support plate (693) is installed at one end of the inner shaft (692) on the lower side of the polygonal cylinder (69). The horizontal swing plate (67) is rotatably sleeved on the outer surface of the vertical shaft (68). The horizontal swing plate (67) can be elastically twisted relative to the vertical shaft (68). The upper end of the inner shaft (692) is driven by the vertical shaft (68) through the conveyor belt (694).

8. A robotic arm for grasping and laying mattresses in mattress production according to claim 6 or 7, characterized in that: The vertical shaft (68) can move up and down relative to the transmission gear (66). The suspension frame (1) is equipped with an adjustment frame (681) that can move up and down by power. The upper end of the vertical shaft (68) is rotatably connected to the adjustment frame (681), and the vertical shaft (68) moves up and down with the adjustment frame (681).

9. A robotic arm for grasping and laying mattresses in mattress production according to claim 2, characterized in that: The multiple arc grooves (43) on the surface of the screwing cylinder (42) are evenly distributed in a circumferential array around the axis of the screwing cylinder (42), and the extension line of the compression spring block (44) intersects with the axis of the connected screwing cylinder (42).

10. A robotic arm for grasping and laying mattresses in mattress production according to claim 6, characterized in that: The transmission gear plates (65) on both sides of the suspension plate frame (1) are symmetrically arranged, and the shape of the polygonal tube (69) is an equilateral polygon with rounded corners on both sides of the polygonal tube (69).

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