Industrial robot capable of position conversion of machining process for workpiece

Abstract

This invention discloses an industrial robot capable of positional conversion during workpiece processing, relating to the field of industrial robot technology. It includes an industrial robot, a pumping system, a vision system, and a clamping mechanism. The clamping mechanism comprises a fixed frame, a screw, a sliding plate, a clamping plate, and a reversing mechanism. Based on the workpiece shape identified by the vision system, the reversing mechanism drives the sliding cylinder and connecting parts via a telescopic element, causing the clamping plate to rotate to an angle adapted to the inclined surface of the workpiece. The clamping plate contains an adsorption component and a shock-absorbing component. The shock-absorbing component adjusts the pre-compression of the shock-absorbing spring via electromagnetic force to accommodate workpieces of different weights or materials. The pumping system can alternately supply air to both clamping plates, causing pressurized air to be sprayed from one adsorption component to the other, achieving self-cleaning of the adsorption components. This invention can adaptively clamp flat, single-sided inclined, or double-sided inclined workpieces and can steplessly adjust the clamping stiffness to avoid workpiece damage.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, specifically to an industrial robot capable of changing the position of processing steps for workpieces. Background Technology

[0002] In automated manufacturing processes, industrial robots often need to clamp and transfer workpieces of different shapes. Existing clamping mechanisms are mostly fixed parallel grippers. When the workpiece has inclined surfaces on both sides, the parallel grippers cannot fit snugly against the inclined surfaces, resulting in a small clamping area, uneven force distribution, and the workpiece easily slipping or shifting position, affecting the positioning accuracy of subsequent processes. Therefore, operators often need to stop the machine to replace it with a dedicated inclined gripper or add auxiliary positioning fixtures, which not only reduces production efficiency but also increases equipment costs. Therefore, how to enable the same clamping mechanism to adaptively clamp flat surfaces and inclined surfaces of different angles is a pressing technical problem to be solved in this field. Summary of the Invention

[0003] The purpose of this invention is to provide an industrial robot capable of changing the position of processing steps for workpieces, in order to solve the problems raised in the prior art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an industrial robot capable of positional conversion of processing steps for workpieces, comprising a pumping system and a vision system, including an industrial robot and a gripping mechanism, wherein the pumping system and the vision system are mounted on the industrial robot; The clamping mechanism includes a fixed frame, a screw, a sliding plate, a clamping plate, and a reversing mechanism. The fixed frame is installed at the end of the industrial robot. The screw is rotatably installed on the fixed frame. One end of the screw is connected to the output end of a drive source. Two sliding plates are provided. Both sliding plates are installed on the screw through threaded cylinders. Both sliding plates are connected to a guide mechanism. The clamping plate has a channel, and a conveying cylinder is installed in the channel. An adsorption component is installed at one end of the conveying cylinder, a shock-absorbing component is installed in the middle of the conveying cylinder, and the other end of the conveying cylinder is connected to a pumping system.

[0005] The reversing mechanism includes a follower cylinder, a sliding cylinder, a connecting piece, and a telescopic element; The follower cylinder is mounted on the sliding plate, and a displacement detection element is provided on the follower cylinder. The sliding cylinder is slidably mounted on the follower cylinder through a guide member. One end of the connector is rotatably connected to the clamping plate, and the other end of the connector is connected to the sliding cylinder. The telescopic element is connected to the sliding cylinder and the follower cylinder respectively, and the telescopic element is electrically connected to the control system.

[0006] The conveying cylinder is hollow inside; The adsorption assembly includes an adsorption element and a receiving base, wherein the adsorption element is mounted on the receiving base; The receiving seat is slidably mounted on the conveying cylinder. A connecting channel is provided inside the receiving seat. One end of the connecting channel is connected to the adsorption element, and the other end of the connecting channel is connected to the interior of the conveying cylinder. A sliding seal connection is formed between the receiving seat and the conveying cylinder. An elastic element is connected between the receiving seat and the clamping plate.

[0007] The damping assembly includes damping springs, damping plates, and a driving source; The shock-absorbing spring connects the receiving seat and the shock-absorbing plate. The shock-absorbing spring is sleeved on the conveying cylinder. The shock-absorbing plate is slidably installed on the conveying cylinder. A distance measuring element is installed on the shock-absorbing plate. The distance measuring element is electrically connected to the control system. The driving source pushes the shock-absorbing plate to move on the conveyor cylinder.

[0008] The driving source includes a magnet and a coil, which are respectively disposed on the shock-absorbing plate and the clamping plate.

[0009] The screw is provided with a first thread and a second thread, which are mirror images of each other. The two threaded cylinders are respectively mounted on two sliding plates and are threadedly connected to the first thread and the second thread, respectively.

[0010] A fixed shaft is slidably installed inside the follower cylinder. The fixed shaft is mounted on a fixed frame, and the fixed shaft and the follower cylinder form a sliding connection.

[0011] The guiding mechanism includes a guide shaft and guide cylinders. The guide shaft is mounted on a fixed frame, and there are two guide cylinders. The two guide cylinders are respectively mounted on a sliding plate, and the guide cylinders are slidably mounted on the guide shaft via splines.

[0012] A pressure sensor and a proportional control valve are connected between the pumping system and the conveying cylinder, and the pressure sensor and the proportional control valve are electrically connected to the control system.

[0013] Compared with the prior art, the beneficial effects of the present invention are: 1. Adaptive clamping technology solves the technical problem of unstable clamping of irregularly shaped workpieces. The vision system identifies the specific shape of the workpiece, and the control system determines whether the workpiece is square, has two bevels, or has one bevel. When it is determined to be a two-sided bevel, the control system drives the telescopic elements on both sides, which in turn drive the sliding cylinder and connecting parts, causing the two clamping plates to rotate synchronously to the same angle as the workpiece's bevel, achieving bevel-face clamping. When it is determined to be a one-sided bevel, only the angle of the clamping plate on the corresponding side is adjusted, while the other side remains vertical. This method allows the same clamping jaw to adapt to workpieces of various shapes without replacement, increases the clamping contact area, prevents workpiece slippage or displacement, and improves the reliability of machining positioning.

[0014] 2. Clamping stiffness adjustment solves the problem of damage to fragile or heavy workpieces. A shock-absorbing assembly consisting of a damping spring, a damping plate, and a push source is installed inside the clamping plate. The control system adjusts the pre-compression of the damping spring by changing the direction and magnitude of the coil current according to the workpiece characteristics, generating repulsive or attractive forces to drive the damping plate. When clamping heavy workpieces, the current is increased to further compress the spring and increase its stiffness, ensuring sufficient clamping force; when clamping fragile or thin-walled workpieces, the current is reduced or cut off, the spring is relaxed, and its stiffness is reduced, forming a flexible buffer when the adsorption element contacts the workpiece. Combined with displacement feedback from the ranging element, stepless and precise adjustment of stiffness is achieved, ensuring clamping stability and avoiding impact damage to the workpiece surface.

[0015] 3. Self-cleaning of the adsorption components extends their service life. After the adsorption components have been in operation for a period of time, the control system first resets the two clamping plates to a vertical position and brings them close together. Then, pressurized air is introduced into one side of the conveying cylinder through the pumping system. The air is then ejected from the adsorption component on that side through the flow channel of the receiving seat, directly blowing away dust and impurities on the adsorption component on the other side. Alternating air supply from both sides achieves mutual cleaning. This process requires no manual disassembly and cleaning, and does not take up additional downtime, effectively maintaining the air permeability and adsorption force of the adsorption components, thus extending their service life. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the fixing frame in this invention; Figure 3 This is a schematic diagram of the clamping plate in this invention; Figure 4 This is a schematic diagram of the connector structure in this invention; Figure 5 This is a schematic diagram of the sliding cylinder in this invention; Figure 6 This is a schematic diagram of the adsorption component in this invention; Figure 7yes Figure 6 A magnified view of a portion of region A in the middle; Figure 8 This is a schematic diagram of the structure of the receiving seat in this invention.

[0017] In the diagram: 1. Industrial robot; 2. Clamping mechanism; 21. Fixing frame; 22. Screw; 221. Drive source; 23. Sliding plate; 231. Threaded cylinder; 24. Clamping plate; 241. Conveying cylinder; 242. Adsorption assembly; 2421. Adsorption component; 2422. Support seat; 243. Shock absorption assembly; 2431. Shock absorption spring; 2432. Shock absorption plate; 2433. Push source; 25. Reversing mechanism; 251. Follower cylinder; 252. Sliding cylinder; 253. Connector; 254. Telescopic element; 26. Guide shaft. Detailed Implementation

[0018] 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.

[0019] Example: Figures 1-8 As shown, this invention provides a technical solution for an industrial robot capable of positional conversion during workpiece processing. The robot includes a pumping system, a vision system (which identifies the shape and dimensions of the workpiece without manual measurement, reducing debugging time), an industrial robot 1, and a clamping mechanism 2. The pumping system (not shown) and the vision system (not shown) are mounted on the industrial robot 1. The clamping mechanism 2 includes a fixed frame 21, a screw 22, a sliding plate 23, a clamping plate 24, and a reversing mechanism 25. The fixed frame 21 is mounted at the end of the industrial robot 1, and the screw 22 is rotatably mounted on the fixed frame 21. One end of the screw 22 is connected to the output end of a drive source 221. Two sliding plates 23 are provided. All three components are mounted on the screw 22 via threaded cylinders 231. Both sliding plates 23 are connected to the guide mechanism. A channel is provided inside the clamping plate 24, and a conveying cylinder 241 is provided inside the channel. An adsorption component 242 is installed at one end of the conveying cylinder 241, and a shock-absorbing component 243 is installed in the middle of the conveying cylinder 241. The other end of the conveying cylinder 241 is connected to the pumping system. The guide mechanism includes a guide shaft 26 and a guide cylinder. The guide shaft 26 is mounted on the fixed frame 21. There are two guide cylinders, which are respectively mounted on the sliding plates 23. The guide cylinders are slidably mounted on the guide shaft 26 via splines. A pressure sensor and a proportional regulating valve are connected between the pumping system and the conveying cylinder 241. The pressure sensor and the proportional regulating valve are electrically connected to the control system.

[0020] When the workpiece needs to be clamped, the control system drives the screw 22 to rotate through the drive source 221. Since the two threaded cylinders 231 are mirror images, the screw 22 drives the left threaded cylinder 231 to move to the right, and the screw 22 also drives the right threaded cylinder 231 to move to the left, so that the two threaded cylinders 231 move closer to each other. The two threaded cylinders 231 respectively drive the two sliding plates 23 to move closer to each other, and the two sliding plates 23 respectively drive the two clamping plates 24 to move closer to each other, so that the two clamping plates 24 clamp the workpiece. After the workpiece is clamped, the industrial robot 1 drives the two clamping plates 24 and the workpiece to the set position through the fixed frame 21 to complete the transfer operation.

[0021] The reversing mechanism 25 includes a follower cylinder 251, a sliding cylinder 252, a connecting member 253, and a telescopic element 254. The follower cylinder 251 is mounted on the sliding plate 23 and is provided with a displacement detection element. The sliding cylinder 252 is slidably mounted on the follower cylinder 251 through a guide member. One end of the connecting member 253 is rotatably connected to the clamping plate 24, and the other end of the connecting member 253 is connected to the sliding cylinder 252. The telescopic element 254 is connected to both the sliding cylinder 252 and the follower cylinder 251 and is electrically connected to the control system. A fixed shaft is slidably mounted inside the follower cylinder 251 and is mounted on the fixed frame 21. The fixed shaft and the follower cylinder 251 form a sliding connection.

[0022] The displacement detection element is a displacement sensor, which is electrically connected to the control system.

[0023] The guide is a spline tooth and a spline groove that slide together. The spline tooth and the spline groove are respectively set on the follower cylinder 251 and the sliding cylinder 252. The sliding cylinder 252 slides on the follower cylinder 251 through the spline tooth and the spline groove.

[0024] Telescopic element 254 includes telescopic cylinders, springs made of shape memory metal, etc.

[0025] When the telescopic element 254 is a telescopic cylinder, the cylinder body of the telescopic cylinder is installed on the follower cylinder 251, the telescopic rod of the telescopic cylinder is connected to the sliding cylinder 252, and the control system drives the sliding cylinder 252 to move on the follower cylinder 251 through the telescopic extension and retraction of the telescopic cylinder.

[0026] When the telescopic element 254 is a spring made of shape memory metal, when the control system energizes the spring, the spring will shorten and pull the sliding cylinder 252 to move in the forward direction; when the spring is de-energized, the spring will gradually expand through its own elastic force and push the sliding cylinder 252 to move in the reverse direction back to the initial position; the greater the current flowing through the spring, the greater the degree of spring contraction and the more the spring pulls the sliding cylinder 252 to move. The control system controls the magnitude of the current flowing through the spring to achieve the specific displacement of the sliding cylinder 252.

[0027] Before the workpiece is clamped, the vision system identifies the size and shape of the workpiece and feeds the data back to the control system, which then determines whether the workpiece is a square workpiece or a workpiece with a bevel.

[0028] When the control system determines that the workpiece is square, the control system drives the sliding cylinder 252 back to the initial position through the telescopic element 254. At this time, the two clamping plates 24 are parallel to each other, so as to clamp the square workpiece.

[0029] When the workpiece has inclined surfaces on both sides, the control system, based on the data from the vision system, drives the left sliding cylinder 252 to move to the right via the telescopic element 254 on the left side, and drives the right sliding cylinder 252 to move to the left via the telescopic element 254 on the right side. The sliding cylinders 252 on both sides drive the clamping plates 24 on both sides to rotate a certain angle via the connecting piece 253, so that the lower ends of the two clamping plates 24 are close to each other. At this time, the two clamping plates 24 are in an inclined state, and the angle of inclination is consistent with the inclined surface of the workpiece, so as to clamp the workpiece with inclined surfaces on both sides. When the two sides of the workpiece are either flat or inclined, the control system, based on data from the vision system, causes the left telescopic element 254 to move the left clamping plate 24 back to its initial position via the left sliding cylinder 252 and the left connecting piece 253, so that the left clamping plate 24 is in a vertical state to clamp the flat surface of the workpiece; at the same time, the right telescopic element 254 causes the right clamping plate 24 to be tilted via the right sliding cylinder 252 and the right connecting piece 253, and the tilt angle is consistent with the inclined surface of the workpiece to clamp the inclined surface of the workpiece.

[0030] During the angle adjustment of the clamping plate 24, the displacement detection element detects the displacement of the sliding cylinder 252 in real time and feeds the displacement data of the sliding cylinder 252 back to the control system. The control system calculates the angle of the clamping plate 24 based on the data of the displacement detection element so that the angle of the clamping plate 24 matches the shape of the workpiece.

[0031] The conveying cylinder 241 is hollow inside; the adsorption assembly 242 includes an adsorption element 2421 and a receiving seat 2422. The adsorption element 2421 is installed on the receiving seat 2422. The receiving seat 2422 is slidably installed on the conveying cylinder 241. A connecting channel is provided inside the receiving seat 2422. One end of the connecting channel is connected to the adsorption element 2421, and the other end of the connecting channel is connected to the inside of the conveying cylinder 241. A sliding seal connection is formed between the receiving seat 2422 and the conveying cylinder 241. An elastic element, which is a return spring, is connected between the receiving seat 2422 and the clamping plate 24.

[0032] When the two clamping plates 24 clamp the workpiece, the displacement detection element on the follower cylinder 251 feeds the data back to the control system. The control system uses the pumping system and the conveying cylinder 241 to extract the air inside the adsorption element 2421 to the outside, so that the adsorption element 2421 adsorbs the workpiece.

[0033] When the adsorption element 2421 needs to be cleaned after working for a certain period of time, the control system drives the two clamping plates 24 back to their initial position through the telescopic elements 254 on both sides. At this time, the two clamping plates 24 are in a vertical state. Then, the control system drives the screw 22 to rotate through the drive source 221, and the screw 22 drives the two clamping plates 24 to move closer to each other. When the two vertical clamping plates 24 approach each other, the control system pressurizes the external air through the pumping system and delivers it to the conveying cylinder 241 of the left clamping plate 24. The pressurized air enters the connecting channel of the receiving seat 2422 through the conveying cylinder 241 and is sprayed from the connecting channel and the adsorption element 2421 on the left clamping plate 24 onto the adsorption element 2421 on the right clamping plate 24, so that the dust and impurities on the adsorption element 2421 on the right are blown off, thus cleaning the adsorption element 2421 on the right clamping plate 24. After the adsorption element 2421 on the right clamping plate 24 is cleaned for a set time, the control system stops supplying air to the conveying cylinder 241 of the left clamping plate 24 through the pumping system, and supplies air to the conveying cylinder 241 of the right clamping plate 24. The pressurized air is delivered through the right conveying cylinder 241 to the connecting channel of the right receiving seat 2422, and sprayed from the connecting channel and the adsorption element 2421 on the right clamping plate 24 onto the adsorption element 2421 on the left clamping plate 24, so that the dust and impurities on the adsorption element 2421 on the left are blown off, thus cleaning the adsorption element 2421 on the left clamping plate 24. By alternately supplying air to the conveying cylinders 241 on both sides through a pumping system, pressurized air is sprayed alternately onto the adsorption components 2421 on both sides, thereby cleaning the adsorption components 2421 on both sides and extending their service life.

[0034] The shock absorption assembly 243 includes a shock absorption spring 2431, a shock absorption plate 2432, and a driving source 2433. The shock absorption spring 2431 connects the receiving seat 2422 and the shock absorption plate 2432. The shock absorption spring 2431 is sleeved on the conveying cylinder 241. The shock absorption plate 2432 is slidably mounted on the conveying cylinder 241. A distance measuring element, which is a displacement sensor, is installed on the shock absorption plate 2432 and is electrically connected to the control system. The driving source 2433 drives the shock absorption plate 2432 to move on the conveying cylinder 241. The driving source 2433 includes a magnet and a coil, which are respectively disposed on the shock absorption plate 2432 and the clamping plate 24.

[0035] When it is necessary to adjust the stiffness of the damping spring 2431 to accommodate workpieces of different weights or materials, the control system connects the coil in the clamping plate 24 to the circuit, so that the coil on the clamping plate 24 is energized to generate a magnetic field.

[0036] When the magnetic field generated by the coil inside the clamping plate 24 repels the magnetic field of the magnet on the damping plate 2432, the damping plate 2432 slides along the conveying cylinder 241 in the positive direction under the action of the magnetic field repulsion force. At this time, the distance between the damping plate 2432 and the receiving seat 2422 decreases, and the damping spring 2431 is compressed. When the magnetic field generated by the coil in the clamping plate 24 attracts the magnetic field of the magnet on the damping plate 2432, the damping plate 2432 slides in the opposite direction along the conveying cylinder 241 under the action of the magnetic attraction. At this time, the distance between the damping plate 2432 and the receiving seat 2422 increases, and the damping spring 2431 is in a relaxed state. The coil generates a positive or negative magnetic field to drive the damping plate 2432 to move in the forward or reverse direction. The ranging element feeds back the displacement of the damping plate 2432 to the control system in real time, so that the operator can adjust the pre-compression of the damping spring 2431 according to the nature of different workpieces, so as to achieve stepless adjustment of stiffness and avoid damaging the workpiece.

[0037] When clamping heavy workpieces: The control system generates a positive magnetic field through the coil and increases the current flowing through the coil to generate a stronger magnetic repulsion force between the coil and the magnet, which further reduces the distance between the damping plate 2432 and the support seat 2422, further compresses the damping spring 2431, increases the stiffness of the damping spring 2431, and enables the heavy workpiece to be firmly clamped.

[0038] When clamping fragile or thin-walled workpieces: the control system reduces or cuts off the current of the coil, the distance between the damping plate 2432 and the receiving seat 2422 increases, the damping spring 2431 is in a more relaxed state, the stiffness decreases, and the adsorption component 2421 can provide more flexible buffering when it contacts the workpiece, avoiding impact damage to the workpiece.

[0039] The screw 22 is provided with a first thread and a second thread, which are mirror images of each other. Two threaded cylinders 231 are respectively installed on two sliding plates 23, and the two threaded cylinders 231 are respectively threadedly connected to the first thread and the second thread.

[0040] When the drive source 221 drives the screw 22 to rotate, since the two threaded cylinders 231 are threadedly connected to the first thread and the second thread respectively, the rotational motion of the screw 22 is converted into the linear motion of the two threaded cylinders 231, and the motion directions of the two threaded cylinders 231 are opposite.

[0041] When the drive source 221 drives the screw 22 to rotate in the forward direction, the sliding plate 23 on the left side of the threaded cylinder 231 moves to the right, and the threaded cylinder 231 on the right side drives the sliding plate 23 on the right side to move to the left, so that the two sliding plates 23 move closer to each other. When the drive source 221 drives the screw 22 to reverse, the screw 22 drives the two sliding plates 23 to move away from each other through the two threaded cylinders 231. Through the design of the first thread, the second thread and the two threaded cylinders 231, the two clamping plates 24 can clamp or release the workpiece at the same speed.

[0042] Working principle: Before clamping the workpiece, the vision system scans and identifies the size and shape of the target workpiece and feeds the data back to the control system. The control system determines the type of workpiece based on this data. If both sides of the workpiece are flat, it is determined to be a square workpiece; if both sides have slopes, it is determined to be a sloped workpiece; if one side is flat and the other side is sloped, it is determined to be a mixed type workpiece. The control system drives the reversing mechanism 25 to adjust the posture of the clamping plate 24 according to the specific judgment results.

[0043] When the workpiece is square, the control system instructs the telescopic element 254 to drive the sliding cylinder 252 back to the initial position, so that the two clamping plates 24 remain in a vertical state that is parallel to each other.

[0044] When the workpiece has inclined surfaces on both sides, the left telescopic element 254 pushes the left sliding cylinder 252 to move to the right, and the right telescopic element 254 pushes the right sliding cylinder 252 to move to the left. The two sliding cylinders 252 drive the two clamping plates 24 to rotate through the connector 253, so that the lower ends of the two clamping plates 24 move closer to each other until the inclination angle is consistent with the inclined surface of the workpiece.

[0045] When one side of the workpiece is a plane and the other side is an inclined plane, the control system controls the telescopic elements 254 on the left and right sides respectively to keep the clamping plate 24 on the plane side vertical and adjust the clamping plate 24 on the inclined side to an inclination angle that matches the inclined plane.

[0046] After the angles of the two clamping plates 24 are adjusted, the control system starts the drive source 221 to drive the screw 22 to rotate. The screw 22 drives the threaded cylinders 231 on both sides to move relative to each other. The left threaded cylinder 231 drives the left sliding plate 23 to move to the right, and the right threaded cylinder 231 drives the right sliding plate 23 to move to the left. The two sliding plates 23 move closer to each other, and the sliding plates 23 drive the two clamping plates 24 to move relative to each other synchronously until the adsorption element 2421 contacts both sides of the workpiece.

[0047] When the adsorption element 2421 comes into contact with both sides of the workpiece, the control system starts the pumping system, which draws the air inside the adsorption element 2421 outward through the connecting flow channel in the conveying cylinder 241 and the receiving seat 2422, so that the adsorption element 2421 generates negative pressure to adsorb and fix the workpiece.

[0048] After clamping and fixing, the industrial robot 1 moves the workpiece to the set position through the fixing frame 21, completing the position change operation.

[0049] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An industrial robot capable of positional conversion for processing steps of a workpiece, comprising a pumping system and a vision system, characterized in that: It includes an industrial robot (1) and a gripping mechanism (2), wherein the pumping system and vision system are mounted on the industrial robot (1); The clamping mechanism (2) includes a fixed frame (21), a screw (22), a sliding plate (23), a clamping plate (24), and a reversing mechanism (25). The fixed frame (21) is installed at the end of the industrial robot (1). The screw (22) is rotatably installed on the fixed frame (21). One end of the screw (22) is connected to the output end of the drive source (221). There are two sliding plates (23). Both sliding plates (23) are installed on the screw (22) through a threaded cylinder (231). Both sliding plates (23) are connected to the guide mechanism. The clamping plate (24) is provided with a channel, and a conveying cylinder (241) is provided in the channel. An adsorption component (242) is installed at one end of the conveying cylinder (241), a shock-absorbing component (243) is installed in the middle of the conveying cylinder (241), and the other end of the conveying cylinder (241) is connected to the pumping system.

2. An industrial robot capable of positional conversion for machining operations of a workpiece according to claim 1, characterized in that: The reversing mechanism (25) includes a follower cylinder (251), a sliding cylinder (252), a connector (253), and a telescopic element (254). The follower cylinder (251) is mounted on the sliding plate (23), and a displacement detection element is provided on the follower cylinder (251). The sliding cylinder (252) is slidably mounted on the follower cylinder (251) through a guide member. One end of the connector (253) is rotatably connected to the clamping plate (24), and the other end of the connector (253) is connected to the sliding cylinder (252). The telescopic element (254) is connected to the sliding cylinder (252) and the follower cylinder (251) respectively, and the telescopic element (254) is electrically connected to the control system.

3. An industrial robot capable of positional conversion for machining operations of a workpiece according to claim 2, characterized in that: The conveying cylinder (241) is hollow inside; The adsorption assembly (242) includes an adsorption element (2421) and a receiving seat (2422), wherein the adsorption element (2421) is mounted on the receiving seat (2422); The receiving seat (2422) is slidably mounted on the conveying cylinder (241). A connecting channel is provided inside the receiving seat (2422). One end of the connecting channel is connected to the adsorption element (2421), and the other end of the connecting channel is connected to the interior of the conveying cylinder (241). A sliding sealing connection is formed between the receiving seat (2422) and the conveying cylinder (241). An elastic element is connected between the receiving seat (2422) and the clamping plate (24).

4. An industrial robot capable of positional conversion for machining operations of a workpiece according to claim 3, characterized in that: The damping assembly (243) includes a damping spring (2431), a damping plate (2432), and a driving source (2433). The shock-absorbing spring (2431) connects the receiving seat (2422) and the shock-absorbing plate (2432). The shock-absorbing spring (2431) is sleeved on the conveying cylinder (241). The shock-absorbing plate (2432) is slidably installed on the conveying cylinder (241). A distance measuring element is installed on the shock-absorbing plate (2432). The distance measuring element is electrically connected to the control system. The driving source (2433) drives the damping plate (2432) to move on the conveying cylinder (241).

5. An industrial robot capable of positional conversion for machining operations of a workpiece according to claim 4, characterized in that: The driving source (2433) includes a magnet and a coil, which are respectively disposed on the damping plate (2432) and the clamping plate (24).

6. An industrial robot capable of positional conversion for machining operations of a workpiece according to claim 1, characterized in that: The screw (22) is provided with a first thread and a second thread, which are mirror images of each other. The two threaded cylinders (231) are respectively installed on the two sliding plates (23) and are respectively threadedly connected to the first thread and the second thread.

7. An industrial robot capable of positional conversion for machining operations of a workpiece according to claim 2, characterized in that: A fixed shaft is slidably installed inside the follower cylinder (251), and the fixed shaft is mounted on the fixed frame (21). The fixed shaft and the follower cylinder (251) form a sliding connection.

8. An industrial robot capable of positional conversion for machining operations of a workpiece according to claim 1, characterized in that: The guiding mechanism includes a guide shaft (26) and a guide cylinder. The guide shaft (26) is mounted on a fixed frame (21). There are two guide cylinders, which are respectively mounted on a sliding plate (23). The guide cylinders are slidably mounted on the guide shaft (26) via splines.

9. An industrial robot capable of positional conversion for machining operations of a workpiece according to claim 1, characterized in that: A pressure sensor and a proportional control valve are connected between the pumping system and the conveying cylinder (241), and the pressure sensor and the proportional control valve are electrically connected to the control system.

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