Self-adaptive adjustment suction nozzle device and mechanical arm

Abstract

The utility model discloses a self-adaptive adjustment suction nozzle device and a mechanical arm, the self-adaptive adjustment suction nozzle device comprises a suction nozzle, a shaft lever, a shaft sleeve and a locking mechanism, the suction nozzle is installed at one end of the shaft lever, and the other end of the shaft lever penetrates through the shaft sleeve and can slide relative to the shaft sleeve; the locking mechanism is matched with the shaft rod and controls relative sliding or locking of the shaft rod and the shaft sleeve. When the locking mechanism is in a locking state, the locking mechanism locks relative sliding of the shaft rod and the shaft sleeve; and when the locking mechanism is in the unlocking state, the locking mechanism unlocks relative sliding of the shaft rod and the shaft sleeve. The suction nozzle is connected with one end of the shaft rod, and the shaft rod can freely slide relative to the shaft sleeve, so that when the suction nozzle makes contact with a workpiece, due to the acting force generated by contact, the shaft rod can freely adjust the position along with the suction nozzle, relative sliding of the shaft rod and the shaft sleeve is locked through the locking mechanism, and the positions of the shaft rod and the suction nozzle are prevented from being changed; therefore, the self-adaptive adjustment function of the position of the suction nozzle is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, in particular to a suction nozzle device with adaptive adjustment and a robotic arm. Background Art

[0002] Currently, since there are many types of workpieces (such as display panels, trays, OCA glue, and PCB boards, etc.) carried by robotic arms, and there are significant differences among each workpiece, it is necessary to frequently switch production lines, and each time the production line is switched, the robotic arm is an item that must be adjusted.

[0003] For example, when transporting a display panel, the robotic arm needs to adjust the position and height of the suction nozzles on the robotic arm according to the outer dimensions of the display panel; after adjusting the six suction nozzles, the heights need to be kept horizontal, otherwise the module will be in an inclined state, the six suction nozzles will be under different forces, and it is easy to damage; after adjusting the six suction nozzles, the heights need to be kept horizontal, otherwise the module will be in an inclined state, resulting in blurred imaging in the barcode reading camera and causing a reading NG; the adsorption height of the suction nozzle mechanism should not be too deep, otherwise it is easy to cause defects such as white marks and color differences on the module. When transporting a tray, the robotic arm needs to adjust the position and height of the suction nozzles on the robotic arm according to the outer dimensions of the tray; after adjusting the four suction nozzles, the heights need to be kept horizontal, otherwise the tray will tilt, and it is easy to scrape and cause dropping during the transportation process; the adsorption height of the suction nozzle mechanism should not be too deep, otherwise it is easy to cause deformation of mechanisms such as the robotic arm. When transporting OCA glue, the position and height of the suction nozzles on the robotic arm are adjusted according to the outer dimensions of the OCA glue; after adjusting the suction nozzles, the heights need to be kept horizontal, otherwise the OCA glue will be in a deformed state, the suction nozzles will be under different forces, and it is easy to damage, and it will also cause defects such as creases on the OCA glue; the adsorption height of the suction nozzle mechanism should not be too deep, otherwise it is easy to cause defects such as suction nozzle marks on the OCA glue. Similarly, the robotic arm for transporting a PCB board (printed circuit board) needs to adjust the position and height of each suction nozzle on the robotic arm according to the size of the PCB board and the position of the components.

[0004] There are many types of workpieces (currently more than 400 types), and there are significant differences in size. Each time the production line is switched, corresponding adjustments need to be made to all transporting robotic arms. The adjustment frequency of the suction nozzle mechanisms on the robotic arms is high, resulting in a waste of manpower, time-consuming and laborious. When switching production lines, the number of replacements is large, and there are many items to be confirmed, taking too long. The requirement for the levelness of the suction nozzle mechanism is high, and the requirement for personnel skills is high. Poor adjustment is easy to cause defects or downtime. The suction nozzle mechanisms used on each robotic arm are fixed and locked by screws. After long-term use, the screws are prone to slipping teeth, and taking out broken wires and replacement cause waste of time, etc. All the suction nozzles on each robotic arm need to be adjusted to be horizontal, otherwise it is easy to cause defects such as dropping chips midway. If the height of the suction nozzles on the robotic arm is too low, it is easy to cause defects such as white marks and color differences on the robotic arm. The suction nozzle mechanisms on the robotic arm need to be regularly inspected and replaced, wasting costs. Content of the Utility Model

[0005] In order to overcome the disadvantages and deficiencies existing in the prior art, the purpose of the present utility model is to provide an adaptively adjustable nozzle device and a robotic arm, so as to solve the problems that the height of the nozzle on the robotic arm in the prior art needs to be manually adjusted and the adjustment steps are relatively cumbersome.

[0006] The purpose of the present utility model is achieved by the following technical solutions:

[0007] The present utility model provides an adaptively adjustable nozzle device, including a nozzle, a shaft rod, a shaft sleeve and a locking mechanism. The nozzle is installed at one end of the shaft rod. The other end of the shaft rod passes through the shaft sleeve and can slide relative to the shaft sleeve. The locking mechanism cooperates with the shaft rod and controls the relative sliding or locking of the shaft rod and the shaft sleeve.

[0008] Further, when the locking mechanism is in the locked state, the locking mechanism locks the relative sliding of the shaft rod and the shaft sleeve; when the locking mechanism is in the unlocked state, the locking mechanism releases the locking of the relative sliding of the shaft rod and the shaft sleeve.

[0009] Further, the locking mechanism is an electromagnetic locking mechanism. When the electromagnetic locking mechanism is powered on, the locking mechanism is in the locked state; when the electromagnetic locking mechanism is powered off, the locking mechanism is in the unlocked state.

[0010] Further, the shaft rod is a tubular structure and has a vent hole, and the nozzle is in communication with the vent hole.

[0011] Further, the nozzle device includes an air pipe joint, and the air pipe joint is installed at the end of the shaft rod away from the nozzle.

[0012] Further, the nozzle device includes an elastic member, and the elastic member is sleeved on the shaft rod and is located between the nozzle and the shaft sleeve. The elastic member has an elastic force that drives the shaft rod to move towards the nozzle direction.

[0013] Further, the nozzle device includes a nozzle joint, and the shaft rod and the nozzle are connected through the nozzle joint. One end of the elastic member abuts against the nozzle joint.

[0014] Further, the shaft sleeve is provided with a first mounting plate, and the shaft sleeve is fixed to the rack plate on the robotic arm through the first mounting plate.

[0015] Further, the locking mechanism is provided with a second mounting plate, and the locking mechanism is fixed to the rack plate on the robotic arm through the second mounting plate.

[0016] The present application also provides a robotic arm, which includes a frame plate and the suction nozzle device as described above. A plurality of mounting holes are provided on the frame plate, and the suction nozzle device is mounted in the mounting holes.

[0017] Further, the robotic arm includes a vertical movement mechanism and a horizontal movement mechanism. The horizontal movement mechanism is connected to the vertical movement mechanism and drives the vertical movement mechanism to move in the horizontal direction. The vertical movement mechanism is connected to the frame plate and drives the frame plate to move in the vertical direction.

[0018] The beneficial effect of the present utility model lies in that by connecting the suction nozzle to one end of the shaft rod, the shaft rod can freely slide relative to the shaft sleeve. Thus, when the suction nozzle contacts the workpiece, due to the acting force generated by the contact, the shaft rod can freely adjust its position following the suction nozzle. Then, the relative sliding of the shaft rod and the shaft sleeve is locked by the locking mechanism to prevent the positions of the shaft rod and the suction nozzle from changing again, so as to realize the self - adaptive adjustment function of the suction nozzle position. There is no need for manual adjustment, the adjustment time is short, and manpower and material resources can be saved. Description of the Drawings

[0019] Figure 1 is the front - view three - dimensional structure schematic diagram of the robotic arm in the present utility model;

[0020] Figure 2 is the side - view three - dimensional structure schematic diagram of the robotic arm in the present utility model;

[0021] Figure 3 is the structure schematic diagram of the robotic arm in the present utility model when adsorbing an irregular workpiece;

[0022] Figure 4 is the top - view three - dimensional structure schematic diagram of the suction nozzle device in the present utility model;

[0023] Figure 5 is the bottom - view three - dimensional structure schematic diagram of the suction nozzle device in the present utility model;

[0024] Figure 6 is the longitudinal - section structure schematic diagram of the suction nozzle device in the present utility model;

[0025] Figure 7 is the top - view disassembled structure schematic diagram of the suction nozzle device in the present utility model;

[0026] Figure 8 is the bottom - view disassembled structure schematic diagram of the suction nozzle device in the present utility model. Detailed Embodiments

[0027] To further elaborate on the technical means and effects adopted by the present utility model to achieve the intended utility model purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation manners, structures, features, and effects of the self - adaptive adjustment nozzle device and robotic arm proposed according to the present utility model are described in detail as follows:

[0028] Figure 1 It is a front - view three - dimensional structural schematic diagram of the robotic arm in the present utility model. Figure 2 It is a side - view three - dimensional structural schematic diagram of the robotic arm in the present utility model. Figure 3 It is a structural schematic diagram of the robotic arm when adsorbing irregular workpieces in the present utility model.

[0029] As Figures 1 to 3 shown, a robotic arm provided by the present utility model includes a frame plate 20 and a nozzle device 10. A plurality of mounting holes are provided on the frame plate 20, and the nozzle device 10 is installed in the mounting holes. Among them, the number of nozzle devices 10 on the frame plate 20 can be set according to actual needs.

[0030] Furthermore, the robotic arm includes a vertical movement mechanism 30 and a horizontal movement mechanism 40. The horizontal movement mechanism 40 is connected to the vertical movement mechanism 30 and drives the vertical movement mechanism 30 to move in the horizontal direction. The vertical movement mechanism 30 is connected to the frame plate 20 and drives the frame plate 20 to move in the vertical direction. Among them, the vertical movement mechanism 30 is used to drive the frame plate 20 to move in the Z - axis direction, and the nozzle device 10 moves together with the frame plate 20; the horizontal movement mechanism 40 is used to drive the vertical movement mechanism 30 to move in the X - axis direction.

[0031] In this embodiment, the vertical movement mechanism 30 includes a first mounting plate 31, a first driving mechanism 32, a first coupling 33, a first lead screw 34, a first slide rail 35, and a slider 36. The first driving mechanism 32 and the first slide rail 35 are fixed on the first mounting plate 31. The first lead screw 34 is installed on the first mounting plate 31 through a bearing and can rotate on the first mounting plate 31. The first coupling 33 connects the rotating shaft of the first driving mechanism 32 to the first lead screw 34, so that the first driving mechanism 32 can drive the first lead screw 34 to rotate. The slider 36 is installed on the first slide rail 35 and can slide on the first slide rail 35. The slider 36 is in threaded cooperation with the first lead screw 34. When the first lead screw 34 rotates, it can drive the slider 36 to slide on the first slide rail 35. Among them, the extending directions of the first lead screw 34 and the first slide rail 35 are in the vertical direction (Z - axis direction), the first driving mechanism 32 is a driving motor (such as a servo motor), and the frame plate 20 is fixed to the slider 36. Of course, in other embodiments, the vertical movement mechanism 30 can be driven by a telescopic cylinder.

[0032] The horizontal movement mechanism 40 includes a second mounting plate 41, a second driving mechanism 42, a second coupling 43, a second lead screw 44, and a second slide rail 45. The second driving mechanism 42 and the second slide rail 45 are fixed to the second mounting plate 41. The second lead screw 44 is mounted on the second mounting plate 41 through bearings and can rotate on the second mounting plate 41. The second coupling 43 connects the rotating shaft of the second driving mechanism 42 to the second lead screw 44, so that the second driving mechanism 42 can drive the second lead screw 44 to rotate. The first mounting plate 31 is mounted on the second slide rail 45 and can slide on the second slide rail 45. The first mounting plate 31 is in threaded cooperation with the second lead screw 44. When the second lead screw 44 rotates, it can drive the first mounting plate 31 to slide on the second slide rail 45. Among them, the extending directions of the second lead screw 44 and the second slide rail 45 are the horizontal direction (X-axis direction), and the second driving mechanism 42 is a driving motor (such as a servo motor). Of course, in other embodiments, the horizontal movement mechanism 40 can be driven by a telescopic cylinder.

[0033] Figure 4 It is a top-down three-dimensional structural schematic diagram of the nozzle device in the present utility model. Figure 5 It is a bottom-up three-dimensional structural schematic diagram of the nozzle device in the present utility model. Figure 6 It is a longitudinal sectional structural schematic diagram of the nozzle device in the present utility model. Figure 7 It is a top-down disassembled structural schematic diagram of the nozzle device in the present utility model. Figure 8 It is a bottom-up disassembled structural schematic diagram of the nozzle device in the present utility model. As Figures 4 to 8 shown, a self-adaptive adjustment nozzle device 10 provided by the present utility model, and the nozzle device 10 is used for the robotic arm as described above.

[0034] As Figures 4 to 8 shown, the nozzle device 10 includes a nozzle 11, a shaft rod 12, a shaft sleeve 13, and a locking mechanism 14. The nozzle 11 is mounted at one end of the shaft rod 12. The other end of the shaft rod 12 passes through the shaft sleeve 13 and can slide relative to the shaft sleeve 13. The shaft rod 12 can slide relative to the shaft sleeve 13 in the axial direction of the shaft rod 12 (such as the Z-axis direction). The locking mechanism 14 cooperates with the shaft rod 12 and controls the relative sliding or locking of the shaft rod 12 and the shaft sleeve 13. Among them, when the locking mechanism 14 is in the locked state, the locking mechanism 14 locks the relative sliding of the shaft rod 12 and the shaft sleeve 13. At this time, the shaft rod 12 and the shaft sleeve 13 cannot slide relative to each other and are in a mutually fixed state; when the locking mechanism 14 is in the unlocked state, the locking mechanism 14 releases the locking of the relative sliding of the shaft rod 12 and the shaft sleeve 13. At this time, the shaft rod 12 can slide relative to the shaft sleeve 13.

[0035] In this embodiment, the locking mechanism 14 is an electromagnetic locking mechanism. The electromagnetic locking mechanism can be a ring-shaped electromagnet, and the shaft rod 12 is made of ferromagnetic material (such as iron, steel, etc.). When the electromagnetic locking mechanism is powered on, the electromagnetic locking mechanism attracts the shaft rod 12, and the locking mechanism 14 is in a locked state. At this time, the shaft rod 12 and the locking mechanism 14 are magnetically attracted and locked to each other, and the shaft rod 12 and the shaft sleeve 13 cannot slide relative to each other and are in a fixed state. When the electromagnetic locking mechanism is powered off, the magnetism of the electromagnetic locking mechanism disappears. At this time, the shaft rod 12 can slide relative to the shaft sleeve 13, and the locking mechanism 14 is in an unlocked state. The electromagnetic force of the ring-shaped electromagnet is used to attract the shaft rod 12 to ensure that the height of the suction nozzle 11 remains unchanged. When the ring-shaped electromagnet is powered off and has no magnetic force, the suction nozzle 11 automatically drops to the natural height. Of course, in other embodiments, the locking mechanism 14 can also adopt other structures that can control the relative sliding or locking of the shaft rod 12 and the shaft sleeve 13. For example, the locking mechanism 14 is an electric control bolt, and a plurality of pin holes are provided on the shaft rod 12. By inserting the bolt into the pin hole of the shaft rod 12, the shaft rod 12 and the shaft sleeve 13 are locked to each other. When the bolt is withdrawn from the pin hole of the shaft rod 12, the shaft rod 12 can slide relative to the shaft sleeve 13. Or, the locking mechanism 14 can also be a retractable braking structure. When the braking structure is tightened, the shaft rod 12 and the shaft sleeve 13 are locked to each other. When the braking structure expands, the shaft rod 12 can slide relative to the shaft sleeve 13.

[0036] Furthermore, the shaft rod 12 is a tubular structure and has an air guide hole 121. The suction nozzle 11 is made of iron and is provided with a suction hole 111 for air circulation. The suction nozzle 11 and the air guide hole 121 are in communication with each other. The suction nozzle device includes an air pipe joint 15. The air pipe joint 15 is installed at one end of the shaft rod 12 away from the suction nozzle 11. The air pipe joint 15 can be connected to an external air pipe to control the suction nozzle 11 to generate suction force and suck the workpiece 50( Figures 1 - 3 ).

[0037] Furthermore, the air pipe joint 15 is provided with a first convex ring 151. The outer side wall of the first convex ring 151 protrudes from the outer side wall of the shaft rod 12, so as to play a limiting role to prevent the shaft rod 12 from slipping out of the shaft sleeve 13. Optionally, the air pipe joint 15 is threadedly connected to the shaft rod 12, and the first convex ring 151 is a hexagonal structure, which is convenient for using a wrench to install the air pipe joint 15 and the shaft rod 12.

[0038] In this embodiment, the suction nozzle device includes an elastic member 16. The elastic member 16 is sleeved on the shaft rod 12 and is located between the suction nozzle 11 and the shaft sleeve 13. The elastic member 16 has an elastic force that drives the shaft rod 12 to move towards the suction nozzle 11. The elastic member 16 can enable the suction nozzle 11 to better contact the workpiece 50 in addition to the self-gravity of the suction nozzle 11 and the shaft rod 12 when the suction nozzle 11 contacts the workpiece 50, so as to facilitate sucking the workpiece 50.

[0039] Further, the nozzle device includes a nozzle joint 17. The shaft rod 12 and the nozzle 11 are connected through the nozzle joint 17. One end of the elastic member 16 abuts against the nozzle joint 17. The nozzle joint 17 is provided with a second convex ring 171. The outer side wall of the second convex ring 171 protrudes from the outer side wall of the shaft rod 12. One end of the elastic member 16 abuts against the second convex ring 171 of the nozzle joint 17. Optionally, the nozzle joint 17 is threadedly connected to the shaft rod 12. The second convex ring 171 is a hexagonal structure, so as to facilitate the installation of the nozzle joint 17 and the shaft rod 12 using a wrench. Wherein, the nozzle joint 17 is a hollow structure, so as to facilitate the conduction between the nozzle 11 and the shaft rod 12.

[0040] Further, the shaft sleeve 13 is provided with a first mounting plate 131. The shaft sleeve 13 is fixed to the shelf plate 20 on the robotic arm through the first mounting plate 131. The locking mechanism 14 is provided with a second mounting plate 141. The locking mechanism 14 is fixed to the shelf plate 20 on the robotic arm through the second mounting plate 141. Wherein, both the first mounting plate 131 and the second mounting plate 141 are fixed to the shelf plate 20 by bolts. The shelf plate 20 is located between the first mounting plate 131 and the second mounting plate 141, that is, the positions of the shaft sleeve 13 and the locking mechanism 14 on the axis of the shaft rod 12 are relatively fixed.

[0041] The working principle of the robotic arm is as follows:

[0042] When the X-axis (horizontal moving mechanism 40) of the robotic arm reaches the picking position, the Z-axis (vertical moving mechanism 3) descends to the picking height. At this time, the locking mechanism 14 (ring-shaped electromagnet) is in the unlocked state (power-off state), and the nozzle 11 freely falls to the surface of the workpiece 50. Each nozzle 11 contacts and adsorbs the workpiece 50 on the surface of the workpiece 50. Then control the locking mechanism 14 to be in the locked state (power-on state), so that the magnetic force firmly attracts the shaft rod 12 to prevent relative sliding between the shaft rod 12 and the shaft sleeve 13. At this time, the height of the nozzle 11 is guaranteed to remain unchanged. The Z-axis rises, and the X-axis transports the workpiece 50 to the designated position (during this process, the locking mechanism 14 is always in the locked state, and the nozzle 11 is always in the air-sucking state). The Z-axis descends to the designated height, the locking mechanism 14 (ring-shaped electromagnet) is in the unlocked state (power-off state), the nozzle 11 returns to the natural height, and the workpiece 50 is put down. During this transportation process, the nozzle 11 always maintains a rigid contact state with the workpiece 50, so that the workpiece 50 has no deformation, etc.

[0043] The working principle of the nozzle device 10 is as follows:

[0044] 1. When the X-axis (horizontal moving mechanism 40) of the robotic arm reaches the picking position, the Z-axis descends from the standby height (this height needs to ensure that the object does not interfere with other mechanisms during transportation) to the picking height (this height needs to ensure that the nozzle 11 can fully contact the surface of the workpiece 50). And the elastic member 16 has a certain resilience to ensure that the workpiece 50 is in full contact with the nozzle 11 and the force is small).

[0045] 2. At this time, the locking mechanism 14 (ring-shaped electromagnet) is in the unlocked state (power-off state), and the suction nozzle 11 freely drops to the surface of the workpiece 50. Each suction nozzle 11 contacts the surface of the workpiece 50 and the spring has a certain resilience, ensuring that the suction nozzle 11 is in full contact with the workpiece 50 and the force is relatively small.

[0046] 3. At this time, the vacuum (suction) switch of the robotic arm is turned on. Due to the vacuum force inside the suction nozzle 11, the workpiece 50 is firmly adsorbed on the suction nozzle 11. When the vacuum adsorption value reaches the set value, the vacuum switch of the previous process workbench is closed and the positive pressure switch is turned on, causing the workpiece 50 to separate from the previous process workbench. The controller controls the locking mechanism 14 to be in the locked state (power-on state), and the Z-axis rises to the standby height to perform the transfer task.

[0047] 4. When the X-axis of the robotic arm reaches the discharge position, the Z-axis descends from the standby height to the discharge height (this height needs to ensure that the surface of the workpiece 50 can fully contact the workbench). At this time, the vacuum switch of the subsequent process workbench is turned on. When the vacuum adsorption value reaches the set value, it is ensured that the subsequent process workbench can adsorb the workpiece 50. The vacuum switch of the robotic arm is closed and the positive pressure switch is turned on, causing the suction nozzle 11 to separate from the workpiece 50. The workpiece 50 remains on the subsequent process workbench, and the Z-axis rises to the standby height to execute step 1 (so as to cycle).

[0048] The beneficial effects of this application are as follows:

[0049] 1. The height of the suction nozzle 11 automatically adapts to the shape of the workpiece 50, eliminating the need for adjustment each time, saving manpower and material resources.

[0050] 2. The locking mechanism 14 (ring-shaped electromagnet) is electrically controlled, enabling the height of the suction nozzle 11 to freely change and remain at the same height all the time.

[0051] 3. Multiple suction nozzles 11 do not require adjustment of the levelness, and have low requirements for personnel skills.

[0052] 4. Controlled by an electromagnet, there is no need to consider problems such as screw slipping.

[0053] 5. It has strong applicability and can be applied to the handling of any workpiece 50 that can be adsorbed (such as display panels, backlight modules, covers, FPCs, PCBs, etc.), and can perform random handling of any regular and irregular workpiece 50.

[0054] In this text, the orientation terms such as up, down, left, right, front, and back are defined based on the positions of the structures in the attached drawings and their relative positions to each other, solely for the clarity and convenience of expressing the technical solution. It should be understood that the use of these orientation terms should not limit the scope of protection claimed in this application. It should also be understood that the terms "first" and "second" used in this text are only for distinguishing names and do not limit the quantity and sequence.

[0055] The above description is only a preferred embodiment of the present utility model and does not impose any formal limitation on the present utility model. Although the present utility model has been disclosed above with the preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art, without departing from the scope of the technical solution of the present utility model, may make some modifications or refinements using the disclosed technical content above, which are equivalent embodiments of equivalent changes. However, as long as it does not depart from the content of the technical solution of the present utility model, any simple modification, equivalent change, and refinement made to the above embodiments based on the technical essence of the present utility model still fall within the scope of protection of the technical solution of the present utility model.

Claims

1. A self-adjustable nozzle device, characterized in that: The invention comprises a suction nozzle (11), a shaft (12), a shaft sleeve (13) and a locking mechanism (14); the suction nozzle (11) is mounted on one end of the shaft (12); the other end of the shaft (12) passes through the shaft sleeve (13) and can slide relative to the shaft sleeve (13); the locking mechanism (14) cooperates with the shaft (12) and controls the relative sliding or locking of the shaft (12) and the shaft sleeve (13).

2. The self-adaptive nozzle device according to claim 1, characterized in that: When the locking mechanism (14) is in a locked state, the locking mechanism (14) locks the relative sliding of the shaft rod (12) and the shaft sleeve (13); when the locking mechanism (14) is in an unlocked state, the locking mechanism (14) releases the lock on the relative sliding of the shaft rod (12) and the shaft sleeve (13).

3. The self-adaptive nozzle device according to claim 1, characterized in that: The locking mechanism (14) is an electromagnetic locking mechanism. When the electromagnetic locking mechanism is powered on, the locking mechanism (14) is in a locked state; when the electromagnetic locking mechanism is powered off, the locking mechanism (14) is in an unlocked state.

4. The self-adaptive nozzle device according to claim 1, characterized in that: The shaft (12) is a tubular structure and has an air guide hole (121), and the suction nozzle (11) and the air guide hole (121) are in communication with each other; The suction nozzle device comprises an air pipe joint (15), and the air pipe joint (15) is installed on an end of the shaft (12) away from the suction nozzle (11).

5. The self-adaptive nozzle device according to claim 1, characterized in that: The suction nozzle device comprises an elastic member (16), wherein the elastic member (16) is sleeved on the shaft (12) and located between the suction nozzle (11) and the shaft sleeve (13), and the elastic member (16) has an elastic force that drives the shaft (12) to move toward the suction nozzle (11).

6. The self-adaptive nozzle device according to claim 5, characterized in that: The suction nozzle device comprises a suction nozzle joint (17), the shaft (12) and the suction nozzle (11) are connected via the suction nozzle joint (17), and one end of the elastic member (16) is in conflict with the suction nozzle joint (17).

7. The self-adaptive nozzle device according to any one of claims 1 to 6, characterized in that: The shaft sleeve (13) is provided with a first mounting plate (131), and the shaft sleeve (13) is fixed to a shelf plate (20) on the robot arm via the first mounting plate (131).

8. The self-adaptive nozzle device according to any one of claims 1 to 6, characterized in that: The locking mechanism (14) is provided with a second mounting plate (141), and the locking mechanism (14) is fixed to a shelf plate (20) on the mechanical arm via the second mounting plate (141).

9. A robotic arm, characterized in that: It comprises a shelf plate (20) and a suction nozzle device (10) according to any one of claims 1 to 8, wherein the shelf plate (20) is provided with a plurality of mounting holes, and the suction nozzle device (10) is mounted in the mounting holes.

10. The robot arm according to claim 9, characterized in that: The robotic arm comprises a vertical moving mechanism (30) and a horizontal moving mechanism (40), wherein the horizontal moving mechanism (40) is connected to the vertical moving mechanism (30) and drives the vertical moving mechanism (30) to move in the horizontal direction, and the vertical moving mechanism (30) is connected to the shelf plate (20) and drives the shelf plate (20) to move in the vertical direction.

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