Mechanical arm

Abstract

The manipulator comprises a connecting rod assembly and an adsorption part, the adsorption part is connected with the connecting rod assembly, an adsorption face is arranged on the side, away from the connecting rod assembly, of the adsorption part in the first direction, and the adsorption face can generate vacuum to be used for adsorbing a flexible target sheet; the connecting rod assembly can drive the adsorption part to be close to the target sheet and can also drive the adsorption part to roll on the surface of the target sheet in the preset direction, so that the target sheet is adsorbed on the adsorption surface, the risk that the manipulator carries the adjacent sheet when taking the target sheet is reduced, and the efficiency of the manipulator is improved. The precision of the taking number of the sheets by the mechanical arm and the working precision and reliability of the mechanical arm are improved, the risk that the adjacent sheets are inclined due to the fact that the mechanical arm makes contact with the adjacent sheets is reduced, the correction difficulty of the sheets is reduced, and the follow-up correction and welding period can be shortened easily.

Description

Technical Field

[0001] This application relates to the field of lithium battery technology, and in particular to a robotic arm. Background Technology

[0002] In the lithium battery manufacturing process, the electrode sheets need to be punched and cut separately. The processed electrode sheets are stacked in the electrode box. When taking the electrode sheet, it is necessary to first lift the electrode sheet out of the electrode box, then blow air on the top electrode sheet to make it float, and then use a robotic arm to pick up the top electrode sheet.

[0003] This method of electrode removal has problems such as multiple electrodes sticking together and other electrodes being misaligned, which increases the difficulty of subsequent electrode position correction and welding. Utility Model Content

[0004] This application relates to a robotic arm that reduces the risk of other electrodes sticking together or being misaligned during the process of picking up the top electrode.

[0005] This application provides a robotic arm, including a linkage assembly and an adsorption member. The adsorption member is connected to the linkage assembly. Along a first direction, the side of the adsorption member opposite to the linkage assembly is provided with an adsorption surface. The adsorption surface can generate a vacuum for adsorbing a flexible target sheet. The adsorption surface is constructed as an outwardly convex arc surface. The linkage assembly can drive the adsorption member to approach the target sheet and can also drive the adsorption member to roll on the surface of the target sheet along a predetermined direction so that the target sheet is adsorbed on the adsorption surface.

[0006] In this application, the target sheet is picked up by controlling the rolling of the adsorption component on the surface of the target sheet through the linkage assembly. This reduces the risk of the robot arm picking up adjacent sheets when picking up the target sheet, thereby improving the accuracy of the number of sheets picked up by the robot arm, and thus improving the working accuracy and reliability of the robot arm. At the same time, it also reduces the risk of adjacent sheets being misaligned due to contact between the robot arm and adjacent sheets, thereby reducing the difficulty of sheet correction and shortening the subsequent correction and welding cycle. This, in turn, helps to reduce the overall processing difficulty of lithium batteries and shorten the overall processing cycle of lithium batteries.

[0007] In one possible design, the linkage assembly includes at least a first rod, and the manipulator also includes a first drive member. One end of the first rod is connected to the adsorption member, and the other end of the first rod is directly or indirectly driven connected to the first drive member. The first drive member can drive the first rod to move so as to make the adsorption member roll along the surface of the target sheet.

[0008] In one possible design, the linkage assembly further includes a second rod, with the end of the first rod away from the adsorption member hinged to the second rod via a first pivot, and the end of the second rod away from the first rod being directly or indirectly driven connected to a first drive member; the first drive member can drive the second rod to move, the second rod can drive the first rod to swing around the first pivot, and the first rod can drive the adsorption member to roll along the surface of the target sheet.

[0009] In one possible design, the linkage assembly further includes a third rod, with the end of the second rod away from the first rod hinged to the third rod via a second pivot, and the end of the third rod away from the second rod being directly or indirectly driven connected to the first drive member; the first drive member can drive the third rod to move along a first direction, the third rod can drive the second rod to rotate around the second pivot, and the second rod can drive the first rod to rotate around the first pivot, so that the first rod drives the adsorption member to roll along the surface of the target sheet.

[0010] In one possible design, the robotic arm also includes a first plate, a third rod whose end away from the second rod is connected to the first plate, and a first drive member is driven to the first plate. The first drive member can drive the first plate to move along a first direction, thereby causing the third rod to move along the first direction.

[0011] In one possible design, the robotic arm also includes a second plate, on which the first plate is mounted. One of the first and second plates is provided with a first slider, and the other is provided with a first slide rail. The first slider cooperates with the first slide rail. When the first driving member drives the first plate to move in a first direction, the first slider can move along the first slide rail.

[0012] In one possible design, the robotic arm also includes a second drive unit, which is driven to connect to a second plate. The second drive unit can drive the second plate to move along a second direction, and the second plate can drive the linkage assembly and the adsorption unit to move closer to or away from the adjacent sheet along the second direction, which is perpendicular to the first direction.

[0013] In one possible design, the robot also includes a third plate, on which the second plate is mounted. One of the second and third plates is provided with a second slider, and the other is provided with a second slide rail. The second slider cooperates with the second slide rail. When the second drive unit drives the second plate to move in a second direction, the second slider can move along the second slide rail.

[0014] In one possible design, the manipulator further includes a third drive member, one end of which is hinged to the first rod and the other end of which is hinged to the second rod, the third drive member being capable of driving the first rod to rotate about a first axis; and / or, the manipulator further includes a fourth drive member, one end of which is hinged to the second rod and the other end of which is hinged to the third rod, the fourth drive member being capable of driving the second rod to rotate about a second axis.

[0015] In one possible design, within the plane enclosed by the first and second directions, the arc length of the projection of the adsorption surface is not less than the length of the projection of the target sheet in the second direction, and the second direction is perpendicular to the first direction.

[0016] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0017] Figure 1 A schematic diagram of the structure of the robotic arm provided in this application in one embodiment;

[0018] Figure 2 for Figure 1 A schematic diagram showing the first end face of the robotic arm in contact with the target sheet.

[0019] Figure 3 for Figure 2 A magnified view of part A in the image;

[0020] Figure 4 for Figure 1 A schematic diagram showing the second end face of the robotic arm in contact with the target sheet.

[0021] Figure 5 for Figure 4 A magnified view of part B in the image;

[0022] Figure 6 for Figure 1 Enlarged view of the local structure of the first, second, and third plates from another perspective;

[0023] Figure 7 for Figure 1 A magnified view of the local structure of the adsorption component from another perspective.

[0024] Figure label:

[0025] 01-Materials box; 02-Target sheet; 03-Adjacent sheet;

[0026] 1-Connecting rod assembly; 11-First rod body; 12-Second rod body; 13-First rotating shaft; 14-Third rod body; 15-Second rotating shaft; 16-Third driving component; 17-Fourth driving component; 2-Adsorption component; 21-Adsorption surface; 211-First end face; 212-Second end face; 22-Vacuum adsorption hole; 3-First plate body; 31-First slider; 4-Second plate body; 41-First slide rail; 5-Third plate body; 51-Second slide rail.

[0027] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. Detailed Implementation

[0028] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0029] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0030] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0031] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0032] It should be noted that the directional terms such as "upper," "lower," "left," and "right" described in the embodiments of this application are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when it is mentioned that an element is connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected to the other element "upper" or "lower" through an intermediate element.

[0033] This application provides a robotic arm for picking up sheets, including but not limited to protective films, tabs, and tab waste. For ease of description, the sheet will be used as the tab in the following examples.

[0034] like Figure 1 As shown, the robotic arm includes a linkage assembly 1 and an adsorption component 2. The adsorption component 2 is connected to the linkage assembly 1, as shown below. Figure 2 and Figure 3 As shown, along the first direction Z, the adsorption member 2 has an adsorption surface 21 on the side opposite to the connecting rod assembly 1. The adsorption surface 21 is used to adsorb the flexible target sheet 02. The target sheet 02 refers to the sheet that can directly contact the adsorption surface 21 in the first direction Z, that is, the sheet located at the top of the material box 01; wherein, as Figure 1 and Figure 3 As shown, the adsorption surface 21 is constructed as an outwardly convex arc surface. The connecting rod assembly 1 can drive the adsorption member 2 to approach the target sheet 02 and can drive the adsorption member 2 to roll on the surface of the target sheet 02 in a predetermined direction so that the target sheet 02 is adsorbed onto the adsorption surface 21. Wherein, the first direction Z is the stacking direction of the sheet.

[0035] In this embodiment, as Figure 2 and Figure 3 As shown, the adsorption surface 21 includes at least a first end face 211 and a second end face 212. When the robot arm is first started, the linkage assembly 1 can drive the adsorption component 2 to move along the first direction Z, so that the adsorption surface 21 gradually approaches the target sheet 02. When the first end face 211 of the adsorption surface 21 contacts the target sheet 02, the first end face 211 adsorbs the target sheet 02. At this time, the robot arm is in a state of... Figure 2 and Figure 3 In the state shown, the linkage assembly 1 then drives the adsorption member 2 to roll along the surface of the target sheet 02, so that the first end face 211 with the target sheet 02 adsorbed moves away from the adjacent sheet 03, and the second end face 212 moves closer to the target sheet 02. During this process, the robot arm is in a state of... Figure 4 and Figure 5 As shown in the diagram, under the action of the adsorption surface 21, the target sheet 02 and the adjacent sheet 03 are partially separated. As the adsorption member 2 rolls on the surface of the target sheet 02, the separation area between the target sheet 02 and the adjacent sheet 03 gradually increases until the target sheet 02 and the adjacent sheet 03 are completely separated.

[0036] In this embodiment, the target sheet 02 is picked up by controlling the rolling of the adsorption member 2 on the surface of the target sheet 02 through the linkage assembly 1. This reduces the risk of the robot arm picking up adjacent sheets 03 when picking up the target sheet 02, thereby improving the accuracy of the number of sheets picked up by the robot arm, and thus improving the working accuracy and reliability of the robot arm. At the same time, it also reduces the risk of the adjacent sheets 03 being misaligned due to contact between the robot arm and the adjacent sheets 03, thereby reducing the difficulty of sheet correction and shortening the subsequent correction and welding cycle. This, in turn, helps to reduce the overall processing difficulty of lithium batteries and shorten the overall processing cycle of lithium batteries.

[0037] like Figure 4 As shown, the linkage assembly 1 includes at least a first rod 11. In one embodiment, one end of the first rod 11 is connected to the adsorption member 2, and the other end of the first rod 11 is a free end. The operator can hold the end of the first rod 11 away from the adsorption member 2, that is, the operator can manually control the adsorption member 2 to roll on the target sheet 02, so as to simplify the structure of the robot.

[0038] In another embodiment, the robotic arm further includes a first driving member (not shown in the figure), and the end of the first rod 11 away from the adsorption member 2 is directly or indirectly driven connected to the first driving member. The first driving member can drive the first rod 11 to move so as to drive the adsorption member 2 to roll along the surface of the target sheet 02.

[0039] In this embodiment, the first rod 11 is driven to move directly or indirectly by the first driving member to achieve the rolling of the adsorption member 2, which reduces the operation difficulty of the robot arm, thereby improving the automation level of the robot arm and reducing the risk of reduced efficiency of the robot arm in picking up the sheet due to fatigue and other factors, thus helping to improve the working efficiency of the robot arm.

[0040] In one embodiment, the first driving member is directly connected to the first rod 11, and the first driving member can drive the first rod 11 to move along a preset arc trajectory to simplify the structure of the robot.

[0041] In another embodiment, such as Figure 1 As shown, the linkage assembly 1 also includes a second rod 12. The end of the first rod 11 away from the adsorption member 2 is hinged to the second rod 12 through a first rotating shaft 13. The end of the second rod 12 away from the first rod 11 is directly or indirectly driven connected to the first driving member. The first driving member can drive the second rod 12 to move, the second rod 12 can drive the first rod 11 to swing around the first rotating shaft 13, and the first rod 11 can drive the adsorption member 2 to roll along the surface of the target sheet 02.

[0042] In this embodiment, the first driving member and the first rod 11 are indirectly connected through the second rod 12, which improves the flexibility of the setting position of the first driving member and reduces the installation difficulty of the first driving member.

[0043] In one embodiment, the first driving member is directly connected to the second rod 12. The first driving member can drive the second rod 12 to move along a preset arc trajectory, thereby driving the first rod 11 to move and thus realizing the rolling of the adsorption member 2. The direct connection between the first driving member and the second rod 12 can simplify the structure of the robot and reduce its cost.

[0044] In another implementation, such as Figure 1As shown, the linkage assembly 1 also includes a third rod 14. The end of the second rod 12 away from the first rod 11 is hinged to the third rod 14 via a second pivot 15. The end of the third rod 14 away from the second rod 12 is directly or indirectly driven connected to the first driving member. The first driving member can drive the third rod 14 to move along the first direction Z. The third rod 14 can drive the second rod 12 to rotate around the second pivot 15. The second rod 12 can drive the first rod 11 to rotate around the first pivot 13, so that the first rod 11 drives the adsorption member 2 to roll along the surface of the target sheet 02.

[0045] In this embodiment, reference is also made to Figure 2 and Figure 4 The first driving component drives the third rod 14 to move along the first direction Z, causing the second rod 12 to rotate around the second rotating shaft 15, and simultaneously driving the first rod 11 to rotate around the first rotating shaft 13, thereby realizing the rolling of the adsorption component 2. By indirectly connecting the first driving component and the second rod 12 through the third rod 14, the first driving component only needs to control the movement of the third rod 14 along the first direction Z to achieve the rolling of the adsorption component 2, thus simplifying the structure of the first driving component and the third rod 14, thereby simplifying the structure of the robotic arm and reducing its cost.

[0046] In one embodiment, the first drive member is directly connected to the third rod 14 to simplify the connection structure between the first drive member and the third rod 14 and reduce the cost of the robot.

[0047] In another embodiment, the first drive member is indirectly connected to the third rod 14. Specifically, as shown... Figure 6 As shown, the robotic arm also includes a first plate 3, a third rod 14 with one end away from the second rod 12 connected to the first plate 3, and a first driving member connected to the first plate 3. The first driving member can drive the first plate 3 to move along the first direction Z, thereby driving the third rod 14 to move along the first direction Z.

[0048] In this embodiment, the first driving component and the third rod 14 are indirectly connected through the first plate 3, which reduces the difficulty of connecting the first driving component and the third rod 14, thereby shortening the assembly, disassembly and maintenance cycle of the robot.

[0049] like Figure 6 As shown, the robotic arm also includes a second plate 4, and a first plate 3 is mounted on the second plate 4. One of the first plate 3 and the second plate 4 is provided with a first slider 31, and the other is provided with a first slide rail 41. When the first driving member drives the first plate 3 to move along the first direction Z, the first slider 31 can move along the first slide rail 41.

[0050] In this embodiment, during the movement of the first plate 3 driven by the first driving member, the first slider 31 moves along the first slide rail 41. The cooperation between the first slider 31 and the first slide rail 41 increases the accuracy of the movement direction of the first plate 3, thereby improving the stability and reliability of the robot's operation. Furthermore, the cooperation between the first slider 31 and the first slide rail 41 also reduces the difficulty of controlling the movement distance of the first plate 3. For example, a limiting protrusion can be provided on the first slide rail 41 to limit the movement distance of the first plate 3 in the first direction Z, thereby reducing the risk of sheet damage due to a large movement distance.

[0051] In addition, the robotic arm also includes a second driving component (not shown in the figure), which is driven to the second plate 4. The second driving component can drive the second plate 4 to move along the second direction X. The second plate 4 can drive the connecting rod assembly 1 and the adsorption component 2 to move closer to or away from the adjacent sheet 03 along the second direction X. The second direction X is perpendicular to the first direction Z, that is, the second direction X is the length direction, width direction or radial direction of the sheet.

[0052] In this embodiment, the second driving member drives the second plate 4 to move along the second direction X, which makes it easier for the adsorption member 2 to approach the target sheet 02, thereby improving the accuracy of the adsorption member 2 on the target sheet 02. It also makes it easier for the adsorption member 2 to carry the adsorbed target sheet 02 away from the material box 01, so as to transport the adsorbed target sheet 02 to the next process, so as to realize the automated feeding of the next process, thereby helping to shorten the overall processing cycle of lithium battery.

[0053] Among them, such as Figure 6 As shown, the robotic arm also includes a third plate 5, and a second plate 4 is mounted on the third plate 5. One of the second plate 4 and the third plate 5 is provided with a second slider (not shown in the figure), and the other is provided with a second slide rail 51. The second slider cooperates with the second slide rail 51. When the second driving member drives the second plate 4 to move along the second direction X, the second slider can move along the second slide rail 51.

[0054] In this embodiment, during the movement of the second plate 4 driven by the second driving member, the second slider moves along the second slide rail 51. The cooperation between the second slider and the second slide rail 51 increases the accuracy of the movement direction of the second plate 4, thereby improving the stability and reliability of the robot's operation. Furthermore, the cooperation between the second slider and the second slide rail 51 reduces the difficulty of controlling the movement distance of the second plate 4. For example, a limiting protrusion can be provided on the second slide rail 51 to limit the movement distance of the second plate 4 in the second direction X, thereby reducing the risk that a large movement distance will prevent the adsorption member 2 from adsorbing the target sheet 02, further improving the accuracy of the adsorption member 2 in adsorbing the target sheet 02.

[0055] like Figure 1As shown, the robotic arm also includes a third drive member 16, one end of which is hinged to the first rod 11, and the other end of which is hinged to the second rod 12. The third drive member 16 can drive the first rod 11 to rotate around the first pivot 13; and / or, the robotic arm also includes a fourth drive member 17, one end of which is hinged to the second rod 12, and the other end of which is hinged to the third rod 14. The fourth drive member 17 can drive the second rod 12 to rotate around the second pivot 15.

[0056] In this embodiment, the third driving member 16 and the fourth driving member 17 can drive the rotation of the first rod 11 and the second rod 12. After the robot arm completes one adsorption process on the target sheet 02, the third driving member 16 and the fourth driving member 17 can drive the first rod 11 and the second rod 12 to automatically reset, that is, by Figure 4 The displayed state will automatically reset to Figure 2 The state shown is designed to facilitate the robot arm's next process. The automatic reset of the linkage assembly 1, controlled by the third drive unit 16 and / or the fourth drive unit 17, reduces the operational difficulty of the robot arm and the risk of a long reset cycle due to manual reset, thereby improving the robot arm's working efficiency. Simultaneously, the third drive unit 16 and / or the fourth drive unit 17 also allow for precise adjustment of the angles of the first link 11, the second link 12, and the third link 14.

[0057] In any of the above embodiments, within the plane enclosed by the first direction Z and the second direction X, the arc length of the projection of the adsorption surface 21 is not less than the length of the projection of the target sheet 02 in the second direction X, thereby enabling the adsorption surface 21 to completely adsorb the target sheet 02, reducing the risk of the target sheet 02 being partially unadsorbed, and thus reducing the risk of the unadsorbed part of the target sheet 02 sticking to the adjacent sheet 03.

[0058] In any of the above embodiments, the adsorption of the target sheet 02 by the adsorption member 2 can be vacuum adsorption, electrostatic adsorption, etc., that is, the adsorption member 2 can generate vacuum or electrostatic to adsorb the flexible target sheet 02.

[0059] In this embodiment, as Figure 7 As shown, the adsorption surface 21 is provided with multiple vacuum adsorption holes 22. A negative pressure exists within each vacuum adsorption hole 22. When the adsorption surface 21 contacts the target sheet 02, the target sheet 02 can be vacuum-adsorbed by the adsorption component 2 under the action of the negative pressure. When the robotic arm carries the target sheet 02 to the next process or a preset position, the negative pressure on the adsorption surface 21 can be released, thereby canceling the adsorption of the target sheet 02, allowing the target sheet 02 to be placed in the next process or preset position. The vacuum adsorption method reduces the difficulty for the adsorption component 2 to adsorb or de-adsorb the target sheet 02.

[0060] In summary, the working process of the robotic arm provided in this application in one embodiment is as follows:

[0061] refer to Figure 1 The second driving component (not shown in the figure) drives the second plate 4 to move along the second direction X. The adsorption component 2 moves to the top of the material box 01 in the first direction Z under the drive of the connecting rod assembly 1. At this time, the target sheet 02 in the material box 01 is in the ejected state, that is, the target sheet 02 is higher than the material box 01.

[0062] The first driving component (not shown in the figure) drives the first plate 3 to move downward along the first direction Z. The first plate 3 drives the third rod 14 to move synchronously along the first direction Z, while referencing... Figure 2 and Figure 4 Since the adsorbent 2 remains in contact with the target sheet 02, during the downward movement of the third rod 14, the connection point between the first rod 11 and the third rod 14, i.e., the first rotating shaft 13, will move to the upper left. This means the second rod 12 will swing clockwise around the second rotating shaft 15 to the upper left, simultaneously pulling the first rod 11 to the upper left. To ensure contact between the adsorbent 2 and the target sheet 02, the first rod 11 will swing around the first rotating shaft 13, causing the adsorbent 2 to roll on the surface of the target sheet 02. (Reference) Figure 5 As the adsorption element 2 rolls, the edge positions of the target sheet 02 and the adjacent sheet 03 are separated, and the separation size gradually increases until the target sheet 02 and the adjacent sheet 03 are completely separated.

[0063] The second driving member drives the second plate 4 to move along the second direction X, and the adsorption member 2 moves away from the material box 01 under the drive of the connecting rod assembly 1, so that the adsorbed target sheet 02 moves to the preset position.

[0064] The adsorption component 2 releases its adsorption on the target sheet 02, and the target sheet 02 falls off to the preset position;

[0065] Refer again Figure 1 The fourth driving member 17 drives the second rod 12 to swing counterclockwise around the second rotating shaft 15, so that the second rod 12 returns to its initial state; the third driving member 16 drives the first rod 11 to swing counterclockwise around the first rotating shaft 13, so that the first rod 11 returns to its initial state.

[0066] Repeat the above steps to proceed with the next adsorption process.

[0067] The first driving component, the second driving component, the third driving component 16 and the fourth driving component 17 can be motors or cylinders. In this embodiment, no special restrictions are placed on the types of the first driving component, the second driving component, the third driving component 16 and the fourth driving component 17.

[0068] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robotic arm, characterized in that, The robotic arm includes: Linkage assembly (1); Adsorption element (2), the adsorption element (2) is connected to the connecting rod assembly (1) along the first direction (Z), the adsorption element (2) is provided with an adsorption surface (21) on the side away from the connecting rod assembly (1), the adsorption surface (21) can generate a vacuum for adsorbing flexible target sheet (02). The adsorption surface (21) is constructed as an outwardly convex arc surface. The linkage assembly (1) can drive the adsorption member (2) to approach the target sheet (02) and can also drive the adsorption surface (21) of the adsorption member (2) to roll on the surface of the target sheet (02) in a predetermined direction so that the target sheet (02) is adsorbed on the adsorption surface (21).

2. The robotic arm according to claim 1, characterized in that, The linkage assembly (1) includes at least a first rod (11), and the manipulator also includes a first driving member. One end of the first rod (11) is connected to the adsorption member (2), and the other end of the first rod (11) is directly or indirectly driven connected to the first driving member. The first driving member can drive the first rod (11) to move so as to cause the adsorption member (2) to roll along the surface of the target sheet (02).

3. The robotic arm according to claim 2, characterized in that, The linkage assembly (1) further includes a second rod (12), the end of the first rod (11) away from the adsorption member (2) is hinged to the second rod (12) through a first rotating shaft (13), and the end of the second rod (12) away from the first rod (11) is directly or indirectly driven connected to the first driving member. The first driving member can drive the second rod (12) to move, the second rod (12) can drive the first rod (11) to swing around the first rotating shaft (13), and the first rod (11) can drive the adsorption member (2) to roll along the surface of the target sheet (02).

4. The robotic arm according to claim 3, characterized in that, The linkage assembly (1) further includes a third rod (14), the end of the second rod (12) away from the first rod (11) is hinged to the third rod (14) through a second pivot (15), and the end of the third rod (14) away from the second rod (12) is directly or indirectly driven connected to the first driving member. The first driving member can drive the third rod (14) to move along the first direction (Z), the third rod (14) can drive the second rod (12) to rotate around the second rotating axis (15), and the second rod (12) can drive the first rod (11) to rotate around the first rotating axis (13), so that the first rod (11) drives the adsorption member (2) to roll along the surface of the target sheet (02).

5. The robotic arm according to claim 4, characterized in that, The robotic arm also includes a first plate (3), and the end of the third rod (14) away from the second rod (12) is connected to the first plate (3). The first driving member is driven to connect with the first plate (3). The first driving member can drive the first plate (3) to move along the first direction (Z) so as to drive the third rod (14) to move along the first direction (Z).

6. The robotic arm according to claim 5, characterized in that, The robotic arm also includes a second plate (4), and the first plate (3) is mounted on the second plate (4). One of the first plate (3) and the second plate (4) is provided with a first slider (31), and the other is provided with a first slide rail (41). The first slider (31) cooperates with the first slide rail (41). When the first driving member drives the first plate (3) to move along the first direction (Z), the first slider (31) can move along the first slide rail (41).

7. The robotic arm according to claim 6, characterized in that, The robotic arm also includes a second driving member, which is driven to connect with the second plate (4). The second driving member can drive the second plate (4) to move along the second direction (X). The second plate (4) can drive the connecting rod assembly (1) and the adsorption member (2) to move closer to or away from the adjacent sheet (03) along the second direction (X). The second direction (X) is the predetermined direction.

8. The robotic arm according to claim 7, characterized in that, The robotic arm also includes a third plate (5), and the second plate (4) is mounted on the third plate (5). One of the second plate (4) and the third plate (5) is provided with a second slider, and the other is provided with a second slide rail (51). The second slider cooperates with the second slide rail (51). When the second driving member drives the second plate (4) to move along the second direction (X), the second slider can move along the second slide rail (51).

9. The robotic arm according to any one of claims 4 to 8, characterized in that, The robotic arm also includes a third drive member (16), one end of which is hinged to the first rod (11), and the other end of which is hinged to the second rod (12). The third drive member (16) can drive the first rod (11) to rotate around the first rotating shaft (13). And / or, the manipulator further includes a fourth drive member (17), one end of which is hinged to the second rod (12), and the other end of which is hinged to the third rod (14). The fourth drive member (17) is capable of driving the second rod (12) to rotate around the second pivot (15).

10. The robotic arm according to any one of claims 1 to 8, characterized in that, In the plane enclosed by the first direction (Z) and the second direction (X), the arc length of the projection of the adsorption surface (21) is not less than the length of the projection of the target sheet (02) in the second direction (X), and the second direction (X) is perpendicular to the first direction (Z).

Images