CN110549365B

CN110549365B - Multi-degree-of-freedom industrial mechanical arm

Info

Publication number: CN110549365B
Application number: CN201910830045.4A
Authority: CN
Inventors: 朱金义; 张继; 周伟华
Original assignee: Zhejiang Aohuang Industry And Trade Co ltd
Current assignee: ZHEJIANG AOHUANG INDUSTRY AND TRADE Co.,Ltd.
Priority date: 2019-09-04
Filing date: 2019-09-04
Publication date: 2021-06-04
Anticipated expiration: 2039-09-04
Also published as: CN110549365A

Abstract

The invention belongs to the technical field of automatic control, in particular to a multi-degree-of-freedom industrial mechanical arm; comprises a rotary bracket, a control box, a rotary arm and a grabbing platform; the control box is rotatably connected to the rotating bracket; the rotating arm is rotatably connected to the output end of the control box, and a buffer column is arranged on the rotating arm; the grabbing table is rotatably connected to the end part of the rotating arm and comprises a rotating frame, a fixed table and a friction unit; when the box body needs to be clamped, the rotating support and the rotating arm are controlled to rotate through the control box, the mechanical arm can achieve grabbing with multiple degrees of freedom, the control console can adjust the grabbing height through rotation of the control gear, the grabbing function of the mechanical arm is fully enhanced, the work efficiency of a production line in the industry is improved, and the use effect of the mechanical arm is enhanced.

Description

Multi-degree-of-freedom industrial mechanical arm

Technical Field

The invention belongs to the technical field of automatic control, and particularly relates to a multi-degree-of-freedom industrial mechanical arm.

Background

With the rapid development of science and technology, the automation and intelligence of people's life and work are higher and higher, and more mechanical arms serve human beings in the fields of industrial manufacturing, medical treatment, entertainment service, military, aerospace and the like. Along with the requirement of industry transformation and upgrading, the labor cost rises, the national policy is supported, the future acceleration rate of the industrial robots in China in 2017-2022 can reach more than 30%, the annual sales volume of the industrial robots in China in 2022 exceeds 27 thousands, and the intelligent industrial robots are adopted for operation, so that the development trend is developed, such as carrying robots, assembling robots, rescue robots and the like, the labor efficiency is improved, the labor force is reduced, the adaptability to the environment is strong, and the intelligent industrial robots can replace the manual work to work in places where danger, harm and personnel can not reach.

The industrial mechanical arm is a product developed in the process of mechanization and automation production, realizes automatic operations such as grabbing, spot welding, arc welding, assembling, paint spraying, cutting, carrying, packaging, stacking and the like through PLC operation control, and has the characteristics of continuous repeated work and labor, no fatigue, danger resistance, large grabbing and lifting force and the like. The existing mechanical arms are different in form, but the working freedom degree of the mechanical arms on the market is mostly less, so that the work is inconvenient, and when the mechanical arms are used for grabbing a box body in a factory, the slipping condition is easy to occur, the box body is caused to fall off, and the products in the box body are damaged.

Disclosure of Invention

In order to make up for the defects of the prior art, the problems that most of the working freedom degrees of mechanical arms on the market are low, so that the working is inconvenient, and when the mechanical arms are used for grabbing box bodies in a factory, the box bodies are easy to slip, so that the box bodies fall off and products in the box bodies are damaged are solved; the invention provides a multi-degree-of-freedom industrial mechanical arm.

The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a multi-degree-of-freedom industrial mechanical arm which comprises a rotary support, a control box, a rotary arm and a grabbing table, wherein the rotary support is arranged on the rotary support; the control box is rotatably connected to the rotating bracket; the rotating arm is rotatably connected to the output end of the control box, and a buffer column is arranged on the rotating arm; the grabbing table is rotatably connected to the end part of the rotating arm and comprises a rotating frame, a fixed table and a friction unit; one end of the rotating frame is rotatably connected to the end part of the rotating arm, and the other end of the rotating frame is rotatably connected to the fixed table; a cavity is arranged in the fixed table, and first sliding holes are symmetrically formed in the fixed table in the direction parallel to the rotating frame; the friction unit comprises a gear and a friction plate; the gear is rotationally connected in the cavity close to the first sliding hole and can be controlled to rotate through the control box; the friction plate is connected in the first sliding hole in a sliding mode, the surface, in contact with the box body, of the friction plate is a frosted surface, a rack is arranged on the side wall, close to the gear, of the friction plate, and the rack is meshed with the gear; the box body is grabbed and moved through the matching of the rotary support, the control box, the rotary arm and the grabbing table; when the multi-freedom-degree grabbing device works and needs to grab a box body, the control box controls the rotation of the rotating bracket and the rotating arm, so that the mechanical arm can realize grabbing with multiple degrees of freedom, and the using effect and the using range of the mechanical arm are enlarged; when making the fixed station be located directly over the box through the control of control box, the fixed station moves down, realizes snatching the action, because the packing box size homogeneous phase in the mill, nevertheless when snatching a plurality of boxes simultaneously, the height that the box piled up can change, and the control cabinet can adjust the height of snatching through the rotation of control gear, has fully strengthened the function of snatching of arm, improves the work efficiency of producing the line in the industry, strengthens the result of use of arm.

Preferably, the side wall of the friction plate is provided with a second sliding chute, and a fixing plate is connected in the second sliding chute in a sliding manner, so that the space between the fixing plate and the second sliding chute is in a closed state; the fixed table is provided with an air bag on the surface contacting with the box body, and the air bag is communicated with a closed space between the fixed plate and the second sliding chute through a hose, so that the fixed plate can be controlled to slide in the second sliding chute through the air bag; when the device works, when the fixed table is positioned right above the box body under the control of the control box, the fixed table moves downwards to realize the grabbing action; at the downstream in-process of fixed station, the case body can produce the extrusion to the gasbag on the fixed station, the gasbag receives the extrusion back, its inside gas passes through in the airtight space between hose entering fixed plate and No. two spouts for No. two spout roll-offs are followed to the fixed plate pressurized back, thereby it is fixed to produce the box surface, the effect of snatching of reinforcing arm reduces the condition of box slippage, reduce the task volume that needs manual operation, bring very big convenience for the staff.

Preferably, the friction plate is hinged with an arc-shaped rod at the end part close to the ground, when the box body is grabbed, the box body extrudes one end of the arc-shaped rod, so that the arc-shaped rod rotates around the hinged part, and the other end of the arc-shaped rod provides supporting force for the bottom end of the box body to prevent the box body from slipping; when the device works, when the fixed table is positioned right above the box body under the control of the control box, the fixed table moves downwards to realize the grabbing action; in the downward movement in-process of fixed station, the box can produce the extrusion to the tip of arc pole rather than the contact, the arc pole takes place rotatoryly around articulated department after the pressurized for the arc pole is close to the tip on ground rotatory to with the contact of box bottom surface, thereby produce the holding power to the box bottom surface, thereby further reduce the possibility that the box drops, the result of use of arm has been strengthened, reduce the emergence of production accident in the industry production line, the processing cost of mill has been reduced, bring very big convenience for the staff.

Preferably, the end part of the arc-shaped rod close to the fixed plate is provided with a first magnet; the end part of the fixed plate close to the arc-shaped rod is provided with a second magnet, and mutual repulsive force exists between the second magnet and the first magnet; the second sliding groove has an upward oblique angle; the fixing function of the fixing plate is enhanced through the matching of the first magnet, the second magnet and the fixing plate; when the device works, when the fixed table is positioned right above the box body under the control of the control box, the fixed table moves downwards to realize the grabbing action; in the downward movement process of the fixed table, the box body can extrude the air bag on the fixed table, and after the air bag is extruded, air in the air bag enters a closed space between the fixed plate and the second sliding groove through the hose, so that the fixed plate slides out along the second sliding groove after being pressed; and because the box is to the extrusion force of arc pole for the arc pole takes place rotatoryly around articulated department after the pressurized, because there is repulsive force each other between magnet of arc ejector pin tip and magnet No. two of fixed plate tip, make the fixed plate receive along the outside power of No. two spouts, thereby reinforcing the fixed effect of fixed plate to the box lateral wall, further reduce the possibility that the box drops, strengthened the result of use of arm, reduce the task volume that needs manual operation, bring very big convenience for the staff.

Preferably, the end part of the arc-shaped rod close to the ground is connected with a fixed block through a torsion spring, and the fitting degree of the arc-shaped rod and the bottom end of the box body is enhanced through the torsion force of the torsion spring; when the device works, when the fixed table is positioned right above the box body under the control of the control box, the fixed table moves downwards to realize the grabbing action; in the downstream in-process of fixed station, the box can produce the extrusion to the tip of arc pole rather than the contact, the arc pole takes place rotatoryly around articulated department after the pressurized, make the arc pole be close to the tip on ground rotatory to with the contact of box bottom surface, thereby produce the holding power to the box bottom surface, and the torsion of torsional spring makes the fixed block inseparabler with the laminating of box bottom, thereby strengthen the stability of box, avoid the arm when having snatched the box after removing, the possibility that the box drops appears, the function of snatching of arm has fully been strengthened, the work efficiency of producing the line in the industry is improved, strengthen the result of use of arm.

Preferably, the surface of the fixed block, which is in contact with the ground, is provided with a silicone rubber gasket, and the silicone rubber gasket realizes the buffer effect when the mechanical arm is in contact with the ground; during operation, after the arm snatchs the box, rotation through control box control runing rest and swinging boom, make the arm can realize multi freedom's rotation, when the box was transported to the destination, because be the rigid contact between arm and the ground, make the arm when falling and placing the box, can produce great vibrations, thereby can cause the damage to the product in the box, consequently be equipped with the silicon rubber gasket on the surface that fixed block and ground contacted, make between arm and the ground turn into elastic contact by the rigid contact, reduce the vibrations of arm, thereby effectively avoided the product in the box because of the damaged condition that vibrations produced.

The invention has the following beneficial effects:

1. according to the multi-degree-of-freedom industrial mechanical arm, the box body is grabbed and moved through the cooperation of the rotary support, the control box, the rotary arm and the grabbing table; the grabbing function of the mechanical arm is fully enhanced, the working efficiency of a production line in the industry is improved, and the using effect of the mechanical arm is enhanced.

2. According to the multi-degree-of-freedom industrial mechanical arm, the arc-shaped rod provides supporting force for the bottom end of the box body, so that the possibility of falling off of the box body is further reduced, the using effect of the mechanical arm is enhanced, the occurrence of production accidents in an industrial production line is reduced, the processing cost of a factory is reduced, and great convenience is brought to workers.

Drawings

The invention will be further explained with reference to the drawings.

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a cross-sectional view of the gripping station of the present invention;

FIG. 3 is a partial enlarged view of FIG. 2 at A;

in the figure: the device comprises a rotating bracket 1, a control box 2, a rotating arm 3, a buffer column 31, a grabbing table 4, a rotating frame 41, a fixed table 42, a cavity 421, a first sliding hole 422, an air bag 423, a rack 424, a friction unit 43, a gear 431, a friction plate 432, a second sliding groove 433, a fixed plate 434, an arc-shaped rod 435, a first magnet 436, a second magnet 437, a fixed block 438 and a silicone rubber gasket 439.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1 to 3, the multi-degree-of-freedom industrial robot arm according to the present invention includes a rotating bracket 1, a control box 2, a rotating arm 3 and a gripping table 4; the control box 2 is rotatably connected to the rotating bracket 1; the rotating arm 3 is rotatably connected to the output end of the control box 2, and a buffer column 31 is arranged on the rotating arm 3; the grabbing table 4 is rotatably connected to the end part of the rotating arm 3, and the grabbing table 4 comprises a rotating frame 41, a fixed table 42 and a friction unit 43; one end of the rotating frame 41 is rotatably connected to the end part of the rotating arm 3, and the other end of the rotating frame is rotatably connected to the fixed table 42; a cavity 421 is arranged in the fixed table 42, and first sliding holes 422 are symmetrically formed in the fixed table 42 in a direction parallel to the rotating frame 41; the friction unit 43 includes a gear 431 and a friction plate 432; the gear 431 is rotatably connected in the cavity 421 close to the first sliding hole 422, and the gear 431 can be controlled to rotate through the control box 2; the friction plate 432 is connected in the first sliding hole 422 in a sliding mode, the surface, contacting with the box body, of the friction plate 432 is a frosted surface, a rack 424 is arranged on the side wall, close to the gear 431, of the friction plate 432, and the rack 424 is meshed with the gear 431; the box body is grabbed and moved through the matching of the rotary bracket 1, the control box 2, the rotary arm 3 and the grabbing table 4; when the multi-freedom-degree grabbing mechanical arm works, when a box body needs to be grabbed, the control box 2 controls the rotation of the rotating bracket 1 and the rotating arm 3, so that the multi-freedom-degree grabbing of the mechanical arm can be realized, and the using effect and the using range of the mechanical arm are enlarged; when making the fixed station 42 be located directly over the box through the control of control box 2, fixed station 42 moves down, realizes snatching the action, because the packing box size in the mill is all the same, nevertheless when snatching a plurality of boxes simultaneously, the height that the box was piled up can change, and the height that snatchs can be adjusted through control gear 431's rotation to the control cabinet, has fully strengthened the function of snatching of arm, improves the work efficiency of producing the line in the industry, strengthens the result of use of arm.

As an embodiment of the present invention, a second sliding chute 433 is formed on a side wall of the friction plate 432, and a fixed plate 434 is slidably connected to the second sliding chute 433, so that a space between the fixed plate 434 and the second sliding chute 433 is in a sealed state; the fixed table 42 is provided with an air bag 423 on the surface contacting with the box body, and the air bag 423 is communicated with a closed space between the fixed plate 434 and the second sliding groove 433 through a hose, so that the fixed plate 434 can be controlled to slide in the second sliding groove 433 through the air bag 423; when the device works, when the fixed table 42 is positioned right above the box body under the control of the control box 2, the fixed table 42 moves downwards to realize the grabbing action; at fixed station 42's downward movement in-process, the box body can produce the extrusion to gasbag 423 on the fixed station 42, gasbag 423 receives the extrusion back, its inside gas passes through in the airtight space between hose entering fixed plate 434 and No. two spout 433, make No. two spout 433 roll-offs of edge behind the fixed plate 434 pressurized, thereby it is fixed to produce the box surface, strengthen the effect of snatching of arm, reduce the condition of box slippage, reduce the task volume that needs manual operation, bring very big convenience for the staff.

As an embodiment of the invention, the friction plate 432 is hinged with the arc-shaped rod 435 at the end close to the ground, and when the box body is grabbed, the box body extrudes one end of the arc-shaped rod 435, so that the arc-shaped rod 435 rotates around the hinged position, and the other end of the arc-shaped rod 435 provides a supporting force for the bottom end of the box body, and the box body is prevented from slipping; when the device works, when the fixed table 42 is positioned right above the box body under the control of the control box 2, the fixed table 42 moves downwards to realize the grabbing action; in the downstream in-process of fixed station 42, the box can produce the extrusion to arc pole 435 rather than the tip of contact, arc pole 435 takes place rotatoryly around articulated department after the pressurized, make arc pole 435 be close to the tip on ground rotatory to contact with the box bottom surface, thereby produce the holding power to the box bottom surface, thereby further reduce the possibility that the box drops, the result of use of arm has been strengthened, reduce the emergence of production accident in the industry production line, the processing cost of mill has been reduced, bring very big convenience for the staff.

As an embodiment of the present invention, the arc-shaped bar 435 is provided with a first magnet 436 at an end portion near the fixed plate 434; the fixed plate 434 is provided with a second magnet 437 at the end part close to the arc-shaped rod 435, and mutual repulsive force exists between the second magnet 437 and the first magnet 436; the second sliding groove 433 has an upward oblique angle; the fixing function of the fixing plate 434 is enhanced through the cooperation of the first magnet 436, the second magnet 437 and the fixing plate 434; when the device works, when the fixed table 42 is positioned right above the box body under the control of the control box 2, the fixed table 42 moves downwards to realize the grabbing action; in the downward movement process of the fixed table 42, the box body can extrude the air bag 423 on the fixed table 42, and after the air bag 423 is extruded, the air in the air bag enters a closed space between the fixed plate 434 and the second sliding groove 433 through a hose, so that the fixed plate 434 slides out along the second sliding groove 433 after being pressed; and because the box is to the extrusion force of arc pole 435 for arc pole 435 takes place to rotate around articulated department after the pressurized, because there is mutual repulsion force between magnet 436 of arc top pole tip and magnet 437 of No. two of fixed plate 434 tip, make fixed plate 434 receive along the outside power of No. two spout 433, thereby reinforcing fixed plate 434 to the fixed effect of box lateral wall, further reduce the possibility that the box drops, the result of use of arm has been strengthened, reduce the task volume that needs manual operation, bring very big convenience for the staff.

As an embodiment of the present invention, the end of the arc-shaped rod 435 close to the ground is connected to a fixing block 438 by a torsion spring, and the fitting degree of the arc-shaped rod 435 and the bottom end of the box body is enhanced by the torsion force of the torsion spring; when the device works, when the fixed table 42 is positioned right above the box body under the control of the control box 2, the fixed table 42 moves downwards to realize the grabbing action; in the downstream in-process of fixed station 42, the box can produce the extrusion to arc pole 435 rather than the tip of contact, arc pole 435 takes place rotatoryly around articulated department after the pressurized, make the tip that arc pole 435 is close to ground rotatory to contact with the box bottom surface, thereby produce the holding power to the box bottom surface, and the torsion of torsional spring makes the inseparabler of fixed block 438 and box bottom laminating, thereby strengthen the stability of box, when avoiding the arm to remove after having snatched the box, the possibility that the box drops appears, the function of snatching of arm has fully been strengthened, the work efficiency of producing the line in the industry is improved, strengthen the result of use of arm.

As an embodiment of the present invention, the fixed block 438 is provided with a silicone rubber gasket 439 on the surface contacting with the ground, and the silicone rubber gasket 439 realizes a buffer effect when the mechanical arm contacts with the ground; during operation, after the box was snatched to the arm, through the rotation of control box 2 control runing rest 1 and swinging boom 3, make the arm can realize multi freedom's rotation, when the box was transported to the destination, because be the rigid contact between arm and the ground, make the arm when falling and placing the box, can produce great vibrations, thereby can cause the damage to the product in the box, consequently be equipped with silicon rubber gasket 439 on the surface that fixed block 438 and ground contacted, make between arm and the ground turn into elastic contact by the rigid contact, reduce the vibrations of arm, thereby effectively avoided the product in the box because of the damaged condition that the vibrations produced.

When the multi-freedom-degree grabbing mechanical arm works, when a box body needs to be grabbed, the control box 2 controls the rotation of the rotating bracket 1 and the rotating arm 3, so that the multi-freedom-degree grabbing of the mechanical arm can be realized, and the using effect and the using range of the mechanical arm are enlarged; when the fixed table 42 is positioned right above the box bodies under the control of the control box 2, the fixed table 42 moves downwards to realize the grabbing action, and as the sizes of the packing box bodies in a factory are the same, but when a plurality of box bodies are grabbed at the same time, the height of the piled box bodies can be changed, the grabbing height of the control table can be adjusted by controlling the rotation of the gear 431, so that the grabbing function of the mechanical arm is fully enhanced, the working efficiency of a production line in the industry is improved, and the using effect of the mechanical arm is enhanced; when the fixed table 42 is positioned right above the box body under the control of the control box 2, the fixed table 42 moves downwards to realize the grabbing action; in the downward movement process of the fixed table 42, the box body can extrude the air bag 423 on the fixed table 42, after the air bag 423 is extruded, the air in the air bag 423 enters a closed space between the fixed plate 434 and the second sliding groove 433 through a hose, so that the fixed plate 434 slides out along the second sliding groove 433 after being pressed, the surface of the box body is fixed, the grabbing effect of the mechanical arm is enhanced, the sliding condition of the box body is reduced, the task amount of manual operation is reduced, and great convenience is brought to workers; when the fixed table 42 is positioned right above the box body under the control of the control box 2, the fixed table 42 moves downwards to realize the grabbing action; in the downward movement process of the fixed table 42, the box body can extrude the end part of the arc-shaped rod 435 in contact with the box body, the arc-shaped rod 435 rotates around the hinged part after being pressed, so that the end part of the arc-shaped rod 435 close to the ground rotates to be in contact with the bottom surface of the box body, and supporting force is generated on the bottom surface of the box body, so that the possibility of falling off of the box body is further reduced, the use effect of the mechanical arm is enhanced, the occurrence of production accidents in an industrial production line is reduced, the processing cost of a factory is reduced, and great convenience is brought to workers; when the fixed table 42 is positioned right above the box body under the control of the control box 2, the fixed table 42 moves downwards to realize the grabbing action; in the downward movement process of the fixed table 42, the box body can extrude the air bag 423 on the fixed table 42, and after the air bag 423 is extruded, the air in the air bag enters a closed space between the fixed plate 434 and the second sliding groove 433 through a hose, so that the fixed plate 434 slides out along the second sliding groove 433 after being pressed; due to the extrusion force of the box body on the arc-shaped rod 435, the arc-shaped rod 435 rotates around the hinged part after being pressed, and due to the mutual repulsion force between the first magnet 436 at the end part of the arc top rod and the second magnet 437 at the end part of the fixed plate 434, the fixed plate 434 is forced outwards along the second sliding groove 433, so that the fixing effect of the fixed plate 434 on the side wall of the box body is enhanced, the possibility of falling off of the box body is further reduced, the using effect of the mechanical arm is enhanced, the task amount required for manual operation is reduced, and great convenience is brought to workers; when the fixed table 42 is positioned right above the box body under the control of the control box 2, the fixed table 42 moves downwards to realize the grabbing action; in the downward movement process of the fixed table 42, the box body can extrude the end part of the arc-shaped rod 435 in contact with the box body, the arc-shaped rod 435 rotates around the hinged part after being pressed, so that the end part of the arc-shaped rod 435 close to the ground rotates to be in contact with the bottom surface of the box body, supporting force is generated on the bottom surface of the box body, and the torsion of the torsion spring enables the fixed block 438 to be attached to the bottom end of the box body more tightly, so that the stability of the box body is enhanced, the possibility that the box body falls off when the mechanical arm moves after grabbing the box body is completed is avoided, the grabbing function of the mechanical arm is fully enhanced, the working efficiency of a production line in; after the box was snatched to the arm, rotation through control box 2 control runing rest 1 and swinging boom 3, make the arm can realize multi freedom's rotation, when the box was transported to the destination, because be the rigid contact between arm and the ground, make the arm when falling and placing the box, can produce great vibrations, thereby can cause the damage to the product in the box, consequently be equipped with silicon rubber gasket 439 on the surface that fixed block 438 and ground contacted, make between arm and the ground turn into elastic contact by the rigid contact, reduce the vibrations of arm, thereby effectively avoided the product in the box because of the damaged condition that vibrations produced.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A multi freedom degree industrial mechanical arm is characterized in that: comprises a rotary bracket (1), a control box (2), a rotary arm (3) and a grabbing platform (4); the control box (2) is rotationally connected to the rotary bracket (1); the rotating arm (3) is rotatably connected to the output end of the control box (2), and a buffer column (31) is arranged on the rotating arm (3); the grabbing table (4) is rotatably connected to the end part of the rotating arm (3), and the grabbing table (4) comprises a rotating frame (41), a fixed table (42) and a friction unit (43); one end of the rotating frame (41) is rotatably connected to the end part of the rotating arm (3), and the other end of the rotating frame is rotatably connected to the fixed table (42); a cavity (421) is arranged in the fixed table (42), and first sliding holes (422) are symmetrically formed in the fixed table (42) in the direction parallel to the rotating frame (41); the friction unit (43) comprises a gear (431) and a friction plate (432); the gear (431) is rotatably connected in the cavity (421) close to the first sliding hole (422), and the gear (431) can be controlled to rotate by the control box (2); the friction plate (432) is connected in the first sliding hole (422) in a sliding mode, the surface, in contact with the box body, of the friction plate (432) is a frosted surface, a rack (424) is arranged on the side wall, close to the gear (431), of the friction plate (432), and the rack (424) is meshed with the gear (431); the box body is grabbed and moved through the matching of the rotary bracket (1), the control box (2), the rotary arm (3) and the grabbing table (4); a second sliding chute (433) is formed in the side wall of the friction plate (432), and a fixing plate (434) is connected in the second sliding chute (433) in a sliding mode, so that the space between the fixing plate (434) and the second sliding chute (433) is in a closed state; the fixed platform (42) is provided with an air bag (423) on the surface contacting with the box body, and the air bag (423) is communicated with a closed space between the fixed plate (434) and the second sliding chute (433) through a hose, so that the sliding of the fixed plate (434) in the second sliding chute (433) can be controlled through the air bag (423).

2. The industrial robot of multiple degrees of freedom of claim 1, wherein: the friction plate (432) is hinged to an arc-shaped rod (435) at the end part close to the ground, when the box body is grabbed, the box body extrudes one end of the arc-shaped rod (435), so that the arc-shaped rod (435) rotates around the hinged part, and the other end of the arc-shaped rod (435) provides supporting force for the bottom end of the box body to prevent the box body from slipping.

3. The industrial robot of claim 2, wherein: a first magnet (436) is arranged at the end part of the arc-shaped rod (435) close to the fixed plate (434); a second magnet (437) is arranged at the end part of the fixing plate (434) close to the arc-shaped rod (435), and mutual repulsive force exists between the second magnet (437) and the first magnet (436); the second sliding groove (433) has an upward oblique angle; the fixing function of the fixing plate (434) is enhanced through the matching of the first magnet (436), the second magnet (437) and the fixing plate (434).

4. The industrial robot of claim 3, wherein: the end part of the arc-shaped rod (435) close to the ground is connected with a fixed block (438) through a torsion spring, and the attaching degree of the arc-shaped rod (435) and the bottom end of the box body is enhanced through the torsion force of the torsion spring.

5. The industrial robot of claim 4, wherein: the surface of the fixing block (438) in contact with the ground is provided with a silicon rubber gasket (439), and the silicon rubber gasket (439) is used for achieving a buffering effect when the mechanical arm is in contact with the ground.