A composite action mechanical claw grasping mechanism and grasping method

Abstract

The present invention discloses a composite action manipulator gripping mechanism and gripping method, including a shell, characterized in that: the upper side of the shell is fixedly connected to the lower side of an upper steel plate, the upper steel plate is fixedly connected to a transition flange through four cylinder support shafts, the lower side of the transition flange is fixedly connected to the bottom surface of a large cylinder, the output shaft of the large cylinder passes through the center of the upper steel plate and is fixedly connected to a connecting shaft, the lower side of the connecting shaft is fixed to the upper center of a connecting block 1, and the lower four corners of the connecting block 1 are fixedly connected to the upper middle part of a magnet substrate through support shafts. The present invention relates to the field of manipulator mechanisms, and specifically, to a composite action manipulator gripping mechanism. The present invention has the advantage of greatly improving efficiency in sucking annular thin-walled parts and grabbing material boxes containing parts.

Description

Technical Field

[0001] The present invention relates to the field of manipulator mechanisms, and in particular to a composite-action manipulator claw grasping mechanism and a grasping method. Background Art

[0002] The manipulator is a new type of device developed in the process of mechanized and automated production. In modern production processes, manipulators are widely used in the development and production of robots in automatic production lines. It has become a rapidly developing emerging technology in the field of high technology. It has further promoted the development of manipulators, enabling manipulators to better achieve an organic combination with mechanization and automation. Most existing manipulators have complex structures and are not precisely controlled, and cannot meet the needs of automated production. This is the shortcoming of the existing technology. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a composite-action manipulator gripping mechanism and a gripping method, which can realize multi-functions, grasp a whole box of annular thin-walled bearing parts at one time, have precise control, high efficiency, and meet the needs of automated production.

[0004] The present invention adopts the following technical solutions to achieve the invention objectives:

[0005] A composite-action manipulator gripping mechanism comprises a shell (2), characterized in that: the upper side of the shell (2) is fixedly connected to the lower side of an upper steel plate (1), the upper steel plate (1) is fixedly connected to a transition flange (15) via four cylinder support shafts (16), the lower side of the transition flange (15) is fixedly connected to the bottom surface of a large cylinder (3), the output shaft of the large cylinder (3) passes through the center of the upper steel plate (1) and is fixedly connected to a connecting shaft (12), the lower side of the connecting shaft (12) is fixed to the upper center of a connecting block (5), and the lower four corners of the connecting block (5) are fixedly connected to the upper middle of a magnet base plate (8) via support shafts (6).

[0006] As a further limitation of the technical solution, a group of evenly distributed aluminum alloy baffles (4) are fixedly connected to both sides of the bottom of the shell (2).

[0007] As a further limitation of the technical solution, the magnet substrate (8) is inlaid with uniformly distributed small linear bearings (27), the upper and lower ends of each small linear bearing (27) are respectively fixedly connected to a bearing fixing plate (26), each bearing fixing plate (26) is respectively fixed on the magnet substrate (8), each small linear bearing (27) is respectively provided with a thin shaft (14), the top end of each thin shaft (14) is respectively threadedly connected to a fixing nut (25), the bottom end of each thin shaft (14) passes through a spring (13) and is respectively fixedly connected to the upper center of an ABS block (9), the upper side of each spring (13) is respectively fixedly connected to the lower side of the bearing fixing plate (26) on the lower side, the lower side of each spring (13) is respectively fixedly connected to the upper side of an ABS block (9), and the lower side of each ABS block (9) is respectively fixedly connected to a magnet (11) through a magnet fixing seat (10), and all the magnets (11) absorb the parts (34) together.

[0008] As a further limitation of the technical solution, the two outer rows of ABS blocks (9) are respectively arranged in the area formed by the outermost aluminum alloy baffle (4) and the outer shell (1), and the remaining rows of ABS blocks (9) are respectively arranged in the area formed by two adjacent aluminum alloy baffles (4).

[0009] As a further limitation of the technical solution, the upper side of the upper steel plate (1) is fixedly connected to the symmetrical supporting bent plate (17) by eight bolts (32), each of the vertical plates of the supporting plate (17) is respectively provided with four straight grooves (28), each of the horizontal plates of the supporting plate (17) is respectively provided with four straight grooves (29), the four bolts (32) respectively pass through the straight grooves (29), each of the supporting plate (17) is respectively fixedly connected to the small cylinder (18) by four bolts (33), each of the bolts (33) respectively passes through the straight grooves (28), one end of each of the small cylinders (18) is respectively fixedly connected to the center of one side of the cross bar (19), and each of the two ends of each of the cross bar (19) is respectively provided with straight grooves (30), each of the straight grooves A bolt one (31) is arranged inside the three (30), and the other side of each of the cross bars (19) is fixedly connected to one side of the symmetrical connecting block two (20) through the bolt one (31), and the other side of each of the connecting blocks two (20) is fixedly connected to the symmetrical optical axis (23), and the other end of each group of symmetrical optical axes (23) passes through the symmetrical flange linear bearings (22) to be fixedly connected to the upper part of the hook claw (24), and one side of each group of upper symmetrical flange linear bearings (22) is fixed to one side of the upper part of the optical axis linear bearing support plate (21), and one side of each group of lower symmetrical flange linear bearings (22) is fixed to one side of the middle part of the optical axis linear bearing support plate (21), and each optical axis linear bearing support plate (21) is fixed to the upper side of the upper steel plate (1).

[0010] As a further limitation of the technical solution, the upper side of the magnet substrate (8) is fixedly connected to symmetrical reinforcing rib aluminum strips (7).

[0011] A composite action manipulator gripping method, characterized in that it comprises the following steps:

[0012] (1) When grasping a part, the device is connected to a mobile device, and the device is moved to the top of the part to be sucked, and the large cylinder (3) is opened, and the large cylinder (3) is extended, and the large cylinder (3) drives the connecting block (5) to move downward through the connecting shaft (12), and the connecting block (5) drives the magnet base plate (8) to move downward through the supporting shaft (6), and the magnet base plate (8) drives the ABS block (9) to move downward along the area formed by the aluminum alloy baffle (4) through the thin shaft (14), the fixing nut (25), and the spring (13), and the ABS block (9) drives the magnet (11) to move downward through the magnet fixing seat (10), and the magnet (11) moves downward close to and absorbs the part (34); the mobile device is operated to move the part (34) downward. ) is transported to a designated location. When placing the parts, the large cylinder (3) is opened in the opposite direction, the large cylinder (3) contracts, the large cylinder (3) drives the connecting block (5) to move upward through the connecting shaft (12), the connecting block (5) drives the magnet base plate (8) to move upward through the supporting shaft (6), the magnet base plate (8) drives the thin shaft (14) to move upward through the fixing nut (25), the thin shaft (14) drives the ABS block (9) to move upward along the area formed by the aluminum alloy baffle (4), the ABS block (9) drives the magnet (11) to move upward through the magnet fixing seat (10), the magnet (11) drives the part (34) to move upward, and when the part (34) is blocked by the aluminum alloy baffle (4), it falls off, thereby releasing the part (34);

[0013] When the plane where the whole disk of the thin-walled circular parts to be sucked is not very flat, the spring (13) can be used to compensate and eliminate it. When the device approaches the plane where the parts (34) are located, since the plane is not necessarily absolutely flat, some magnets (11) may contact the parts first, while some magnets (11) cannot contact them. At this time, the magnets (11) continue to move downward. At this time, the magnets (11) that first contact the parts (34) drive the thin shaft (14) to move upward along the small linear bearing (27) through the magnet fixing seat (10) and the ABS block (9) connected thereto. At this time, the spring (13) is compressed, and the relative distance between the magnet substrate (8) and the ABS block (9) is compressed. Since each ABS block (9) is an independent individual, it has the effect of the spring (13) and can be compressed, thereby ensuring the reliability of sucking the parts (34) and avoiding that some parts cannot be sucked due to the uneven surface where the parts (34) are located. At the same time, the thin shaft (14) slides in the small linear bearing (27) to extend the service life.

[0014] (2) When the device is grabbing a material box filled with parts (34), the large cylinder (3) is opened in the opposite direction, and the large cylinder (3) is fully retracted, so that all the ABS blocks (9) move upward, and the device is placed above the material box, and the small cylinder (18) is opened. The small cylinder (18) extends and drives the cross bar (19) to move outward. The cross bar (19) drives the optical axis (23) to move outward along the flange linear bearing (22) through the connecting block 2 (20), and the optical axis (23) drives the hook claw (24) to move outward. When the distance between the hook claws (24) on both sides is greater than the length of the material box, the small cylinder (18) is closed, and the device is operated to drive the device to move outward. The device moves downward until the lower bending part of the hook claw (24) is lower than the upper edge of the material box. At this time, the lower side of the shell (2) is located in the cavity of the material box and no interference occurs. The operating device is stopped and the small cylinder (18) is opened in the reverse direction. The small cylinder (18) contracts and drives the cross bar (19) to move inward. The cross bar (19) drives the optical axis (23) to move inward along the flange linear bearing (22) through the connecting block 2 (20). The optical axis (23) drives the hook claw (24) to move inward until the hook claws (24) on both sides clamp the upper edge of the material box. The small cylinder (18) is closed and the operating device is used to transport the material box to the specified position.

[0015] Compared with the prior art, the advantages and positive effects of the present invention are as follows: the small cylinder of the present invention drives the hook claw to move left and right through the cross bar and the connecting block and under the transmission of a series of connecting parts, thereby realizing the grabbing of the whole box of parts. The large cylinder of the present invention is driven by connecting block 1 and the support shaft, thereby driving the movement of the magnet substrate, and the movement of the magnet substrate drives the movement of the magnet assembly, and then through the action of the aluminum alloy baffle, the suction and release of the annular parts are realized. Due to the spring provided in the magnet assembly, the problem of unreliable suction caused by the uneven suction plane can be effectively guaranteed. The composite action of the present invention can simultaneously suck annular parts or grab the material box containing parts, which greatly improves the efficiency. The advantage of the present invention is that it can suck annular thin-walled parts or grab the material box containing parts, which greatly improves the efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 .

[0017] Figure 2 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 1 .

[0018] Figure 3 It is a schematic diagram of the three-dimensional structure of the shell of the present invention.

[0019] Figure 4 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 2 .

[0020] Figure 5It is a schematic diagram of the local three-dimensional structure of the present invention Figure 3 .

[0021] Figure 6 For the present invention Figure 5 A partial enlarged view of middle A.

[0022] Figure 7 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 4 .

[0023] Figure 8 For the present invention Figure 7 A partial enlarged view of B.

[0024] Fig. 9 It is an exploded view of the present invention.

[0025] Fig.10 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 5 .

[0026] Fig.11 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 6 .

[0027] Fig.12 It is a cross-sectional view of the internal part of the present invention.

[0028] In the figure: 1. upper steel plate, 2. outer shell, 3. large cylinder, 4. aluminum alloy baffle, 5. connecting block one, 6. support shaft, 7. reinforcing rib aluminum bar, 8. magnet base plate, 9. ABS block, 10. magnet fixing seat, 11. magnet, 12. connecting shaft, 13. spring, 14. thin shaft, 15. transition flange, 16. cylinder support shaft, 17. support bent plate, 18. small cylinder, 19. cross bar, 20. connecting block two, 21. optical axis linear bearing support plate, 22. flange linear bearing, 23. optical axis, 24. hook, 25. fixing nut, 26. bearing fixing plate, 27. small linear bearing, 28. straight groove one, 29. straight groove two, 30. straight groove three, 31. bolt one, 32. bolt two, 33. bolt three, 34. parts. DETAILED DESCRIPTION

[0029] A specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation.

[0030] like Figure 1-Figure 12As shown, the present invention includes a shell 2, the upper side of the shell 2 is fixedly connected to the lower side of the upper steel plate 1, the upper steel plate 1 is fixedly connected to the transition flange 15 through four cylinder support shafts 16, the lower side of the transition flange 15 is fixedly connected to the bottom surface of the large cylinder 3, the output shaft of the large cylinder 3 passes through the center of the upper steel plate 1 and is fixedly connected to the connecting shaft 12, the lower side of the connecting shaft 12 is fixed to the upper center of the connecting block 5, and the lower four corners of the connecting block 5 are fixedly connected to the upper middle part of the magnet base plate 8 through the support shaft 6.

[0031] A group of evenly distributed aluminum alloy baffle bars 4 are fixedly connected to both sides of the bottom of the housing 2 .

[0032] The magnet substrate 8 is inlaid with small linear bearings 27 distributed evenly, and the upper and lower ends of each small linear bearing 27 are fixedly connected to the bearing fixing plate 26, and each bearing fixing plate 26 is fixed to the magnet substrate 8. A thin shaft 14 is arranged in each small linear bearing 27, and the top of each thin shaft 14 is threadedly connected to the fixing nut 25, and the bottom end of each thin shaft 14 passes through the spring 13 and is fixedly connected to the upper center of the ABS block 9, and the upper side of each spring 13 is fixedly connected to the lower side of the bearing fixing plate 26, and the lower side of each spring 13 is fixedly connected to the upper side of the ABS block 9, and the lower side of each ABS block 9 is fixedly connected to the magnet 11 through the magnet fixing seat 10, and all the magnets 11 absorb the parts 34 together.

[0033] The two outer rows of ABS blocks 9 are respectively arranged in the area formed by the outermost aluminum alloy baffle 4 and the housing 1 , and the remaining rows of ABS blocks 9 are respectively arranged in the area formed by two adjacent aluminum alloy baffles 4 .

[0034] The upper side of the upper steel plate 1 is fixedly connected to the symmetrical support bent plate 17 by eight bolts 1 32, and each of the vertical plates of the support plate 17 is respectively provided with four straight grooves 1 28, and each of the horizontal plates of the support plate 17 is respectively provided with four straight grooves 29, and the eight bolts 2 32 respectively pass through the straight grooves 29, and each of the support plates 17 is respectively fixedly connected to the small cylinder 18 by four bolts 3 33, and each of the bolts 3 33 respectively passes through the straight groove 1 28, and one end of each of the small cylinders 18 is respectively fixedly connected to the center of one side of the cross bar 19, and each of the two ends of the cross bar 19 is respectively provided with straight grooves 3 30, and each of the straight grooves 30 is provided with bolts 1 31, the other side of each of the cross bars 19 is fixedly connected to one side of the symmetrical connecting block 20 through the bolt 1 31, the other side of each of the connecting blocks 20 is fixedly connected to the symmetrical optical axis 23, the other end of each group of symmetrical optical axes 23 passes through the symmetrical flange linear bearings 22 to be fixedly connected to the upper part of the hook 24, one side of each group of upper symmetrical flange linear bearings 22 is fixedly fixed to the upper side of the optical axis linear bearing support plate 21, one side of each group of lower symmetrical flange linear bearings 22 is fixedly fixed to the middle side of the optical axis linear bearing support plate 21, and each of the optical axis linear bearing support plates 21 is fixedly fixed to the upper side of the upper steel plate 1.

[0035] The upper side of the magnet substrate 8 is fixedly connected with symmetrical reinforcing rib aluminum strips 7 .

[0036] The working process of the present invention is as follows: connect the device to a mobile device, move the device to the top of the part to be sucked, open the large cylinder 3, extend the large cylinder 3, drive the connecting block 5 to move downward through the connecting shaft 12, the connecting block 5 drives the magnet substrate 8 to move downward through the supporting shaft 6, the magnet substrate 8 drives the ABS block 9 to move downward along the area formed by the aluminum alloy baffle 4 through the thin shaft 14, the fixing nut 25, and the spring 13, the ABS block 9 drives the magnet 11 to move downward through the magnet fixing seat 10, and the magnet 11 approaches downward and absorbs the part 34. Operate the mobile device to transport the part 34 to the designated location. When placing the part, open the large cylinder 3 in reverse, and the large cylinder 3 will shrink. The large cylinder 3 drives the connecting block 5 to move upward through the connecting shaft 12. The connecting block 5 drives the magnet base plate 8 to move upward through the supporting shaft 6. The magnet base plate 8 drives the thin shaft 14 to move upward through the fixing nut 25. The thin shaft 14 drives the ABS block 9 to move upward along the area formed by the aluminum alloy baffle 4. The ABS block 9 drives the magnet 11 to move upward through the magnet fixing seat 10. The magnet 11 drives the part 34 to move upward. When the part 34 is blocked by the aluminum alloy baffle 4, it falls off, thereby releasing the part 34.

[0037] When the plane where the whole disk of circular thin-walled parts are sucked is not very flat, it can be compensated and eliminated by the spring 13. When the device is close to the plane where the part 34 is located, since the plane is not necessarily absolutely flat, some magnets 11 will contact the parts first, while some magnets 11 cannot contact them. At this time, the magnet 11 continues to move downward. At this time, the magnet 11 that first contacts the part 34 drives the thin shaft 14 to move upward along the small linear bearing 27 through the magnet fixing seat 10 and ABS block 9 connected thereto. At this time, the spring 13 is compressed, and the relative distance between the magnet substrate 8 and the ABS block 9 is compressed. Since each ABS block 9 is an independent individual, it is acted on by the spring 13 and can be compressed, thereby ensuring the reliability of sucking the part 34 and avoiding that some parts cannot be sucked due to the uneven surface where the part 34 is located. At the same time, the sliding of the thin shaft 14 in the small linear bearing 27 can extend the service life.

[0038] When the device grabs the box full of parts 34, the large cylinder 3 is opened in the reverse direction, and the large cylinder 3 is fully retracted, so that all the ABS blocks 9 move up, and the device is placed above the box, and the small cylinder 18 is opened. The small cylinder 18 extends and drives the cross bar 19 to move outward. The cross bar 19 drives the optical axis 23 to move outward along the flange linear bearing 22 through the connecting block 20, and the optical axis 23 drives the hook claw 24 to move outward. When the distance between the hook claws 24 on both sides is greater than the length of the box, the small cylinder 18 is closed, and the equipment is operated to drive the device downward. Move until the lower end of the hook claw 24 is lower than the upper edge of the material box. At this time, the lower side of the shell 2 is located in the cavity of the material box and no interference will occur. Stop operating the equipment and open the small cylinder 18 in the reverse direction. The small cylinder 18 contracts and drives the cross bar 19 to move inward. The cross bar 19 drives the optical axis 23 to move inward along the flange linear bearing 22 through the connecting block 20. The optical axis 23 drives the hook claw 24 to move inward until the hook claws 24 on both sides clamp the upper edge of the material box. Close the small cylinder 18 and operate the equipment to transport the material box to the specified position.

[0039] The above disclosure is only a specific embodiment of the present invention, but the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A composite action manipulator gripping mechanism, comprising a housing (2), characterized in that: The upper side of the housing (2) is fixedly connected to the lower side of the upper steel plate (1), the upper steel plate (1) is fixedly connected to the transition flange (15) via four cylinder support shafts (16), the lower side of the transition flange (15) is fixedly connected to the bottom surface of the large cylinder (3), the output shaft of the large cylinder (3) passes through the center of the upper steel plate (1) and is fixedly connected to the connecting shaft (12), the lower side of the connecting shaft (12) is fixed to the upper center of the connecting block (5), and the lower four corners of the connecting block (5) are fixedly connected to the upper middle part of the magnet base plate (8) via the support shaft (6); A group of evenly distributed aluminum alloy baffles (4) are fixedly connected to both sides of the bottom of the housing (2); The magnet substrate (8) is inlaid with uniformly distributed small linear bearings (27), the upper and lower ends of each small linear bearing (27) are respectively fixedly connected to a bearing fixing plate (26), each bearing fixing plate (26) is respectively fixed to the magnet substrate (8), each small linear bearing (27) is respectively provided with a thin shaft (14), the top end of each thin shaft (14) is respectively threadedly connected to a fixing nut (25), the bottom end of each thin shaft (14) passes through a spring (13) and is respectively fixedly connected to the upper center of an ABS block (9), the upper side of each spring (13) is respectively fixedly connected to the lower side of the bearing fixing plate (26) on the lower side, the lower side of each spring (13) is respectively fixedly connected to the upper side of an ABS block (9), and the lower side of each ABS block (9) is respectively fixedly connected to a magnet (11) through a magnet fixing seat (10), and all the magnets (11) absorb the parts (34) together; The two outer rows of ABS blocks (9) are respectively arranged in the area formed by the outermost aluminum alloy baffle (4) and the housing (2), and the remaining rows of ABS blocks (9) are respectively arranged in the area formed by two adjacent aluminum alloy baffles (4); The upper side of the upper steel plate (1) is fixedly connected to the symmetrical support bent plates (17) by eight bolts (31), and each of the vertical plates of the support bent plates (17) is respectively provided with four straight grooves (28), and each of the horizontal plates of the support bent plates (17) is respectively provided with four straight grooves (29), and four bolts (32) respectively pass through the straight grooves (29), and each of the support bent plates (17) is respectively fixedly connected to the small cylinder (18) by four bolts (33), and each of the bolts (33) respectively passes through the straight grooves (28), and one end of each of the small cylinders (18) is respectively fixedly connected to the center of one side of the cross bar (19), and each of the two ends of each of the cross bars (19) is respectively provided with straight grooves (30), and each of the straight grooves (30) is provided with A bolt (31) is arranged, and the other side of each cross bar (19) is fixedly connected to one side of a symmetrical connecting block (20) through the bolt (31), and the other side of each connecting block (20) is fixedly connected to a symmetrical optical axis (23). The other end of each group of symmetrical optical axes (23) passes through a symmetrical flange linear bearing (22) and is fixedly connected to the upper part of the hook claw (24). One side of each group of upper symmetrical flange linear bearings (22) is fixedly fixed to one side of the upper part of the optical axis linear bearing support plate (21), and one side of each group of lower symmetrical flange linear bearings (22) is fixedly fixed to one side of the middle part of the optical axis linear bearing support plate (21). Each optical axis linear bearing support plate (21) is fixedly fixed to the upper side of the upper steel plate (1).

2. The composite action manipulator gripping mechanism according to claim 1 is characterized in that: The upper side of the magnet base plate (8) is fixedly connected to symmetrical reinforcing rib aluminum strips (7).

3. A composite action manipulator gripping method, characterized by: The steps include: (1) When grasping a part, the device is connected to a mobile device, and the device is moved to the top of the part to be sucked. The large cylinder (3) is opened, and the large cylinder (3) is extended. The large cylinder (3) drives the connecting block (5) to move downward through the connecting shaft (12). The connecting block (5) drives the magnet base plate (8) to move downward through the supporting shaft (6). The magnet base plate (8) drives the ABS block (9) to move downward along the area formed by the aluminum alloy baffle (4) through the thin shaft (14), the fixing nut (25), and the spring (13). The ABS block (9) drives the magnet (11) to move downward through the magnet fixing seat (10). The magnet (11) moves downward close to and absorbs the part (34). The mobile device is operated to move the part (34) downward. ) is transported to a designated location. When placing the parts, the large cylinder (3) is opened in the opposite direction, the large cylinder (3) contracts, the large cylinder (3) drives the connecting block (5) to move upward through the connecting shaft (12), the connecting block (5) drives the magnet base plate (8) to move upward through the supporting shaft (6), the magnet base plate (8) drives the thin shaft (14) to move upward through the fixing nut (25), the thin shaft (14) drives the ABS block (9) to move upward along the area formed by the aluminum alloy baffle (4), the ABS block (9) drives the magnet (11) to move upward through the magnet fixing seat (10), the magnet (11) drives the part (34) to move upward, and when the part (34) is blocked by the aluminum alloy baffle (4), it falls off, thereby releasing the part (34); When the plane where the whole disk of the thin-walled circular parts to be sucked is located is not very flat, the spring (13) can be used to compensate and eliminate the problem. When the device approaches the plane where the parts (34) are located, since the plane is not necessarily absolutely flat, some magnets (11) first contact the parts, while other magnets (11) cannot contact them. At this time, the magnets (11) continue to move downward. At this time, the magnets (11) that first contact the parts (34) drive the thin shaft (14) to move upward along the small linear bearing (27) through the magnet fixing seat (10) and the ABS block (9) connected thereto. At this time, the spring (13) is compressed, and the relative distance between the magnet base plate (8) and the ABS block (9) is compressed. Since each ABS block (9) is an independent individual, it has the effect of the spring (13) and can be compressed, thereby ensuring the reliability of sucking the parts (34) and avoiding that some parts cannot be sucked due to the uneven surface where the parts (34) are located. At the same time, the thin shaft (14) slides in the small linear bearing (27) to extend the service life. (2) When the device is grabbing a material box filled with parts (34), the large cylinder (3) is opened in the opposite direction, and the large cylinder (3) is fully retracted so that all the ABS blocks (9) move upward, and the device is placed above the material box. The small cylinder (18) is opened, and the small cylinder (18) is extended to drive the cross bar (19) to move outward. The cross bar (19) drives the optical axis (23) to move outward along the flange linear bearing (22) through the connecting block 2 (20), and the optical axis (23) drives the hook claw (24) to move outward. When the distance between the hook claws (24) on both sides is greater than the length of the material box, the small cylinder (18) is closed, and the device is operated to drive the device The device moves downward until the lower bending part of the hook claw (24) is lower than the upper edge of the material box. At this time, the lower side of the shell (2) is located in the cavity of the material box and no interference occurs. The device is stopped and the small cylinder (18) is opened in the reverse direction. The small cylinder (18) contracts and drives the cross bar (19) to move inward. The cross bar (19) drives the optical axis (23) to move inward along the flange linear bearing (22) through the second connecting block (20). The optical axis (23) drives the hook claw (24) to move inward until the hook claws (24) on both sides clamp the upper edge of the material box. The small cylinder (18) is closed and the device is operated to transport the material box to the specified position.

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