Flexible system and method for dismantling and chopping materials by feeding robot

Abstract

A flexible system for dismantling and chopping materials for a loading robot includes a loading robot, a material frame device, a material unloading platform, and a clamp device; the clamp device includes a clamping frame, a bolt, a spring, a suction cup, a clamp proximity switch, and a clamp proximity switch contact; the bolt passes through the clamping frame and can slide on the clamping frame, and a suction cup is provided at the other end of the bolt; the spring is sleeved on the bolt between the clamping frame and the suction cup; the clamp proximity switch contact is provided on the bolt, and the clamp proximity switch is provided on the clamping frame; when the clamping frame presses down the spring or the spring resets, the clamp proximity switch contact enters and exits the sensing range of the clamp proximity switch to realize the on-off sensing. The system of the present invention is flexible, can simply and conveniently realize workpiece identification and clamping, and is applicable to a variety of products.

Description

Technical Field

[0001] The invention relates to a flexible dismantling and chopping feeding system of a feeding robot and a dismantling and chopping feeding method, belonging to the technical field of object dismantling and chopping. Background Art

[0002] With the continuous development of modern industry, it has become an existing trend to use loading robots to replace manual labor for heavy physical labor. Among them, the chopping robots are located at the forefront of the production line, freeing workers from dangerous and highly polluting workshops. At the same time, the chopping efficiency and accuracy will be greatly improved.

[0003] Current disassembly and chopping systems often combine a vision system with a loading robot. To achieve precise positioning and accurate operation during workpiece identification and disassembly, multiple cameras are required to form a vision system capable of handling diverse products and diverse environments. This is particularly true for environments with chaotic workpiece placement. Accurate workpiece identification, disassembly, and loading require complex intelligent systems, often leading to difficult debugging and high hardware costs. Consequently, current disassembly and chopping technologies often rely on a programmable teach-and-play approach. While this approach is simple and relatively inexpensive, it presents numerous practical challenges. First, the products must be neatly arranged; otherwise, the loading robot will not be able to correctly identify the workpieces, run the teach-and-play program, and thus correctly execute the operating procedures. Furthermore, the disassembly and chopping locations must be programmed individually, which is labor-intensive and requires stringent execution. The product being disassembled must be fixed; changing products requires a complete re-teaching process. Summary of the Invention

[0004] The purpose of the system of the present invention is to overcome the shortcomings of the existing technology and provide a flexible loading and disassembly system for loading robots suitable for a variety of products that can simply and conveniently realize workpiece identification and workpiece clamping.

[0005] The purpose of the method of the present invention is to overcome the shortcomings of the existing technology and provide a loading robot disassembly and chopping loading method that can be easily operated and does not use a camera system to achieve workpiece identification and workpiece clamping.

[0006] The problem described in the present invention is solved by the following technical solutions:

[0007] A flexible system for dismantling and loading materials by a loading robot comprises a loading robot, a material frame device, a material placement table and a clamp device; the clamp device comprises a clamping frame, a bolt, a spring, a suction cup, a clamp proximity switch and a clamp proximity switch contact; the bolt passes through the clamping frame and can slide on the clamping frame, and a suction cup is provided at the other end of the bolt; the spring is sleeved on the bolt between the clamping frame and the suction cup; the clamp proximity switch contact is provided on the bolt, and the clamp proximity switch is provided on the clamping frame; when the clamping frame presses down the spring or the spring resets, the clamp proximity switch contact enters and leaves the sensing range of the clamp proximity switch to realize the on-off sensing.

[0008] The above-mentioned loading robot disassembles the loading flexible system, and the clamp device is also provided with a suction cup connecting tube and a vacuum generator; one end of the suction cup connecting tube is connected to the suction cup, and the other end is connected to the vacuum generator; the vacuum generator has a pressure detection component.

[0009] The above-mentioned loading robot disassembly and chopping loading flexible system also includes a repositioning device; the repositioning device includes a repositioning fixing frame and a repositioning frame; the repositioning fixing frame includes a repositioning chassis and a support plate fixed thereon, and the repositioning frame is connected to the upper part of the support plate; the shape inside the repositioning frame matches the appearance of the material and is set at an angle.

[0010] The above-mentioned loading robot disassembles and chops the flexible loading system, and the material frame device part includes a material frame, a material frame positioning module, a material frame in-place detection module and a walking wheel; a walking wheel is arranged at the bottom of the material frame; the material frame positioning module includes a material frame positioning plate, a material frame wheel groove and a material frame limit block; the material frame wheel groove is arranged on the material frame positioning plate, and the material frame limit block is arranged at the rear end of the material frame wheel groove; the walking wheel and the material frame wheel groove are arranged in coordination, and the material frame limit block limits the position of the walking wheel on the material frame wheel groove.

[0011] The above-mentioned feeding robot disassembles and chops the flexible feeding system, and the material frame in-place detection module includes a detection device fixing frame, a fixture, a slot, a material frame detection proximity switch fixing plate, a material frame detection proximity switch, a material frame fixing block, a slot and a material frame detection proximity switch contact; the detection device fixing frame is arranged on the material frame positioning plate; the detection device fixing frame is provided with a fixture, and a material frame detection proximity switch fixing plate is provided on one side of the fixture, and a material frame detection proximity switch is provided on the material frame detection proximity switch fixing plate; the slot is arranged at the front end of the fixture and is used in conjunction with the slot; the material frame detection proximity switch and the material frame detection proximity switch contact are arranged opposite to each other and used in conjunction with each other.

[0012] A method for dismantling and chopping materials for a loading robot adopts the above-mentioned flexible dismantling and chopping material loading system, and the method is as follows: A. Place the workpiece into the material frame device;

[0013] B. The loading robot moves to the working position and drives the clamp device to press down. The downward pressing suction cup absorbs the work material from the material frame device. During the downward pressing process, the clamp proximity switch and the clamp proximity switch contact are connected by induction. The loading robot lifts and transports the workpiece to the unloading table.

[0014] In the above-mentioned disassembling and chopping loading method of the loading robot, after the clamp proximity switch and the clamp proximity switch contact are inductively connected, the vacuum generator extracts the air in the suction cup.

[0015] In the above-mentioned disassembling and loading method of the loading robot, after the workpiece is placed in the material frame, it is pushed into the wheel groove of the material frame by the walking wheel and is limited by the material frame limit block; the material frame detection proximity switch and the material frame detection proximity switch contact generate induction, and the material frame in place detection module identifies the type of material frame and feeds back to the loading robot.

[0016] The clamping device in the system of the present invention can simply and conveniently determine the presence or absence of a workpiece and perform a clamping operation on the workpiece. After the workpiece is clamped, it can accurately determine whether it is clamped to avoid situations such as empty material being clamped or the workpiece falling during the clamping process. The clamping component of the clamping device uses the first proximity switch as an identification element, which has a fast response speed, high identification accuracy, and is not easily affected by the ambient temperature, and plays an important role in the process of judging the presence or absence of a workpiece.

[0017] The material frame device in the system of the present invention enables workpiece storage, transportation, and material frame identification, providing convenient transportation and accurate identification. The loading robot moves the workpiece to the designated position according to a pre-designed program, achieving high operational precision and a high degree of automation. Furthermore, the present invention incorporates a repositioning device that utilizes the workpiece's own gravity to correct the workpiece, eliminating errors caused by material frame position and workpiece placement, effectively ensuring product placement accuracy.

[0018] The system of the present invention has good flexibility, can realize workpiece identification and clamping simply and conveniently, and is applicable to a variety of products.

[0019] The method of the present invention does not use the previous camera system for material frame recognition, which greatly reduces the technical difficulty. When the clamp device grabs the workpiece, it uses the proximity switch for recognition, which makes the recognition speed of the entire system fast and accurate, and effectively shortens the workpiece handling time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings.

[0021] Figure 1 It is a structural schematic diagram of the present invention;

[0022] Figure 2 is a schematic diagram of the structure of the wrist and clamp device;

[0023] Figure 3 It is a partial structural diagram of the material frame device;

[0024] Figure 4 This is a structural diagram of the material frame in place detection module;

[0025] Figure 5 It is a schematic diagram of the cooperation between the repositioning device and the workpiece;

[0026] Figure 6 It is a structural schematic diagram of the relocation device;

[0027] Figure 7 It is a flowchart of the system operation;

[0028] Figure 8 This is the electrical schematic diagram of the loading control circuit of the loading robot.

[0029] The numbers in the figure are as follows: 1. Loading robot, 1-1. Base, 1-2. Body, 1-3. Elbow, 1-4. Beam, 1-5. Wrist, 2. Material frame device part, 2-1. Material frame, 2-2. Material frame positioning module, 2-2-1. Material frame positioning plate, 2-2-2. Material frame wheel groove, 2-2-3. Material frame limit block, 2-3. Material frame detection module, 2-3-1 Detection device fixing frame, 2-3-2. Clamp, 2-3-3. Clamp slot, 2-3-4. Material frame detection proximity switch fixing plate, 2-3-5. Material frame detection proximity switch, 2-3-6. Material frame fixing block, 2-3-7. Clamp block, 2-3-8. Material frame detection proximity switch Close contact, 2-4. Travel wheel, 3. Unloading table, 4. Clamping device, 4-1. Clamping bracket, 4-2. Bolt, 4-3. Spring, 4-4. Suction cup, 4-5. Connecting pipe, 4-6. Clamp proximity switch fixing plate, 4-7. Clamp proximity switch, 4-8. Clamp proximity switch contact, 4-9. Vacuum generator, 5. Repositioning device, 5-1. Repositioning frame, 5-1-1. Repositioning chassis, 5-1-2. Support plate, 5-2. Repositioning frame, 5-2-1. Repositioning bottom plate, 5-2-2. Repositioning side plate 1, 5-2-3. Repositioning side plate 2, 5-3. Connecting plate, 6. Workpiece, PLC. Control chip. DETAILED DESCRIPTION

[0030] See Figure 1 and Figure 8 The present invention includes a loading robot 1, a material frame device 2, a clamp device 4, a repositioning device 5 and a material unloading platform 3; the loading robot 1 can adopt the existing loading robot structure, including a base 1-1, a body 1-2, an elbow 1-3, a crossbeam 1-4, a wrist 1-5 and a loading control circuit. Figure 3The material frame device 2 of the present robot disassembly and chopping loading flexible system includes a material frame 2-1. The material frame 2-1 is a frame-shaped structure for holding workpieces 6, and has four running wheels 2-4 at its bottom. The material frame positioning module 2-2 includes a material frame positioning plate 2-2-1, a material frame wheel groove 2-2-2, and a material frame limiting block 2-2-3. The material frame positioning plate 2-2-1 is fixed to the ground, and is provided with a material frame wheel groove 2-2-2 for the running wheels 2-4 to travel therein. The material frame limiting block 2-2-3 is provided at the rear end of the material frame wheel groove 2-2-2 to locate and limit the position of the running wheels 2-4 in the material frame wheel groove 2-2-2. After the workpiece 6 is placed in the material frame 2-1, the operator pushes the material frame 2-1 onto the material frame positioning module 2-2, and the walking wheel 2-4 moves backward along the material frame wheel groove 2-2-2 until it contacts the material frame limit block 2-2-3, stops moving forward and is limited; at this time, the entire material frame 2-1 is completely on the material frame positioning plate 2-2-1, realizing the positioning of the material frame.

[0031] See Figure 4The material frame device 2 of the present feeding robot's flexible disassembly and chopping feeding system includes a material frame in-place detection module 2-3; the material frame in-place detection module 2-3 includes a detection device fixing frame 2-3-1, a fixture 2-3-2, a card slot 2-3-3, a material frame detection proximity switch fixing plate 2-3-4, a material frame detection proximity switch 2-3-5, a material frame fixing block 2-3-6, a card block 2-3-7, and a material frame detection proximity switch contact 2-3-8. The detection device fixing frame 2-3-1 is fixed to the material frame positioning plate 2-2-1, a fixture 2-3-2 is provided on the detection device fixing frame 2-3-1, a material frame detection proximity switch fixing plate 2-3-4 is provided on the fixture 2-3-2, and a material frame detection proximity switch 2-3-5 is provided on the material frame detection proximity switch fixing plate 2-3-4. A slot 2-3-6 is provided at the front end of the fixture 2-3-2, and a clamping block 2-3-7 is provided on the material frame 2-1. The slot 2-3-6 and clamping block 2-3-7 cooperate to secure the material frame to the material frame positioning plate 2-2-1. The material frame detection proximity switch contact 2-3-8 is provided in the material frame 2-1 and corresponds to the material frame detection proximity switch 2-3-5. The material frame detection proximity switch 2-3-5 and the material frame detection proximity switch contact 2-3-8 can be provided in multiple groups, preferably six or more. Thus, by varying the presence or absence of the material frame detection proximity switch contact 2-3-8, different material frames can be characterized, thereby identifying the material frame 2-1. Because different material frames can accommodate different workpieces 6 to be processed, the control chip PLC can call different programs to clamp different workpieces 6 under the identification function of the material frame detection proximity switch 2-3-5. For example, the material frame detection proximity switch 2-3-5 and the material frame detection proximity switch contact 2-3-8 are set to 6 groups, and the material frame detection proximity switch contact 2-3-8 is set to have 1-3 and 5 groups but not 4 and 6 groups. This setting represents the characterization of a certain material frame.

[0032] See Figure 2The clamping device 4 in the flexible disassembly and chopping system of the loading robot comprises a clamping frame 4-1, a bolt 4-2, a spring 4-3, a suction cup 4-4, a clamp proximity switch fixing plate 4-6, a clamp proximity switch 4-7, and a clamp proximity switch contact 4-8. The clamping frame 4-1 is connected to the wrist 1-5 of the loading robot 1. Bolts 4-2 pass through the clamping frame 4-1 and allow the clamping frame 4-1 to slide on the bolts 4-2. Preferably, four bolts 4-2 are provided. The end of the screw of the bolt 4-2 is connected to the suction cup 4-4, and a spring 4-3 is sleeved on the screw between the clamping frame 4-1 and the suction cup 4-4. The clamp proximity switch contact 4-8 is provided on the head of the screw 4-2, and the clamp proximity switch 4-7 is fixed to the clamp fixing frame 4-1 through the clamp proximity switch fixing plate 4-6; when the clamp fixing frame 4-1 presses down the spring 4-3 or the spring 4-3 bounces back to reset, the clamp proximity switch 4-7 and the clamp proximity switch contact 4-8 realize the on-off of induction; it is best as Figure 2As shown, when the spring is reset, the position of the clamp proximity switch 4-7 is higher than the position of the clamp proximity switch contact 4-8, disconnecting the inductive connection between the clamp proximity switch 4-7 and the clamp proximity switch contact 4-8. When the spring is pressed downward, the clamp proximity switch 4-7 and the clamp proximity switch contact 4-8 are inductively connected. The clamping device 4 also includes a suction cup connecting tube 4-5 and a vacuum generator 4-9. One end of the suction cup connecting tube 4-5 is connected to the suction cup 4-4, and the other end is connected to the vacuum generator 4-9. The vacuum generator 4-9 is equipped with a pressure detection component. The vacuum generator 4-9 is activated when the clamp proximity switch 4-7 and the clamp proximity switch contact 4-8 generate inductive connection. The vacuum generator 4-9 can remove air from the suction cup 4-4 through the suction cup connecting tube 4-5, thereby increasing the suction force of the suction cup 4-4 and preventing the workpiece 6 from falling during transport. Furthermore, the pressure detection component can provide feedback on the suction cup 4-4's grip on the workpiece 6. After adopting the above structure, when the clamping device 4 clamps the workpiece 6, the wrist 1-5 of the loading robot 1 drives the suction cup to the top of the workpiece 6 and presses down; after the suction cup 4-4 contacts the workpiece 6, the air in the suction cup 4-4 is compressed, and a negative pressure space is formed between the suction cup 4-4 and the workpiece 6; because the clamping bracket 4-1 is continuously pressed down by the wrist 1-5 of the loading robot 1, the clamping bracket 4-1 slides on the bolt 4-2, the spring 4-3 is compressed, and the clamp proximity switch 4-7 and the clamp proximity switch contact 4-8 realize induction When the workpiece 6 is connected and the fixture proximity switch 4-7 outputs a signal, it proves that the workpiece 6 exists at this time; at the same time, the vacuum generator 4-9 starts to work to further extract the air in the suction cup 4-4; after the loading robot 1 receives the signal from the fixture proximity switch 4-7, its wrist 1-5 lifts the workpiece 6 upward, and the workpiece 6 is lifted under the suction force of the suction cup 4-4 and then sent to the subsequent repositioning device; when the wrist 1-5 is lifted upward, the spring 4-3 is reset, and the fixture proximity switch 4-7 and the fixture proximity switch contact 4-8 are disconnected from each other.

[0033] See Figure 5 、 Figure 6The present loading robot disassembly and chopping loading flexible system is provided with a repositioning device, and the repositioning device 5 includes a repositioning fixed frame 5-1, a repositioning frame 5-2 and a connecting plate 5-5. The repositioning fixed frame 5-1 includes a repositioning chassis 5-1-1 and a support plate 5-1-2. The repositioning chassis 5-1-1 is fixed on the ground, and the support plate 5-1-2 is fixed on the top of the repositioning chassis 5-1-1. The connecting plate 5-5 is fixed on the upper end of the support plate 5-1-2, and the connecting plate 5-5 is arranged at an angle. The repositioning frame 5-2 is formed by a repositioning bottom plate 5-2-1, a repositioning side plate 1 5-2-2 and a repositioning side plate 2 5-2-3 to form a structure that matches the appearance of the part. The repositioning bottom plate 5-4 of the repositioning frame 5-2 is fixedly connected to the connecting plate 5-3. During use, the repositioning frames 5-2 need to be adapted to the different shapes of the workpieces 6. To replace the repositioning frames 5-2, simply remove the repositioning frame 5-2 above the connecting plate 5-3 and replace it with a repositioning frame 5-2 of a different size and structure to connect to the connecting plate 5-3. With this structure, the loading robot 1 drives the clamping device 4 to move above the repositioning device 5, stops the vacuum generator 4-9, and gravity forces the workpiece 6 under the suction cup 4-4 into the repositioning frame 5-2. Since the repositioning frame 5-2 is tilted along with the connecting plate 5-3, the workpiece 6 automatically straightens in the repositioning frame 5-2, eliminating any errors in gripping the workpiece 6.

[0034] See Figure 1 In order to ensure the efficiency of chopping, another material frame device part 2 is provided on the other side of the loading robot 1 to ensure that the loading robot 1 can seamlessly connect after transporting the workpiece 6 of the material frame 2-1 and continue to transport the workpiece 6 of another material frame.

[0035] See Figure 8 The loading control circuit in the present invention includes a control chip PLC; the signal output end of the control chip PLC is respectively connected to the base 1-1, the body 1-2, the elbow 1-3, the beam 1-4, and the wrist 1-5, so as to achieve the purpose of controlling the rotation of the body 1-2, the elbow 1-3, and the wrist 1-5 of the loading robot 1; the signal input end of the control chip PLC is respectively connected to the clamp proximity switch 4-7 and the material frame detection proximity switch 2-3-5; the clamp proximity switch 4-7 transmits the judgment information of whether there is a workpiece 6 to the control chip PLC, and the control chip PLC performs the operation of clamping the workpiece 6 or moving to the next position to clamp the next workpiece 6 according to the set program; the material frame detection proximity switch 2-3-5 transmits the read material frame information to the control chip PLC, and the control chip PLC decides which material frame clamping program to call according to the type of material frame.

[0036] The process of the method of the present invention is: (1) see Figure 7 and Figure 8The control chip PLC initializes and waits for the material frame 2-1 to be in place. After the workpiece is placed in the material frame 2-1, the operator pushes the material frame 2-1 onto the material frame positioning module 2-2. The travel wheel 2-4 moves backward along the material frame wheel groove 2-2-2 until it contacts the material frame limit block 2-2-3 and stops and is restrained. The clamp 2-3-2 enters the clamping groove 2-3-6 and is clamped by the clamping groove 2-3-6. The contact member 2-3-8 of the material frame detection proximity switch reaches the operating range of the material frame detection proximity switch 2-3-5. The material frame detection proximity switch 2-3-5 outputs the reading result to the control chip PLC. The control chip PLC calls different programs to execute the clamping operation for different workpieces 6.

[0037] (2) The loading robot 1 moves to the working position, and the wrist 1-5 of the loading robot 1 drives the suction cup 4-4 to the top of the workpiece 6 and presses down; after the suction cup 4-4 contacts the workpiece, the air in the suction cup 4-4 is compressed, and a negative pressure space is formed between the suction cup 4-4 and the workpiece 6; because the clamping frame 4-1 is continuously pressed down by the wrist 1-5 of the loading robot 1, the clamping frame 4-1 slides on the bolt 4-2, the spring 4-3 is compressed, and the fixture proximity switch 4-7 is connected to the fixture proximity switch contact 4-8 by induction, and the fixture proximity switch 4-7 has a signal output, which proves that there is Workpiece 6 is present; at the same time, vacuum generator 4-9 begins operating, creating a vacuum between suction cup 4-4 and workpiece 6, and suction cup 4-4 successfully sucks workpiece 6. After receiving the signal from fixture proximity switch 4-7, the loading robot 1's wrist 1-5 lifts workpiece 6 upward. Workpiece 6 is lifted by the suction force of suction cup 4-4 and then transported to the subsequent repositioning device. The vacuum generator pressure detection device of vacuum generator 4-9 can input a set value for "vacuum pressure". When the actual vacuum pressure is higher than the "set value", workpiece 6 falls, and the loading robot 1 stops, waiting for the operator to check. When the actual vacuum pressure is lower than the "set value", workpiece 6 is transported normally. When the wrist 1-5 is lifted upward, spring 4-3 resets, and the fixture proximity switch 4-7 and fixture proximity switch contact 4-8 disconnect from each other.

[0038] (3) The loading robot 1 drives the clamping device 4 to move above the repositioning frame and controls the vacuum generator 4-9 to stop working. The workpiece 6 under the suction cup 4-4 falls into the repositioning frame under the action of gravity. Since the repositioning frame is tilted along with the connecting plate 5-3, the workpiece 6 is automatically straightened in the repositioning frame, eliminating the error in the previous clamping of the workpiece 6. The value of the pressure detection component of the vacuum generator 4-9 is read. If the value is zero, it proves that the repositioning operation has been completed. If the value is greater than zero, the repositioning operation is not completed at this time.

[0039] (4) After repositioning, the clamping device 4 will clamp the workpiece 6 again and send it to the top of the unloading table 3 to wait for the control chip to send a unloading signal. After the unloading signal is sent, the clamping device 4 releases the workpiece 6 onto the unloading table 3 to complete the loading operation. At the same time, the loading robot 1 runs to the position of the next workpiece 6 to grab the next workpiece 6.

Claims

1. A flexible system for dismantling and chopping materials with a feeding robot, characterized in that: The invention comprises a feeding robot (1), a material frame device part (2), a material unloading platform (3), a clamping device (4), a repositioning device (5) and a feeding control circuit, wherein the feeding control circuit comprises a control chip PLC; the signal output end of the control chip PLC is respectively connected to the base (1-1), the body (1-2), the elbow (1-3), the crossbeam (1-4) and the wrist (1-5) to control the rotation of the body (1-2), the elbow (1-3) and the wrist (1-5) of the feeding robot (1); the signal output end of the control chip PLC is respectively connected to the base (1-1), the body (1-2), the elbow (1-3), the crossbeam (1-4) and the wrist (1-5) The input end is connected to the fixture proximity switch (4-7) and the material frame detection proximity switch (2-3-5) respectively; the fixture proximity switch (4-7) transmits the judgment information of whether there is a workpiece (6) to the control chip PLC, and the control chip PLC clamps the workpiece (6) or moves to the next position to clamp the next workpiece (6) according to the set program; the material frame detection proximity switch (2-3-5) transmits the read material frame information to the control chip PLC, and the control chip PLC determines which material frame clamping program to call according to the type of material frame; The material frame device part (2) comprises a material frame (2-1), a material frame positioning module (2-2), a material frame in-position detection module (2-3) and a walking wheel (2-4); the walking wheel (2-4) is arranged at the bottom of the material frame (2-1); the material frame positioning module (2-2) comprises a material frame positioning plate (2-2-1), a material frame wheel groove (2-2-2) and a material frame limiting block (2-2-3); the material frame wheel groove (2-2-2) is arranged on the material frame positioning plate (2-2-1), and the material frame limiting block (2-2-3) is arranged at the rear end of the material frame wheel groove (2-2-2); the walking wheel (2-4) and the material frame wheel groove (2-2-2) are arranged in coordination, and the material frame limiting block (2-2-3) limits the position of the walking wheel (2-4) on the material frame wheel groove (2-2-2); The clamp device (4) comprises a clamping frame (4-1), a bolt (4-2), a spring (4-3), a suction cup (4-4), a clamp proximity switch (4-7) and a clamp proximity switch contact (4-8); the bolt (4-2) passes through the clamping frame (4-1) and can slide on the clamping frame (4-1), and a suction cup (4-4) is provided at the other end of the bolt (4-2); the spring (4-3) is sleeved on the bolt (4-2) between the clamping frame (4-1) and the suction cup (4-4); the clamp proximity switch contact (4-8) is provided on the bolt (4-2), and the clamp proximity switch (4-7) is provided on the clamping frame (4-1); when the clamping frame (4-1) presses down the spring (4-3) or the spring (4-3) is reset, the clamp proximity switch contact (4-8) enters or leaves the sensing range of the clamp proximity switch (4-7) to realize the on-off of the sensing; The repositioning device (5) includes a repositioning fixing frame (5-1) and a repositioning frame (5-2); the repositioning fixing frame (5-1) includes a repositioning chassis (5-1-1) and a support plate (5-1-2) fixed thereon, and the repositioning frame (5-2) is connected to the upper part of the support plate (5-1-2); the shape of the inner frame of the repositioning frame (5-2) matches the appearance of the material and is tilted; the workpiece (6) is automatically straightened in the repositioning frame (5-2), eliminating the error of clamping the workpiece (6) before.

2. The flexible system for dismantling and chopping materials by a loading robot according to claim 1, characterized in that: The clamp device (4) is further provided with a suction cup connecting pipe (4-5) and a vacuum generator (4-9); one end of the suction cup connecting pipe (4-5) is connected to the suction cup (4-4), and the other end is connected to the vacuum generator (4-9); the vacuum generator (4-9) is provided with a pressure detection component.

3. The flexible system for dismantling and chopping materials by a loading robot according to claim 1, characterized in that: The material frame in-position detection module (2-3) comprises a detection device fixing frame (2-3-1), a fixture (2-3-2), a card slot (2-3-3), a material frame detection proximity switch fixing plate (2-3-4), a material frame detection proximity switch (2-3-5), a material frame fixing block (2-3-6), a card block (2-3-7) and a material frame detection proximity switch contact (2-3-8); the detection device fixing frame (2-3-1) is arranged on the material frame positioning plate (2-2-1); the detection device fixing frame (2-3 -1) is provided with a fixture (2-3-2), a material frame detection proximity switch fixing plate (2-3-4) is provided on one side of the fixture (2-3-2), and a material frame detection proximity switch (2-3-5) is provided on the material frame detection proximity switch fixing plate (2-3-4); the clamping slot (2-3-6) is provided at the front end of the fixture (2-3-2) and is used in conjunction with the clamping block (2-3-7); the material frame detection proximity switch (2-3-5) and the material frame detection proximity switch contact (2-3-8) are arranged opposite to each other and are used in conjunction with each other.

4. A method for dismantling and chopping materials for a feeding robot, using the flexible dismantling and chopping feeding system according to any one of claims 1 to 3, characterized in that: A. Place the workpiece into the frame device (2); B. The loading robot (1) moves to the working position and drives the clamp device (4) to press down. The downward-pressing suction cup absorbs the work material from the material frame device part (2); during the downward-pressing process, the clamp proximity switch (4-7) and the clamp proximity switch contact (4-8) are inductively connected; the loading robot (1) lifts and transports the workpiece to the unloading table (3).

5. The method for dismantling and loading materials by a loading robot according to claim 4, characterized in that: After the clamp proximity switch (4-7) and the clamp proximity switch contact (4-8) are inductively connected, the vacuum generator (4-9) extracts air from the suction cup (4-4).

6. The method for dismantling and loading materials by a loading robot according to claim 4, characterized in that: In step A, after the workpiece is placed in the material frame (2-1), it is pushed into the material frame wheel groove (2-2-2) by the walking wheel (2-4) and is limited by the material frame limit block (2-2-3); the material frame detection proximity switch (2-3-5) and the material frame detection proximity switch contact (2-3-8) generate induction, and the material frame in-place detection module (2-3) identifies the type of the material frame (2-1) and feeds back to the loading robot.

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