A grasping device, a manipulator and a material taking method

Abstract

The present invention relates to the technical field of mechanical equipment, and discloses a grasping device, a manipulator and a material taking method. The device comprises a bracket; a clamping mechanism connected to the bracket; a vision mechanism connected to the bracket; a sensing mechanism connected to the bracket, and the sensing mechanism detects the position of an object to be grasped in the clamping mechanism; an adaptive mechanism connected to the bracket, and the adaptive mechanism drives the bracket to move in the vertical direction. The grasping device provided by the present invention grasps the cloth through the clamping mechanism, judges the direction of the cloth through the vision mechanism, and then adjusts the grasping direction of the clamping mechanism. The position of the cloth in the clamping mechanism is judged through the sensing mechanism to achieve accurate grasping. The flexibility of the grasping device can be increased through the adaptive mechanism. The grasping device provided by the present invention has the advantages of accurate grasping and good stability.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and particularly to a grasping device, a manipulator and a material taking method. Background Art

[0002] In the textile industry, the feeding of many devices requires manual feeding by workers. And since most of the materials are in the form of rolls (cloth), more than two people are needed to carry the materials. To achieve automatic feeding, a manipulator needs to be installed beside the device, and a matching fixture needs to be installed at the movable end of the manipulator. As Figure 1 shown, the cloth needs to be regularly stacked on the tray, and the tray needs to be placed in the designated area to achieve continuous feeding.

[0003] However, the manual feeding method has the problem of low efficiency, and the manipulator feeding method has the problems of inaccurate grasping, unstable grasping and poor flexibility. Summary of the Invention

[0004] The main object of the present invention is to provide a grasping device, aiming to solve the technical problems of unstable and inaccurate grasping of cloth by existing machinery.

[0005] To achieve the above object, the present invention provides a grasping device, which includes:

[0006] A bracket;

[0007] A clamping mechanism, which is connected to the bracket;

[0008] A vision mechanism, which is connected to the bracket;

[0009] An induction mechanism, which is connected to the bracket, and the induction mechanism detects the position of the object to be grasped in the clamping mechanism;

[0010] An adaptive mechanism, which is connected to the bracket, and the adaptive mechanism drives the bracket to move in the vertical direction.

[0011] Optionally, the clamping mechanisms are distributed at both ends of the bracket, and the clamping mechanism includes a first clamping plate, a second clamping plate and a first power device;

[0012] One end of the first clamping plate is fixedly connected to the bracket, and the other end of the first clamping plate is provided with a first roller;

[0013] One end of the second clamping plate is movably connected to the bracket, and the first power device drives the second clamping plate to move closer to or away from the first clamping plate.

[0014] Optionally, a first arc surface is provided on the surface of the first clamping plate, and a second arc surface is provided at the other end of the second clamping plate. The first arc surface and the second arc surface are arranged opposite to each other.

[0015] Optionally, the sensing mechanism is located in the clamping interval of the clamping mechanism. The sensing mechanism includes a second roller, a spring, a support frame, a connecting rod, a connecting plate, and a first sensor.

[0016] The support frame is fixedly connected to the bracket, the connecting rod is movably connected to the support frame, and the connecting rod can perform telescopic movement in the support frame.

[0017] One end of the connecting rod is connected to the second roller, the spring is sleeved in the connecting rod, and the spring is located between the second roller and the support frame.

[0018] The other end of the connecting rod is connected to the connecting plate, the first sensor is fixedly connected to the support frame, and the first sensor is located above the connecting plate.

[0019] Optionally, the adaptive mechanism is located in the middle of the bracket. The adaptive mechanism includes a rotating shaft, a base, and a first telescopic mechanism.

[0020] The base is located in the middle of the bracket. The base is connected to the bracket through the rotating shaft, and the bracket can rotate up and down around the rotating shaft.

[0021] The first telescopic mechanisms are symmetrically arranged on both sides of the base. One end of the first telescopic mechanism is connected to the base, and the other end of the first telescopic mechanism is a telescopic end. The telescopic end is hinged to the bracket.

[0022] Optionally, the adaptive mechanism further includes a second telescopic mechanism. The second telescopic mechanism is located between the base and the bracket. One end of the second telescopic mechanism is connected to the base, and the other end of the second telescopic mechanism is a telescopic end. The telescopic end is arranged opposite to the bracket.

[0023] Optionally, it includes a second sensor and a flipping mechanism. The second sensor mechanism is connected to the bracket through the flipping mechanism.

[0024] Optionally, it includes a bottom supporting mechanism. The bottom supporting mechanism includes a second power device, a rotating mechanism, and a baffle. The second power device is connected to the bracket, the second power device is connected to the rotating mechanism, and the rotating mechanism is connected to the baffle.

[0025] Correspondingly, a material taking method is further provided. The method is used to realize the grasping and moving of the cloth. The method is realized by the above-mentioned grasping device. The method includes the following steps:

[0026] The grasping device moves to the first predetermined position;

[0027] The vision mechanism obtains the direction of the cloth, and the grasping device adjusts the direction of the clamping mechanism according to the cloth direction;

[0028] The grasping device moves downward to allow the cloth to enter the clamping mechanism;

[0029] The sensing mechanism detects whether the cloth is at the second predetermined position. If so, the clamping mechanism closes and the grasping device moves upward;

[0030] The adaptive mechanism is activated to make the cloth parallel to the horizontal plane, and the bottom supporting mechanism supports the bottom of the cloth;

[0031] The grasping device moves to the third predetermined position and the clamping mechanism opens.

[0032] Correspondingly, there is also a manipulator, including a manipulator body and the above-mentioned grasping device. The manipulator body is connected to the grasping device, and the manipulator body moves the grasping device.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The grasping device provided by the present invention grasps the cloth through the clamping mechanism, judges the direction of the cloth through the vision mechanism, and then adjusts the grasping direction of the clamping mechanism. It judges the position of the cloth in the clamping mechanism through the sensing mechanism to achieve accurate grasping, and the flexibility of the grasping device can be increased through the adaptive mechanism. The grasping device provided by the present invention has the advantages of accurate grasping and good stability. Description of the Drawings

[0035] One or more embodiments are exemplarily illustrated by corresponding drawings. These exemplary illustrations do not limit the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the drawings in the figures do not constitute a proportional limitation.

[0036] Figure 1 It is a schematic diagram of cloth stacking;

[0037] Figure 2 It is a schematic structural diagram of an embodiment of the grasping device of the present invention;

[0038] Figure 3 It is a front view of an embodiment of the grasping device of the present invention;

[0039] Figure 4 It is a partial enlarged view of an embodiment of the grasping device of the present invention;

[0040] Figure 5 It is a side view of an embodiment of the grasping device of the present invention;

[0041] Figure 6 Schematic diagram of the clamping mechanism separating the cloth in the embodiment of the grasping device of the present invention;

[0042] Figure 7 Schematic diagram of the working of the clamping mechanism in the embodiment of the grasping device of the present invention;

[0043] Figure 8 Schematic diagram of the working of the adaptive mechanism in the embodiment of the grasping device of the present invention;

[0044] Figure 9 Schematic diagram of the working of the bottom supporting mechanism in the embodiment of the grasping device of the present invention;

[0045] Figure 10 Schematic diagram of the flipping of the second sensor in the embodiment of the grasping device of the present invention; Figure 11 Schematic diagram of the structure of the robotic arm embodiment of the present invention;

[0046] Figure 12 Schematic diagram of the specific process of the material taking method embodiment of the present invention.

[0047] Reference numerals:

[0048] 100 - grasping device; 110 - bracket; 120 - clamping mechanism; 121 - first clamping plate; 122 - second clamping plate; 123 - first power device; 124 - first roller; 130 - sensing mechanism; 131 - second roller; 132 - spring; 133 - support frame; 134 - connecting rod; 135 - connecting plate; 136 - first sensor; 140 - adaptive mechanism; 141 - rotating shaft; 142 - base; 143 - first telescopic mechanism; 144 - second telescopic mechanism; 150 - bottom supporting mechanism; 151 - second power device; 152 - rotating mechanism; 153 - baffle; 160 - vision mechanism; 170 - second sensor; 180 - flipping mechanism; 200 - manipulator body; 300 - cloth. Detailed implementation manners

[0049] For ease of understanding the present invention, the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is expressed as "fixed to" another element, it can be directly on the other element, or there can be one or more intermediate elements therebetween. When an element is expressed as "connected to" another element, it can be directly connected to the other element, or there can be one or more intermediate elements therebetween. The terms "vertical", "horizontal", "left", "right", "inner", "outer" and similar expressions used in this specification are only for the purpose of illustration. In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating relative importance or implicitly indicating the quantity of the indicated technical features. Thus, unless otherwise stated, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features; the meaning of "a plurality" is two or more. The term "comprising" and any variation thereof means non-exclusive inclusion, and there may be or be added one or more other features, integers, steps, operations, units, components and / or combinations thereof.

[0050] In addition, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication inside two elements. All technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention are only for the purpose of describing specific embodiments and are not used to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0051] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0052] As Figures 1-5 shown, it is a schematic diagram of an embodiment of a grasping device.

[0053] Please refer to Figures 1-5 , this embodiment is used for grasping a cloth 300, and includes a bracket 110, a clamping mechanism 120, an induction mechanism 130, an adaptive mechanism 140, a bottom supporting mechanism 150 and a vision mechanism 160.

[0054] The grasping device of this embodiment has a symmetrical structure. The bracket 110 is used for the installation and support of each component mechanism. The clamping mechanisms 120 are distributed on both sides of the bracket 110. The clamping mechanisms 120 are connected to the bracket 110 and are used for clamping the cloth 300. The sensing mechanisms 130 are correspondingly distributed at positions adjacent to the clamping mechanisms 120. The sensing mechanisms 130 are connected to the bracket 110 and are used for detecting the position of the cloth 300 in the clamping mechanisms 120. The adaptive mechanism 140 is located in the middle of the bracket 110. The adaptive mechanism 140 is connected to the bracket 110 and drives the bracket 110 to move in the vertical direction, increasing the flexibility of the grasping device. The bottom support mechanism 150 is correspondingly arranged with the clamping mechanism 120. The bottom support mechanism 150 is connected to the bracket 110 and is used for supporting the bottom of the cloth 300, increasing the stability during the grasping process of the cloth 300. The vision mechanism 160 is correspondingly arranged with the clamping mechanism 120. The vision mechanism 160 is connected to the bracket 110 and is used for detecting the placement direction of the cloth 300, and then controlling the grasping direction of the grasping device.

[0055] Specifically, in this embodiment, the clamping mechanisms 120 are distributed at both ends of the bracket 110. The clamping mechanism 120 includes a first clamping plate 121, a second clamping plate 122, and a first power device 123. One end of the first clamping plate 121 is fixedly connected to the bracket 110, and a first roller 124 is provided at the other end of the first clamping plate 121. One end of the second clamping plate 122 is movably connected to the bracket 110. The first power device 123 drives the second clamping plate 122 to move closer to or away from the first clamping plate 121, and the cloth 300 is clamped by the first clamping plate 121 and the second clamping plate 122. The first power device 123 can be a cylinder. The cylinder is fixedly connected to the bracket 110, and the telescopic end of the cylinder is connected to the second clamping plate 122. The cylinder pushes the second clamping plate 122 to open or close, and cooperates with the fixed first clamping plate 121 to achieve the clamping action.

[0056] When the clamping mechanism 120 is in the open state, the height of the first clamping plate 121 is higher than the extended height of the second clamping plate 122. Therefore, the first roller 124 extends a certain distance. When the grasping device moves downward, the first roller 124 is inserted between two pieces of cloth 300 to separate the two pieces of cloth. As Figure 6 shown, since the cloth 300 will lean against each other in pairs during stacking, when the clamping mechanism 120 descends, the first roller 124 starts to roll driven by the motor. The first roller 124 will first contact the cloth 300. After the first roller 124 drives the cloth 300 to roll a certain distance, the cloth 300 and the cloth 300 will be separated.

[0057] Furthermore, the inner side of the first clamping plate 121 is a first arc surface 121a, and the other end of the second clamping plate 122 is provided with a second arc surface 122b. The first arc surface 121a and the second arc surface 122b are arranged oppositely. Such arc surfaces are fitted to the surface of the cylindrical cloth 300, which can further improve the stability when the cloth 300 is grasped, making the grasping more firm and avoiding the cloth from falling during the transfer process.

[0058] As Figure 7 shown, in the initial state, the air cylinder is in a contracted state, and the clamping mechanism 120 is in an open state; after the clamping mechanism 120 reaches the position, when the sensing mechanism 130 senses the cloth 300, the air cylinder pushes out, and the clamping mechanism 120 is in a closed state.

[0059] Specifically, in this embodiment, the sensing mechanism 130 includes a second roller 131, a spring 132, a support frame 133, a connecting rod 134, a connecting plate 135 and a first sensor 136. The sensing mechanism 130 is located in the clamping interval of the clamping mechanism 120, that is, the second roller 131 in the sensing mechanism 130 is located between the first clamping plate 121 and the second clamping plate 122 of the clamping mechanism 120, and the first sensor 136 is a proximity sensor. The support frame 133 is fixedly connected to the support 110. The support frame 133 is connected to the upper surface of the support 110, and the support frame 133 is higher than the support 110 by a certain distance; the connecting rod 134 is movably connected to the support frame 133. Specifically, a sleeve is added to the surface of the support frame 133, and then the connecting rod 134 is inserted into the sleeve, and the connecting rod 134 moves up and down telescopically in the sleeve.

[0060] The lower end of the connecting rod 134 is connected to the second roller 131. The spring 132 is sleeved in the connecting rod 134, and the spring 132 is located between the second roller 131 and the support frame 133. Under the elastic action of the spring 132, the connecting rod 132 moves up and down telescopically in the sleeve. The upper end of the connecting rod 134 is higher than the support frame 133, and the upper end is connected to the connecting plate 135. There is a first sensor 136 above the connecting plate 135. The first sensor 136 is suspended above the connecting plate 135, and the two are arranged oppositely. The first sensor 136 is fixedly connected to the support frame 133. Through the elastic action, the distance between the connecting plate 135 and the first sensor 136 is variable. When the distance between the two meets the predetermined distance, the first sensor 136 will send a corresponding control instruction to the control terminal of the grasping device.

[0061] In this embodiment, the working principle of the sensing mechanism 130 is as follows:

[0062] When the second roller 131 is not under an external force, its height is higher than the lower surface of the bracket 110, that is, it extends a certain distance. At this time, the spring 132 is in a relaxed state. When the clamping mechanism 120 moves downward and the cloth 300 enters the clamping interval between the first clamping plate 121 and the second clamping plate 122 of the clamping mechanism 120, as the cloth 300 enters, the surface of the cloth 300 contacts the second roller 131 in the clamping interval. The roller design can reduce the friction force in contact with the cloth 300. At this time, the second roller 131 is under the external force of the cloth 300 and compresses the spring 132, and drives the connecting plate 135 connected by the connecting rod 134 to move upward. The distance between the connecting plate 135 and the first sensor 136 decreases. When the distance decreases to a predetermined range, the first sensor 136 sends a closing signal to the clamping mechanism 120, and the first clamping plate 121 and the second clamping plate 122 of the clamping mechanism 120 close to clamp the cloth 300. After the clamping mechanism 120 puts down the cloth 300, the second roller 131 and the connecting plate 135 return to their original positions under the elastic action of the spring 132.

[0063] Specifically, in this embodiment, the adaptive mechanism 140 is located in the middle of the bracket 110. The adaptive mechanism 140 includes a rotating shaft 141, a base 142, a first telescopic mechanism 143 and a second telescopic mechanism 144. The first telescopic mechanism 143 and the second telescopic mechanism 144 can both be cylinders.

[0064] Among them, the base 142 is located in the middle of the bracket 110. The lower part of the base 142 is connected to the bracket 110 through the rotating shaft 141. The bracket 110 can rotate up and down around the rotating shaft 141 to form a structure similar to a seesaw. A flange is provided above the base 142, and a moving mechanism such as a manipulator can be connected through the flange. The first telescopic mechanisms 143 are symmetrically arranged on the left and right sides of the base 142. The first telescopic mechanisms 143 are installed on both sides of the base 142, and the telescopic ends of the first telescopic mechanisms 143 are hinged to the bracket 110. By changing the stroke of the first telescopic mechanisms 143 on both sides, the inclination of the bracket 110 can be changed. The second telescopic mechanism 144 is located between the base 142 and the bracket 110. The second telescopic mechanism 144 is installed below the base 142. The telescopic end of the second telescopic mechanism 144 is arranged opposite to the bracket 110. The number of the second telescopic mechanisms 144 is four and they are arranged at the four corners. When the second telescopic mechanisms 144 extend simultaneously and abut against the lower surface of the bracket 110, the bracket is in a horizontal state at this time.

[0065] In actual situations, when the cloth 300 is placed, due to reasons such as inconsistent roll diameters of the cloth 300 and improper manual operation, the cloth 300 may be inclined in the vertical direction. The adaptive mechanism 140 can automatically adapt to the inclination of the cloth 300. Such as Figure 8As shown, when the clamping mechanism 120 approaches the cloth 300, the first telescopic mechanisms 143 on both sides of the base 142 in the adaptive mechanism 140 are in a free state, and the second telescopic mechanism 144 is in a contracted state. The clamping mechanism 120 can adapt to the inclination of the cloth 300 and fit with the cloth 300. After the clamping mechanism 120 clamps the cloth 300 and lifts it into the air, the first telescopic mechanism 143 and the second telescopic mechanism 144 are simultaneously pushed out to keep the cloth 300 horizontal.

[0066] Specifically, the bottom supporting mechanism 150 includes a second power device 151, a rotating mechanism 152 and a baffle 153. The second power device 151 is connected to the bracket 110, the second power device 151 is connected to the rotating mechanism 152, and the rotating mechanism 152 is connected to the baffle 153. The second power device 151 can be a cylinder.

[0067] As Figure 9 shown, after the clamping mechanism 120 clamps the cloth 300, the baffle 153 of the bottom supporting mechanism 150 of the cloth 300 rotates to the bottom of the cloth 300 under the action of the rotating mechanism 152, and then the second power device 151 lifts the baffle 153, and the baffle 153 will support the cloth 300 to prevent the cloth 300 from accidentally falling.

[0068] Specifically, in this embodiment, the vision mechanism 160 is connected to the bracket 110. The vision mechanism 160 can specifically be a camera device. The vision mechanism 160 can obtain an image of the cloth 300 vertically downward, judge the placement direction of the cloth 300, and then adjust the clamping direction of the clamping mechanism 120.

[0069] In other embodiments, a second sensor 170 and a flipping mechanism 180 are further included. The second sensor 170 is connected to the bracket 110 through the flipping mechanism 180. The second sensor 170 can specifically be a distance sensor, and the flipping mechanism 180 can specifically be a flipping cylinder. The flipping mechanism 180 can drive the second sensor 170 to flip by a certain angle, so as to obtain the coordinate data of the cloth. As Figure 10 shown, in the left figure, when the direction of the second sensor 170 is downward, the Z-axis direction coordinate of the cloth can be obtained. In the right figure, after the second sensor 170 follows the flipping device 180 and flips 90 degrees, the direction is horizontal, and the Y-axis direction coordinate of the cloth can be obtained.

[0070] As Figure 11 shown, it is an embodiment of a manipulator provided by the present invention.

[0071] Please refer to Figure 11, this embodiment includes the grasping device 100 in the above embodiment, and further includes a manipulator body 300. The manipulator body 300 is connected to the grasping device 100, specifically by flange connection. The manipulator body 300 is used to move the grasping device 100 to a specified position.

[0072] The present invention also provides an embodiment of a material taking method, which is used to realize the grasping and moving of cloth, and is implemented by the above grasping device embodiment, including the following steps:

[0073] The grasping device is moved to a first predetermined position by the manipulator body;

[0074] The vision mechanism acquires the direction of the cloth, and the grasping device adjusts the direction of the clamping mechanism according to the cloth direction;

[0075] The grasping device moves downwards to make the cloth enter the clamping mechanism;

[0076] The induction mechanism detects whether the cloth is at a second predetermined position. If so, the clamping mechanism closes and the grasping device moves upwards;

[0077] The adaptive mechanism is started to make the cloth parallel to the horizontal plane, and the bottom supporting mechanism supports the bottom of the cloth;

[0078] The grasping device moves to a third predetermined position, and the clamping mechanism opens.

[0079] Specifically, in this embodiment, the specific process of the material taking method is as Figure 12 shown, including the following steps:

[0080] S100. The manipulator body moves the grasping device to a transition point;

[0081] S200. The grasping device moves until it is directly above the cloth stacking of the vision mechanism;

[0082] S300. The data processing terminal judges the direction of the cloth according to the image acquired by the vision mechanism;

[0083] S400. The manipulator body moves the grasping device until the second sensor moves to directly above the first roll of cloth, and measures the Z-axis coordinate of the cloth roll;

[0084] S500. The manipulator body moves the grasping device until the second sensor moves to the side of the first roll of cloth. The second sensor is flipped 90 degrees through the flipping mechanism so that the second sensor is horizontally placed, and the Y-axis coordinate of the cloth roll is measured;

[0085] S600. The first roller starts to roll. The manipulator body moves the grasping device to the coordinate position of the cloth. The first roller separates the first roll of cloth, and then the clamping mechanism fits the cloth;

[0086] S700. The clamping mechanism closes to clamp the cloth. The manipulator body lifts the clamping mechanism, the cylinder of the adaptive mechanism extends, making the cloth parallel to the horizontal plane, and the bottom support mechanism supports the bottom of the cloth.

[0087] S800. The manipulator body moves the grasping device to the designated feeding port.

[0088] S900. The clamping mechanism opens, the cloth is placed at the designated feeding port, and return to step S100 to repeat the above steps.

[0089] In summary, in the embodiments provided by the present invention, the cloth is grasped by the clamping mechanism, the direction of the cloth is judged by the vision mechanism, and then the grasping direction of the clamping mechanism is adjusted. The position of the cloth in the clamping mechanism is judged by the sensing mechanism to achieve accurate grasping, and the flexibility of the grasping device can be increased by the adaptive mechanism. The embodiments provided by the present invention have the advantages of accurate grasping, good stability and high automation degree.

[0090] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other changes in different aspects of the present invention as described above. For the sake of brevity, they are not provided in detail; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A grasping device, characterized in that, the grasping device comprises: a bracket; a clamping mechanism, the clamping mechanism being connected to the bracket; a vision mechanism, the vision mechanism being connected to the bracket; a sensing mechanism, the sensing mechanism being connected to the bracket, the sensing mechanism detecting the position of the object to be grasped in the clamping mechanism; wherein, the sensing mechanism is located in the clamping interval of the clamping mechanism, and the sensing mechanism comprises a second roller, a spring, a support frame, a connecting rod, a connecting plate and a first sensor; the support frame is fixedly connected to the bracket, the connecting rod is movably connected to the support frame, and the connecting rod can perform telescopic movement in the support frame; one end of the connecting rod is connected to the second roller, the spring is sleeved in the connecting rod, and the spring is located between the second roller and the support frame; the other end of the connecting rod is connected to the connecting plate, and the first sensor is fixedly connected to the support frame and is located above the connecting plate; an adaptive mechanism, the adaptive mechanism being connected to the bracket, the adaptive mechanism driving the bracket to perform vertical movement; wherein, the adaptive mechanism is located in the middle of the bracket, and the adaptive mechanism comprises a rotating shaft, a base and a first telescopic mechanism; the base is located in the middle of the bracket, the base is connected to the bracket through the rotating shaft, and the bracket can rotate up and down around the rotating shaft; the first telescopic mechanisms are symmetrically arranged on both sides of the base, one end of the first telescopic mechanism is connected to the base, and the other end of the first telescopic mechanism is a telescopic end, and the telescopic end is hinged to the bracket.

2. The grasping device according to claim 1, characterized in that, the clamping mechanisms are distributed at both ends of the bracket, and the clamping mechanism comprises a first clamping plate, a second clamping plate and a first power device; one end of the first clamping plate is fixedly connected to the bracket, and the other end of the first clamping plate is provided with a first roller; one end of the second clamping plate is movably connected to the bracket, and the first power device drives the second clamping plate to move closer to or away from the first clamping plate.

3. The grasping device according to claim 2, characterized in that, the surface of the first clamping plate is provided with a first arc surface, the other end of the second clamping plate is provided with a second arc surface, and the first arc surface and the second arc surface are arranged oppositely.

4. The grasping device according to claim 1, characterized in that, the adaptive mechanism further comprises a second telescopic mechanism, the second telescopic mechanism is located between the base and the bracket, one end of the second telescopic mechanism is connected to the base, and the other end of the second telescopic mechanism is a telescopic end, and the telescopic end is arranged opposite to the bracket.

5. The grasping device according to claim 1, characterized in that, it includes a second sensor and a flipping mechanism, and the second sensor mechanism is connected to the bracket through the flipping mechanism.

6. The grasping device according to claim 1, characterized in that, including a bottom supporting mechanism, the bottom supporting mechanism includes a second power device, a rotating mechanism and a baffle plate, the second power device is connected to the bracket, the second power device is connected to the rotating mechanism, and the rotating mechanism is connected to the baffle plate.

7. A material taking method, characterized in that, the method is used to realize the grasping and moving of the cloth, the method is realized by the grasping device according to any one of claims 1-6, and the method includes the following steps: The grasping device moves to the first predetermined position; The vision mechanism obtains the direction of the cloth, and the grasping device adjusts the direction of the clamping mechanism according to the cloth direction; The grasping device moves downwards to make the cloth enter the clamping mechanism; The sensing mechanism detects whether the cloth is located at the second predetermined position. If so, the clamping mechanism closes and the grasping device moves upwards; The adaptive mechanism is activated to make the cloth parallel to the horizontal plane, and the bottom supporting mechanism supports the bottom of the cloth; The grasping device moves to the third predetermined position, and the clamping mechanism opens.

8. A manipulator, characterized in that, including a manipulator body and the grasping device according to any one of claims 1-6, the manipulator body is connected to the grasping device, and the manipulator body moves the grasping device.

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