An adaptive positioning and grasping device for non-standard workpieces

Abstract

The present invention discloses an adaptive positioning and grasping device for non-standard processed parts, comprising: a mounting seat, a fixed block is provided at the bottom end of the mounting seat, a moving device is provided at the bottom end of the fixed block, the moving device is connected to the mounting seat through a return mechanism, and a suction mechanism and a conical guide structure are provided at the bottom end of the moving device; in the process of grasping non-standard products, the conical guide structure at the bottom end of the moving device will preferentially contact the product end, when the conical guide structure contacts the non-standard processed parts, the side wall of the non-standard processed parts will drive the conical guide structure to move, so that the conical guide structure drives the moving device to move in the XY direction, and the return mechanism is rotated to a certain extent, so that the suction cup mechanism is displaced to the top of the non-standard device, so as to complete the positioning between the grasping device and the non-standard processed parts, and then the suction structure sucks and fixes the product, so as to complete the grasping of the non-standard products and reduce the difficulty of loading and unloading the products.

Description

Technical Field

[0001] The present invention relates to the technical field of processing and manufacturing, and more specifically, to an adaptive positioning and grasping device for non-standard processed parts. Background Art

[0002] In the non-standard processing and manufacturing process of glass, ceramics, sapphire, metal and other materials, due to the irregular edges of the objects to be processed, the existing loading and unloading devices cannot accurately complete the loading and unloading during processing and manufacturing, making the loading and unloading process difficult; therefore, it is necessary to propose an adaptive positioning and grasping device for non-standard processed parts to at least partially solve the problems existing in the prior art. Summary of the invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0004] In order to at least partially solve the above problems, the present invention provides an adaptive positioning and grasping device for non-standard workpieces, comprising:

[0005] A mounting seat is provided with a fixed block at the bottom of the mounting seat, a moving device is provided at the bottom of the fixed block, the moving device is connected to the mounting seat through a return mechanism, and a suction mechanism and a conical guide structure are provided at the bottom of the moving device.

[0006] Preferably, the mobile device comprises:

[0007] A Y-direction movable slide, the Y-direction movable slide is arranged at the bottom end of the fixed block, the bottom end of the Y-direction movable slide is slidably connected with a Y-direction movable slider, and a Y-direction restoring device is arranged between the Y-direction movable slider and the Y-direction movable slide;

[0008] An X-direction movable slider, the X-direction movable slider is slidably arranged at the bottom end of the Y-direction movable slider, and an X-direction restoring device is arranged between the X-direction movable slider and the Y-direction movable slider;

[0009] The suction mechanism and the conical guide structure are both arranged at the bottom end of the X-direction movable sliding block.

[0010] Preferably, the reply mechanism comprises:

[0011] A return groove is provided at the top of the mounting seat, and a ring block is fixed at the bottom of the inner wall of the return groove.

[0012] A rotating block, the bottom end of which is fixedly connected to the top end of the Y-axis movable slide, the other end of which passes through the fixed block and extends into the return groove to be fixedly connected to the torsion block, a torsion spring is provided between the torsion block and the annular block, and the torsion spring is sleeved on the rotating block.

[0013] Preferably, the Y-direction restoring device comprises:

[0014] A Y-direction return groove, the Y-direction return groove is provided at the bottom end of the Y-direction movable slide;

[0015] A Y-direction return block is arranged at the top of the Y-direction movable slider, the Y-direction return block is slidably connected in the Y-direction return groove, and a Y-direction return spring is arranged between the two sides of the Y-direction return block and the inner wall of the Y-direction return groove.

[0016] Preferably, the X-direction restoring device comprises:

[0017] An X-direction return groove, the X-direction return groove is provided at the bottom end of the Y-direction movable slider;

[0018] An X-direction return block is arranged at the top of the X-direction movable slider, the X-direction return block is slidably connected in the X-direction return groove, and an X-direction return spring is arranged between both sides of the X-direction return block and the inner wall of the X-direction return groove.

[0019] Preferably, screws are provided on the inner walls of the Y-direction return groove and the X-direction return groove.

[0020] Preferably, the tapered guide structure comprises:

[0021] Guide rods, two of which are arranged in parallel at the bottom ends of the X-direction movable sliders.

[0022] Preferably, the suction mechanism comprises:

[0023] A pneumatic suction nozzle, wherein the starting suction nozzle is arranged at the bottom end of the X-direction movable slider, and an air suction hole is arranged on the X-direction movable slider, and the air suction hole is communicated with the pneumatic suction nozzle.

[0024] Preferably, it further comprises: an angle control device, the angle control device comprising:

[0025] A top plate, the top plate is arranged parallel to the top of the mounting seat, a first ball sleeve is arranged at the bottom end of the top plate, and a first small ball is slidably engaged in the first ball sleeve;

[0026] A second ball sleeve, the second ball sleeve is arranged at the top of the mounting seat, a second small ball is slidably engaged in the second ball sleeve, and the first small ball and the second small ball are connected by a fixing rod;

[0027] A detector is provided in the X-direction movable slider;

[0028] Regulators, a plurality of regulators are evenly arranged between the top plate and the mounting seat.

[0029] The regulator comprises: an adjustment slot, the adjustment slot is arranged at the bottom end of the top plate, a servo motor is arranged in the adjustment slot, and the servo motor is electrically connected to the controller;

[0030] A moving rod, the moving rod is slidably connected in the adjusting groove, and the moving rod is provided with a connecting groove;

[0031] A transmission rod, one end of which is connected to the servo motor, and the other end of which is connected to the connecting groove via a thread.

[0032] Preferably, the detector comprises:

[0033] A detection cavity is arranged in the X-axis movable slider, a first spring groove is arranged at the top of the inner wall of the detection cavity, a detection rod is slidably connected in the first spring groove, a first spring is arranged between one end of the detection rod and the inner wall of the first spring groove, the other end of the detection rod extends into the detection cavity and is connected to the detection plate, and first pressure sensors are arranged at the four corners of the detection plate.

[0034] Compared with the prior art, the present invention has at least the following beneficial effects:

[0035] In the process of grabbing non-standard products, the adaptive positioning and grasping device for non-standard processed parts described in the present invention will preferentially contact the product end of the conical guide structure at the bottom end of the moving device. When the conical guide structure contacts the non-standard processed parts, the side wall of the non-standard processed parts will drive the conical guide structure to move, so that the conical guide structure drives the moving device to move in the XY direction, and the return mechanism is rotated to a certain extent, so that the suction cup mechanism is displaced to the top of the non-standard device, completing the positioning between the grasping device and the non-standard processed parts, and then the suction structure sucks and fixes the product to complete the grasping of the non-standard product, thereby reducing the difficulty of loading and unloading the product.

[0036] The present invention is an adaptive positioning and grasping device for non-standard workpieces. Other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technicians in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0038] Figure 1It is a structural schematic diagram of an adaptive positioning and grasping device for non-standard workpieces of the present invention;

[0039] Figure 2 It is a cross-sectional schematic diagram of an adaptive positioning and grasping device for non-standard workpieces of the present invention;

[0040] Figure 3 It is a partial side schematic diagram of an adaptive positioning and grasping device for non-standard workpieces of the present invention;

[0041] Figure 4 It is a structural schematic diagram of an adjuster of an adaptive positioning and grasping device for non-standard workpieces according to the present invention;

[0042] Figure 5 It is a structural schematic diagram of a detector of an adaptive positioning and grasping device for non-standard processed parts according to the present invention;

[0043] Figure 6 It is a partial schematic diagram of an angle adjustment device of an adaptive positioning and grasping device for non-standard workpieces according to the present invention;

[0044] Figure 7 The invention is an adaptive positioning and grasping device for non-standard processed parts Figure 6 A magnified schematic diagram of center A.

[0045] Explanation of reference numerals: 1. mounting seat; 2. fixing block; 3. Y-direction movable slide seat; 4. Y-direction movable slide block; 5. X-direction movable slide block; 6. guide rod; 7. return groove; 8. torsion block; 9. rotation block; 10. annular block; 11. torsion spring; 12. Y-direction return groove; 13. Y-direction return block; 14. Y-direction return spring; 15. screw; 16. pneumatic suction nozzle; 17. X-direction return groove; 18. X-direction return block; 19. X-direction return spring; 20. suction hole; 21. top plate; 22. first ball sleeve; 23. second ball sleeve; 24. fixing rod; 25. second small ball; 26, first small ball; 27, servo motor; 28, moving rod; 29, transmission rod; 30, connecting groove; 31, detection cavity; 32, first spring groove; 33, first spring; 34, detection rod; 35, detection plate; 36, first pressure sensor; 37, contact rod; 38, second pressure sensor; 39, airbag cavity; 40, moving plate; 41, second spring; 42, airbag; 43, pipeline; 44, piston; 45, display cavity; 46, transverse rod; 47, sliding plate; 48, third spring; 49, scale bar; 50, display block; 51, adjustment groove. DETAILED DESCRIPTION

[0046] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0047] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0048] like Figure 1-Figure 7 As shown, the present invention provides an adaptive positioning and grasping device for non-standard workpieces, comprising:

[0049] A mounting seat 1 is provided with a fixing block 2 at the bottom of the mounting seat 1, a moving device is provided at the bottom of the fixing block 2, the moving device is connected to the mounting seat 1 through a restoring mechanism, and a suction mechanism and a conical guiding structure are provided at the bottom of the moving device.

[0050] The working principle and beneficial effects of the above technical solution: In actual use, when grabbing non-standard products, the conical guide structure at the bottom end of the mobile device will preferentially contact the product end. When the conical guide structure contacts the non-standard workpiece, the side wall of the non-standard workpiece will drive the conical guide structure to move, so that the conical guide structure drives the mobile device to move in the XY direction, and the return mechanism rotates a certain amount to make the suction cup mechanism move to the top of the non-standard device, completing the positioning between the grabbing device and the non-standard workpiece, and then the suction structure sucks and fixes the product to complete the grabbing of the non-standard product, reducing the difficulty of loading and unloading the product.

[0051] In one embodiment, the mobile device comprises:

[0052] A Y-direction movable slide 3, the Y-direction movable slide 3 is arranged at the bottom end of the fixed block 2, the bottom end of the Y-direction movable slide 3 is slidably connected with a Y-direction movable slider 4, and a Y-direction restoring device is arranged between the Y-direction movable slider 4 and the Y-direction movable slide 3;

[0053] An X-direction movable slider 5, wherein the X-direction movable slider 5 is slidably disposed at the bottom end of the Y-direction movable slider 4, and an X-direction restoring device is disposed between the X-direction movable slider 5 and the Y-direction movable slider 4;

[0054] The suction mechanism and the conical guide structure are both arranged at the bottom end of the X-direction movable slider 5;

[0055] The Y-direction restoring device comprises:

[0056] A Y-direction return groove 12, the Y-direction return groove 12 is provided at the bottom end of the Y-direction movable slide 3;

[0057] A Y-direction return block 13, the Y-direction return block 13 is arranged at the top of the Y-direction movable slider 4, the Y-direction return block 13 is slidably connected in the Y-direction return groove 12, and a Y-direction return spring 14 is arranged between both sides of the Y-direction return block 13 and the inner wall of the Y-direction return groove 12;

[0058] The X-direction restoring device comprises:

[0059] An X-direction return groove 17, wherein the X-direction return groove 17 is provided at the bottom end of the Y-direction movable slider 4;

[0060] An X-direction return block 18 is disposed at the top of the X-direction movable slider 5. The X-direction return block 18 is slidably connected in the X-direction return groove 17. X-direction return springs 19 are disposed between both sides of the X-direction return block 18 and the inner wall of the X-direction return groove 17.

[0061] The working principle and beneficial effects of the above technical solution are as follows: in actual use, when the conical guide structure contacts a non-standard product, the conical guide structure drives the X-direction moving slider 5 to slide on the Y-direction moving slider 4, so that the X-direction return spring is compressed. At the same time, under the action of the X-direction moving slider 5, the Y-direction moving slider 4 will slide on the Y-direction moving slide seat 3, so that the Y-direction return spring is compressed; when the conical guide structure contacts the product, it drives the suction mechanism to move relative to the non-standard workpiece, completes the positioning between the suction mechanism and the workpiece, and then grabs the product; and the X-direction return device and the Y-direction return device can drive the moving slider back to the original position after the grabbing is completed, so as to facilitate the next grabbing.

[0062] In one embodiment, the response mechanism includes:

[0063] The return groove 7 is arranged at the top of the mounting seat 1, and the bottom end of the inner wall of the return groove 7 is fixed with an annular block 10

[0064] A rotating block 9, the bottom end of which is fixedly connected to the top end of the Y-direction movable slide 3, the other end of which passes through the fixed block 2 and extends into the return groove 7 to be fixedly connected to the torsion block 8, a torsion spring 11 is provided between the torsion block 8 and the annular block 10, and the torsion spring 11 is sleeved on the rotating block 9.

[0065] The working principle and beneficial effects of the above technical solution: in actual use, through the provided return structure, under the action of the return mechanism, the Y-axis movable slide 3 rotates a certain amount with the mount 1, causing the torsion spring 11 to twist, thereby facilitating the relative positioning between the suction mechanism and the non-standard workpiece.

[0066] In one embodiment, screws 15 are provided on the inner walls of the Y-direction return groove 12 and the X-direction return groove 17 .

[0067] The working principle and beneficial effects of the above technical solution are as follows: by rotating the screw 15, the initial deformation of the X-direction return spring 19 and the Y-direction return spring 12 is changed, thereby adjusting the force required for movement to avoid excessive force causing damage to the product.

[0068] In one embodiment, the tapered guide structure comprises:

[0069] Guide rods 6 , two guide rods 6 are arranged in parallel at the bottom ends of the X-direction movable slider 5 .

[0070] The working principle and beneficial effects of the above technical solution are as follows: When the two guide rods 6 are in contact with the product, the guide rods 6 drive the suction mechanism to move relative to the product through the X-axis moving slider, thereby completing the positioning of the grasping device and the workpiece.

[0071] In one embodiment, the suction mechanism comprises:

[0072] A pneumatic suction nozzle 16 is disposed at the bottom end of the X-direction movable slider 5 . An air suction hole 20 is disposed on the X-direction movable slider 5 . The air suction hole 20 is communicated with the pneumatic suction nozzle 16 .

[0073] The working principle and beneficial effects of the above technical solution: the pneumatic suction nozzle 16 is connected to the external air pump through the suction hole 20, so as to complete the suction and placement of the product.

[0074] In one embodiment, the invention further comprises: an angle control device, wherein the angle control device comprises:

[0075] A top plate 21, the top plate 21 is arranged parallel to the top of the mounting seat 1, a first ball sleeve 22 is arranged at the bottom end of the top plate 21, and a first small ball 26 is slidably engaged in the first ball sleeve 22;

[0076] A second ball sleeve 23, the second ball sleeve 23 is arranged at the top of the mounting seat 1, a second ball 25 is slidably engaged in the second ball sleeve 23, and the first ball 26 and the second ball 25 are connected by a fixing rod 24;

[0077] A detector is provided in the X-direction movable slider 5;

[0078] Regulators: a plurality of regulators are evenly arranged between the top plate 21 and the mounting seat 1 .

[0079] The regulator comprises: an adjustment slot 51, the adjustment slot 51 is arranged at the bottom end of the top plate 21, a servo motor 27 is arranged in the adjustment slot 51, and the servo motor 27 is electrically connected to the controller;

[0080] A moving rod 28, wherein the moving rod 28 is slidably connected to the adjusting groove 51, and a connecting groove 30 is provided on the moving rod 28;

[0081] A transmission rod 29 , one end of which is connected to the servo motor 27 , and the other end of which is connected to the connection groove 30 via a thread.

[0082] The detector comprises:

[0083] A detection cavity 31 is provided in the X-axis movable slider 5. A first spring groove 32 is provided at the top of the inner wall of the detection cavity 31. A detection rod 34 is slidably connected in the first spring groove 32. A first spring 33 is provided between one end of the detection rod 34 and the inner wall of the first spring groove 32. The other end of the detection rod 34 extends into the detection cavity 31 and is connected to a detection plate 35. First pressure sensors 36 are provided at the four corners of the detection plate 35.

[0084] The angle control device also includes:

[0085] A display cavity 45, the display cavity 45 is arranged in the X-direction movable slider 5, a scale bar 49 is arranged on the inner wall of the display cavity 45, and a display block 50 is slidably connected in the display cavity 45;

[0086] Measuring device, two adjacent measuring devices are symmetrically arranged in the X-direction movable slider 5, and the measuring devices are located on both sides of the display cavity 45. The measuring devices include:

[0087] An airbag cavity 39, the airbag cavity 39 is arranged in the X-direction movable slider 5, the airbag cavity 39 is located on one side of the display cavity 45, a movable plate 40 is slidably connected in the display cavity 39, an airbag 42 is between the movable plate 40 and the inner wall of the airbag cavity 39, and a second spring 41 is sleeved on the airbag 42;

[0088] A contact rod 37, one end of which is connected to the moving plate 40, and the other end of which extends into the starting nozzle 16 and is connected to a second pressure sensor 38, and the second pressure sensor 38 is electrically connected to the controller;

[0089] a pipe 43, one end of which is connected to the airbag 42, and the other end of which extends into the display cavity 45;

[0090] A transverse rod 46, one end of which is slidably connected to the first pipe 43 and connected to the piston 44, and the piston 44 is slidably connected to the pipe 43. The other end of the transverse rod 46 extends into the display cavity 45 and is connected to the sliding plate 47. A third spring 48 is provided between the sliding plate 47 and the pipe 43.

[0091] The working principle and beneficial effects of the above technical solution: in actual use, when installing the grasping device, after the grasping device is installed on the corresponding grasping mechanism through the top plate 21, when the grasping device is tilted, the liquid in the detection chamber 31 will tilt, and the tilted liquid will drive the detection plate 35 and the detection rod 34 to move in the compression direction of the first spring 33, so that there is an angle between the detection plate 35 and the liquid surface in the detection chamber 31, so that the pressure values ​​detected by the first pressure sensors 36 arranged at the four corners of the detection plate 35 are different, that is, the pressure value detected by the first pressure sensor 36 in the tilted direction of the grasping device is larger, and then the controller controls the servo motor 27 to start, and the servo motor 27 drives the transmission rod 29 to drive the detection plate 35 to move in the compression direction of the first spring 33. The movable moving rod 28 moves, so that the servo motor 27 corresponding to the larger pressure value detected by the first pressure sensor 36 drives the moving rod to move in the direction close to the servo motor 27, and the servo motor 27 corresponding to the smaller pressure value detected by the first pressure sensor 36 drives the moving rod to move in the direction away from the servo motor 27, until the pressure values ​​detected by the first pressure sensor 36 on the detection plate 35 are consistent, the horizontal adjustment of the grasping device is completed, avoiding the need for manual adjustment when installing the grasping device; at the same time, after the installation is completed, it is avoided that the angle difference between the two guide rods 6 after the moving grasping mechanism causes the relative positioning error between the grasping device and the workpiece when the guide rod 6 contacts the workpiece, thereby improving the accuracy;

[0092] After positioning is completed, the gripping device moves downward so that the starting suction nozzle 16 contacts the workpiece. At this time, the second pressure sensor 38 provided on the contact rod 37 contacts the workpiece. When there is a difference in the pressure values ​​measured by the two adjacent second pressure sensors 38, the controller adjusts the inclination angle of the gripping device through the servo motor 27 so that the pressure values ​​detected by the two second pressure sensors 38 are the same, indicating that both pneumatic suction nozzles 16 have completed contact with the workpiece, thereby avoiding the workpiece falling from the gripping device during movement due to the tilted placement or the special structure of the workpiece, which causes only one pneumatic suction nozzle 16 to contact the workpiece. Damage, at the same time, after the gripping device completes the gripping, the angle of the workpiece can be adjusted by the angle adjustment device to facilitate the loading and unloading switching of the workpiece between different carriers.

[0093] When the workpiece is tilted significantly, the controller controls the grasping device to move downward in the horizontal direction. During the downward process, one of the second pressure sensors 38 will first contact the workpiece. The controller controls the grasping device to continue to move downward horizontally. During the descent, the contact rod 37 corresponding to the second pressure sensor 38 that first contacts the workpiece will compress the airbag 42, so that the gas in the airbag 42 drives the sliding plate 47 to extend the third spring 48 through the piston 44 and the transverse rod 46 and move in the opposite direction, so that the sliding plate 47 pushes the display block 50 to move until both second pressure sensors 38 contact the workpiece. At this time, the value indicated by the display block 50 on the scale bar 49 is the tilt angle of the workpiece. The staff can adjust the placement angle of the products transported online according to the tilt angle, so as to facilitate the grasping of the grasping device.

[0094] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0095] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0096] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. An adaptive positioning and grasping device for non-standard workpieces, characterized in that: include: A mounting seat (1), wherein a fixing block (2) is provided at the bottom end of the mounting seat (1), a moving device is provided at the bottom end of the fixing block (2), the moving device is connected to the mounting seat (1) via a return mechanism, and a suction mechanism and a conical guide structure are provided at the bottom end of the moving device; The mobile device comprises: A Y-direction movable slide (3), the Y-direction movable slide (3) being arranged at the bottom end of the fixed block (2), the bottom end of the Y-direction movable slide (3) being slidably connected to a Y-direction movable slider (4), and a Y-direction restoring device being arranged between the Y-direction movable slider (4) and the Y-direction movable slide (3); An X-direction movable slider (5), the X-direction movable slider (5) being slidably disposed at the bottom end of the Y-direction movable slider (4), and an X-direction restoring device being disposed between the X-direction movable slider (5) and the Y-direction movable slider (4); The suction mechanism and the conical guide structure are both arranged at the bottom end of the X-direction movable slider (5); The response agencies include: A return groove (7), the return groove (7) being arranged at the top end of the mounting seat (1), and an annular block (10) being fixedly arranged at the bottom end of the inner wall of the return groove (7); a rotating block (9), wherein the bottom end of the rotating block (9) is fixedly connected to the top end of the Y-moving slide (3), the other end of the rotating block (9) passes through the fixed block (2) and extends into the return groove (7) to be fixedly connected to the torsion block (8), a torsion spring (11) is provided between the torsion block (8) and the annular block (10), and the torsion spring (11) is sleeved on the rotating block (9); The Y-direction restoring device comprises: A Y-direction return groove (12), wherein the Y-direction return groove (12) is arranged at the bottom end of the Y-direction movable slide seat (3); A Y-direction return block (13), the Y-direction return block (13) being arranged at the top end of the Y-direction movable slider (4), the Y-direction return block (13) being slidably connected in the Y-direction return groove (12), and a Y-direction return spring (14) being arranged between both sides of the Y-direction return block (13) and the inner wall of the Y-direction return groove (12); The X-direction restoring device comprises: An X-direction return groove (17), wherein the X-direction return groove (17) is arranged at the bottom end of the Y-direction movable slider (4); An X-direction return block (18), the X-direction return block (18) being arranged at the top end of the X-direction movable slider (5), the X-direction return block (18) being slidably connected in the X-direction return groove (17), and X-direction return springs (19) being arranged between both sides of the X-direction return block (18) and the inner wall of the X-direction return groove (17); Screws (15) are provided on the inner walls of the Y-direction return groove (12) and the X-direction return groove (17); In the process of grasping non-standard products, the conical guide structure at the bottom end of the mobile device will contact the product end first. When the conical guide structure contacts the non-standard workpiece, the side wall of the non-standard workpiece will drive the conical guide structure to move, so that the conical guide structure drives the mobile device to move in the XY direction. Through the return mechanism, a certain rotation is performed, so that the suction cup mechanism is moved to the top of the non-standard device, completing the positioning between the grasping device and the non-standard workpiece, and then the suction structure absorbs and fixes the product to complete the grasping of the non-standard product, reducing the difficulty of loading and unloading the product.

2. The adaptive positioning and grasping device for non-standard workpieces according to claim 1, characterized in that: The conical guide structure comprises: Guide rods (6), wherein two guide rods (6) are arranged in parallel at the bottom ends of the X-direction movable slider (5).

3. The adaptive positioning and grasping device for non-standard workpieces according to claim 1, characterized in that: The suction mechanism comprises: A pneumatic suction nozzle (16) is arranged at the bottom end of the X-direction movable slider (5); an air suction hole (20) is arranged on the X-direction movable slider (5); and the air suction hole (20) is communicated with the pneumatic suction nozzle (16).

4. The adaptive positioning and grasping device for non-standard workpieces according to claim 1, characterized in that: Also included: an angle control device, the angle control device comprising: A top plate (21), the top plate (21) being arranged parallel to the top of the mounting seat (1), a first ball sleeve (22) being arranged at the bottom end of the top plate (21), a first small ball (26) being slidably engaged in the first ball sleeve (22); A second ball sleeve (23), the second ball sleeve (23) being arranged at the top end of the mounting seat (1), a second small ball (25) being slidably engaged in the second ball sleeve (23), and the first small ball (26) and the second small ball (25) being connected via a fixing rod (24); A detector is provided in the X-direction movable slider (5); Regulators: a plurality of regulators are evenly arranged between the top plate (21) and the mounting seat (1).

5. The adaptive positioning and grasping device for non-standard workpieces according to claim 4, characterized in that: The detector comprises: A detection cavity (31), the detection cavity (31) being arranged in an X-direction movable slider (5), a first spring groove (32) being arranged at the top of the inner wall of the detection cavity (31), a detection rod (34) being slidably connected in the first spring groove (32), a first spring (33) being arranged between one end of the detection rod (34) and the inner wall of the first spring groove (32), the other end of the detection rod (34) extending into the detection cavity (31) and connected to a detection plate (35), and first pressure sensors (36) being arranged at four corners of the detection plate (35).

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