Mechanical arm elastic adsorption precision grabbing device and control system

Abstract

The application discloses a mechanical arm elastic adsorption precise grabbing equipment and a control system, and belongs to the technical field of mechanical hand carrying. The application comprises a numerical control mechanical arm, a feeding goods shelf is arranged on one side of the bottom of the numerical control mechanical arm, a conveying frame is arranged on the other side of the bottom of the numerical control mechanical arm, a visual sensor is arranged on one side of the top of the numerical control mechanical arm, and a guide connecting plate is arranged on the arm rod of the top of the numerical control mechanical arm. In the application, the overall elastic adsorption grabbing mechanism can improve the efficient, high-precision and safe adsorption grabbing operation on the goods waiting for transfer, the protection mechanism can be used in combination with the elastic adsorption grabbing mechanism and the grabbing supervision system, the outer elastic suction cup and the inner elastic suction cup which contact the adjacent goods corner regions are isolated and protected, the suction cup is effectively prevented from being pierced and damaged by the adjacent goods packaging corners, the edge suction cup is suctioned and cut off, and the running suction force of the suction cup of the target goods is improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm handling technology, specifically to a robotic arm elastic adsorption precision grasping device and control system. Background Technology

[0002] Goods handling machinery is a type of equipment widely used in the logistics and warehousing fields. Its main function is to move goods from one location to a warehouse or other designated location for storage. The handling robotic arm is usually installed in a fixed position or on a mobile platform. Through programming control, it can accurately grab and move goods, including cardboard, boxes and other packaging that are adapted to be picked up by the equipment. Chinese Patent No. CN221318633U discloses a cardboard adsorption and gripping device for corrugated cardboard box processing. It avoids the problem of dust and paper scraps being easily sucked in and causing blockage when adsorbing cardboard through a filter structure. It effectively prevents dust and debris from entering the air guide channel and air pipe, avoids the reduction of adsorption force due to blockage of the air inlet and air pipe, and improves the stability of the adsorption and gripping device during use. In light of the above, it should be noted that during actual use, the differences in size and height among the palletized goods on the feeding rack cause the adsorption gripping mechanism to easily pull in adjacent goods while gripping the target goods. However, the gripping area is small or the gripping force point is narrow, causing the adjacent goods to fall or shift significantly, severely interfering with subsequent continuous automated gripping. Furthermore, the edges and corners of adjacent packages can cause the adsorption gripping mechanism to be punctured or damaged when there is a height difference between the target goods and adjacent goods. This reduces the gripping force of the adsorption gripping mechanism for subsequent goods, creating the risk of goods falling midway. To address the aforementioned technical shortcomings, a solution is proposed. Summary of the Invention

[0003] The purpose of this invention is to provide a robotic arm elastic adsorption precision gripping device and control system, which effectively avoids the entanglement gripping caused by the poor shape of the goods, as well as the chain adverse reactions caused by the entanglement gripping, and improves the overall elastic adsorption gripping mechanism to perform efficient, high-precision and safe adsorption gripping operations on goods waiting to be transferred. This system utilizes a contact-type opening and closing negative pressure adsorption gripping mechanism to effectively prevent continuous suction without contact between some suction cups and the target goods, which would reduce the pneumatic adsorption force of the elastic adsorption gripping mechanism. By using a protective mechanism in conjunction with the elastic adsorption gripping mechanism and the gripping monitoring system, it isolates and protects the outer and inner elastic suction cups in contact with the corners of adjacent goods, effectively preventing the suction cups from being punctured or damaged by the corners of adjacent goods packaging, and also isolates the edge suction cups, thereby increasing the suction force of the suction cups in contact with the target goods and solving the aforementioned problems.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm elastic adsorption precision gripping device and control system, comprising a CNC robotic arm, a feeding rack provided on one side of the bottom of the CNC robotic arm, and a conveyor rack provided on the other side of the bottom of the CNC robotic arm, a vision sensor provided on one side of the top of the CNC robotic arm, a guide connecting plate provided on the top arm of the CNC robotic arm, and an elastic adsorption gripping mechanism provided at the bottom of the guide connecting plate, and a control panel provided on the outer side of the bottom of the CNC robotic arm; The elastic adsorption gripping mechanism includes an adjusting cylinder and a buffer chamber. A protective mechanism is provided between the adjusting cylinders. An outer elastic suction cup and an inner elastic suction cup are provided at the bottom of the buffer chamber. An air guide ring is embedded at the top of the outer elastic suction cup. The protective mechanism includes a top block and a storage rack. A flip plate is provided on the surface of the storage rack.

[0005] Furthermore, the top surface of the guide connecting plate is recessed with multiple sets of guide grooves, and a movable plate frame is slidably arranged above the guide grooves. A drive motor is arranged on the top of the movable plate frame, and a fan is arranged on the top of the drive motor.

[0006] Furthermore, a grille is provided on the outer casing of the fan, and an air duct connected to the bottom of the grille is provided at the bottom of the fan. A connecting rod is provided on the top of the fan, and a rotary cylinder that is sleeved with a CNC robotic arm is provided on the top of the connecting rod.

[0007] Furthermore, the bottom of the buffer chamber is provided with multiple sets of sliding rods that connect to the outer elastic suction cup at equal intervals, the bottom surface of the buffer chamber is provided with multiple sets of air jet frames, the top of the outer elastic suction cup is provided with a through-hole that connects the sliding rod and the inner elastic suction cup, and the air guide ring is engaged inside the through-hole. The top of the air guide ring is provided with multiple sets of support rods in a ring array, and the surface of the air guide ring is provided with multiple sets of T-shaped through-slots in a ring array.

[0008] Furthermore, a protrusion is provided on the outer peripheral wall of the bottom of the inner elastic suction cup, a rotating disk is provided on the inner top wall of the outer elastic suction cup, and a take-up reel is conductively connected to the top side of the rotating disk. A slide is provided on the side of the take-up reel near the T-shaped slot, and a sliding sealing plate inserted into the T-shaped slot is provided inside the slide. The sliding sealing plate is provided with multiple traction lines connecting the take-up reel, the rotating disk, and the protrusion.

[0009] Furthermore, a rotary cylinder two is provided at the bottom of the top block, and a telescopic cylinder connected to the storage rack is provided at the bottom of the rotary cylinder two. A rotary cylinder three connected to the flip plate is provided on the inner wall of the bottom of the storage rack.

[0010] A control system for a robotic arm elastic adsorption precision grasping device, wherein the control panel is equipped with a monitoring center, a comprehensive data acquisition unit, a risk initial classification unit, a risk secondary classification unit, and a component control unit; The integrated data acquisition unit immediately collects the placement status parameters FZ of the target goods on the feeding shelf. The placement status parameters include the adjacent value FZh and the grab difference value FZc, and sends the adjacent value FZh and the grab difference value FZc to the initial risk classification unit and the secondary risk classification unit, respectively. After receiving the adjacent goods value FZh, the initial risk segmentation unit divides and analyzes the contact edges between the target goods and adjacent goods at equal intervals, obtains the primary alarm signal and the secondary alarm signal, and sends the primary alarm signal and the secondary alarm signal to the secondary risk segmentation unit. After receiving the difference value FZc, the primary alarm signal, and the secondary alarm signal, the risk sub-unit obtains the preset out-of-range value from the monitoring platform and compares it with the difference value FZc to generate a control and protection signal, which is then sent to the component control unit.

[0011] The beneficial effects of this invention are: This invention collects interference data between the target cargo and adjacent cargo, analyzes the data to obtain relevant signals, and then controls the elastic adsorption gripping mechanism to perform targeted gripping of the target cargo. This effectively avoids the entanglement gripping caused by the difference in cargo shape, as well as the chain reaction of adverse reactions caused by entanglement gripping, and improves the overall elastic adsorption gripping mechanism to perform efficient, high-precision and safe adsorption gripping operations on cargo waiting to be transferred. This invention utilizes the interconnected structure of the outer elastic suction cup, the inner elastic suction cup, and the air guide ring to create a contact-type opening and closing negative pressure adsorption gripping of the target goods. This effectively prevents continuous suction without contact between some suction cups and the target goods, which would reduce the pneumatic adsorption force of the elastic adsorption gripping mechanism. By using a protective mechanism in conjunction with the elastic adsorption gripping mechanism and the gripping monitoring system, the outer and inner elastic suction cups in contact with the corners of adjacent goods are isolated and protected. This effectively prevents the suction cups from being punctured or damaged by the corners of adjacent goods packaging and isolates the edge suction cups, thereby improving the suction force of the suction cups in contact with the target goods. Attached Figure Description

[0012] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings; Figure 1 This is a perspective view of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the guide connecting plate of the present invention; Figure 3 This is a schematic diagram of the structure of the fan of the present invention; Figure 4This is a schematic diagram of the elastic adsorption and gripping mechanism of the present invention; Figure 5 This is a schematic diagram of the elastic adsorption gripping mechanism and the protective mechanism of the present invention; Figure 6 This is a schematic diagram of the protective mechanism of the present invention; Figure 7 This is a schematic diagram of the structure of the external elastic suction cup of the present invention; Figure 8 This is a schematic diagram of the internal structure of the external elastic suction cup of the present invention; Figure 9 This is a schematic diagram of the air guide ring disk of the present invention; Figure 10 This is a schematic diagram of the area grasped by the system of the present invention.

[0013] Reference numerals: 1. CNC robotic arm; 2. Feeding rack; 3. Conveyor frame; 4. Vision sensor; 5. Elastic adsorption gripping mechanism; 501. Adjusting cylinder; 502. Buffer chamber; 503. Slide bar; 504. Outer elastic suction cup; 505. Inner elastic suction cup; 506. Air jet frame; 507. Plug; 508. Air guide ring; 509. Sliding sealing plate; 510. Slide frame; 511. Traction line; 512. Rewinding reel; 513. Rotary 514. Disc; 515. T-slot; 6. Support rod; 7. Guide connecting plate; 601. Guide groove; 602. Moving plate frame; 603. Drive motor; 604. Grille; 605. Connecting rod; 606. Rotary cylinder one; 607. Fan; 608. Air duct; 7. Protection mechanism; 701. Top block; 702. Rotary cylinder two; 703. Telescopic cylinder; 704. Storage rack; 705. Flip plate; 706. Rotary cylinder three. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] Example 1: This example addresses the problem that differences in size and height among palletized goods on the receiving rack cause the adsorption gripping mechanism to easily grab adjacent goods along with the target goods during the gripping process. However, the gripping area is small or the gripping force point is narrow, resulting in the adjacent goods falling off midway or being seriously displaced, which seriously interferes with subsequent continuous automated gripping.

[0016] Please see Figure 1 - Figure 10As shown, this embodiment is a robotic arm elastic adsorption precision gripping device, including a CNC robotic arm 1, a feeding rack 2 is provided on one side of the bottom of the CNC robotic arm 1, and a conveyor rack 3 is provided on the other side of the bottom of the CNC robotic arm 1. A vision sensor 4 is provided on one side of the top of the CNC robotic arm 1, a guide connecting plate 6 is provided on the top arm of the CNC robotic arm 1, and an elastic adsorption gripping mechanism 5 is provided at the bottom of the guide connecting plate 6. A control panel is provided on the outer side of the bottom of the CNC robotic arm 1. When the feeding rack 2 transports a batch of goods to the designated location, the CNC robotic arm 1 starts. When the CNC robotic arm 1 approaches the feeding rack 2, the vision sensor 4 starts and scans and collects the status of each group of goods on the feeding rack 2. After analysis by the external database, the CNC robotic arm 1 is controlled to run, targeting and locking the target goods from top to bottom, and performing adsorption and grasping processing. The top surface of the guide connecting plate 6 is recessed with multiple sets of guide grooves 601, and a movable plate frame 602 is slidably arranged above the guide grooves 601. A drive motor 603 is arranged on the top of the movable plate frame 602, and a fan 607 is arranged on the top of the drive motor 603. When the CNC robotic arm 1 grabs and transfers the target goods to the conveyor frame 3 through the elastic adsorption gripping mechanism 5, it pauses near the surface of the conveyor frame 3. Based on the detection of the target goods by the vision sensor 4 and the industrial camera, the CNC robotic arm 1 is controlled after analysis by the external database. The bottom of the CNC robotic arm 1 is equipped with a rotary cylinder 4, which drives the guide connecting plate 6, the elastic adsorption gripping mechanism 5 and the target goods to rotate uniformly until the side of the target goods with the label attached faces the label recognition machine arranged on the side of the conveyor frame 3. After the adjustment is completed, the grabbed target goods are placed on the conveyor frame 3, and the fan 607 stops running. A grille 604 is provided on the outer casing of the blower 607, and an air duct 608 connected to the bottom of the blower 607 is provided at the bottom of the grille 604. A connecting rod 605 is provided on the top of the blower 607, and a rotary cylinder 606 sleeved with the CNC robotic arm 1 is provided on the top of the connecting rod 605. When the outer elastic suction cup 504 and the inner elastic suction cup 505 are fully pressed and attached to the surface of the target goods, the blower 607 is started. The blower 607 is connected to the slide rod 503 through the air duct 608, and is connected to the outer elastic suction cup 504 and the inner elastic suction cup 505 through the slide rod 503 and the air guide ring 508, so as to adsorb the target goods at the bottom of the elastic adsorption gripping mechanism 5. The blower 607 only operates during cleaning and adsorption gripping.

[0017] Example 2: This example is a robotic arm elastic adsorption precision gripping device, including an elastic adsorption gripping mechanism 5 including an adjusting cylinder 501 and a buffer chamber 502. A protective mechanism 7 is provided between the adjusting cylinders 501. An outer elastic suction cup 504 and an inner elastic suction cup 505 are provided at the bottom of the buffer chamber 502. An air guide ring 508 is embedded at the top of the outer elastic suction cup 504. The protective mechanism 7 includes a top block 701 and a storage frame 704. A flip plate 705 is provided on the surface of the storage frame 704. The bottom of the buffer chamber 502 is provided with multiple sets of sliding rods 503 that connect to the outer elastic suction cups 504 at equal intervals. The bottom surface of the buffer chamber 502 is provided with multiple sets of jet frames 506. The top of the outer elastic suction cups 504 is provided with a through-hole that connects the sliding rods 503 and the inner elastic suction cups 505. The air guide ring 508 is snapped into the through-hole. The top of the air guide ring 508 is provided with multiple sets of support rods 515 in a ring array. The surface of the air guide ring 508 is provided with multiple sets of T-shaped through-slots 514 in a ring array. When the CNC robotic arm 1 drives the elastic adsorption gripping mechanism 5 to approach the target goods, the fan 607 is briefly started. The fan 607 is connected to the jet frame 506 through the pipe and guides part of the airflow along the jet frame 506 to blow towards the target goods, cleaning the impurities on the surface of the target goods. The bottom of the outer elastic suction cup 504 is made of soft rubber, and the top of the inner elastic suction cup 505 is made of soft rubber. The outer elastic suction cup 504 and the inner elastic suction cup 505 simultaneously contact the top of the target goods. The soft rubber structure at the bottom of the outer elastic suction cup 504 covers and contacts the surface of the target goods and is pressed down and deformed by the CNC robotic arm 1. The inner elastic suction cup 505 is simultaneously subjected to force and contacts the target goods. Its bottom is subjected to force and squeezes the soft rubber at the top, thus achieving contact on the surface of the target goods. The inner elastic suction cup 505 has a protrusion 507 on its bottom outer peripheral wall, and the outer elastic suction cup 504 has a rotating disk 513 on its top inner wall. The rotating disk 513 is connected to a take-up disk 512 on its side top. The take-up disk 512 has a slide 510 near the T-shaped slot 514 on its side. The slide 510 has a sliding sealing plate 509 inserted into the T-shaped slot 514 inside. The sliding sealing plate 509 has multiple traction lines 511 connecting the take-up disk 512, the rotating disk 513 and the protrusion 507. During the upward sliding of the inner elastic suction cup 505, it drives one section of the traction line 511 through the protrusion 507. The other end of the traction line 511 is wound around the rotating disk 513. The rotating disk 513 is dragged and rotated by the traction line 511. There are multiple sets of meshing gears between the rotating disk 513 and the take-up disk 512. The rotating disk 513 drives the take-up disk 512 to rotate through the gears. The rotation of the take-up disk 512 drives another section of the traction line 511 to drag the sliding sealing plate 509. The sliding sealing plate 509 is pulled into the carriage 510. When the sliding sealing plate 509 enters the carriage 510, it squeezes the spring damper provided inside the carriage 510. When the sliding sealing plate 509 enters the carriage 510 and moves away from the T-shaped through slot 514, the T-shaped through slot 514 is unobstructed by the sliding sealing plate 509 and remains unobstructed. The top block 701 is equipped with a rotary cylinder 702 at its bottom, and the rotary cylinder 702 is equipped with a telescopic cylinder 703 connected to the storage rack 704 at its bottom. The storage rack 704 is equipped with a rotary cylinder 706 connected to the flip plate 705 on its bottom inner wall. As the elastic adsorption gripping mechanism 5 approaches the target goods, the bottom of both ends of the movable plate frame 602 is equipped with drive wheels connected to the guide groove 601, depending on the position of the target goods on the feeding rack 2. The drive motor 603 drives the drive wheels through the transmission rod and coupling, thereby causing the movable plate frame 602 to slide on the top of the guide connecting plate 6. This is used to cooperate with the CNC robotic arm 1 to fine-tune the elastic adsorption gripping mechanism 5 to fit the target goods, thereby improving the stability of gripping the target goods.

[0018] Example 3: This example is used to solve the problem that when there is a drop between the target goods and the adjacent goods, the adsorption and gripping mechanism is easily punctured or damaged by the adjacent adsorption and gripping corners, which reduces the gripping force of the adsorption and gripping mechanism on subsequent goods and causes the goods to fall midway. This embodiment is a control system for a robotic arm elastic adsorption precision grasping device, including a control panel. The control panel is connected to an external database to form a grasping monitoring system. The control panel is equipped with a monitoring center, a comprehensive data acquisition unit, a risk initial classification unit, a risk secondary classification unit, and a component control unit. The grasping and monitoring system generates monitoring instructions during the operation of the CNC robotic arm 1 and sends the monitoring instructions to the integrated data acquisition unit. After receiving the monitoring instructions, the integrated data acquisition unit immediately collects the placement status parameters FZ of the target goods on the feeding shelf. The placement status parameters include the adjacent value FZh and the grasp difference value FZc. The adjacent value FZh represents the height difference between the target goods and the adjacent goods, and the grasp difference value FZc represents the difference between the fixed grasping area of ​​the elastic adsorption grasping mechanism and the graspable area on the top of the target goods. The adjacent value FZh and the grasp difference value FZc are sent to the initial risk classification unit and the secondary risk classification unit, respectively. After receiving the adjacent goods value FZh, the risk initialization unit divides the side length of the contact edge between the target goods and adjacent goods into n equal-length regions f, where n is a natural number greater than zero. An industrial camera mounted on a CNC robotic arm then collects data to determine whether the corner position p of the adjacent goods lies within these equal-length regions. If the corner position p is within the range of the equal-length area f, it is determined that there is a risk of damage to the elastic adsorption gripping mechanism 5, and a primary alarm signal is generated and sent to the risk sub-unit. If the corner position p is not within the range of the equal-length region f, no signal is generated; The preset threshold range for the difference between goods and neighboring goods is obtained from the monitoring center and compared with the goods and neighboring goods value FZh: If the adjacent goods value FZh is greater than or equal to the preset adjacent goods difference range threshold, it is determined that there is an extremely high risk in the adjacent goods, a level 2 alarm is generated, and the level 2 alarm is sent to the risk sub-unit. If the adjacent goods value FZh is less than the preset adjacent goods difference range threshold, no signal will be generated; After receiving the deviation value FZc, the primary alarm signal, and the secondary alarm signal, the risk sub-unit retrieves the preset out-of-range value from the monitoring platform and compares it with the deviation value FZc: If the difference value FZc is greater than the preset out-of-range value, it is determined that during the grasping of the target, part of the suction cup extends close to the adjacent goods, and a control protection signal is generated and sent to the component control unit. If the difference value FZc is less than or equal to the preset out-of-range value, no signal will be generated; When the component control unit receives the regulation and protection signal, it immediately controls the regulating cylinder 501 to work. The regulating cylinder 501 drives the telescopic cylinder 703 to move through the top block 701. The telescopic cylinder 703 drives the storage rack 704 to move closer to the outer elastic suction cup 504 located above the adjacent goods. The rotary cylinder 702 drives the telescopic cylinder 703 to deflect as a whole. The telescopic cylinder 703 drives the storage rack 704 to rotate synchronously until the flip plate 705 faces the outer elastic suction cup 504. As the elastic adsorption gripping mechanism 5 continues to slide down and approach the target goods, the telescopic cylinder 703 drives the storage rack 704 to extend and approach the adjacent goods. The rotary cylinder 702 drives the telescopic cylinder 703 to rotate until one side of the flip plate 705 is rotated towards the area between the top of the adjacent goods and the bottom of the outer elastic suction cup 504. The rotary cylinder 702 drives the flip plate 705 to rotate and flip outward along the bottom of the storage rack 704 until the outer wall of the rotating plate is attached to the bottom of the outer elastic suction cup 504. The telescopic cylinder 703 drives the flip plate 705 to slide upward until it is attached to the bottom of the outer elastic suction cup, and the elastic adsorption gripping mechanism 5 slides down and contacts the top of the adjacent goods.

[0019] As can be seen from Embodiments 1, 2, and 3, the elastic adsorption gripping mechanism 5 can be adjusted to perform targeted gripping of target goods, effectively avoiding entanglement gripping caused by differences in goods shape and the chain reaction of adverse reactions caused by entanglement gripping. This improves the overall efficiency, precision, and safety of the elastic adsorption gripping mechanism 5 in adsorbing and gripping goods waiting for transfer. It can also effectively prevent some suction cups from continuously sucking without contacting the target goods, which would reduce the pneumatic adsorption force of the elastic adsorption gripping mechanism 5 on the target goods. By using the protection mechanism 7 in conjunction with the elastic adsorption gripping mechanism 5 and the gripping monitoring system, the outer elastic suction cup 504 and inner elastic suction cup 505 in contact with the corners of adjacent goods are isolated and protected, effectively preventing the suction cups from being punctured and damaged by the corners of adjacent goods packaging, and isolating the edge suction cups, thereby improving the suction force of the suction cups in contact with the target goods.

[0020] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

[0021] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0022] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A robotic arm elastic adsorption precision gripping device, comprising a CNC robotic arm (1), wherein a feeding rack (2) is provided on one side of the bottom of the CNC robotic arm (1), and a conveyor rack (3) is provided on the other side of the bottom of the CNC robotic arm (1), and a vision sensor (4) is provided on one side of the top of the CNC robotic arm (1), characterized in that, The CNC robotic arm (1) has a guide connecting plate (6) on its top arm, and an elastic adsorption gripping mechanism (5) is provided at the bottom of the guide connecting plate (6). The CNC robotic arm (1) has a control panel on its bottom outer side. The elastic adsorption gripping mechanism (5) includes an adjusting cylinder (501) and a buffer chamber (502). A protective mechanism (7) is provided between the adjusting cylinders (501). An outer elastic suction cup (504) and an inner elastic suction cup (505) are provided at the bottom of the buffer chamber (502). An air guide ring (508) is embedded at the top of the outer elastic suction cup (504). The protective mechanism (7) includes a top block (701) and a storage rack (704). A flip plate (705) is provided on the surface of the storage rack (704). The top surface of the guide connecting plate (6) is recessed with multiple sets of guide grooves (601), and a movable plate frame (602) is slidably arranged above the guide grooves (601). A drive motor (603) is arranged on the top of the movable plate frame (602), and a fan (607) is arranged on the top of the drive motor (603). A grille (604) is provided on the outer periphery of the fan (607), and an air duct (608) connected to the bottom of the fan (607) is provided at the bottom of the grille (604). A connecting rod (605) is provided at the top of the fan (607), and a rotary cylinder (606) sleeved with the CNC robotic arm (1) is provided at the top of the connecting rod (605). The top block (701) is provided with a rotary cylinder two (702) at the bottom, and the rotary cylinder two (702) is provided with a telescopic cylinder (703) connected to the storage rack (704) at the bottom. The storage rack (704) is provided with a rotary cylinder three (706) connected to the flip plate (705) on the inner wall at the bottom. The control system of the robotic arm elastic adsorption precision grasping device is used in the above-mentioned robotic arm elastic adsorption precision grasping device. The control panel is equipped with a monitoring center, a comprehensive data acquisition unit, a risk initial classification unit, a risk secondary classification unit, and a component control unit. The integrated data acquisition unit immediately collects the placement status parameters FZ of the target goods on the feeding shelf. The placement status parameters include the adjacent value FZh and the grab difference value FZc, and sends the adjacent value FZh and the grab difference value FZc to the initial risk classification unit and the secondary risk classification unit, respectively. After receiving the adjacent goods value FZh, the initial risk segmentation unit divides and analyzes the contact edges between the target goods and adjacent goods at equal intervals, obtains the primary alarm signal and the secondary alarm signal, and sends the primary alarm signal and the secondary alarm signal to the secondary risk segmentation unit. After receiving the difference value FZc, the primary alarm signal, and the secondary alarm signal, the risk sub-unit obtains the preset out-of-range value from the monitoring platform and compares it with the difference value FZc to generate a control and protection signal, which is then sent to the component control unit.

2. The robotic arm elastic adsorption precision gripping device according to claim 1, characterized in that, The bottom of the buffer chamber (502) is provided with multiple sets of sliding rods (503) that connect to the outer elastic suction cup (504) at equal intervals. The bottom surface of the buffer chamber (502) is provided with multiple sets of jet racks (506). The top of the outer elastic suction cup (504) is provided with a through-hole that connects the sliding rod (503) and the inner elastic suction cup (505). The air guide ring disk (508) is snapped into the through-hole. The top of the air guide ring disk (508) is provided with multiple sets of support rods (515) in a ring array. The surface of the air guide ring disk (508) is provided with multiple sets of T-shaped through-slots (514) in a ring array.

3. The robotic arm elastic adsorption precision gripping device according to claim 2, characterized in that, The inner elastic suction cup (505) has a protrusion (507) on its bottom outer peripheral wall, and the outer elastic suction cup (504) has a rotating disk (513) on its top inner wall. The rotating disk (513) is connected to a take-up disk (512) on its side top. The take-up disk (512) has a slide (510) near the T-shaped slot (514) on its side. The slide (510) has a sliding sealing plate (509) inserted into the T-shaped slot (514) inside. The sliding sealing plate (509) has multiple traction lines (511) connecting the take-up disk (512), the rotating disk (513) and the protrusion (507).

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