Self-adaptive three-dimensional grabbing and sorting manipulator device

Abstract

A self-adaptive three-dimensional grabbing and sorting manipulator device comprises a main body shell, the main body shell is of a barrel-shaped structure which is buckled downwards, a soft bag layer is arranged in the main body shell in a sleeved mode, bags of the soft bag layer are filled with flowing media, and the inner side space of the soft bag layer is a grabbing cavity; a plurality of creeping turning strips are arranged on the circumferential surface of the inner side of the soft bag layer, and creeping grabbing points are arranged on the inner sides of the creeping turning strips; a detection device for detecting the shape state of a grabbed object is arranged in the main body shell and controls the appointed wriggling overturning strip to move back and forth, a wriggling grabbing point on the driven wriggling overturning strip is tightly attached to the side face of the grabbed object, the grabbed object is driven to overturn in the axial direction of the main body shell, and the grabbed object stops after being overturned to the appointed shape orientation; and the grabbed object is kept in a specified shape orientation state. According to the mechanical arm, safer grabbing action can be achieved, too much space occupied by mechanical arm installation is reduced, and the product sorting efficiency is improved.

Description

Technical Field

[0001] The invention relates to a robot technology, in particular to an adaptive three-dimensional grasping and sorting robot device. Background Art

[0002] In today's industrial production, most products need to go through multiple processing steps and subsequent finishing. Generally, modern assembly line operations use different types of robotic arms to perform auxiliary operations in the process or between processes, such as transferring products and flipping products, so that the products can reach or adjust to the set placement state as needed. Today's robotic arms and manipulators mainly use two methods: clamping with clips or claws and suction cup adsorption. Before grasping, it is necessary to use additional detection equipment to detect the physical state of the product's shape, direction or position, and then control the manipulator to clamp the specified part. After grasping, the necessary rotation in the two-dimensional plane direction is performed to adjust the placement direction so that it can be placed in the designed direction when placed in the target position.

[0003] However, after this type of robot grabs a product on a plane, it can generally only control the rotation in the two-dimensional horizontal direction, otherwise it cannot place the product according to the grabbing direction. If you want to achieve rotation adjustment in the vertical direction, you need to grab it from the side, then rotate and adjust it in the vertical direction, and then place it in the specified position. This requires additional design of side movement space for the robot, which increases the space occupied by the product conveying path. Or it is necessary to set up a robot arm with more limbs to complete the three-dimensional rotation adjustment, which is more expensive and takes up a larger space. Moreover, whether it is a hard mechanical claw or a mechanical claw with a rubber buffer layer, it is easy to cause damage to the product due to differences in clamping force or direction. Summary of the invention

[0004] The technical problem solved by the present invention is to provide an adaptive three-dimensional grasping and sorting robot device, which can grasp products without damage and flip the products to a specified shape and orientation inside the robot after grasping, so that the overall operation of the robot is simpler and the space occupancy of the assembly line is reduced.

[0005] The technical solution of the present invention is:

[0006] An adaptive three-dimensional grasping and sorting manipulator device, comprising a main body shell, the main body shell is a downward buckled cylindrical structure, a soft capsule layer is set inside the main body shell, the capsule of the soft capsule layer is filled with a flowing medium, the soft capsule layer is a hollow tubular structure, and the inner space of the soft capsule layer is a grasping cavity;

[0007] A plurality of peristaltic flipping strips are arranged at set angles on the inner circumferential surface of the soft body bladder layer, and the peristaltic flipping strips are arranged axially along the inner side of the soft body bladder layer. The lower end of the peristaltic flipping strip bypasses the lower end of the soft body bladder layer to the outer side of the main body shell and is connected to a reel; the upper end of the peristaltic flipping strip passes through the top of the soft body bladder layer and is connected to a reeling drive arranged on the top of the main body shell, and a peristaltic gripping point is arranged on the inner side of the peristaltic flipping strip;

[0008] A detection device for detecting the shape state of the grasped object is provided in the main body shell, the detection device detects the shape orientation information of the grasped object and sends the shape orientation information to the control center;

[0009] The control center receives and processes the shape orientation information, controls the action of the specified winding drive, pulls the specified peristaltic flip bar to move back and forth along the axial direction of the main shell, and the peristaltic grasping points on the driven peristaltic flip bar are tightly attached to the side of the grasped object, driving the grasped object to flip along the axial direction of the main shell. The grasped object stops after flipping to the specified shape orientation, keeping the grasped object in the specified shape orientation state.

[0010] The self-adaptive three-dimensional grasping and sorting robot device as described above, wherein the following control steps are used to carry out the product grasping operation:

[0011] The control center is activated to control the bottom opening of the gripping cavity in the soft capsule layer to buckle onto the corresponding grasped object, and the soft capsule layer is attached to the outer surface of the grasped object;

[0012] Lift the main body shell, place the grasped object in the grasping cavity, and grasp the grasped object through the inner side of the soft capsule layer;

[0013] Control the designated reel-up driver to move, pull the designated peristaltic flip bar to move back and forth along the axial direction of the main shell, the peristaltic gripping point on the driven peristaltic flip bar is pressed against the side of the grasped object, driving the grasped object to flip along the axial direction of the main shell, the grasped object stops after flipping to the designated shape and orientation, and keeps the grasped object in the designated shape and orientation; and moves the grasped object to above the designated position;

[0014] Control the folding plate to open outwards, and at the same time move the folded portion of the soft bag layer downwards close to the surface of the designated position; release the soft bag layer, and drop the grasped object with the adjusted placement direction to the designated position;

[0015] Lift the main housing and move over the next product with grip.

[0016] As described above, the adaptive three-dimensional grasping and sorting robot device, wherein the peristaltic flipping bar is an inflatable strip structure, a convex bag is provided on the inner side of the peristaltic flipping bar, and the peristaltic grasping point is provided on the lower side surface of the convex bag structure.

[0017] As described above, in the adaptive three-dimensional grasping and sorting robot device, in the control method step, before pulling the specified peristaltic flip bar, air is pumped into the peristaltic flip bar to make the protrusion package protrude outward, and the peristaltic grasping point sticks to the outer surface of the grasped object.

[0018] In the adaptive three-dimensional grasping and sorting robot device as described above, the detection device is installed at the upper end of the main body shell and is arranged directly opposite to the grasped object, and the detection device is an image detector.

[0019] The adaptive three-dimensional grasping and sorting manipulator device as described above, wherein the lower end of the soft capsule layer is provided with a folding portion, and a plurality of folding plates are correspondingly provided outside the folding portion, and the bottom of each folding plate is hinged to the lower edge of the main body shell; the folding plate is provided with a folding drive mechanism for pushing the folding plate from the outside to the inside to fold to a specified position;

[0020] In the control step, after the control center is activated, the folding drive mechanism is first controlled to drive the folding plate to an outward horizontal position, open the bottom opening of the gripping cavity, and buckle on the corresponding grasped object;

[0021] Then, the folding driving mechanism is controlled to drive the folding driving mechanism to cover the bottom of the soft capsule layer inwardly, and at the same time, the main body shell is lifted;

[0022] When the grasped object is moved to above the designated position, the folding plate is controlled to open outwards, and at the same time, the folded portion of the soft bag layer is moved downwards close to the surface of the designated position; the soft bag layer is released, and the grasped object with the adjusted placement direction falls to the designated position.

[0023] In the self-adaptive three-dimensional grasping and sorting robot device as described above, the folding portion is provided with a through hole, and the peristaltic turning strip passes through the through hole and is connected to the retractor.

[0024] From the above description, it can be seen that the present invention has the following advantages:

[0025] The adaptive three-dimensional grasping and sorting manipulator device of the present invention changes the structure and clamping action mode of the conventional manipulator through ingenious design, forms an action mode similar to soft swallowing, and "eats" the product into the grasping cavity of the manipulator. Since the soft capsule layer is a soft layer formed by filling the medium, it can effectively protect the product from being damaged or worn. Through the setting of the peristaltic flip bar in the grasping cavity, the product can be flipped along the direction of the axis of the grasping cavity with the peristaltic flip bar at the specified position. It is not necessary to clamp the product from the side and then flip it like the existing manipulator, but directly flip it inside the manipulator. When it is moved to the designated placement position, it can be directly placed on the placement plane to achieve the purpose of placing the product in the specified shape and direction. The present invention is novel in conception, breaks through the conventional design mode of the existing manipulator, realizes a more effective operation mode of the manipulator, and can also effectively reduce the assembly line because the manipulator needs to perform multiple rotations and requires a larger installation space, or adopts a structure with more mechanical limbs to reduce space occupancy, reduce the cost of the manipulator, and improve product competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic cross-sectional structure diagram of a preferred embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure after grabbing a product in a preferred embodiment of the present invention;

[0028] Figure 3 It is a schematic diagram of the local structure of the peristaltic flipping strip of the present invention;

[0029] Figure 4 It is a schematic diagram of the local structure of the peristaltic flip bar of the present invention after air is evacuated. DETAILED DESCRIPTION

[0030] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0031] The present invention proposes an adaptive three-dimensional grasping and sorting robot device. In a preferred embodiment, please refer to Figure 1 to Figure 2As shown, preferably, the adaptive three-dimensional grasping and sorting manipulator device of the present invention includes a main body shell 1, and the main body shell 1 is a cylindrical structure buckled downward, and a soft capsule layer 2 is installed inside the main body shell 1, and the capsule of the soft capsule layer 2 is filled with a flowing medium. Preferably, the soft capsule layer 2 can be an airbag structure or a capsule structure filled with liquid, which is used to cover and clamp the product to achieve full coverage without damaging the product. The soft capsule layer 2 is a hollow tubular structure, and its inner space is a grasping cavity. The font shell is buckled downward on the corresponding product, and the product enters the grasping cavity. Through the coating of the soft capsule layer 2, the product can be grasped and kept in the grasping cavity without falling. In addition, a connecting structure for connecting an external transmission mechanism is also provided on the top of the main body shell 1, which can be used to be installed on other robotic arms, fixed brackets, or some mobile mechanisms to achieve corresponding installation requirements.

[0032] A plurality of peristaltic flipping strips 3 are provided at set angle distances on the inner circumferential surface of the soft capsule layer 2, and the peristaltic flipping strips 3 are axially arranged along the inner side of the soft capsule layer 2, and the lower end of the peristaltic flipping strip 3 bypasses the lower end of the soft capsule layer 2 to the outside of the main shell 1, and is connected to a reel, which is preferably fixed to the outer side of the main shell 1; the upper end of the peristaltic flipping strip 3 passes through the top of the soft capsule layer 2, and is connected to a reeling drive arranged on the top of the main shell 1, and a peristaltic gripping point 4 is provided on the inner side of the peristaltic flipping strip 3; through the retraction and release action of the reeling drive, it can be used to drive the peristaltic flipping strip 3 to move back and forth The product is rotated by the peristaltic flip bar 3, and the peristaltic gripping point 4 on the peristaltic flip bar 3 contacts the surface of the product. The product will be driven by the peristaltic flip bar 3 to rotate, and the rotation is a rotation in the vertical direction perpendicular to the horizontal direction when the product is placed on the plane. Therefore, the product can be rotated in the vertical direction in the gripping cavity at full angles through this action. In combination with the horizontal rotation of the main shell 1 of the present invention around the central axis, the product can be rotated in all directions in a three-dimensional space, and it is used to realize that no matter what the placement direction of the product is when it is grabbed on the conveying device, it can be rotated in all directions in the gripping cavity of the present invention until it meets the preset placement angle. Preferably, the present invention arranges a plurality of peristaltic flip bars 3 on the circumference, and controls their vertical movement respectively, so as to drive the rotation angle and rotation position of the product respectively. Different numbers of peristaltic flip bars 3 can be arranged at intervals according to the size of the circumference, so that the flipping angle of the product is more delicate and the flipping is more accurate. Different peristaltic flipping bars 3 contact different peripheral points of the product, that is, when one position of the product is dragged, it will rotate with the corresponding position on the other side as the axis. Of course, more complex three-dimensional flipping actions can also be achieved through the simultaneous action of multiple peristaltic flipping axes.

[0033] The main body shell 1 is provided with a detection device for detecting the shape state of the grasped object 7, and the detection device detects the shape orientation information of the grasped object 7 and sends the shape orientation information to the control center; in a preferred embodiment, the image detection device arranged on the top of the grasping cavity can obtain the real-time feedback of the product's placement angle, so that the control center can control the movement of the designated peristaltic flip bar 3 according to the fastest flipping path, thereby controlling the all-round flipping of the product.

[0034] The control center receives and processes the shape orientation information, controls the designated reeling drive to move, pulls the designated peristaltic flip bar 3 to move back and forth along the axial direction of the main housing 1, and the peristaltic gripping point 4 on the driven peristaltic flip bar 3 is pressed against the side of the grasped object 7, driving the grasped object 7 to flip along the axial direction of the main housing 1, and the grasped object 7 stops after flipping to the designated shape orientation, and keeps the grasped object 7 in the designated shape orientation state, so that it can be directly placed when placed later.

[0035] In the preferred embodiment of the adaptive three-dimensional grasping and sorting manipulator device of the present invention as described above, the following control steps are used to carry out the product grasping operation:

[0036] The control center is activated to control the bottom opening of the grasping cavity in the soft capsule layer 2 to buckle onto the corresponding grasped object 7, and the soft capsule layer 2 is attached to the outer surface of the grasped object 7; the grasped object 7 is placed in the grasping cavity.

[0037] Lift the main shell 1, place the grasped object 7 in the grasping cavity, and grasp the grasped object 7 through the inner side of the soft capsule layer 2;

[0038] Control the designated reel-up drive to move, pull the designated peristaltic flip bar 3 to move back and forth along the axial direction of the main housing 1, the peristaltic gripping point 4 on the driven peristaltic flip bar 3 is pressed against the side of the grasped object 7, driving the grasped object 7 to flip along the axial direction of the main housing 1, the grasped object 7 stops after flipping to the designated shape and orientation, and keeps the grasped object 7 in the designated shape and orientation; and moves the grasped object 7 to above the designated position;

[0039] Control the folding plate 5 to open outwards, and at the same time move the folding portion 6 of the soft bag layer 2 downwards close to the surface of the designated position; release the soft bag layer 2, and drop the grasped object 7 with the adjusted placement direction to the designated position;

[0040] Lift the main housing 1 and move it to the top of the next product to be grabbed.

[0041] From the above grasping steps, it can be known that the present invention can protect the product from damage through the "swallowing" grasping method of the soft capsule layer 2, and can also realize the grasping and three-dimensional rotation requirements of the product without installing too many limbs on the robot arm.

[0042] In the preferred embodiment of the adaptive three-dimensional grasping and sorting manipulator device of the present invention as described above, the peristaltic flip bar 3 is an inflatable strip structure, a convex bag 9 is provided on the inner side of the peristaltic flip bar 3, and the peristaltic grasping point 4 is provided on the lower side surface of the convex bag 9 structure. Figure 3 and Figure 4 As shown, the outer surface of the peristaltic flip bar 3, that is, the side that can contact the grasped object 7, is provided with a plurality of protrusions 9 on its surface, and the lower surface of each protrusion 9 is provided with the peristaltic gripping point 4, which can preferably be a rubber thin block with greater friction, used to contact the product and drive the product to rotate. Preferably, when it is necessary to contact the product and drive it to rotate, the peristaltic flip bar 3 can be evacuated to shrink the protrusions 9, and the rubber thin block is harder, so it can cover the hole after the protrusions 9 shrink, and form a plurality of peristaltic gripping points 4 on the peristaltic flip bar 3 that can be used to contact and drive the product to rotate. When it is not necessary to clamp the product or drive the product to rotate, the peristaltic flip bar 3 is inflated to expand the convex bag 9. At this time, the rubber thin block of the peristaltic gripping point 4 will be pushed open by the convex bag 9 and flipped downward, and pushed to the horizontal position between the two convex bags 9. At this time, the surface of the convex bag 9 that is not the rubber thin block will contact the product. Since it is smooth, it will not produce friction and hindering force on the product, and the product can easily slide down out of the gripping cavity. Thus, the gripping cavity can hold and release the grasped object 7.

[0043] As described above, in a preferred embodiment of the adaptive three-dimensional grasping and sorting robot device of the present invention, in the control method step, before pulling the specified peristaltic flip bar 3, air is pumped into the peristaltic flip bar 3 to make the protrusion package 9 protrude outward, and the peristaltic grasping point 4 sticks to the outer surface of the grasped object 7.

[0044] In the preferred embodiment of the adaptive three-dimensional grasping and sorting manipulator device of the present invention as described above, the detection device is installed at the upper end of the main body shell 1 and is arranged opposite to the grasped object 7, and the detection device is an image detector. Preferably, the present invention can detect the shape and placement direction of the grasped product in the grasping cavity by an image detector, and compare it with the required shape and direction, and realize precise control of the flipping action of the grasped object 7 by controlling the peristaltic flip bar 3. Furthermore, the present invention can also depict the overall shape characteristics of the grasped object 7 by detecting the distance between the outer wall and the inner wall of multiple groups of soft capsule layers 2 through multiple distance detectors arranged in the soft capsule layer 2, thereby obtaining the real-time shape and placement direction information of the grasped object 7, which has been provided to the control center for analysis and issuing control instructions to the peristaltic flip bar 3, so that it can realize the flipping of the product and other actions with the simplest operation.

[0045] In the preferred embodiment of the adaptive three-dimensional grasping and sorting manipulator device of the present invention as described above, a folding portion 6 is provided at the lower end of the soft capsule layer 2, and a plurality of folding plates 5 are correspondingly provided outside the folding portion 6, and the bottom of each folding plate 5 is hinged to the lower edge of the main shell 1; the folding plate 5 is provided with a folding drive mechanism 8 for pushing the folding plate 5 from the outside to the inside to fold it to a specified position; the folding portion 6 can effectively prevent the main shell 1 from directly pressing the product when it is buckled downward, and even if the buckling position is deviated, only the soft part of the folding portion 6 will press the product without causing damage. Moreover, after grasping the object, the folding portion 6 can form a cover similar to the bottom of the grasping cavity through the push of the folding plate 5.

[0046] In the control step, after the control center is started, the folding drive mechanism 8 is first controlled to drive the folding plate 5 to an outward horizontal position, open the bottom opening of the grasping cavity, and buckle on the corresponding grasped object 7; ensuring that the grasped object 7 will not be damaged and is smoothly "swallowed" into the grasping cavity.

[0047] Then, the folding driving mechanism 8 is controlled to drive the folding driving mechanism 8 to cover the bottom of the soft capsule layer 2 inwardly, and at the same time, the main shell 1 is lifted; and then a flipping action driven by the peristaltic flipping strip 3 is further performed.

[0048] When the object 7 is moved to the designated position, the folding plate 5 is controlled to open outward, and the folding portion 6 of the soft bag layer 2 is moved downward to the designated position surface; the soft bag layer 2 is released, and the object 7 with the adjusted placement direction is dropped to the designated position. In this way, the folding portion 6 plays the role of protection and covering and pressing, so that the product is further protected.

[0049] In the preferred embodiment of the adaptive three-dimensional grasping and sorting manipulator device of the present invention as described above, the folding portion 6 is provided with a perforation, and the peristaltic flip bar 3 passes through the perforation to connect with the retractor. Preferably, the peristaltic flip bar 3 does not need to completely bypass the folding portion 6 from below, but only needs to pass through the perforation and be wound around the retractor on the main shell 1 for retraction, and the retractor can be a spring-powered retractor. This can prevent the peristaltic flip bar 3 from being pressed from below and unable to move.

[0050] The adaptive three-dimensional grasping and sorting manipulator device of the present invention changes the structure and clamping action mode of the conventional manipulator through ingenious design, forms an action mode similar to soft swallowing, and "eats" the product into the grasping cavity of the manipulator. Since the soft capsule layer 2 is a soft layer formed by filling the medium, it can effectively protect the product from being damaged or worn. Through the setting of the peristaltic flip bar 3 in the grasping cavity, the product can be flipped along the direction of the axis of the grasping cavity with the peristaltic flip bar 3 at the specified position. It is not necessary to clamp the product from the side and then flip it like the existing manipulator, but directly flip it inside the manipulator. When it is moved to the designated placement position, it can be directly placed on the placement plane to achieve the purpose of placing the product in the specified shape and direction. The present invention is novel in conception, breaks through the conventional design mode of the existing manipulator, realizes a more effective operation mode of the manipulator, and can also effectively reduce the assembly line because the manipulator needs to perform multiple rotations and requires a larger installation space, or adopts a structure with more mechanical limbs to reduce space occupancy, reduce the cost of the manipulator, and improve product competitiveness.

[0051] The above description is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes and modifications made by any person skilled in the art without departing from the concept and principle of the present invention shall fall within the scope of protection of the present invention.

Claims

1. An adaptive three-dimensional grasping and sorting manipulator device, characterized in that: The device comprises a main body shell, the main body shell is a downward buckled cylindrical structure, a soft capsule layer is mounted inside the main body shell, the capsule of the soft capsule layer is filled with a flowing medium, the soft capsule layer is a hollow tubular structure, and the inner space thereof is a gripping cavity; A plurality of peristaltic flipping strips are arranged at set angles on the inner circumferential surface of the soft body bladder layer, and the peristaltic flipping strips are arranged axially along the inner side of the soft body bladder layer. The lower end of the peristaltic flipping strip bypasses the lower end of the soft body bladder layer to the outer side of the main body shell and is connected to a reel; the upper end of the peristaltic flipping strip passes through the top of the soft body bladder layer and is connected to a reeling drive arranged on the top of the main body shell, and a peristaltic gripping point is arranged on the inner side of the peristaltic flipping strip; A detection device for detecting the shape state of the grasped object is provided in the main body shell, the detection device detects the shape orientation information of the grasped object and sends the shape orientation information to the control center; The control center receives and processes the shape orientation information, controls the action of the specified winding drive, pulls the specified peristaltic flip bar to move back and forth along the axial direction of the main shell, and the peristaltic grasping points on the driven peristaltic flip bar are tightly attached to the side of the grasped object, driving the grasped object to flip along the axial direction of the main shell. The grasped object stops after flipping to the specified shape orientation, keeping the grasped object in the specified shape orientation state.

2. The adaptive three-dimensional grasping and sorting robot device according to claim 1, characterized in that: The following control steps are used to carry out product grabbing operations: The control center is activated to control the bottom opening of the gripping cavity in the soft capsule layer to buckle onto the corresponding grasped object, and the soft capsule layer is attached to the outer surface of the grasped object; Lift the main body shell, place the grasped object in the grasping cavity, and grasp the grasped object through the inner side of the soft capsule layer; Control the designated reel-up driver to move, pull the designated peristaltic flip bar to move back and forth along the axial direction of the main shell, the peristaltic gripping point on the driven peristaltic flip bar is pressed against the side of the grasped object, driving the grasped object to flip along the axial direction of the main shell, the grasped object stops after flipping to the designated shape and orientation, and keeps the grasped object in the designated shape and orientation; and moves the grasped object to above the designated position; Control the folding plate to open outwards, and at the same time move the folded portion of the soft bag layer downwards close to the surface of the designated position; release the soft bag layer, and drop the grasped object with the adjusted placement direction to the designated position; Lift the main housing and move over the next product with grip.

3. The adaptive three-dimensional grasping and sorting robot device according to claim 2, characterized in that: The peristaltic flipping strip is an inflatable strip structure, a convex bag is arranged on the inner side of the peristaltic flipping strip, and the peristaltic gripping point is arranged on the lower side surface of the convex bag structure.

4. The adaptive three-dimensional grasping and sorting robot device according to claim 3, characterized in that: In the control method step, before pulling the designated peristaltic flip bar, air is pumped into the peristaltic flip bar to cause the protrusion package to protrude outward, and the peristaltic grasping point is attached to the outer surface of the grasped object.

5. The adaptive three-dimensional grasping and sorting robot device according to claim 1, characterized in that: The detection device is installed at the upper end of the main body shell and is arranged directly facing the grasped object. The detection device is an image detector.

6. The adaptive three-dimensional grasping and sorting robot device according to claim 2, characterized in that: A folding portion is provided at the lower end of the soft capsule layer, and a plurality of folding plates are provided outside the folding portion, and the bottom of each folding plate is hinged to the lower edge of the main shell; a folding drive mechanism is provided on the folding plate for pushing the folding plate from the outside to the inside and folding it to a specified position; In the control step, after the control center is activated, the folding drive mechanism is first controlled to drive the folding plate to an outward horizontal position, open the bottom opening of the gripping cavity, and buckle on the corresponding grasped object; Then, the folding driving mechanism is controlled to drive the folding driving mechanism to cover the bottom of the soft capsule layer inwardly, and at the same time, the main body shell is lifted; When the grasped object is moved to above the designated position, the folding plate is controlled to open outwards, and at the same time, the folded portion of the soft bag layer is moved downwards close to the surface of the designated position; the soft bag layer is released, and the grasped object with the adjusted placement direction falls to the designated position.

7. The adaptive three-dimensional grasping and sorting robot device according to claim 1, characterized in that: The folding portion is provided with a through hole, and the peristaltic turning strip passes through the through hole and is connected with the retractor.

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