Intelligent and stable clamping robot

Abstract

The invention discloses an intelligent and stable clamping robot, and relates to the technical field of manipulators, the intelligent and stable clamping robot comprises an operation module and a control module, the operation module comprises a mechanical arm, a fixed clamping part, a linear clamping part and a circular clamping part, the output end of the mechanical arm is connected with a connecting frame, and the other end of the connecting frame is fixedly connected with a disc; a visual detector is arranged on one side of the disc, the fixed clamping part comprises a first support, and the linear clamping part comprises a first linear motor and a second support fixedly connected with the output end of the first linear motor. And the circular clamping part comprises a set of second linear motors and a third upper support fixedly connected with the output ends of the second linear motors, the robot can intelligently switch the clamping modes, and the clamping stability is improved.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to an intelligent and stable gripping robot. Background Art

[0002] With the popularization and development of mechanical intelligence, more and more operations are replaced by manual labor using gripping robots. Currently, most gripping robots use a robotic arm structure, which is a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. It has been widely used in the field of industrial assembly due to its unique operational flexibility.

[0003] Current robot gripping uses suction cups, clamping blocks, or claws. When clamping batches of objects, a clamping method can be predetermined. When the next batch of objects is not suitable for the previous clamping method, the clamping method can be changed by replacing parts.

[0004] However, this method of replacing parts is very labor-intensive and inefficient. In addition, when clamping objects, if the clamping force cannot be accurately applied to the objects, the objects will slip or even fall. Therefore, it is necessary to design an intelligent and stable clamping robot. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent and stable gripping robot to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an intelligent and stable gripping robot, comprising an operating module and a control module, wherein the operating module comprises:

[0007] A mechanical arm, wherein an output end of the mechanical arm is connected to a connecting frame, the other end of the connecting frame is fixedly connected to a disc, and a visual detector is provided on one side of the disc;

[0008] A fixed clamping portion, the fixed clamping portion comprising a first bracket;

[0009] A linear clamping portion, the linear clamping portion comprising a first linear motor and a second bracket fixedly connected to an output end of the first linear motor;

[0010] A circular clamping part, the circular clamping part includes a group of second linear motors, a third upper bracket fixedly connected to the output end of the second linear motor, a second cylinder fixedly connected to the lower end of the third upper bracket, and a third lower bracket fixedly connected to the lower output end of the second cylinder, and the third lower bracket is provided with a second upper clamping part and a second lower clamping part on one side of the third lower bracket facing the disc;

[0011] The first bracket and the second bracket are both provided with a first upper clamping part and a first lower clamping part on one side facing the disc. The first upper clamping part, the first lower clamping part, the second upper clamping part and the second lower clamping part are made of rubber material, and a pressure sensor is provided on the contact surface with the object.

[0012] The present invention further describes that the upper ends of the first bracket and the first linear motor are fixed to the disc, and the first bracket and the second bracket are arranged opposite to each other.

[0013] The present invention further describes that a group of the second linear motors and the first linear motors are both arranged at an angle of degrees on the front and rear sides of the disc, and the third upper bracket is in an inverted L shape.

[0014] The present invention further describes that the first upper clamping part and the first lower clamping part are fixedly connected or rotatably connected via a pin shaft;

[0015] The second upper clamping portion and the second lower clamping portion are fixedly connected or rotatably connected via a pin shaft.

[0016] The present invention further describes that the lower sides of the first bracket, the second bracket and the third lower bracket are all connected with electric telescopic rods, and the output ends of the electric telescopic rods are hinged with hinge blocks, and the hinge blocks are respectively slidably connected to one side of the first lower clamping part and the second lower clamping part.

[0017] The present invention further illustrates that the electric telescopic rod can drive the first lower clamping part or the second lower clamping part to rotate clockwise by a certain angle α, and 0°<α≤20°.

[0018] The present invention further illustrates that the electric telescopic rod can drive the first lower clamping part or the second lower clamping part to rotate counterclockwise by a certain angle β, and 0°<β≤8°.

[0019] The present invention further illustrates that the operation module also includes:

[0020] The detection slots are respectively arranged on the first bracket, the second bracket, and the third lower bracket on one side close to the disc;

[0021] The adjusting part, a group of cylindrical rods are fixedly connected inside the detection groove, and the outer surface of a group of cylindrical rods is slidably connected to the adjusting part, which is convenient for replacement and real-time stability detection of the clamping state of the object;

[0022] The pressure-sensitive spring is respectively fixed between the bottom of the cylindrical rod and the bottom of the adjusting part.

[0023] The present invention further illustrates that a first cylinder is disposed inside the adjusting portion, a fixing plate is fixedly connected to the output end of the first cylinder, a connecting groove is provided in the middle of a surface of a side of the fixing plate away from the first cylinder, a connecting column is welded to a side of the first upper clamping portion and the second upper clamping portion close to the fixing plate, and the connecting column and the connecting groove are arranged to be threadedly connected;

[0024] A first control valve is fixedly connected to a surface of one side of the first bracket away from the adjustment part, and the first control valve is connected to a first cylinder pipeline in the first bracket. A second control valve is fixedly connected to a surface of one side of the third lower bracket away from the adjustment part, and the second control valve is connected to the first cylinder pipeline in the second control valve. An air pump and a ventilation valve connected to the pipeline at the output end of the air pump are arranged on the top of the connecting frame.

[0025] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0026] It uses fixed clamping parts, linear clamping parts, and circular clamping parts. It can intelligently switch the coordinated working mode of the linear clamping parts, circular clamping parts, and fixed clamping parts according to the shape of the clamped object. It can also determine whether to extend the electric telescopic rod when clamping according to the friction coefficient of the object. It can intelligently select and switch the clamping mode. The overall working efficiency is high and the stability of the object when clamping is guaranteed.

[0027] The use of a visual inspection instrument, an adjustment part and a pressure-sensitive spring not only facilitates the replacement of the first upper clamping part and / or the second upper clamping part, but also facilitates real-time stability detection of the clamping state of the object, and adjusts the clamping state according to the obtained stability level to ensure the clamping stability of the robot arm 1 during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] 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:

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 The present invention Figure 1 A schematic diagram of the main view;

[0031] Figure 3 The present invention Figure 2 A magnified schematic diagram of region A;

[0032] Figure 4 is a schematic diagram of a clamping portion of the present invention;

[0033] Figure 5 1. It is a schematic diagram of a split left side view of the adjustment part of the present invention;

[0034] Figure 6 It is a schematic diagram of a split right side view of the adjustment part of the present invention;

[0035] Figure 7 It is a schematic diagram of the extension structure of the electric telescopic rod of the present invention;

[0036] In the figure: 1. Robotic arm; 2. Frame; 3. Connecting frame; 4. Disc; 5. First bracket; 6. Second bracket; 7. First linear motor; 8. First upper clamping part; 9. Adjusting part; 91. First cylinder; 92. First piston rod; 93. Second piston rod; 94. Fixing plate; 95. Connecting groove; 96. Connecting column; 10. Cylindrical rod; 11. Pressure-sensitive spring; 12. First control valve; 13. First lower clamping part; 14. Electric telescopic rod; 15. Articulated block; 16. Second linear motor; 17. Third upper bracket; 18. Second cylinder; 19. Third lower bracket; 20. Second control valve; 21. Second upper clamping part; 22. Second lower clamping part; 23. Air pump; 24. Vent valve. DETAILED DESCRIPTION

[0037] The following is a further non-limiting detailed description of the technical solution of the present invention in conjunction with the preferred embodiments and the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] For the first embodiment, please refer to Figure 1-4 The present invention provides a technical solution: an intelligent and stable clamping robot, including an operation module and a control module, the control module is used to control the clamping process by running a program, and the operation module is used to perform a stable and intelligent clamping process.

[0039] The control module signal is connected to the processor, and the processor can be a PLC programmable logic controller (not shown in the figure), which is used to input the program and set the parameters before the clamping process begins.

[0040] The operation module includes a robot arm 1 with six degrees of freedom. The lower end of the robot arm 1 is fixedly connected to a frame 2, the output end of the robot arm 1 is connected to a connecting frame 3, the other end of the connecting frame 3 is fixedly connected to a disc 4, and the lower surface of the disc 4 is provided with a plurality of clamping parts with different structures, and the disc 4 serves to connect and fix the clamping parts.

[0041] Several clamping parts with different structures include a fixed clamping part, a linear clamping part, and a circular clamping part, which are used to intelligently switch the coordinated working modes of the linear clamping part, the circular clamping part and the fixed clamping part according to the shape of the clamped object. The clamped objects are collectively referred to as objects hereinafter, and the following working modes are recorded as linear clamping process, circular clamping process and mixed clamping process. Specifically, the linear clamping process is only performed by the linear clamping part and the fixed clamping part, the circular clamping process is performed by the circular clamping part and the fixed clamping part, and the mixed clamping process is performed by the linear clamping part, the circular clamping part and the fixed clamping part together.

[0042] The fixed clamping part includes a first bracket 5 arranged away from one side of the robot arm 1;

[0043] The linear clamping part includes a first linear motor 7 arranged near one side of the robot arm 1, and the output end of the first linear motor 7 is fixedly connected to the second bracket 6;

[0044] The upper ends of the first bracket 5 and the first linear motor 7 are fixed to the disc 4. The first bracket 5 and the second bracket 6 are arranged opposite to each other, and a first upper clamping portion 8 and a first lower clamping portion 13 are arranged on the side facing the disc 4. The first upper clamping portion 8 and the first lower clamping portion 13 can be fixedly connected or rotatably connected through a pin shaft.

[0045] When the first upper clamping part 8 and the first lower clamping part 13 are in a fixed connection mode, the output end of the first linear motor 7 drives the movement of the second bracket 6 to realize the process of taking and placing the clamped object between the linear clamping part and the fixed clamping part;

[0046] When the first upper clamping part 8 and the first lower clamping part 13 are connected in a rotational manner, the first lower clamping part 13 deflects inward to form a simulated clamping claw structure, thereby improving the clamping stability.

[0047] The circular clamping part includes a group of second linear motors 16, which are arranged at a 60-degree angle with the first linear motor 7 on the front and rear sides of the disc 4. The output end of the second linear motor 16 is fixedly connected to a third upper bracket 17, which is in an inverted L shape, and the lower end of the third upper bracket 17 is fixedly connected to a second cylinder 18, and the downward output end of the second cylinder 18 is fixedly connected to a third lower bracket 19. The second cylinder 18 is used to control the position of the third lower bracket 19, so as to realize the convenience of use or anti-interference effect of the circular clamping part;

[0048] The second cylinder 18 is connected to an external air source.

[0049] The third lower bracket 19 is provided with a second upper clamping portion 21 and a second lower clamping portion 22 on one side facing the disc 4. The second upper clamping portion 21 and the second lower clamping portion 22 may be fixedly connected or rotatably connected via a pin, and their functions are as described above.

[0050] refer to Figure 3 , Figure 4 , when the first upper clamping part 8, the first lower clamping part 13, the second upper clamping part 21, and the second lower clamping part 22 are all in a rotational connection mode, the lower sides of the first bracket 5, the second bracket 6, and the third lower bracket 19 are all penetrated and connected with the electric telescopic rod 14, and the output ends of the electric telescopic rod 14 are hinged with hinge blocks 15, and the hinge blocks 15 are respectively slidably connected with one side of the first lower clamping part 13 and the second lower clamping part 22;

[0051] refer to Figure 7 , wherein FIG. a is an initial state of the electric telescopic rod 14, the electric telescopic rod 14 can drive the first lower clamping portion 13 or the second lower clamping portion 22 to rotate clockwise by a certain angle α, and 0°<α≤20°, FIG. b is a diagram of the electric telescopic rod 14 in the longest extended state, and in addition, the electric telescopic rod 14 can drive the first lower clamping portion 13 or the second lower clamping portion 22 to rotate counterclockwise by a certain angle β, and 0°<β≤8°, and FIG. c is a diagram of the electric telescopic rod 14 in the shortest retracted state;

[0052] The first upper clamping part 8, the first lower clamping part 13, the second upper clamping part 21, and the second lower clamping part 22 are made of rubber material, and the contact surface with the object is provided with a pressure sensor to determine whether to contact and clamp the object;

[0053] In this embodiment, the staff collects and enters the clamping surface state and friction coefficient of the object in advance, and stores them in the control module, and selects the corresponding working mode according to the shape of the object. When the clamping surface of the object is a plane, that is, the object is in surface contact when it is clamped, a straight line clamping process is adopted. When the clamping surface of the object is a curvature surface or a concave-convex surface, that is, the object is in point or line contact when it is clamped, a circular clamping process is adopted to increase the clamping position. When both of the above two situations exist, a mixed clamping process is adopted. According to the friction coefficient of the object, it is determined whether to use the electric telescopic rod 14 to extend during clamping, and the extension length of the electric telescopic rod 14 is determined according to the specific friction coefficient. The extension length is also pre-set according to the corresponding friction coefficient. Through the above settings, the clamping mode can be intelligently selected and switched, the overall working efficiency is high and the stability of the object during clamping is guaranteed.

[0054] The second embodiment, referring to Figure 3-Figure 6On the basis of the first embodiment, the following contents are further provided: a detection groove is provided on the side of the first bracket 5, the second bracket 6, and the third lower bracket 19 close to the disc 4, a group of cylindrical rods 10 are fixedly connected inside the detection groove, and an adjustment part 9 is slidably connected to the outer surface of the group of cylindrical rods 10, and the adjustment part 9 is used to facilitate replacement of the first upper clamping part 8 and / or the second upper clamping part 21 connected thereto, and at the same time facilitate real-time stability detection of the clamping state of the object.

[0055] A pressure-sensitive spring 11 is fixedly connected between the bottom of the cylindrical rod 10 and the bottom of the adjusting part 9, and can transmit the force data of the adjusting part 9 to the control module in real time;

[0056] A first cylinder 91 is provided inside the adjustment portion 9, and a first piston rod 92 located in the middle of the first cylinder 91 and a second piston rod 93 located around the first cylinder 91 are slidably connected inside the first cylinder 91. A fixing plate 94 is fixedly connected to one end of the first piston rod 92 and the second piston rod 93 located outside. A connecting groove 95 is provided in the middle of the surface of the fixing plate 94 away from the first cylinder 91. A connecting column 96 is welded on one side of the first upper clamping portion 8 and the second upper clamping portion 21 close to the fixing plate 94. The connecting column 96 and the connecting groove 95 are threadedly connected. Therefore, only the clamping portion needs to be replaced, rather than the entire bracket, which makes replacement convenient and time-saving.

[0057] A first control valve 12 is fixedly connected to a surface of one side of the first bracket 5 away from the adjustment part 9, and the first control valve 12 is connected to a first cylinder 91 in the first bracket 5 through a pipeline. A second control valve 20 is fixedly connected to a surface of one side of a group of third lower brackets 19 away from the adjustment part 9, and the second control valve 20 is connected to the first cylinder 91 in the second control valve 20 through a pipeline. An air pump 23 is arranged on the top of the connecting frame 3, and the air pump 23 is connected to an external power supply. A ventilation valve 24 is connected to the output end pipeline of the air pump 23, and the ventilation valve 24 is connected to the first control valve 12 and the second control valve 20 through pipelines. The extension position of the corresponding clamping part is controlled by the air intake of the first control valve 12 and the second control valve 20, thereby realizing intelligent fine-tuning of the clamping force.

[0058] In this embodiment, when there is a clamping surface state of an object, the friction coefficient is not entered, and objects of different batch models are clamped, a more variable intelligent clamping method is adopted. A visual detector is set on one side of the disc 4. Before the robot arm 2 performs the clamping action, the clamping surface of the object is obtained. Specifically:

[0059] The first step is to determine the corresponding working mode according to the visual inspection instrument;

[0060] In the second step, the robot arm 1 performs preliminary gripping of the object according to the determined working mode, and the electric telescopic rod 14 remains in the initial state;

[0061] In the third step, after the object is clamped, the robot arm 1 does not operate first, the pressure-sensing spring 11 performs pressure detection, and transmits data to the control module, so as to determine the clamping stability in the clamping state;

[0062] The fourth step is to adjust the clamping state according to the obtained stability level to ensure the clamping stability of the robot arm 1 during operation.

[0063] In the second step, the disc 4 is moved to the top of the object, and each gripping part is located at the outer circle of the object. After the working mode is determined, the gripping process is performed:

[0064] When it is determined to be a linear clamping process, the downward output end of the second cylinder 18 does not extend, and the output end of the first linear motor 7 moves, so that the first upper clamping part 8 and the first lower clamping part 13 on both sides clamp the object;

[0065] When the circular clamping process is determined, the output end of the first linear motor 7 is located at the leftmost end, and the distance between the position and the first bracket 5 is much larger than the size of the object allowed to be clamped by the machine, that is, it does not interfere with the operation of the circular clamping process, the downward output end of the second cylinder 18 extends, and the output end of the second linear motor 16 drives the second upper clamping part 21 and the second lower clamping part 22 to clamp the object;

[0066] When it is determined to be a mixed clamping process, the first upper clamping part 8, the first lower clamping part 13, the second upper clamping part 21, and the second lower clamping part 22 at the second bracket 6 are started at the same time to clamp the object;

[0067] It should be noted that, since the objects may have irregular sizes and the robot arm 2 does not clamp from the center of the object, when all the pressure sensors in the operating clamping part receive the clamping signal, the clamping part stops moving and completes the initial clamping of the object.

[0068] In the third and fourth steps, the pressure-sensing spring 11 that is initially clamped is subjected to pressure detection, and the force data of the adjustment part 9 is transmitted to the control module, which analyzes the data and determines the clamping stability of the object;

[0069] First, the average pressure of each pressure-sensing spring 11 located under the adjustment part 9 for receiving force data is calculated, which is recorded as i takes 1, 2, 3, 4, is the average pressure value of the pressure-sensing spring 11 at the first bracket 5, is the average pressure value of the pressure-sensing spring 11 at the second bracket 6, is the average pressure value of the pressure-sensing spring 11 at the second bracket 6, is the average pressure value of the pressure-sensing spring 11 at the second bracket 6, is the average pressure value of the pressure-sensing spring 11 at the third lower bracket 19 on the front side, is the average pressure value obtained by the pressure-sensing spring 11 at the third lower bracket 19 at the rear side;

[0070] Then, set the clamping stability limit to V0. The clamping stability limit is set manually at the processor. When the average pressure is greater than the clamping stability limit, it means that the clamping is unstable during the clamping process and the clamping force needs to be increased:

[0071] When a clamping part appears If the phenomenon occurs, the clamping adjustment range will be adjusted according to The value determines the clamping force of the corresponding clamping part, that is, adjusts the extension distance of the clamping part. When it is not within the clamping adjustment range, the clamping state is changed to a simulated clamping claw state to avoid deformation of the object caused by the continuous increase of the clamping force.

[0072] In addition, when a certain number of clamping parts show unstable clamping conditions, it is also necessary to directly change the clamping state to a simulated claw state, thereby improving the clamping stability.

[0073] In this embodiment, the pressure adjustment range is set to V s , and V s >V0, when Reach V s When the clamping distance of the clamping part is adjusted, the specific situation is as follows:

[0074] In the clamping process, when the average pressure at all clamping parts is , it indicates high stability and maintains the existing clamping state.

[0075] When there is only one When the average values ​​of the other pressures are not greater than V0, it indicates that the stability is moderate. The corresponding clamping part at this point extends a certain distance to increase the clamping force of the clamping part on the object. The certain distance of extension is related to the Positive correlation.

[0076] When there is more than one occurrence And the remaining clamping part does not appear When the object is moved up a certain distance along the inclined surface of the lower clamping portion, the object is formed into a simulated clamping claw state.

[0077] Once it appears When , it indicates that the stability is low and it directly switches to the imitation gripper state.

[0078] Through the above settings, on the one hand, for objects in the same batch, the corresponding clamping process and clamping state can be pre-set according to the clamping surface state and friction coefficient; on the other hand, for objects of different models in batches or objects for which no data has been entered, the clamping force can be intelligently fine-tuned and the clamping state can be adjusted in real time according to the force conditions.

[0079] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0080] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents, and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent and stable gripping robot, comprising an operation module and a control module, characterized in that: The operation module includes: A mechanical arm (1), wherein the output end of the mechanical arm (1) is connected to a connecting frame (3), the other end of the connecting frame (3) is fixedly connected to a disc (4), and a visual detector is provided on one side of the disc (4); A fixed clamping portion, the fixed clamping portion comprising a first bracket (5); A linear clamping portion, the linear clamping portion comprising a first linear motor (7) and a second bracket (6) fixedly connected to an output end of the first linear motor (7); A circular clamping portion, the circular clamping portion comprising a group of a second linear motor (16), a third upper bracket (17) fixedly connected to the output end of the second linear motor (16), a second cylinder (18) fixedly connected to the lower end of the third upper bracket (17), and a third lower bracket (19) fixedly connected to the lower output end of the second cylinder (18), wherein a second upper clamping portion (21) and a second lower clamping portion (22) are provided on a side of the third lower bracket (19) facing the disc (4); The first bracket (5) and the second bracket (6) are both provided with a first upper clamping portion (8) and a first lower clamping portion (13) on the side facing the disc (4); the first upper clamping portion (8), the first lower clamping portion (13), the second upper clamping portion (21) and the second lower clamping portion (22) are made of rubber material, and pressure sensors are provided on the contact surfaces with the object.

2. An intelligent and stable gripping robot according to claim 1, characterized in that: The upper ends of the first bracket (5) and the first linear motor (7) are fixed to the disc (4), and the first bracket (5) and the second bracket (6) are arranged opposite to each other.

3. The intelligent and stable gripping robot according to claim 1, characterized in that: A group of the second linear motors (16) and the first linear motors (7) are arranged at an angle of 60 degrees on the front and rear sides of the disc (4), and the third upper bracket (17) is in an inverted L shape.

4. The intelligent and stable gripping robot according to claim 1, characterized in that: The first upper clamping portion (8) and the first lower clamping portion (13) are fixedly connected or rotatably connected via a pin shaft; The second upper clamping portion (21) and the second lower clamping portion (22) are fixedly connected or rotationally connected via a pin.

5. An intelligent and stable gripping robot according to claim 1 or 4, characterized in that: The lower sides of the first bracket (5), the second bracket (6) and the third lower bracket (19) are all connected through an electric telescopic rod (14), and the output ends of the electric telescopic rod (14) are hinged with hinge blocks (15), and the hinge blocks (15) are respectively slidably connected to one side of the first lower clamping portion (13) and the second lower clamping portion (22).

6. The intelligent and stable gripping robot according to claim 5, characterized in that: The electric telescopic rod (14) can drive the first lower clamping portion (13) or the second lower clamping portion (22) to rotate clockwise by a certain angle α, and 0°<α≤20°.

7. The intelligent and stable gripping robot according to claim 5, characterized in that: The electric telescopic rod (14) can drive the first lower clamping portion (13) or the second lower clamping portion (22) to rotate counterclockwise by a certain angle β, and 0°<β≤8°.

8. The intelligent and stable gripping robot according to claim 5, characterized in that: The operation module also includes: The detection slots are respectively arranged on one side of the first bracket (5), the second bracket (6), and the third lower bracket (19) close to the disc (4); An adjustment part (9), wherein a group of cylindrical rods (10) are fixedly connected inside the detection groove, and an outer surface of the group of cylindrical rods (10) is slidably connected to the adjustment part (9), so as to facilitate replacement and perform stability detection of the clamping state of the object in real time; The pressure-sensitive spring (11) is respectively fixed between the cylindrical rod (10) and the bottom of the adjusting part (9).

9. The intelligent and stable gripping robot according to claim 8, characterized in that: A first cylinder (91) is arranged inside the adjusting portion (9), a fixing plate (94) is fixedly connected to the output end of the first cylinder (91), a connecting groove (95) is provided in the middle of a surface of a side of the fixing plate (94) away from the first cylinder (91), a connecting column (96) is welded to a side of the first upper clamping portion (8) and the second upper clamping portion (21) close to the fixing plate (94), and the connecting column (96) is arranged to be threadedly connected to the connecting groove (95); A first control valve (12) is fixedly connected to a surface of one side of the first bracket (5) away from the adjustment portion (9), and the first control valve (12) is connected to a first cylinder (91) pipe in the first bracket (5). A second control valve (20) is fixedly connected to a surface of one side of the third lower bracket (19) away from the adjustment portion (9), and the second control valve (20) is connected to a first cylinder (91) pipe in the second control valve (20). An air pump (23) and a vent valve (24) connected to an output pipe of the air pump (23) are arranged on the top of the connection frame (3).

10. The method for using the intelligent and stable gripping robot according to claim 9, characterized in that: Here are the steps: The first step is to determine the corresponding working mode according to the visual inspection instrument; In the second step, the robot arm (1) performs preliminary gripping of the object according to the determined working mode, and the electric telescopic rod (14) maintains the initial state; In the third step, after the object is clamped, the mechanical arm (1) does not operate first, the pressure-sensing spring (11) performs pressure detection, and transmits data to the control module, so as to determine the clamping stability in the clamping state; The fourth step is to adjust the clamping state according to the obtained stability level to ensure the clamping stability of the robot arm (1) during operation.

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