A production conveyor line grasping robot and grasping method thereof

Abstract

The present invention belongs to the field of manipulators, and in particular relates to a production conveyor line grasping manipulator and a grasping method thereof, comprising a main connecting arm, wherein the main connecting arm is provided with three detachable and position-changing connectors, a T-shaped limit plate is provided on the connector located in the middle, and an adsorption mechanism is provided on the other two connectors. The adsorption mechanism comprises a rotating component 1 connected to the connector, a rotating component 2 is provided on the rotating component 1, two telescopic plates are provided on the rotating component 2, a suction cup assembly is provided at a position of the two telescopic plates away from the rotating component 1, and a limit member is provided between the two telescopic plates. The suction cup assembly comprises a negative pressure tube connected to the telescopic plate. The present invention can change the adsorption position of the suction cup assembly according to the shape of the sheet, thereby improving the applicability of sheet grasping, and can effectively prevent the sheet from falling due to air leakage from the suction cup when the sheet is shaken and bent.

Description

Technical Field

[0001] The present invention belongs to the field of manipulators, and in particular relates to a production conveyor line grasping manipulator and a grasping method thereof. Background Art

[0002] The main structure of the manipulator consists of a drive system, a control system, and an actuator. According to the grasping method, it is usually divided into a suction cup manipulator and a clamping manipulator, and the selection is reasonable according to the different work objects.

[0003] Existing automated production lines, such as stamping lines, are often equipped with suction cup manipulators to pick up blanks and deliver them to designated locations for stamping. When stacked blanks are held by the manipulator, if the surface of the blanks is very smooth (such as sheet metal), static electricity or vacuum forces can easily cause the stacked blanks to stick together. When the suction cups attach to the top blank, multiple blanks can be simultaneously picked up.

[0004] In the prior art, to prevent this, after the robot grabs the sheet, a limit plate is installed in the middle of the upper side of the sheet. At the same time, the suction cups on both sides of the sheet will continuously move up and down (the limit plate remains stationary). As the sheet moves upward, the middle of the sheet will collide with the limit plate, causing the two sides of the sheet to bend, achieving the effect of shaking the sheet, and then causing the excess sheet adsorbed on the lower side to fall off. This type of robot has the following problems when working: 1. Since the upper side of the sheet is mainly adsorbed by the suction cup, the adsorption of the suction cup requires the adsorption position of the sheet to remain flat. When the sheet is shaken, a curved surface may appear at the adsorption position, causing the suction cup to leak and posing a risk of the sheet detaching.

[0005] 2. Existing manipulators usually customize corresponding suction cups according to the materials to be grasped. The distribution of suction cups corresponds to the shape of the material. A manipulator can usually only grasp one type of material or materials of the same type but with similar shapes, which has great limitations in use. Summary of the Invention

[0006] In view of the above problems, the embodiments of the present application provide a production conveyor line grasping robot and a grasping method thereof, which can change the adsorption position of the suction cup assembly according to the shape of the sheet, improve the applicability of sheet grasping, and effectively prevent the problem of the sheet falling due to air leakage of the suction cup when the sheet is shaken and bent.

[0007] To achieve the above objectives, the present application provides the following technical solutions: The present invention provides a production conveyor line grabbing robot, comprising a main connecting arm, the main connecting arm being provided with three removable and repositionable connectors, the central connector being provided with a T-shaped limit plate, and the other two connectors being provided with suction mechanisms. The suction mechanisms include a rotating assembly 1 connected to the connector, a rotating assembly 2 being provided on the rotating assembly 1, and two telescopic plates being provided on the rotating assembly 2, each of the two telescopic plates being provided with a suction cup assembly at a position away from the rotating assembly 1, and a limit plate being provided between the two telescopic plates. The suction cup assembly includes a negative pressure tube connected to a telescopic plate, the lower end of the negative pressure tube is fixedly connected to an adsorption tube with a truncated cone structure, the adsorption tube is composed of an inner sleeve and an outer sleeve fixedly mounted on the outside of the inner sleeve, the upper end of the outer sleeve is fixedly connected to the lower end of the negative pressure tube and is not connected to the inside of the negative pressure tube, the upper end of the inner sleeve is fixedly connected to the upper end of the outer sleeve and is connected to the inside of the negative pressure tube, the lower end of the outer sleeve is fixedly provided with an adsorption ring, the lower side of the adsorption ring is provided with a plurality of adsorption grooves distributed along its circumferential direction, and each adsorption groove and the negative pressure tube are connected to a branch pipe with a one-way valve. The spacing between the two adsorption mechanisms can be changed by corresponding connecting parts, and the rotating component 2 controls the two suction cup assemblies to rotate synchronously in opposite directions to expand or close, and the rotating component 1 can also control the overall rotation of the two suction cup assemblies.

[0008] According to a favorable embodiment, the connecting member includes an I-shaped mounting seat, and a plurality of mounting holes distributed along its length direction and symmetrically distributed front to back are opened on the upper and lower sides of the main connecting arm. The mounting seat is fixed on the main connecting arm by a bolt that is compatible with the mounting hole. A cylinder is fixedly provided on the lower side of the mounting seat, and the telescopic end of the cylinder located in the middle of the main connecting arm is fixedly connected to the upper side of the limit plate, and the telescopic ends of the other two cylinders are respectively connected to the corresponding rotating components.

[0009] According to a favorable embodiment, the rotating component includes a circular outer cover with a downward opening, the upper side of the outer cover is fixedly connected to the telescopic end of the cylinder, a connecting seat with a stepped frustum-shaped cross-section is rotatably provided inside the outer cover, an annular mounting groove is provided on the outer wall of the connecting seat near the upper side, an annular worm gear is fixedly provided in the mounting groove, a notch is provided on the outer side of the outer cover at a position corresponding to the worm gear, and a worm engaged with the worm gear is rotatably provided on the outer side of the outer cover at the notch position through a bracket.

[0010] According to a preferred embodiment, the second rotating component includes two rotating shafts rotatably arranged on the lower side of the connecting seat and symmetrically distributed, the outer walls of the two rotating shafts close to the lower side are fixedly connected to the corresponding telescopic plates, and a sliding groove is provided in the middle of the lower side of the connecting seat, and the sliding groove is perpendicular to the line connecting the centers of the two rotating shafts. A screw rod 1 is arranged to rotate together between the two shorter side walls in the sliding groove, and a slider slidably connected to the sliding groove is threadedly connected to the screw rod 1, and a tooth plate is fixedly connected to the lower side of the slider, and a plurality of tooth blocks extending along the length direction of the tooth plate are provided on the side opposite to the two rotating shafts, and a gear ring is fixedly sleeved on the surface of the rotating shaft at the position corresponding to the gear plate, and both gear rings are meshed with the gear plate.

[0011] According to a favorable embodiment, a groove is provided on the lower outer wall of the connecting seat and at a position opposite to either end of the screw rod, the groove is connected to the slide groove, and the end of the screw rod opposite to the groove movably passes through the slide groove and extends into the groove and is fixedly connected to an adjustment knob.

[0012] According to a favorable embodiment, the surface of the tooth plate is provided with a guide seat with a U-shaped structure, the two vertical ends of the guide seat are fixedly connected to the lower side of the connecting seat, and a guide roller is rotatably provided at the center position of the horizontal end of the guide seat, and the guide roller is rollingly connected to the lower surface of the tooth plate.

[0013] According to a favorable embodiment, the telescopic plate includes a connecting plate 1 fixedly connected to the corresponding rotating shaft, a connecting plate 2 is slidably sleeved on the side of the connecting plate 1 away from the corresponding rotating shaft, and the side of the connecting plate 2 away from the connecting plate 1 is connected to the suction cup assembly, and the connecting plate 1 is provided with a plurality of limiting holes distributed along its length direction, and a bolt 2 is threadedly provided on the upper side of the connecting plate 2 and close to the connecting plate 1, and the bolt 2 is movably plugged into the corresponding limiting hole.

[0014] According to a favorable embodiment, the upper end of the negative pressure tube is fixedly connected to the lower side of the second connecting plate, and a connecting tube connected to the upper port of the negative pressure tube is fixedly provided on the upper side of the second connecting plate, and the connecting tube is connected to an external negative pressure pump.

[0015] According to a favorable embodiment, the limit member includes two limit bars that are parallel to each other and slidably connected, and the sides of the two limit bars that are away from each other are rotatably connected to the corresponding connecting plate 2 through a connecting shaft, and the side of any limit bar away from the corresponding connecting shaft is threadedly connected to the screw 2, and the other limit bar is provided with a plurality of thread grooves extending along its length direction on the surface of the side close to the screw 2, and the other end of the screw 2 is rotatably connected to a locking block with a U-shaped structure, and the locking block is slidably mounted on the limit bar with the thread groove, and a bolt 3 is rotatably provided on the locking block, and the bolt 3 is threadably connected to the corresponding thread groove.

[0016] In addition, the present invention also provides a production conveyor line grasping method, which is performed by the above-mentioned production conveyor line grasping robot, including the following steps: S1, suction cup installation and debugging, adjusting the position of the four suction cup components according to the adsorption object through the connecting parts, rotating component one and rotating component two.

[0017] S2, grab the material, drive the main connecting arm to move above the material through the external sliding device and drive the suction cup assembly downward through the corresponding cylinder to adsorb the material.

[0018] S3, shaking the material. The cylinder contracts to lift the sheet to a certain height so that the upper side of the sheet contacts the limit plate and bends. Then the cylinder extends to control the sheet to separate from the limit plate so that the sheet is flat again. Repeat this process many times.

[0019] S4, unloading, the material is transported to the designated position for processing through the external sliding device after the shaking is completed.

[0020] S5. Loop and repeat the actions of S2-S4.

[0021] Compared with the prior art, a production conveyor line grasping robot and a grasping method thereof provided by an embodiment of the present invention have the following beneficial effects: 1. In the present invention, the connecting part is detachably fixed on the main connecting arm, and the rotating component one and the rotating component two can cooperate, which can not only control the relative rotation of the two adjacent suction cup components to adjust the distance between the two, but also control the two adjacent suction cup components to rotate in the same direction after being closed together, and can change the adsorption position of the suction cup component according to the shape of the material sheet, thereby improving the applicability of material sheet grasping.

[0022] 2. The telescopic plates provided in the present invention can further change the adsorption position according to the size of the sheet. At the same time, an adaptive limiter is provided between the two telescopic plates to limit and lock the two adjacent telescopic plates, thereby improving the stability of the structure.

[0023] 3. In the present invention, the suction cup assembly can perform double adsorption on the material sheet. The edge of the adsorption area is adsorbed by multiple small adsorption grooves, and the middle area of the adsorption area is reinforced by the lower port of the inner sleeve. The adsorption grooves and the lower port of the inner sleeve are independent of each other, which can effectively prevent the suction cup from leaking and causing the material sheet to fall when the material is shaken and bent. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is the external overall three-dimensional structure diagram of the present invention.

[0025] Figure 2 It is an overall bottom plan view of the present invention.

[0026] Figure 3It is a bottom-up stereoscopic structural diagram of the adsorption mechanism in the present invention.

[0027] Figure 4 It is a schematic diagram of the disassembled structure of the outer cover and the connecting base in the present invention.

[0028] Figure 5 It is a cross-sectional three-dimensional structural diagram of the connecting seat in the present invention.

[0029] Figure 6 This is an external three-dimensional structural diagram of the suction cup assembly of the present invention.

[0030] Figure 7 This is an external three-dimensional structural diagram of the limiting component in the present invention.

[0031] Figure 8 Schematic diagram of using the present invention to grab a rectangular sheet.

[0032] Figure 9 Schematic diagram of using the robot arm of the present invention to grab a triangular piece.

[0033] Figure 10 The figure is a flow chart of a method for grabbing a sheet by a robot arm of the present invention.

[0034] 2. The assemblies are as follows: 1. main connecting arm; 2. connecting piece; 21. mounting seat; 22. cylinder; 3. limiting plate; 4. adsorption mechanism; 41. rotating assembly 1; 411. outer cover; 412. connecting seat; 413. worm gear; 414. worm; 42. rotating assembly 2; 421. rotating shaft; 422. screw 1; 423. slider; 424. tooth plate; 425. gear ring; 43. telescopic plate; 431. connecting plate 1; 432. connecting plate 2; 44. suction cup assembly; 441. negative pressure tube; 442. adsorption tube; 4421. inner sleeve; 4422. outer sleeve; 443. adsorption ring; 4431. adsorption groove; 444. branch pipe; 45. limiting piece; 451. limiting strip; 452. screw 2; 453. locking block; 5. guide seat; 6. connecting pipe. DETAILED DESCRIPTION

[0035] In order to make those skilled in the art better understand the present invention, the following Figure 1-10 This application is described in further detail.

[0036] Please refer to Figure 1 and Figure 4A production conveyor line grasping manipulator, specifically a suction cup manipulator, is fixedly connected to an external sliding device to form a grasping robot. The manipulator includes a main connecting arm 1, on which are provided three detachable and repositionable connecting parts 2, the connecting parts 2 including an I-shaped mounting seat 21, and a plurality of mounting holes distributed along its length and symmetrically distributed front to back are provided on the upper and lower sides of the main connecting arm 1. The mounting seat 21 is fixed to the main connecting arm 1 by a bolt that matches the mounting hole, and a cylinder 22 is fixedly provided on the lower side of the mounting seat 21. The telescopic end of the cylinder 22 located in the middle of the main connecting arm 1 is fixedly connected to the limit plate 3, and the telescopic ends of the other two cylinders 22 are both connected to an adsorption mechanism 4. The position of the two adsorption mechanisms 4 can be adjusted by the position of the mounting seat 21 on the main connecting arm 1. After the adsorption mechanism 4 adsorbs the sheet, it can drive the sheet upward by the corresponding cylinder 22 through its extension and contraction, and cooperate with the limit plate 3 at the same time, so that the sheet is bent to perform a material shaking action.

[0037] See Figure 1 and Figure 2 The adsorption mechanism 4 includes a rotating component 41 connected to the connecting member 2, a rotating component 42 is provided on the rotating component 1, two telescopic plates 43 are provided on the rotating component 2, and suction cup assemblies 44 are provided at positions of the two telescopic plates 43 away from the rotating component 1 41, and a limiting member 45 is provided between the two telescopic plates 43.

[0038] See Figure 2 、 Figure 3 and Figure 4 To facilitate simultaneous and co-rotating position adjustment of the two suction cup assemblies 44 on the same suction mechanism 4, the rotating assembly 1 41 includes a circular outer cover 411 with a downward opening. The upper side of the outer cover 411 is fixedly connected to the telescopic end of the cylinder 22. A connecting seat 412 with a stepped frustum-shaped cross section is provided for rotation within the outer cover 411. An annular mounting groove is provided on the outer wall of the connecting seat 412 near the upper side, and an annular worm gear 413 is fixedly provided within the mounting groove. A notch is provided on the outer side of the outer cover 411 at a position corresponding to the worm gear 413. A worm 414 is provided on the outer side of the outer cover 411 at the notch position, which is rotatably engaged with the worm gear 413 via a bracket. By driving the worm gear 414 to rotate, the worm gear 413 on the surface of the connecting seat 412 rotates, driving the connecting seat 412 and the two suction cup assemblies 44 connected thereto to rotate in the same direction.

[0039] See Figure 2 、 Figure 3 and Figure 5The two ends of the lever 424 are engaged with the lever 425 and the two ends of the lever 426 are engaged with the lever 427. The two ends of the lever 426 are engaged with the lever 427 by the spring 428. A groove is provided on the outer wall of the lower side of the connecting seat 412 at a position opposite to either end of the screw rod 422. The groove is connected to the slide groove. The end of the screw rod 422 opposite to the groove is movable through the slide groove and extends into the groove and is fixedly connected to an adjustment knob. The surface of the tooth plate 424 is provided with a guide seat 5 with a U-shaped structure. The two vertical ends of the guide seat 5 are fixedly connected to the lower side of the connecting seat 412. A guide roller is rotatably provided at the center position of the horizontal end of the guide seat 5. The guide roller is in rolling connection with the lower surface of the tooth plate 424 and is used to guide and position the tooth plate 424. The rotation of the screw rod 422 drives the slider 423 to drive the tooth plate 424 to move, thereby causing the two gear rings 425 to rotate relative to each other and driving the two rotating shafts 421 to rotate relative to each other, thereby allowing the two suction cup assemblies 44 to move closer to or farther away from each other, further adjusting the position between the two adjacent suction cup assemblies 44.

[0040] See Figure 2 and Figure 3 To further enhance the suction range of the suction cup assembly 44, the telescopic plate 43 includes a first connecting plate 431 fixedly connected to the corresponding rotating shaft 421. A second connecting plate 432 is slidably mounted on the side of the first connecting plate 431 away from the corresponding rotating shaft 421. The side of the second connecting plate 432 away from the first connecting plate 431 is connected to the suction cup assembly 44. The first connecting plate 431 is provided with a plurality of limiting holes distributed along its length. A second bolt is threadedly mounted on the upper side of the second connecting plate 432, near the first connecting plate 431. The second bolt flexibly engages with the corresponding limiting hole. The suction range of the suction cup assembly 44 can be further adjusted by adjusting the relative distance between the first connecting plate 431 and the second connecting plate 432.

[0041] See Figure 3 and Figure 7In order to improve the stability of the two adjacent suction cup assemblies 44 after installation, the limit member 45 includes two limit bars 451 that are parallel to each other and slidably connected. The two limit bars 451 slide along their length direction, and the two limit bars 451 are rotatably connected to the corresponding connecting plate 2 432 on the side away from each other through a connecting shaft. The side of any limit bar 451 away from the corresponding connecting shaft is threadedly connected with a screw 2 452, and the other limit bar 451 is provided with a plurality of thread grooves extending along its length direction on the surface of the side close to the screw 2 452. The other end of the screw 2 452 is rotatably connected with a locking block 453 with a U-shaped structure. The locking block 453 is slidably sleeved on the limit bar 451 with the thread groove, and a bolt three is rotatably provided on the locking block 453, and the bolt three is threadedly connected to the corresponding thread groove. The locking block 453 locks the two limit bars 451 through bolt three. When the two telescopic plates 43 need to be rotated to adjust the position, the locking block 453 is first released to allow the two limit bars 451 to slide relative to each other. The two limit bars 451 are respectively connected to the corresponding telescopic plates 43. The two telescopic plates 43 interact with each other through the limit members 45 to form a triangular structure, making the suction cup assembly 44 more stable after installation.

[0042] See Figure 1 、 Figure 3 and Figure 6The suction cup assembly 44 includes a negative pressure tube 441 connected to the telescopic plate 43, and the lower end of the negative pressure tube 441 is fixedly connected to the suction tube 442 with a frustum structure. The suction tube 442 consists of an inner sleeve 4421 and an outer sleeve 4422 fixedly sleeved on the outside of the inner sleeve 4421. The upper end of the outer sleeve 4422 is fixedly connected to the lower end of the negative pressure tube 441 and is not connected to the interior of the negative pressure tube 441. The upper end of the inner sleeve 4421 is fixedly connected to the upper port of the outer sleeve 4422 and is connected to the interior of the negative pressure tube 441. The lower end of the outer sleeve 4422 is fixedly provided with a suction ring 443. The lower side of the suction ring 443 is provided with a plurality of suction grooves 4431 distributed along its circumferential direction. Each suction groove 4431 is connected to the negative pressure tube 441 with a branch pipe 444 with a one-way valve. The upper end of the negative pressure tube 441 is fixedly connected to the lower side of the second connecting plate 432 , and a connecting tube 6 communicating with the upper end of the negative pressure tube 441 is fixedly provided on the upper side of the second connecting plate 432 , and the connecting tube 6 is connected to an external negative pressure pump. When the suction cup assembly 44 is pressed down as a whole to fit the material, the adsorption ring 443 is sleeved on the outer periphery of the lower port of the inner sleeve 4421, and all the adsorption grooves 4431 on the lower side of the adsorption ring 443 generate negative pressure to adsorb the material through the negative pressure tube 441 and the branch tube 444. At the same time, the lower port of the inner sleeve 4421 will also fit the material and directly generate negative pressure through the negative pressure tube 441 to adsorb the material, forming double adsorption, and the outer adsorption ring 443 is adsorbed through multiple adsorption grooves 4431, so that the material in the area of the adsorption ring 443 is not easy to bend, and even if a single adsorption groove 4431 leaks due to the bending deformation of the material, it will not affect the adsorption work of other adsorption grooves 4431 on the material, which has a better adsorption effect on the material and reduces the situation where the material leaks and falls when shaking the material.

[0043] In addition, the present invention also provides a production conveyor line grasping method, such as Figure 10 As shown, the above-mentioned production conveyor line grasping robot is executed and completed, including the following steps: S1, suction cup installation and debugging, through the connector 2, rotating component 1 41 and rotating component 2 42 to adjust the position of the four suction cup components 44 according to the adsorption object, as shown in FIG. Figure 8 When the material sheet is a rectangle, first adjust the distance between the two adsorption mechanisms 4 to a suitable position through the connecting member 2, then open the two suction cup assemblies 44 to a certain angle through the rotating component 2, and adjust the distance between the two suction cup assemblies 44 so that the four suction cup assemblies 44 on the two groups of adsorption mechanisms 4 can be adsorbed at four scattered points on the material sheet. Figure 9As shown, when the material sheet is a triangle, the two adsorption mechanisms 4 are adjusted to a suitable distance through the connecting piece 2, and then the two suction cup assemblies 44 on any one of the adsorption mechanisms 4 are closed, and at the same time, the two suction cup assemblies 44 on the other adsorption mechanism 4 are opened at a certain angle, thereby forming three adsorption points, which are adsorbed on the surface of the triangular material sheet.

[0044] S2, grab the material, drive the main connecting arm 1 to move above the material piece through the external sliding device and drive the suction cup assembly 44 to move downward through the corresponding cylinder 22 to absorb the material piece.

[0045] S3, shake the material. The middle cylinder 22 controls the limit plate 3 to remain fixed. At the same time, the left and right cylinders 22 contract to lift the sheet to a certain height so that the upper side of the sheet collides with the limit plate 3 and bends. Then the cylinder 22 extends to control the sheet to separate from the limit plate 3 so that the sheet is flat again. Repeat this process many times so that any excess sheet that may be adsorbed on the lower side of the top sheet falls off.

[0046] S4, unloading, the material is transported to the designated position for processing through the external sliding device after the shaking is completed.

[0047] S5. Loop and repeat the actions of S2-S4.

[0048] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A production conveyor line grabbing robot, comprising a main connecting arm, characterized in that: The main connecting arm is provided with three detachable connecting pieces that can be repositioned. A T-shaped limiting plate is provided on the connecting piece in the middle, and adsorption mechanisms are provided on the other two connecting pieces. The adsorption mechanism includes a rotating assembly 1 connected to the connecting member, a rotating assembly 2 installed at the bottom of the rotating assembly 1, two telescopic plates arranged on the rotating assembly 2, and a suction cup assembly arranged at the free ends of the two telescopic plates, and a limit member is arranged between the two telescopic plates; The suction cup assembly includes a negative pressure tube connected to the telescopic plate, the lower end of the negative pressure tube is fixedly connected to an adsorption tube with a truncated cone structure, the adsorption tube is composed of an inner sleeve and an outer sleeve fixedly sleeved on the outside of the inner sleeve, the upper end of the outer sleeve is fixed to the lower end of the negative pressure tube and is not connected to the inside of the negative pressure tube, the upper end of the inner sleeve is fixed to the upper port of the outer sleeve and is connected to the inside of the negative pressure tube, the lower end of the outer sleeve is fixedly provided with an adsorption ring, and a plurality of adsorption grooves distributed along its circumferential direction are opened on the lower side of the adsorption ring, and a branch pipe with a one-way valve is commonly connected between each adsorption groove and the negative pressure tube; Adjust the distance between the two adsorption mechanisms. Rotating component 1 can control the overall rotation of the two suction cup components. Rotating component 2 controls the two suction cup components to rotate synchronously toward each other to expand or close, which is suitable for adsorbing different sheets. The limiting member includes two limiting bars that are parallel to each other and slidably connected, and the two limiting bars are rotatably connected to the corresponding connecting plate two on one side away from each other through a connecting shaft, and the side of any limiting bar away from the corresponding connecting shaft is threadedly connected to the screw rod two, and the other limiting bar is provided with a plurality of thread grooves extending along its length direction on the surface of the side close to the screw rod two, and the other end of the screw rod two is rotatably connected to a locking block with a U-shaped structure, and the locking block is slidably sleeved on the limiting bar with the thread groove, and a bolt three is rotatably provided on the locking block, and the bolt three is threadedly connected to the corresponding thread groove; The second rotating assembly includes two rotating shafts rotatably arranged on the lower side of the connecting seat and symmetrically distributed, the two rotating shafts having outer walls close to the lower side fixedly connected to the corresponding telescopic plates, respectively, and a slide groove is opened in the middle of the lower side of the connecting seat, and the slide groove is perpendicular to the line connecting the centers of the two rotating shafts. A screw 1 is provided between the two shorter side walls in the slide groove and rotates together, and a slider slidably connected to the slide groove is threadedly connected to the screw 1. The lower side of the slider is fixedly connected to a tooth plate, and a plurality of tooth blocks extending along its length direction are provided on the side opposite to the two rotating shafts. A gear ring is fixedly sleeved on the surface of the rotating shaft at the position corresponding to the gear plate, and the two gear rings are meshed with the gear plate; A groove is provided on the lower outer wall of the connecting seat at a position opposite to either end of the screw rod, the groove is connected to the slide groove, and the end of the screw rod opposite to the groove movably passes through the slide groove and extends into the groove and is fixedly connected to the adjusting knob; The surface of the tooth plate is provided with a guide seat of a U-shaped structure, the two vertical ends of the guide seat are fixedly connected to the lower side of the connecting seat, and the horizontal end center position of the guide seat is rotatably provided with a guide roller, and the guide roller is in rolling connection with the lower surface of the tooth plate; The telescopic plate includes a connecting plate 1 fixedly connected to the corresponding rotating shaft, a connecting plate 2 is slidably sleeved on the side of the connecting plate 1 away from the corresponding rotating shaft, and the side of the connecting plate 2 away from the connecting plate 1 is connected to the suction cup assembly, and a plurality of limiting holes distributed along its length direction are opened on the connecting plate 1, and a bolt 2 is threadedly provided on the upper side of the connecting plate 2 and close to the connecting plate 1, and the bolt 2 is movably plugged into the corresponding limiting hole.

2. A production conveyor line grabbing robot according to claim 1, characterized in that: The connecting member includes an I-shaped mounting seat, and a plurality of mounting holes distributed along its length direction and symmetrically distributed front to back are opened on the upper and lower sides of the main connecting arm. The mounting seat is fixed on the main connecting arm by a bolt that is compatible with the mounting hole. A cylinder is fixed on the lower side of the mounting seat. The telescopic end of the cylinder located in the middle of the main connecting arm is fixedly connected to the upper side of the limit plate, and the telescopic ends of the other two cylinders are respectively connected to the corresponding rotating components.

3. A production conveyor line grabbing robot according to claim 2, characterized in that: The rotating component 1 includes a circular outer cover with a downward opening, the upper side of the outer cover is fixedly connected to the telescopic end of the cylinder, a connecting seat with a stepped frustum-shaped cross-section is rotatably provided inside the outer cover, an annular mounting groove is provided on the outer wall of the connecting seat near the upper side, an annular worm gear is fixedly provided in the mounting groove, a notch is provided on the outer side of the outer cover at a position corresponding to the worm gear, and a worm engaged with the worm gear is rotatably provided on the outer side of the outer cover at the notch position through a bracket.

4. A production conveyor line grabbing robot according to claim 1, characterized in that: The upper end of the negative pressure tube is fixedly connected to the lower side of the second connecting plate, and a connecting tube connected to the upper end of the negative pressure tube is fixedly provided on the upper side of the second connecting plate, and the connecting tube is connected to an external negative pressure pump.

5. A production conveyor line grasping method, characterized in that: The process is completed by using a production conveyor line grabbing robot as claimed in claim 2, including the following steps: S1. Suction cup installation and debugging: adjust the positions of the four suction cup assemblies according to the adsorption object through the connector, rotating assembly 1 and rotating assembly 2; S2, grab the material, drive the main connecting arm to move above the material through the external sliding device and drive the suction cup assembly downward through the corresponding cylinder to absorb the material; S3, shaking the material. The cylinder contracts to lift the sheet to a certain height so that the upper side of the sheet contacts the limit plate and bends. Then the cylinder extends to control the sheet to separate from the limit plate so that the sheet is flat again. Repeat this process several times. S4, unloading, the material is transported to the designated location for processing through the external sliding device after the shaking is completed; S5. Loop and repeat the actions of S2-S4.

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