Robot grabbing system of automatic line

Abstract

The robot grabbing system of the automatic line comprises a batten-shaped workpiece grabbing unit, an object grabbed by the batten-shaped workpiece grabbing unit is a batten-shaped workpiece, and a first kidney-shaped process hole and a second kidney-shaped process hole are formed in the plate face of the batten-shaped workpiece in a hollowed-out mode in the length extending path; the batten-shaped workpiece grabbing unit comprises a clamping jaw support, and a first supporting arm and a second supporting arm are fixed to the clamping jaw support. A first active clamping and pressing unit and a second active clamping and pressing unit are respectively arranged above the first supporting arm and the second supporting arm; a first limiting support and a second limiting support are fixedly arranged on the upper side of the first supporting arm and the upper side of the second supporting arm respectively. The first limiting support and the second limiting support are provided with positioning units matched with the first kidney-shaped process hole and the second kidney-shaped process hole correspondingly. The effect of accurate positioning is achieved while the non-accurate placing process is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of robots. Background Art

[0002] Due to the need of the automated production line in the unmanned chemical plant, the process of placing the workpiece before clamping in the strip-shaped workpiece grasping unit cannot be done manually, but needs to be completed by another robot. The workpiece placement process needs to be carried out under the state of accurately aligning with the positioning device, so the accuracy requirement for the robot is very high. Otherwise, scratches or unsmoothness are likely to occur during the placement process. Moreover, even if the robot end meets the accuracy requirements, the strip-shaped workpiece grasping unit is long and its slight elastic bending will also cause errors. Therefore, there are certain drawbacks in the positioning structure for accurate alignment. Summary of the Invention

[0003] Object of the Invention: In order to overcome the deficiencies existing in the prior art, the present invention provides a robot grasping system for an automatic line, which realizes the effect of accurate positioning while realizing the non-precise placement process.

[0004] Technical Solution: To achieve the above object, a robot grasping system for an automatic line of the present invention includes a strip-shaped workpiece grasping unit. The object grasped by the strip-shaped workpiece grasping unit is a strip-shaped workpiece. On the plate surface of the strip-shaped workpiece, a first kidney-shaped process hole and a second kidney-shaped process hole are hollowed out along the length extension path.

[0005] The strip-shaped workpiece grasping unit includes a jaw support. A first support arm and a second support arm are fixed on the jaw support. Above the first support arm and the second support arm, a first active clamping unit and a second active clamping unit are respectively arranged.

[0006] On the upper sides of the first support arm and the second support arm, a first limit support and a second limit support are respectively and fixedly arranged. On the first limit support and the second limit support, positioning units matching with the first kidney-shaped process hole and the second kidney-shaped process hole are respectively arranged.

[0007] Further, the positioning units on the first limit support and the second limit support are respectively a first "cross"-shaped limit block and a second "cross"-shaped limit block.

[0008] Further, when the strip-shaped workpiece is positioned on the upper sides of the first support arm and the second support arm, the first "cross"-shaped limit block and the second "cross"-shaped limit block are respectively in the first kidney-shaped process hole and the second kidney-shaped process hole.

[0009] Further, in the positioning and mating state, the two ends of the first "cross"-shaped limiting block in the Y direction are respectively in limiting fit with the inner side walls of the two straight lines of the first kidney-shaped process hole, and there is a spacing between the two ends of the first "cross"-shaped limiting block in the X direction and the inner side walls of the two arc surfaces of the first kidney-shaped process hole; the two ends of the second "cross"-shaped limiting block in the Y direction are respectively in limiting fit with the inner side walls of the two straight lines of the second kidney-shaped process hole, and the two ends of the second "cross"-shaped limiting block in the X direction are respectively in limiting fit with the inner side walls of the two arc surfaces of the second kidney-shaped process hole.

[0010] Further, the positioning unit on the first limiting support includes a first arc-shaped floating restraint block and a second arc-shaped floating restraint block distributed along the X direction. The lower parts of the first arc-shaped floating restraint block and the second arc-shaped floating restraint block are respectively fixed on the first slider and the second slider. The first slider and the second slider can only slide along the X direction under the guiding and restraining of a pair of guiding rods.

[0011] Further, a pulling spring is sleeved on the guiding rod, and the two ends of the pulling spring are respectively connected to the first slider and the second slider by pulling, so that the first slider and the second slider always have a tendency to move closer to each other.

[0012] Further, the inner side walls of the two arc surfaces of the first kidney-shaped process hole are respectively denoted as the first arc inner wall surface and the second arc inner wall surface; the mutually remote side surfaces of the first arc-shaped floating restraint block and the second arc-shaped floating restraint block are respectively the first mating arc surface and the second mating surface, and the first mating arc surface and the second mating surface respectively match and adapt to the contours of the first arc inner wall surface and the second arc inner wall surface;

[0013] The dimensions of the first arc-shaped floating restraint block and the second arc-shaped floating restraint block in the Y direction are both smaller than the dimension of the first kidney-shaped process hole in the Y direction; in the initial state, the interval occupied by the combination of the first arc-shaped floating restraint block and the second arc-shaped floating restraint block in the X direction is smaller than the dimension of the first kidney-shaped process hole in the X direction.

[0014] Further, a vertical a rotating shaft is arranged at the central position between the first arc-shaped floating restraint block and the second arc-shaped floating restraint block. The a rotating shaft is rotationally installed on the first limiting support through a bearing; the mutually close side surfaces of the first arc-shaped floating restraint block and the second arc-shaped floating restraint block are respectively the first raceway arc surface and the second raceway arc surface; in the top view perspective, the self-raceway path of the first raceway arc surface gradually approaches the axis of the a rotating shaft in the clockwise direction, and the second raceway arc surface also gradually approaches the axis of the a rotating shaft along its own raceway path in the clockwise direction; in the initial state, the first roller and the second roller are respectively in rolling fit with the counterclockwise ends of the first raceway arc surface and the second raceway arc surface, and a first roller bracket and a second roller bracket are vertically connected to the a rotating shaft. The first roller and the second roller are respectively rotationally installed at the ends of the first roller bracket and the second roller bracket;

[0015] A cavity is provided inside the first limiting support. The cavity is hollow and open on the side facing the X+ direction. The lower end of the a-axis extends downward into the cavity inside the first limiting support. A first linkage swing rod extending in the Y- direction is vertically and fixedly connected to the lower end of the a-axis.

[0016] Further, the positioning unit on the second limiting support includes a rotating bar. The two ends of the rotating bar are in arc transition. The dimension of the length extension direction of the rotating bar is the same as the dimension in the Y direction of the second kidney-shaped process hole. In the initial state, the length extension direction of the rotating bar forms a known preset angle with the Y direction, so that the occupied interval of the rotating bar in the Y direction and the occupied interval in the X direction are respectively smaller than the dimension in the X direction and the dimension in the Y direction of the second kidney-shaped process hole.

[0017] A vertical b-axis is fixedly connected to the lower side of the middle part of the rotating bar. A servo motor is fixedly installed on the second limiting support. The servo motor is drivingly connected to the b-axis. A second linkage swing rod is fixedly connected to the lower side of one end of the rotating bar. It further includes a transverse linkage rod. One end of the linkage rod is hinged to the end of the first linkage swing rod through an a-hinge, and the other end of the linkage rod is hinged to the lower end of the second linkage swing rod through a b-hinge.

[0018] During the process that the rotating bar rotates counterclockwise around the b-axis by a preset angle until it is just parallel to the Y direction, the second linkage swing rod drives the linkage rod to drive the first linkage swing rod to make the a-axis rotate clockwise, so that the first roller and the second roller respectively roll in the clockwise direction along the arc surfaces of the first raceway and the second raceway, thereby pushing the first arc-shaped floating restraint block and the second arc-shaped floating restraint block to move away from each other under the guidance of the guide rod until the first mating arc surface and the second mating surface just fit the contours of the inner wall surfaces of the first arc surface and the second arc surface.

[0019] Beneficial effects: During the workpiece placement stage in the second embodiment of the present invention, even if there are certain errors when other robots place the plate-shaped workpiece into the strip-shaped workpiece gripping unit in the "open" state, it can be easily placed on the first limiting cushion block and the second limiting cushion block on the upper sides of the first support arm and the second support arm, thereby enhancing the error tolerance rate during the workpiece placement process, avoiding the problems of unsuccessful placement and scratching caused by the need for precise alignment, and at the same time reducing the cost of the high-precision robotic arm.

[0020] And in the positioning end stage, the strip-shaped workpiece is completely and precisely positioned in the horizontal direction under the common restraint of the rotating bar, the first arc-shaped floating restraint block and the second arc-shaped floating restraint block in the locked state; thus, the effect of precise positioning is achieved while realizing the non-precise placement process. Description of the Drawings

[0021] Figure 1 It is a schematic diagram of the strip-shaped workpiece;

[0022] Figure 2 It is an overall top view of the automatic line;

[0023] Figure 3 It is the overall diagram of the robot;

[0024] Figure 4 It is the schematic diagram of the mechanical hand structure;

[0025] Figure 5 It is the schematic diagram of the structure of the first embodiment;

[0026] Figure 6 It is the schematic diagram of the structure of the second embodiment;

[0027] Figure 7 It is the schematic diagram of the transmission structure of the positioning structure of the second embodiment;

[0028] Figure 8 It is Figure 7 the enlarged schematic diagram at the marked position 20 of Specific embodiments

[0029] The present invention will be further described below with reference to the accompanying drawings.

[0030] As shown in Figure 2 , 3 , and 4, a robot grasping system for an automatic production line includes a workpiece grasping displacement robot 1. A number of processing devices 3 and loading and unloading devices 2 for processes such as screwing, visual inspection, screwing, core-pulling riveting, pressing riveting, and laser marking are arranged around the workpiece grasping displacement robot 1. The mechanical hand 2 at the end of the workpiece grasping displacement robot 1 can displace the clamped workpiece to any position where the processing device 3 and the loading and unloading device 2 are located. Under the action of the workpiece grasping displacement robot 1, the workpieces can be transferred between a number of processing devices 3, thereby realizing the automation of multiple processes.

[0031] The mechanical hand 2 includes an execution part support 12. A number of other workpiece grasping units 14 and strip-shaped workpiece grasping units 12 are arranged on the execution part support 12. This case focuses on the structural design of the strip-shaped workpiece grasping unit 12.

[0032] As Figure 1 shown, the object grasped by the strip-shaped workpiece grasping unit 12 is a strip-shaped workpiece 4. A first kidney-shaped process hole 5a and a second kidney-shaped process hole 5b are hollowed out on the plate surface of the strip-shaped workpiece 4 along the length extension path.

[0033] As Figure 5 shown, the strip-shaped workpiece grasping unit 12 includes a jaw support 10 fixed on the execution part support 12. A first support arm 6a and a second support arm 6b extending forward are symmetrically fixed on both sides of the jaw support 10;

[0034] At least two first limit pads 9a are fixedly arranged on the first support arm 6a, and at least two second limit pads 9b are fixedly arranged on the second support arm 6b; a first limit support 8a and a second limit support 8b are respectively fixedly arranged on the upper sides of the first support arm 6a and the second support arm 6b; positioning units matched with the first waist-shaped process hole 5a and the second waist-shaped process hole 5b are respectively arranged on the first limit support 8a and the second limit support 8b.

[0035] When the strip-shaped workpiece 4 is positioned on the upper sides of the first support arm 6a and the second support arm 6b, the lower surface of the strip-shaped workpiece 4 is simultaneously limited and attached to the first limit pad 9a and the second limit pad 9b.

[0036] A first active clamping unit 3a and a second active clamping unit 3b are respectively arranged above the first support arm 6a and the second support arm 6b;

[0037] Since the first active clamping unit 3a and the second active clamping unit 3b are left-right symmetric structures, only the second active clamping unit 3b will be introduced in this case;

[0038] The second active clamping unit 3b includes a vertical expander 20, an a hinge seat 62, a b hinge seat 11 and a lever arm 17 on the upper side of the second support arm 6b; the vertical expander 20 is fixed at the tail end of the second support arm 6b, and the expansion rod 61 of the vertical expander 20 faces vertically upward. The upper end of the expansion rod 61 is fixedly connected to the a hinge seat 62. The lower end of the b hinge seat 11 is hinged to the a hinge seat 62. The tail end of the lever arm 17 is hinged to the b hinge seat 11. The lower side of the middle section of the lever arm 17 is hinged to the upper side of the second support arm *********; at least two pressing blocks 19 are fixedly arranged on the lower side of the front end of the lever arm 17;

[0039] When the expansion rod 61 extends upward, the two pressing blocks 19 make a downward pressing action around the hinge 15 driven by the lever arm 17;

[0040] For easier expression, in all the drawings of this solution, the length direction of the strip-shaped workpiece 4 is denoted as the X direction, and the width direction is denoted as the Y direction.

[0041] Based on the above basic structure, the following two embodiments are provided in this solution:

[0042] The first embodiment:

[0043] As Figure 5 shown, the positioning units on the first limit support 8a and the second limit support 8b are respectively a first "cross"-shaped limit block 7a and a second "cross"-shaped limit block 7b;

[0044] When the strip-shaped workpiece 4 is positioned on the upper sides of the first support arm 6a and the second support arm 6b, the first "cross" shaped limit block 7a and the second "cross" shaped limit block 7b are respectively located in the first waist-shaped process hole 5a and the second waist-shaped process hole 5b;

[0045] In the positioning and mating state, the two ends of the first "cross" shaped limit block 7a in the Y direction are respectively in limit mating with the two straight inner side walls of the first waist-shaped process hole 5a, and there is a distance between the two ends of the first "cross" shaped limit block 7a in the X direction and the two arc-shaped inner side walls of the first waist-shaped process hole 5a; the two ends of the second "cross" shaped limit block 7b in the Y direction are respectively in limit mating with the two straight inner side walls of the second waist-shaped process hole 5b, and the two ends of the second "cross" shaped limit block 7b in the X direction are respectively in limit mating with the two arc-shaped inner side walls of the second waist-shaped process hole 5b.

[0046] In the state of the first embodiment, although the strip-shaped workpiece 4 can achieve precise positioning under the combined action of the first "cross" shaped limit block 7a and the second "cross" shaped limit block 7b, due to the requirements of the automated production line in the unmanned factory, the process of placing the workpiece before clamping by the strip-shaped workpiece gripping unit 12 cannot be manually performed, but needs to be completed by another robot. The structures of the first "cross" shaped limit block 7a and the second "cross" shaped limit block 7b determine that the strip-shaped workpiece gripping unit 12 needs to be placed in a state of precisely aligning with the first "cross" shaped limit block 7a and the second "cross" shaped limit block 7b during the process of placing the workpiece before clamping, which requires very high precision for the robot. Otherwise, scratches or unsmoothness are likely to occur during the placing process; moreover, even if the robot end meets the precision requirements, the strip-shaped workpiece gripping unit 12 is long and its slight elastic bending will also cause errors. Therefore, this precisely aligned positioning structure has certain drawbacks, and thus the following another embodiment is designed;

[0047] Second embodiment:

[0048] As Figure 6 、 7 、shown in Figure 8, the positioning unit on the first limit support 8a includes a first arc-shaped floating restraint block 35a and a second arc-shaped floating restraint block 35b distributed along the X direction. The lower parts of the first arc-shaped floating restraint block 35a and the second arc-shaped floating restraint block 35b are respectively fixed on the first slider 30a and the second slider 30b. The first slider 30a and the second slider 30b can only slide along the X direction under the guiding and restraining of a pair of guiding rods 32; both ends of the pair of guiding rods 32 are fixed on the first limit support 8a through the guide rail supports 33; a pulling spring 34 is sleeved on the guiding rod 32, and the two ends of the pulling spring 34 are respectively connected to the first slider 30a and the second slider 30b by pulling, so that the first slider 30a and the second slider 30b always have a tendency to move closer to each other.

[0049] The inner side walls of the two arc surfaces of the first kidney-shaped process hole 5a are respectively denoted as the first arc inner wall surface 5.1 and the second arc inner wall surface 5.2; the mutually remote side surfaces of the first arc-shaped floating restraint block 35a and the second arc-shaped floating restraint block 35b are respectively the first mating arc surface 37a and the second mating surface 37b, and the first mating arc surface 37a and the second mating surface 37b respectively match and adapt to the contours of the first arc inner wall surface 5.1 and the second arc inner wall surface 5.2;

[0050] The dimensions of the first arc-shaped floating restraint block 35a and the second arc-shaped floating restraint block 35b in the Y direction are both smaller than the dimension of the first kidney-shaped process hole 5a in the Y direction; in the initial state, the interval occupied by the combination of the first arc-shaped floating restraint block 35a and the second arc-shaped floating restraint block 35b in the X direction is smaller than the dimension of the first kidney-shaped process hole 5a in the X direction;

[0051] A vertical a rotating shaft 29 is arranged at the central position between the first arc-shaped floating restraint block 35a and the second arc-shaped floating restraint block 35b, and the a rotating shaft 29 is rotatably installed on the first limit support 8a through a bearing;

[0052] The mutually close side surfaces of the first arc-shaped floating restraint block 35a and the second arc-shaped floating restraint block 35b are respectively the first raceway arc surface 36a and the second raceway arc surface 36b;

[0053] In the top-down perspective, the self-raceway path of the first raceway arc surface 36a gradually approaches the axis of the a rotating shaft 29 in the clockwise direction, and the second raceway arc surface 36b also gradually approaches the axis of the a rotating shaft 29 along its own raceway path in the clockwise direction; in the initial state, the first roller 38a and the second roller 38b are respectively in rolling fit with the counterclockwise ends of the first raceway arc surface 36a and the second raceway arc surface 36b, and the first roller support 39a and the second roller support 39b are vertically connected to the a rotating shaft 29, and the first roller 38a and the second roller 38b are respectively rotatably installed at the ends of the first roller support 39a and the second roller support 39b.

[0054] A cavity is arranged inside the first limit support 8a, and the cavity is hollow and open on the side towards the X+ direction. The lower end of the a rotating shaft 29 extends downward into the cavity inside the first limit support 8a, and a first linkage swing rod 28 extending in the Y- direction is vertically and fixedly connected to the lower end of the a rotating shaft 29;

[0055] The positioning unit on the second limit support 8b includes a rotating bar 25. The two ends of the rotating bar 25 have arc transitions, and the dimension of the rotating bar 25 in the length extension direction is the same as the dimension of the second kidney-shaped process hole 5b in the Y direction; in the initial state, the length extension direction of the rotating bar 25 forms a known preset angle, such as 45°, with the Y direction, so that the interval occupied by the rotating bar 25 in the Y direction and the interval occupied by the rotating bar 25 in the X direction are respectively smaller than the X direction dimension and the Y direction dimension of the second kidney-shaped process hole 5b.

[0056] A vertical b rotating shaft 22 is fixedly connected to the lower side of the middle part of the rotating bar 25. A steering gear 26 is fixedly installed on the second limiting support 8b. The steering gear 26 is a servo motor, and the steering gear 26 is drivingly connected to the b rotating shaft 22. A second linkage swing rod 24 is fixedly connected to the lower side of one end of the rotating bar 25;

[0057] It further includes a transverse linkage rod 21. One end of the linkage rod 21 is hingedly connected to the end of the first linkage swing rod 28 through an a hinge 27, and the other end of the linkage rod 21 is hingedly connected to the lower end of the second linkage swing rod 24 through a b hinge 23;

[0058] During the process that the rotating bar 25 rotates counterclockwise around the b rotating shaft 22 by a preset angle until it is just parallel to the Y direction, the second linkage swing rod 24 drives the linkage rod 21 to drive the first linkage swing rod 28 to rotate the a rotating shaft 29 clockwise, so that the first roller 38a and the second roller 38b respectively roll along the clockwise direction of the first raceway arc surface 36a and the second raceway arc surface 36b, thereby pushing the first arc-shaped floating constraint block 35a and the second arc-shaped floating constraint block 35b to move away from each other under the guidance of the guide rod 32 until the first mating arc surface 37a and the second mating surface 37b just fit the contours of the first arc inner wall surface 5.1 and the second arc inner wall surface 5.2.

[0059] Working principle of the second embodiment:

[0060] In the state of the "second embodiment", before the strip-shaped workpiece gripping unit 12 is in the initial state and the strip-shaped workpiece 4 is placed into the "open" strip-shaped workpiece gripping unit 12: Since the dimensions of both the first arc-shaped floating constraint block 35a and the second arc-shaped floating constraint block 35b in the Y direction are smaller than the dimension of the first waist-shaped process hole 5a in the Y direction; the combination of the first arc-shaped floating constraint block 35a and the second arc-shaped floating constraint block 35b occupies a smaller interval in the X direction than the dimension of the first waist-shaped process hole 5a in the X direction, and the occupied intervals of the rotating bar 25 in the Y direction and the X direction in the initial state are respectively smaller than the X dimension and the Y dimension of the second waist-shaped process hole 5b; Therefore, even if there are certain errors during the process that other robots place the plate-shaped workpiece 4 into the "open" strip-shaped workpiece gripping unit 12, it can be easily placed on the first limiting cushion block 9a and the second limiting cushion block 9b on the upper sides of the first support arm 6a and the second support arm 6b, thereby enhancing the error tolerance rate during the workpiece placement process, avoiding the problems of unsuccessful placement and scratching caused by the need for precise alignment, and at the same time reducing the cost of the high-precision robotic arm.

[0061] When the strip-shaped workpiece 4 is placed on the first limit cushion block 9a and the second limit cushion block 9b on the upper sides of the first support arm 6a and the second support arm 6b, the first arc-shaped floating restraint block 35a and the second arc-shaped floating restraint block 35b are within the first kidney-shaped process hole 5a, and the rotating bar 25 is within the second kidney-shaped process hole 5b;

[0062] At this time, control the servo motor 26 to drive the b rotating shaft 22, so that the rotating bar 25 rotates counterclockwise around the b rotating shaft 22 by a preset angle until it is just parallel to the Y direction. At this time, the arc surfaces at both ends of the rotating bar 25 are simultaneously tangent to the two side planes of the second kidney-shaped process hole 5b. At the same time, the rotation of the rotating bar 25 will cause the second linkage swing rod 24 to drive the linkage rod 21 to drive the first linkage swing rod 28 to rotate the a rotating shaft 29 clockwise, so that the first roller 38a and the second roller 38b respectively roll along the clockwise directions of the first raceway arc surface 36a and the second raceway arc surface 36b, thereby pushing the first arc-shaped floating restraint block 35a and the second arc-shaped floating restraint block 35b to move away from each other under the guidance of the guide rod 32 until the first mating arc surface 37a and the second mating surface 37b just fit the contours of the first arc inner wall surface 5.1 and the second arc inner wall surface 5.2. During the above process, the strip-shaped workpiece 4 adaptively horizontally offsets to a predetermined precise position, and then the servo motor 26 is locked.

[0063] At this time, the arc surfaces at both ends of the rotating bar 25 are simultaneously tangent to the two side planes of the second kidney-shaped process hole 5b, and the first mating arc surface 37a and the second mating surface 37b of the first arc-shaped floating restraint block 35a and the second arc-shaped floating restraint block 35b just fit the contours of the first arc inner wall surface 5.1 and the second arc inner wall surface 5.2, so that the strip-shaped workpiece 4 is completely and precisely positioned in the horizontal direction under the common restraint of the rotating bar 25, the first arc-shaped floating restraint block 35a and the second arc-shaped floating restraint block 35b in the locked state; thus, the effect of precise positioning is achieved while realizing the non-precise placing process.

[0064] The above are only the preferred embodiments of the present invention. It should be noted that: for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and retouches can be made, and these improvements and retouches should also be regarded as the protection scope of the present invention.

Claims

1. A robot grasping system for an automatic line, including a strip-shaped workpiece grasping unit (12), the object grasped by the strip-shaped workpiece grasping unit (12) is a strip-shaped workpiece (4), and a first kidney-shaped process hole (5a) and a second kidney-shaped process hole (5b) are hollowed out on the plate surface of the strip-shaped workpiece (4) along the length extension path; It is characterized in that: The strip-shaped workpiece grasping unit (12) includes a jaw support (10), and a first support arm (6a) and a second support arm (6b) are fixed on the jaw support (10); a first active clamping unit (3a) and a second active clamping unit (3b) are respectively arranged above the first support arm (6a) and the second support arm (6b); A first limit support (8a) and a second limit support (8b) are respectively and fixedly arranged on the upper sides of the first support arm (6a) and the second support arm (6b); positioning units matched with the first kidney-shaped process hole (5a) and the second kidney-shaped process hole (5b) are respectively arranged on the first limit support (8a) and the second limit support (8b).

2. The robotic grasping system of an automatic line according to claim 1, characterized in that: The positioning units on the first limit support (8a) and the second limit support (8b) are respectively a first "cross"-shaped limit block (7a) and a second "cross"-shaped limit block (7b).

3. The robotic grasping system of an automatic line according to claim 2, wherein: When the strip-shaped workpiece (4) is positioned on the upper sides of the first support arm (6a) and the second support arm (6b), the first "cross"-shaped limit block (7a) and the second "cross"-shaped limit block (7b) are respectively in the first kidney-shaped process hole (5a) and the second kidney-shaped process hole (5b).

4. The robot grasping system of an automatic line according to claim 3, wherein: In the positioning and matching state, the two ends of the first "cross"-shaped limit block (7a) in the Y direction are respectively in limit cooperation with the two straight inner side walls of the first kidney-shaped process hole (5a), and there is a spacing between the two ends of the first "cross"-shaped limit block (7a) in the X direction and the two arc inner side walls of the first kidney-shaped process hole (5a); the two ends of the second "cross"-shaped limit block (7b) in the Y direction are respectively in limit cooperation with the two straight inner side walls of the second kidney-shaped process hole (5b), and the two ends of the second "cross"-shaped limit block (7b) in the X direction are respectively in limit cooperation with the two arc inner side walls of the second kidney-shaped process hole (5b).

5. The robot grasping system of an automatic line according to claim 1, characterized in that: The positioning unit on the first limit support (8a) includes a first arc-shaped floating restraint block (35a) and a second arc-shaped floating restraint block (35b) distributed along the X direction. The lower parts of the first arc-shaped floating restraint block (35a) and the second arc-shaped floating restraint block (35b) are respectively fixed on a first slider (30a) and a second slider (30b). The first slider (30a) and the second slider (30b) can only slide along the X direction under the guiding restraint of a pair of guiding rods (32).

6. The robot grasping system of an automatic line according to claim 5, wherein: A pulling spring (34) is sleeved on the guiding rod (32), and the two ends of the pulling spring (34) are respectively pulled and connected to the first slider (30a) and the second slider (30b), so that the first slider (30a) and the second slider (30b) always have a movement tendency to approach each other.

7. The robot grasping system of an automatic line according to claim 6, wherein: The inner side walls of the two arc surfaces of the first kidney-shaped process hole (5a) are respectively denoted as the first arc inner wall surface (5.1) and the second arc inner wall surface (5.2); the mutually remote side surfaces of the first arc-shaped floating restraint block (35a) and the second arc-shaped floating restraint block (35b) are respectively the first mating arc surface (37a) and the second mating surface (37b), and the first mating arc surface (37a) and the second mating surface (37b) respectively match and adapt to the contours of the first arc inner wall surface (5.1) and the second arc inner wall surface (5.2). The dimensions of the first arc-shaped floating restraint block (35a) and the second arc-shaped floating restraint block (35b) in the Y direction are both smaller than the dimension of the first kidney-shaped process hole (5a) in the Y direction; in the initial state, the combination of the first arc-shaped floating restraint block (35a) and the second arc-shaped floating restraint block (35b) occupies an interval in the X direction that is smaller than the dimension of the first kidney-shaped process hole (5a) in the X direction.

8. The robot grasping system of an automatic line according to claim 7, characterized in that: A vertical a rotating shaft (29) is arranged at the central position between the first arc-shaped floating restraint block (35a) and the second arc-shaped floating restraint block (35b), and the a rotating shaft (29) is rotatably installed on the first limit support (8a) through a bearing; the mutually close side surfaces of the first arc-shaped floating restraint block (35a) and the second arc-shaped floating restraint block (35b) are respectively the first raceway arc surface (36a) and the second raceway arc surface (36b); in the top view perspective, the own raceway path of the first raceway arc surface (36a) gradually approaches the axis of the a rotating shaft (29) in the clockwise direction, and the second raceway arc surface (36b) also gradually approaches the axis of the a rotating shaft (29) along its own raceway path in the clockwise direction; in the initial state, the first roller (38a) and the second roller (38b) are respectively in rolling fit with the counterclockwise ends of the first raceway arc surface (36a) and the second raceway arc surface (36b), the a rotating shaft (29) is vertically connected with a first roller support (39a) and a second roller support (39b), and the first roller (38a) and the second roller (38b) are respectively rotatably installed at the ends of the first roller support (39a) and the second roller support (39b). A cavity is arranged in the first limit support (8a), the cavity is hollow and open on the side towards the X+ direction, the lower end of the a rotating shaft (29) extends downward into the cavity in the first limit support (8a), and the lower end of the a rotating shaft (29) is vertically and fixedly connected with a first linkage swing rod (28) extending in the Y- direction.

9. The robot grasping system of an automatic line according to claim 8, characterized in that: The positioning unit on the second limit support (8b) includes a rotating bar (25), the two ends of the rotating bar (25) are in arc transition, and the dimension of the length extension direction of the rotating bar (25) is the same as the dimension of the second kidney-shaped process hole (5b) in the Y direction; in the initial state, the length extension direction of the rotating bar (25) forms a known preset angle with the Y direction, so that the occupied interval of the rotating bar (25) in the Y direction and the occupied interval in the X direction are respectively smaller than the X direction dimension and the Y direction dimension of the second kidney-shaped process hole (5b). A vertical b rotating shaft (22) is fixedly connected to the lower side of the middle part of the rotating bar (25). A servo motor (26) is fixedly installed on the second limiting support (8b). The servo motor (26) is drivingly connected to the b rotating shaft (22). A second linkage swing rod (24) is fixedly connected to the lower side of one end of the rotating bar (25). It further includes a horizontal linkage rod (21). One end of the linkage rod (21) is hingedly connected to the end of the first linkage swing rod (28) through an a hinge (27), and the other end of the linkage rod (21) is hingedly connected to the lower end of the second linkage swing rod (24) through a b hinge (23). During the process that the rotating bar (25) rotates counterclockwise around the b rotating shaft (22) by a preset angle until it is just parallel to the Y direction, the second linkage swing rod (24) drives the linkage rod (21) to drive the first linkage swing rod (28) to make the a rotating shaft (29) rotate clockwise, so that the first roller (38a) and the second roller (38b) respectively roll along the clockwise direction of the first raceway arc surface (36a) and the second raceway arc surface (36b), thereby pushing the first arc-shaped floating constraint block (35a) and the second arc-shaped floating constraint block (35b) to move away from each other under the guidance of the guide rod (32) until the first mating arc surface (37a) and the second mating surface (37b) just fit the contours of the inner wall surfaces of the first arc surface (5.1) and the second arc surface (5.2).

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