Automatic positioning and grabbing device for special-shaped sheet metal parts

Abstract

The invention relates to the technical field of industrial automation equipment, and discloses an automatic positioning and grabbing device for special-shaped sheet metal parts, the automatic positioning and grabbing device comprises a placement table, a conveying belt, an air compressor, a supporting seat and a robot, an anti-accumulation mechanism is installed on the side face of the conveying belt, and the conveying belt is used for conveying the special-shaped sheet metal parts conveyed by workers; the output end of the air compressor is fixedly connected with an air inlet pipe, the air inlet pipe is arranged at an air inlet of the accumulation preventing mechanism, and the accumulation preventing mechanism is used for detecting whether the special-shaped sheet metal parts on the conveying belt are accumulated and overlapped or not and blowing away the accumulated and overlapped special-shaped sheet metal parts. An automatic switching assembly is installed at the top of the supporting base, and four grabbing baskets are arranged at the top of the automatic switching assembly. By integrating the anti-stacking mechanism capable of actively separating stacked materials, the automatic switching assembly capable of continuously feeding and the adjustable grabbing mechanism capable of adapting to workpieces of different sizes, the high efficiency, continuity and reliability of the grabbing process are effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation equipment, and in particular to an automatic positioning and grasping device for special-shaped sheet metal parts. Background Art

[0002] In modern industrial fields such as automotive manufacturing and home appliance production, automated handling and loading and unloading of sheet metal parts are key to improving production efficiency and reducing labor costs. However, achieving fully automated, unmanned handling of irregularly shaped and non-standardized sheet metal parts still faces many challenges.

[0003] Existing automation technologies often exhibit significant limitations when addressing such tasks. Some solutions rely on custom mechanical positioning fixtures designed for each sheet metal part. While this approach offers precise positioning, it lacks flexibility. Product changes require significant time and cost to replace and debug the entire fixture, making it difficult to adapt to the current flexible production demands of high-variety, small-batch production. Other solutions attempt to use 2D vision systems for positioning, but this technology only captures the workpiece's planar shape and cannot perceive its actual height, tilt, or stacking position in space. This information loss renders 2D vision completely ineffective when sheet metal parts are randomly stacked in a basket. These technical limitations often necessitate manual intervention in actual production, where workers manually arrange the chaotic sheet metal parts before the robot grasps them. This not only fails to achieve true automation and slows production time, but also exposes workers to the risk of being scratched by sharp edges. Therefore, developing an automated device that can intelligently identify and reliably grasp disorderly stacked special-shaped sheet metal parts and has high flexibility and high efficiency has become a technical problem that needs to be solved urgently in this field. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides an automatic positioning and grasping device for special-shaped sheet metal parts, which solves the problems of poor flexibility of the clamping device, difficulty in adapting to special-shaped sheet metal parts of various specifications, and low recognition and grasping success rate when facing disordered stacking of materials.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: an automatic positioning and grasping device for special-shaped sheet metal parts, comprising a placement platform, a conveyor belt, an air compressor, a support base and a robot, an anti-stacking mechanism is installed on the side of the conveyor belt, the conveyor belt is used to transport the special-shaped sheet metal parts delivered by workers, the output end of the air compressor is fixedly connected to an air intake pipe, the air intake pipe is arranged at the air inlet of the anti-stacking mechanism, the anti-stacking mechanism is used to detect whether there is stacking or overlapping of special-shaped sheet metal parts on the conveyor belt, and at the same time blow away the stacked and overlapping special-shaped sheet metal parts, the top of the support base is installed with an automatic switching component, the top of the automatic switching component is provided with an Four grabbing baskets are provided, one of which is arranged at the unloading side of the conveyor belt, and the grabbing basket is used to receive the special-shaped sheet metal parts transferred from the conveyor belt, and the automatic switching component is used to detect whether the special-shaped sheet metal parts in the grabbing basket have accumulated to a specified height, and automatically switch the grabbing basket that has accumulated to the specified height. An adjustable grabbing mechanism is installed on the sixth axis of the robot, and the robot grabs the special-shaped sheet metal parts in the grabbing basket through the adjustable grabbing mechanism. A computer is provided on the top of the placement table for receiving the information transmitted from the anti-accumulation mechanism and the automatic switching component, and controlling the operation of the air compressor and the automatic switching component respectively after judgment; The adjustable grasping mechanism includes a mounting shell, which is mounted on the sixth axis of the robot. A servo motor 2 is provided on the side of the mounting shell. The output end of the servo motor 2 is fixedly connected to a gear, and the gear is rotatably connected to the inside of the mounting shell. Two racks are slidably connected to the middle part of the mounting shell, and the racks are meshed with the gears. A moving block is fixedly connected to the side of the rack, and a flexible clamp is provided on the side of the moving block.

[0006] Preferably, a support plate is fixedly connected to a side surface of the moving block, and the support plate on one side is slidably connected to the middle portion of the rack on the other side.

[0007] Preferably, a positioning plate is fixedly connected to a side of the mounting shell away from the second servo motor, a positioning groove is provided inside the moving block, and the positioning plate is slidably connected to the middle of the positioning groove.

[0008] Preferably, the automatic switching component includes a rotating disk, which is rotatably connected to the top of the support seat, and a driven wheel is fixedly connected to the bottom of the rotating disk. A servo motor 1 is provided at the bottom of the support seat, and the output end of the servo motor 1 is fixedly connected to a driving wheel, and the driving wheel is rotatably connected to the middle of the support seat, and the top of the driving wheel is fixedly connected to a limiting wheel and a driving column, and the driving column is slidably connected to the middle of the driven wheel.

[0009] Preferably, a U-shaped groove is provided inside the driven wheel, and the driving column is slidably connected to the middle of the U-shaped groove.

[0010] Preferably, a limiting groove is provided at the bottom of the rotating disk, and the top of the supporting seat is slidably connected to the middle of the limiting groove.

[0011] Preferably, four bases are fixedly connected to the top of the rotating disk, a two-dimensional mobile platform is provided in the middle of the base, the four grabbing baskets are respectively provided at the mobile ends of the four two-dimensional mobile platforms, and a photoelectric sensor is installed in the middle of the grabbing basket.

[0012] Preferably, the anti-accumulation mechanism includes a connecting frame, which is fixedly connected to the side of the conveyor belt, and the two sides of the connecting frame are respectively fixedly connected with a nozzle and a bus, the air inlet pipe is fixedly connected to the air inlet of the bus, and the side of the bus is fixedly connected with a high-speed solenoid valve, the air outlet end of the bus is connected to the air inlet end of the high-speed solenoid valve, the air outlet end of the high-speed solenoid valve is fixedly connected with an air outlet pipe, and the air outlet pipe is fixedly connected to the air inlet end of the nozzle, and a mounting plate is fixedly connected to the frame of the conveyor belt, and the side of the mounting plate is rotatably connected to the mounting frame, and a visual camera is provided in the middle of the mounting frame, and the line of sight of the visual camera is perpendicular to the conveyor belt.

[0013] Preferably, the photoelectric sensor is connected to the servo motor via the computer communication; The computer is configured to receive material height detection information emitted by the photoelectric sensor, determine whether the material in the grabbing basket at the unloading position has accumulated to a preset height, and when it is determined that the preset height has been reached, the computer controls the servo motor to rotate the driving wheel, thereby switching the next empty grabbing basket to the unloading position.

[0014] Preferably, the visual camera and the high-speed solenoid valve are communicatively connected via the computer; The computer is configured to receive and analyze image information collected by the visual camera, determine whether there is any accumulation of special-shaped sheet metal parts on the conveyor belt, and when it is determined that there is an accumulation state, the computer controls the high-speed solenoid valve to open to blow away the accumulated special-shaped sheet metal parts.

[0015] The present invention provides an automatic positioning and grasping device for special-shaped sheet metal parts. It has the following beneficial effects: 1. This invention incorporates an adjustable gripping mechanism, utilizing the meshing transmission of a servo motor-driven gear and rack to precisely control the spacing between the two flexible gripping jaws. This design enables the device to be quickly adjusted to the gripping requirements of sheet metal parts of varying sizes and shapes without requiring replacement of the end effector, significantly enhancing the device's adaptability and versatility for diverse workpieces and reducing changeover costs.

[0016] 2. This invention incorporates an automatic switching component, utilizing a photoelectric sensor to monitor the material level within the basket in real time, and a computer-controlled servo motor to drive the intermittent rotation mechanism. This design automatically and quickly switches the empty grab basket to the unloading side of the conveyor belt when the current grab basket is full. This allows the grab basket loading and robotic grabbing processes to proceed simultaneously, avoiding production interruptions caused by waiting for basket changes and significantly improving the device's continuous operation capacity and overall efficiency.

[0017] 3. This invention incorporates an anti-accumulation mechanism that uses a visual camera to capture the material status on the conveyor belt in real time. Computer analysis then determines whether any accumulation is present. If accumulation is detected, the system immediately activates a high-speed solenoid valve and nozzle to generate airflow for dispersion and separation. This proactive pre-processing method fundamentally addresses the problem of material entanglement and overlap upon entry into the basket, ensuring clear and independent grasping targets for subsequent robot grabs, significantly improving the success rate of grabs and overall system stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A perspective view of the present invention; Figure 2 It is a structural schematic diagram of the installation shell of the present invention; Figure 3 It is a schematic structural diagram of the gear of the present invention; Figure 4 Schematic diagram of the structure of the flexible clamping jaw of the present invention; Figure 5 It is a structural schematic diagram of the driving wheel of the present invention; Figure 6 It is a structural schematic diagram of the rotating disk of the present invention; Figure 7 It is a structural schematic diagram of the grab basket of the present invention; Figure 8 Schematic diagram of the structure of the photoelectric sensor of the present invention; Figure 9 It is a structural schematic diagram of the conveyor belt of the present invention; Figure 10 It is a structural schematic diagram of the nozzle of the present invention; Figure 11 It is a structural schematic diagram of the mounting bracket of the present invention.

[0019] Among them, 1. Placement table; 2. Conveyor belt; 3. Air compressor; 4. Anti-accumulation mechanism; 401. Connecting frame; 402. Nozzle; 403. Busbar; 404. High-speed solenoid valve; 405. Exhaust pipe; 406. Mounting plate; 407. Mounting frame; 408. Vision camera; 5. Support seat; 6. Automatic switching assembly; 601. Rotating disk; 602. Driven pulley; 603. Servo motor 1; 604. Driving pulley; 605. Limiting pulley; 606. Driving column; 607. U-shaped groove; 608. Limiting groove; 609. Base; 610. Two-dimensional moving platform; 611. Photoelectric sensor; 7. Grab basket; 8. Robot; 9. Adjustable gripping mechanism; 901. Mounting housing; 902. Servo motor 2; 903. Gear; 904. Rack; 905. Moving block; 906. Flexible gripper; 907. Support plate; 908. Positioning plate; 909. Positioning slot; 10. Computer; 11. Air intake pipe. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the specification of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0021] Please see the attached Figure 1 - Attachment Figure 11The embodiment of the present invention provides an automatic positioning and grasping device for special-shaped sheet metal parts, including a placement platform 1, a conveyor belt 2, an air compressor 3, a support base 5 and a robot 8. An anti-accumulation mechanism 4 is installed on the side of the conveyor belt 2. The conveyor belt 2 is used to convey the special-shaped sheet metal parts delivered by workers. The output end of the air compressor 3 is fixedly connected to an air intake pipe 11, and the air intake pipe 11 is arranged at the air inlet of the anti-accumulation mechanism 4. The anti-accumulation mechanism 4 is used to detect whether there is accumulation or overlap of special-shaped sheet metal parts on the conveyor belt 2, and at the same time blow away the accumulated and overlapping special-shaped sheet metal parts. An automatic switching component 6 is installed on the top of the support base 5, and four automatic switching components are arranged on the top of the automatic switching component 6. a grabbing basket 7, one of which is arranged on the unloading side of the conveyor belt 2, and the grabbing basket 7 is used to receive the special-shaped sheet metal parts transferred from the conveyor belt 2, and the automatic switching component 6 is used to detect whether the special-shaped sheet metal parts in the grabbing basket 7 have accumulated to a specified height, and automatically switch the grabbing basket 7 that has accumulated to the specified height. An adjustable grabbing mechanism 9 is installed on the sixth axis of the robot 8, and the robot 8 grabs the special-shaped sheet metal parts in the grabbing basket 7 through the adjustable grabbing mechanism 9. A computer 10 is provided on the top of the placement table 1 for receiving information transmitted from the anti-accumulation mechanism 4 and the automatic switching component 6, and controlling the operation of the air compressor 3 and the automatic switching component 6 after judgment; The adjustable grasping mechanism 9 includes a mounting shell 901, which is mounted on the sixth axis of the robot 8. The mounting shell 901 is used to dock the various structures with the robot 8. A servo motor 2 902 is provided on the side of the mounting shell 901. The output end of the servo motor 2 902 is fixedly connected to a gear 903. The gear 903 is rotatably connected to the inside of the mounting shell 901. The servo motor 2 902 drives the gear 903 to rotate in the mounting shell 901. Two racks 904 are slidably connected to the middle part of the mounting shell 901. The racks 904 and the gears 903 are engaged with each other. The two racks 904 are symmetrical about the center of the rack 904. A moving block 905 is fixedly connected to the side of the rack 904. A flexible clamp 906 is provided on the side of the moving block 905. The flexible clamp 906 can adaptively adjust the clamping force when contacting special-shaped sheet metal parts to avoid damaging the surface of the sheet metal parts.

[0022] Please see the attached Figure 2 - Attachment Figure 4 In a preferred embodiment of the present invention, a support plate 907 is fixedly connected to the side of the moving block 905, and the support plate 907 on one side is slidably connected to the middle of the rack 904 on the other side. By setting the support plate 907, the movement process of the moving block 905 is supported.

[0023] Please see the attached Figure 2 - Attachment Figure 4In a preferred embodiment of the present invention, a positioning plate 908 is fixedly connected to the side of the mounting shell 901 away from the servo motor 2 902, a positioning groove 909 is opened inside the moving block 905, and the positioning plate 908 is slidably connected to the middle part of the positioning groove 909. The movement trajectory of the supporting moving block 905 is limited by the cooperation between the positioning plate 908 and the positioning groove 909.

[0024] Please see the attached Figure 5 - Attachment Figure 8 In a preferred embodiment of the present invention, the automatic switching component 6 includes a rotating disk 601, which is rotatably connected to the top of the support base 5, and a driven wheel 602 is fixedly connected to the bottom of the rotating disk 601. A servo motor 603 is provided at the bottom of the support base 5, and the output end of the servo motor 603 is fixedly connected to a driving wheel 604. The rotation of the driving wheel 604 is connected to the middle part of the support base 5, and the driving wheel 604 is driven by the servo motor 603 to rotate in the support base 5. The top of the driving wheel 604 is fixedly connected to a limiting wheel 605 and a driving column 606, and the driving column 606 is slidably connected to the middle part of the driven wheel 602. When the driving column 606 slides into the driven wheel 602, it pushes the driven wheel 602 to rotate. When the driving column 606 slides out of the driven wheel 602, the driven wheel 602 stops rotating through the cooperation of the limiting wheel 605, and when the driving wheel 604 rotates one circle, the driven wheel 602 rotates exactly 90 degrees.

[0025] Please see the attached Figure 5 - Attachment Figure 8 In a preferred embodiment of the present invention, a U-shaped groove 607 is opened inside the driven wheel 602, and the driving column 606 is slidably connected to the middle part of the U-shaped groove 607. The U-shaped groove 607 is provided to provide a reasonable space for the driving column 606 to slide in and push the driven wheel 602.

[0026] Please see the attached Figure 5 - Attachment Figure 8 In a preferred embodiment of the present invention, a limiting groove 608 is provided at the bottom of the rotating disk 601, and the top of the support seat 5 is slidably connected to the middle of the limiting groove 608. By setting the limiting groove 608, the rotating disk 601 is prevented from being misaligned during rotation.

[0027] Please see the attached Figure 5 - Attachment Figure 8 In a preferred embodiment of the present invention, four bases 609 are fixedly connected to the top of the rotating disk 601, and a two-dimensional mobile platform 610 is provided in the middle of the base 609. The four grabbing baskets 7 are respectively arranged at the moving ends of the four two-dimensional mobile platforms 610. The grabbing baskets 7 are moved by the two-dimensional mobile platforms 610 to facilitate the grabbing baskets 7 to align with the unloading side of the conveyor belt 2. A photoelectric sensor 611 is installed in the middle of the grabbing basket 7.

[0028] Please see the attached Figure 9 - Attachment Figure 11 In a preferred embodiment of the present invention, the anti-accumulation mechanism 4 includes a connecting frame 401, which is fixedly connected to the side of the conveyor belt 2. The two sides of the connecting frame 401 are respectively fixedly connected with a nozzle 402 and a bus 403. The connecting frame 401 is used to connect each structure to the side of the conveyor belt 2. At the same time, an empty slot is opened in the frame plate on the same side of the conveyor belt 2 as the connecting frame 401 to provide space for the nozzle 402 to work. The air inlet pipe 11 is fixedly connected to the air inlet of the bus 403. A high-speed solenoid valve 404 is fixedly connected to the side of the bus 403. The air outlet end of the bus 403 is connected to the air inlet end of the high-speed solenoid valve 404. The outlet end of the solenoid valve 404 is fixedly connected to the outlet pipe 405, and the outlet pipe 405 is fixedly connected to the inlet end of the nozzle 402. The gas from the air compressor 3 enters the bus 403 through the inlet pipe 11, and is then diverted to the high-speed solenoid valve 404 through the bus 403, and finally transmitted to the nozzle 402 through each high-speed solenoid valve 404. A mounting plate 406 is fixedly connected to the frame of the conveyor belt 2, and the side of the mounting plate 406 is rotatably connected to the mounting bracket 407. A visual camera 408 is arranged in the middle of the mounting bracket 407. The line of sight of the visual camera 408 is perpendicular to the conveyor belt 2, and the visual camera 408 is supported by the mounting plate 406 and the mounting bracket 407.

[0029] Please see the attached Figure 1 and attached Figure 8 ,In a preferred embodiment of the present invention, the photoelectric sensor 611 is communicatively connected to the servo motor 603 via the computer 10; The computer 10 is configured to receive material height detection information sent by the photoelectric sensor 611, and determine whether the material in the grabbing basket 7 at the unloading position has accumulated to a preset height. The preset height is mostly the height of the photoelectric sensor 611 in the grabbing basket 7. When it is determined that the preset height is reached, the computer 10 controls the servo motor 603 to rotate the driving wheel 604, thereby switching the next empty grabbing basket 7 to the unloading position.

[0030] Please see the attached Figure 1 , Attachment Figure 9 , Attachment Figure 10 and attached Figure 11 , in a preferred embodiment of the present invention, the visual camera 408 and the high-speed solenoid valve 404 are communicatively connected via the computer 10; The computer 10 is configured to receive and analyze image information collected by the visual camera 408, determine whether there is a pile-up state of the special-shaped sheet metal parts on the conveyor belt 2, and when it is determined that there is a pile-up state, the computer 10 controls the high-speed solenoid valve 404 to open to blow away the piled special-shaped sheet metal parts.

[0031] Working principle: Workers place special-shaped sheet metal parts on conveyor belt 2, and the special-shaped sheet metal parts on conveyor belt 2 fall into the grabbing basket 7. Robot 8 grabs the special-shaped sheet metal parts from the grabbing basket 7 and sends them to other processes.

[0032] Start the servo motor 2 902, drive the gear 903 to rotate, push the rack 904 on the mounting shell 901, and control the flexible clamping jaws 906 to move in and out through the moving block 905, and adjust the spacing of the flexible clamping jaws 906 to a position suitable for clamping special-shaped sheet metal parts. The spacing of the flexible clamping jaws 906 can be flexibly adjusted according to the size of different special-shaped sheet metal parts, effectively improving the versatility of the grasping function.

[0033] The material height detection signal sent by the photoelectric sensor 611 is transmitted to the computer 10. The computer 10 determines whether the material in the grabbing basket 7 at the unloading position has accumulated to a preset height based on the material height detection information. If the material has accumulated to a preset height, the computer 10 controls the servo motor 1 603 to rotate the driving wheel 604. When the driving post 606 on the driving wheel 604 slides into the U-shaped groove 607 of the driven wheel 602, it pushes the driven wheel 602 and rotates the grabbing basket 7 through the rotating disk 601. When the driving post 606 on the driving wheel 604 slides out, the grabbing basket 7 is rotated. The U-shaped groove 607 of the driven wheel 602 and the cooperation of the limiting wheel 605 stop the rotation of the driven wheel 602, the rotating disk 601 and the grabbing basket 7. The driving wheel 604 rotates one circle, and the rotating disk 601 rotates exactly 90 degrees, moving the next empty grabbing basket 7 to the unloading side of the conveyor belt 2. At the same time, the two-dimensional moving platform 610 can accurately align the grabbing basket 7 with the unloading side of the conveyor belt 2, so that after the grabbing basket 7 collects a certain number of special-shaped sheet metal parts, it automatically rotates and switches to the next empty grabbing basket 7, effectively improving the continuity of the operation of the device.

[0034] The visual camera 408 installed above the conveyor belt 2 takes real-time photos of the irregular sheet metal parts passing by and transmits the images to the computer 10. Then, the computer 10 quickly determines whether there is stacking by analyzing the area or contour features of the materials in the image. Once stacking is detected, the computer 10 will immediately send an instruction to the high-speed solenoid valve 404 corresponding to the specified position, driving the nozzle 402 to spray out a short and powerful compressed air shock wave, forcibly separating and blowing away the stacked sheet metal parts, thereby ensuring that the materials that eventually fall into the grabbing basket 7 are in an ideal single and scattered state, clearing obstacles for the subsequent precise grabbing by the robot 8.

[0035] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An automatic positioning and grasping device for special-shaped sheet metal parts, comprising a placement table (1), a conveyor belt (2), an air compressor (3), a support base (5) and a robot (8), characterized in that: An anti-accumulation mechanism (4) is installed on the side of the conveyor belt (2), and the conveyor belt (2) is used to convey the special-shaped sheet metal parts delivered by workers. The output end of the air compressor (3) is fixedly connected to an air intake pipe (11), and the air intake pipe (11) is set at the air inlet of the anti-accumulation mechanism (4). The anti-accumulation mechanism (4) is used to detect whether the special-shaped sheet metal parts on the conveyor belt (2) are piled up or overlapped, and at the same time blow away the piled up or overlapped special-shaped sheet metal parts. An automatic switching component (6) is installed on the top of the support seat (5), and four grabbing baskets (7) are set on the top of the automatic switching component (6), one of the grabbing baskets (7) is set on the unloading side of the conveyor belt (2), and the grabbing baskets (7) are set on the top of the automatic switching component (6). The picking basket (7) is used to receive the special-shaped sheet metal parts transferred from the conveyor belt (2); the automatic switching component (6) is used to detect whether the special-shaped sheet metal parts in the grabbing basket (7) have accumulated to a specified height, and automatically switch the grabbing basket (7) that has accumulated to the specified height; an adjustable grabbing mechanism (9) is installed on the sixth axis of the robot (8); the robot (8) grabs the special-shaped sheet metal parts in the grabbing basket (7) through the adjustable grabbing mechanism (9); a computer (10) is provided on the top of the placement platform (1) for receiving information transmitted from the anti-accumulation mechanism (4) and the automatic switching component (6), and controlling the operation of the air compressor (3) and the automatic switching component (6) respectively after judgment; The adjustable grasping mechanism (9) includes a mounting shell (901), the mounting shell (901) is mounted on the sixth axis of the robot (8), a servo motor 2 (902) is provided on the side of the mounting shell (901), an output end of the servo motor 2 (902) is fixedly connected to a gear (903), the gear (903) is rotatably connected to the inside of the mounting shell (901), two racks (904) are slidably connected to the middle of the mounting shell (901), the racks (904) and the gears (903) are meshed with each other, a moving block (905) is fixedly connected to the side of the rack (904), and a flexible clamping claw (906) is provided on the side of the moving block (905).

2. The automatic positioning and grasping device for special-shaped sheet metal parts according to claim 1, characterized in that: A support plate (907) is fixedly connected to the side of the moving block (905), and the support plate (907) on one side is slidably connected to the middle of the rack (904) on the other side.

3. The automatic positioning and grasping device for special-shaped sheet metal parts according to claim 1, characterized in that: A positioning plate (908) is fixedly connected to the side of the mounting shell (901) away from the second servo motor (902), a positioning groove (909) is provided inside the moving block (905), and the positioning plate (908) is slidably connected to the middle of the positioning groove (909).

4. The automatic positioning and grasping device for special-shaped sheet metal parts according to claim 1, characterized in that: The automatic switching component (6) comprises a rotating disk (601), wherein the rotating disk (601) is rotatably connected to the top of the support base (5), and the bottom of the rotating disk (601) is fixedly connected to a driven wheel (602). A servo motor (603) is provided at the bottom of the support base (5), and the output end of the servo motor (603) is fixedly connected to a driving wheel (604). The driving wheel (604) is rotatably connected to the middle of the support base (5). The top of the driving wheel (604) is fixedly connected to a limiting wheel (605) and a driving column (606), and the driving column (606) is slidably connected to the middle of the driven wheel (602).

5. The automatic positioning and grasping device for special-shaped sheet metal parts according to claim 4, characterized in that: A U-shaped groove (607) is provided inside the driven wheel (602), and the driving column (606) is slidably connected to the middle of the U-shaped groove (607).

6. The automatic positioning and grasping device for special-shaped sheet metal parts according to claim 4, characterized in that: A limiting groove (608) is provided at the bottom of the rotating disk (601), and the top of the support seat (5) is slidably connected to the middle of the limiting groove (608).

7. The automatic positioning and grasping device for special-shaped sheet metal parts according to claim 4, characterized in that: Four bases (609) are fixedly connected to the top of the rotating disk (601), a two-dimensional mobile platform (610) is provided in the middle of the base (609), the four grabbing baskets (7) are respectively provided at the mobile ends of the four two-dimensional mobile platforms (610), and a photoelectric sensor (611) is installed in the middle of the grabbing basket (7).

8. The automatic positioning and grasping device for special-shaped sheet metal parts according to claim 1, characterized in that: The anti-accumulation mechanism (4) comprises a connecting frame (401), the connecting frame (401) is fixedly connected to the side of the conveyor belt (2), the two sides of the connecting frame (401) are respectively fixedly connected to the nozzle (402) and the bus (403), the air inlet pipe (11) is fixedly connected to the air inlet of the bus (403), the side of the bus (403) is fixedly connected to the high-speed electromagnetic valve (404), the air outlet end of the bus (403) is connected to the high-speed electromagnetic valve (404), and the air outlet end of the bus (403) is fixedly connected to the high-speed electromagnetic valve (404). The air inlet end is connected, the air outlet end of the high-speed solenoid valve (404) is fixedly connected to the air outlet pipe (405), the air outlet pipe (405) is fixedly connected to the air inlet end of the nozzle (402), a mounting plate (406) is fixedly connected to the frame of the conveyor belt (2), the side of the mounting plate (406) is rotatably connected to the mounting frame (407), a visual camera (408) is provided in the middle of the mounting frame (407), and the line of sight of the visual camera (408) is perpendicular to the conveyor belt (2).

9. The automatic positioning and grasping device for special-shaped sheet metal parts according to claim 7, characterized in that: The photoelectric sensor (611) is communicatively connected to the servo motor 1 (603) via the computer (10); The computer (10) is configured to receive material height detection information sent by the photoelectric sensor (611), determine whether the material in the grabbing basket (7) at the unloading position has accumulated to a preset height, and when it is determined that the preset height has been reached, the computer (10) controls the servo motor 1 (603) to rotate the driving wheel (604), thereby switching the next empty grabbing basket (7) to the unloading position.

10. The automatic positioning and grasping device for special-shaped sheet metal parts according to claim 8, characterized in that: The visual camera (408) and the high-speed solenoid valve (404) are communicatively connected via the computer (10); The computer (10) is configured to receive and analyze image information collected by the visual camera (408), determine whether there is a pile-up state of the special-shaped sheet metal parts on the conveyor belt (2), and when it is determined that there is a pile-up state, the computer (10) controls the high-speed solenoid valve (404) to open to blow away the piled special-shaped sheet metal parts.

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