Robot-based part grabbing device and grabbing detection method thereof

Abstract

The invention belongs to the technical field of part grabbing design, and discloses a part grabbing device based on a robot and a grabbing detection method thereof.The part grabbing device based on the robot is characterized in that through the design of structures such as an adaptive clamping plate, an adaptive tension spring, an adaptive jacking shaft and an adaptive jacking spring, the part grabbing detection precision is improved; the switching adaptation mechanism can be reliably connected to horizontal shaft turntables of turntables of different sizes and shapes to realize connection with a horizontal mechanical arm and a robot, so that the switching adaptation mechanism can adapt to operation of robots of various sizes and shapes, the application range is expanded, and the working efficiency is improved. Through the design of structures such as a reversing motor, a reversing disc, a shape-adaptive motor, a size-adaptive guide pipe, a size-adaptive inner sliding pipe, a size-adaptive connecting rod, a size-adaptive motor and an adaptive grabbing telescopic rod, the adaptive grabbing mechanism can adaptively grab special-shaped parts with different shapes, sizes and heights; and the method can be well applied to parts in the aviation field in a large range.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of part grabbing design, and particularly relates to a part grabbing device based on a robot and a grabbing detection method thereof. BACKGROUND

[0002] A large number of parts in the field of aerospace, such as electronic devices and connecting pieces, need to be strictly detected before use. When detection is performed, the parts need to be placed into a detection cabinet, and then taken out from the detection cabinet after detection is completed.

[0003] With the development of manufacturing industry, industrial robots have been widely used to replace manual work to complete standardized production tasks, and are also used as the design of part grabbing and detection devices in the field of aerospace.

[0004] The current grabbing and detection device can usually only adapt to one size and shape of robot operation, and the use range is limited. Moreover, the current grabbing and detection device can usually only grab parts with regular shapes and specific sizes, and parts in the field of aerospace are usually special-shaped parts with different shapes and sizes. Therefore, the current grabbing and detection device is difficult to be well applied to parts in the field of aerospace in a wide range.

[0005] The present application is proposed in view of the above technical defects. SUMMARY

[0006] The purpose of the present application is to provide a part grabbing device based on a robot and a grabbing detection method thereof, so as to overcome or alleviate at least one aspect of the known technical defects.

[0007] The technical solution of the present application is as follows:

[0008] In one aspect, a part grabbing device based on a robot is provided, which comprises a robot, a horizontal mechanical arm, a horizontal shaft rotating mechanism, an adapter mechanism, and an adaptive grabbing mechanism.

[0009] The robot is connected with the horizontal mechanical arm, the horizontal mechanical arm is connected with the horizontal shaft rotating mechanism, and the horizontal shaft rotating mechanism is connected with the adaptive grabbing mechanism through the adapter mechanism.

[0010] The robot can drive the horizontal mechanical arm to move in the vertical direction, the horizontal mechanical arm can drive the horizontal shaft rotating mechanism to move in the horizontal plane, and the horizontal shaft rotating mechanism can drive the adapter mechanism to rotate around the horizontal shaft, so that the adaptive grabbing mechanism can be aligned with the part and grab the part.

[0011] The adaptive grabbing mechanism comprises a connecting block, a reversing motor, a reversing disc, a shape adaptive motor, a size adaptive guide pipe, a size adaptive inner sliding pipe, a size adaptive connecting rod, a size adaptive motor, and an adaptive grabbing telescopic rod.

[0012] The connecting block is connected to the adapter mechanism.

[0013] The commutating motor is connected to the connecting block and is arranged perpendicularly to the horizontal shaft;

[0014] The commutating disc is connected to the commutating motor;

[0015] The shape-adapting motors are arranged in a circumferential direction on the commutating disc and are arranged in parallel to the commutating motor;

[0016] The size-adapting guide tubes are arranged in a plurality of numbers, one end of each of which is connected to the shape-adapting motor and is arranged perpendicularly to the shape-adapting motor, the other end of each of which extends outwardly, the side wall of each of which is provided with a transmission hole, and the side of each of which, which is away from the commutating disc, is provided with a guide groove;

[0017] The size-adapting inner sliding tubes are arranged in a plurality of numbers and are arranged in sliding manner in the size-adapting guide tubes;

[0018] The size-adapting connecting rods are arranged in a plurality of numbers and are arranged in penetrating manner in the size-adapting inner sliding tubes and are fixedly connected to the size-adapting inner sliding tubes;

[0019] The size-adapting motors are arranged in a plurality of numbers and are arranged on the size-adapting guide tubes, are connected to the size-adapting inner sliding tubes through the transmission holes and are connected through the toothed patterns, so as to drive the size-adapting inner sliding tubes to slide in the size-adapting guide tubes;

[0020] The size-adapting grabbing telescopic rods are arranged in a plurality of numbers, one end of each of which is connected to the size-adapting connecting rod through the guide groove and is arranged perpendicularly to the size-adapting connecting rod, the other end of each of which is provided with a grabbing limiting boss which protrudes inwardly, and the grabbing limiting boss is provided with a rubber layer;

[0021] Optionally, in the above-mentioned part grabbing device based on the robot, the size-adapting grabbing mechanism further comprises a grabbing head, a grabbing driving motor, a pressing rod and a pressing disc;

[0022] The grabbing head is arranged in a plurality of numbers, is in a wedge-shaped structure, is covered with a rubber layer and is hingedly connected to the top end of each of the size-adapting grabbing telescopic rods;

[0023] The grabbing driving motor is arranged in a plurality of numbers, is arranged on each of the size-adapting grabbing telescopic rods and is connected to the grabbing head, so as to drive the grabbing head to rotate inwardly and outwardly;

[0024] One end of the pressing rod is connected to the commutating disc and is arranged in parallel to the size-adapting grabbing telescopic rod, is arranged in the middle of each of the size-adapting grabbing telescopic rods, the other end of the pressing rod is connected to the pressing disc, and the pressing disc is made of rubber material;

[0025] The pressing disc is provided with a size-adapting grabbing monitoring camera on the outer edge of the pressing disc, so as to monitor the position of the part.

[0026] Optionally, in the above-mentioned part grabbing device based on the robot, the robot comprises a base body, a vertical screw rod, a lifting platform and a lifting driving motor;

[0027] The base is supported by two legs;

[0028] The vertical screw rods are two, connected to the base and capable of rotating relative to the base;

[0029] The lifting platform is threadedly connected to the two vertical screw rods, and the horizontal mechanical arm is connected to the lifting platform;

[0030] The lifting driving motor is arranged on the base and is connected to the two vertical screw rods through a toothed engagement, so as to drive the two vertical screw rods to rotate, thereby driving the lifting platform to move in the vertical direction, and driving the horizontal mechanical arm to move in the vertical direction.

[0031] Optionally, in the above-mentioned part grabbing device based on a robot, the horizontal mechanical arm comprises a first mechanical arm, a second mechanical arm, a third mechanical arm, a first driving motor, a second driving motor, and a third driving motor;

[0032] The first mechanical arm is horizontally hinged to the lifting platform, the second mechanical arm is horizontally hinged to the first mechanical arm, and the third mechanical arm is horizontally hinged to the second mechanical arm. The third mechanical arm is connected to the horizontal shaft rotating mechanism;

[0033] The first driving motor is arranged on the lifting platform and connected to the first mechanical arm, the second driving motor is arranged on the first mechanical arm and connected to the second mechanical arm, and the third driving motor is arranged on the second mechanical arm and connected to the third mechanical arm. The first driving motor, the second driving motor, and the third driving motor can drive the first mechanical arm, the second mechanical arm, and the third mechanical arm to move in the horizontal plane, thereby driving the horizontal shaft rotating mechanism to move in the horizontal plane.

[0034] Optionally, in the above-mentioned part grabbing device based on a robot, the horizontal shaft rotating mechanism comprises a horizontal shaft driving motor and a horizontal shaft turntable;

[0035] The horizontal shaft driving motor is connected to the third mechanical arm, and the horizontal shaft turntable is connected to the horizontal shaft driving motor. The horizontal shaft turntable has a polygonal structure, and the adapter mechanism is connected to the horizontal shaft turntable. The horizontal shaft driving motor can drive the horizontal shaft turntable to rotate around the horizontal shaft, thereby driving the adapter mechanism to rotate around the horizontal shaft;

[0036] A horizontal shaft rotating monitoring camera is arranged on the third mechanical arm to monitor the position of the horizontal shaft turntable.

[0037] Optionally, in the above-mentioned part grabbing device based on a robot, the adapter mechanism comprises an adapter plate, a support disc, a sliding block, an adapter clamping plate, an adapter tension spring, an adapter top shaft, and an adapter top spring;

[0038] One side of the adapter plate is connected to the connecting block, and the other side is oppositely arranged with the support disc. The support disc and the adapter plate are connected through a plurality of support plates distributed in the circumferential direction. The edge of the support disc has a plurality of sliding grooves;

[0039] The sliding blocks are multiple, and are arranged in the sliding grooves;

[0040] The adapter plates are multiple, and are connected to the sliding blocks at one end and extend away from the adapter plate at the other end, surround the outer periphery of the horizontal shaft disc, and have hook heads;

[0041] The adapter tension springs are multiple, are arranged in the sliding grooves, are connected between the bottom of the sliding groove and the sliding block, and pull the sliding block inward by elastic force, so that the adapter plates are attached to the edges of the horizontal shaft disc and clamp the horizontal shaft disc;

[0042] The adapter jacks are multiple, are arranged through the support disc, have multiple lock holes arranged along the axial direction, and have a jack table at the end facing the horizontal shaft disc;

[0043] The adapter springs are arranged around the adapter jacks, are abutted on the support disc and the jack table at both ends, and press the jack table on the horizontal shaft disc by elastic force, so as to press the horizontal shaft disc on the hook heads.

[0044] Optionally, in the above-mentioned part grabbing device based on a robot, the adapter mechanism further comprises a lock strip, a lock frame, a lock rod, a lock spring, a transmission rod, a support ring, a linkage ring, a pressing tension spring, a pressing block, a guide shaft, a driven ring, a support block, a push rod and a push spring;

[0045] The lock strips are multiple, are arranged between the adapter plate and the support disc, face the sliding grooves, and are bent inward at one end and connected to the support disc, and have multiple lock grooves arranged along the axial direction of the sliding groove;

[0046] The lock frames are multiple, are arranged in the sliding grooves, and are connected to the sliding blocks;

[0047] The lock rods are multiple pairs, are arranged through the lock frames and face the edges of the lock strips, and have lock heads at the end facing the lock strips;

[0048] The lock springs are multiple pairs, are arranged around the lock rods, are abutted on the lock frame and the lock head at both ends, and make the lock head inserted into the lock groove by elastic force, and the lock head and the lock groove are in contact with an inwardly inclined inclined surface;

[0049] The transmission rods are multiple, are arranged transversely between the lock strips and the support disc, extend into the lock frame through the protruding part in the middle, and are connected to the end of the lock rod in the lock frame;

[0050] The support ring is arranged between the adapter plate and the support disc, and is connected to the adapter plate through multiple support plates arranged along the circumferential direction;

[0051] The linkage ring is arranged between the support ring and the support disc;

[0052] The pressing tension springs are multiple, are connected between the support ring and the linkage ring along the circumferential direction;

[0053] The pressing blocks are provided between the linkage ring and the support disc, are connected to the linkage ring through the connecting shaft, and can make the linkage ring move against the elastic force of the pressing spring when any pressing block is pressed, so that each pressing block is attached to each transmission rod, and each transmission rod is driven to move, so that each pair of lock rods can move against the elastic force of the lock spring, and the lock head is out of the lock slot;

[0054] The guide shafts are provided through the support ring in the circumferential direction and are connected to the linkage ring.

[0055] The driven ring is provided between the adapter plate and the support ring and connects the guide shafts.

[0056] The support block is connected to the support disc.

[0057] The push rod is provided through the support block and has an end facing the adaptive top shaft, and the outer wall of the end has a support table.

[0058] The push spring sleeve is arranged on the outer periphery of the push rod and abuts between the support block and the support table, and relies on the elastic force to insert the end of the push rod facing the adaptive top shaft into a lock hole, so as to lock the adaptive top shaft.

[0059] Optionally, in the above-mentioned part grabbing device based on a robot, a controller is arranged on the base body of the robot, and the controller is connected to the lifting drive motor, the first drive motor, the second drive motor, the third drive motor, the horizontal shaft drive motor, the reversing motor, the shape adaptation motor, the size adaptation motor, the adaptive grabbing telescopic rod, and the grabbing drive motor, so as to control the start and stop of the lifting drive motor, the first drive motor, the second drive motor, the third drive motor, the horizontal shaft drive motor, the reversing motor, the shape adaptation motor, the size adaptation motor, and the grabbing drive motor, and control the extension and retraction of the adaptive grabbing telescopic rod.

[0060] The controller is connected to the horizontal shaft rotation monitoring camera and the adaptive grabbing monitoring camera, so as to collect the position of the horizontal shaft rotary disc and the position monitoring data of the part.

[0061] Optionally, in the above-mentioned part grabbing device based on a robot, a power supply is arranged on the base body of the robot, and the power supply is connected to the controller, the lifting drive motor, the first drive motor, the second drive motor, the third drive motor, the horizontal shaft drive motor, the reversing motor, the shape adaptation motor, the size adaptation motor, the adaptive grabbing telescopic rod, the grabbing drive motor, the horizontal shaft rotation monitoring camera, and the adaptive grabbing monitoring camera, and performs power supply.

[0062] On the other hand, a part grabbing and detecting method based on a robot is provided, which is implemented based on the above-mentioned part grabbing device based on a robot and includes the following steps.

[0063] The horizontal mechanical arm is driven by the robot to move in the vertical direction, the horizontal shaft rotating mechanism is driven by the horizontal mechanical arm to move in the horizontal plane, and the adapter rotating mechanism is driven by the horizontal shaft rotating mechanism to rotate around the horizontal shaft, so that the adaptive gripping mechanism is aligned with the part, the part is gripped, and then the part is placed on the detection disc in the detection cabinet through the detection window, the detection disc is driven to rotate by the commutator in the detection cabinet, the part is rotated, and the part is detected;

[0064] After the part is detected, the horizontal mechanical arm is driven by the robot to move in the vertical direction, the horizontal shaft rotating mechanism is driven by the horizontal mechanical arm to move in the horizontal plane, and the adapter rotating mechanism is driven by the horizontal shaft rotating mechanism to rotate around the horizontal shaft, so that the adaptive gripping mechanism is aligned with the part through the detection window, the part is gripped, and then the part is taken out through the detection window and placed in the storage position.

[0065] The present application has at least the following beneficial technical effects:

[0066] A part gripping device based on a robot and a gripping detection method thereof are provided. The part gripping device based on the robot is designed by the structures of the adaptive clamping plate, the adaptive tension spring, the adaptive top shaft, the adaptive top spring, etc. The adapter rotating mechanism can be reliably connected to the rotating disc horizontal shaft rotating disc of different sizes and shapes, realize the connection with the horizontal mechanical arm and the robot, thereby being able to adapt to various sizes and shapes of robot operation, expand the application range, and through the design of the structures of the commutating motor, the commutating disc, the shape adaptive motor, the size adaptive guide pipe, the size adaptive inner sliding pipe, the size adaptive connecting rod, the size adaptive motor, the adaptive gripping telescopic rod, etc., the adaptive gripping mechanism can adaptively grip special-shaped parts of different shapes, sizes and heights, and can be well applied to parts in the aviation field in a wide range. In addition, the design of the robot, the horizontal mechanical arm and the horizontal shaft rotating mechanism can make the whole device realize omnibearing, thereby being able to quickly and efficiently realize the gripping of parts in direction and position. BRIEF DESCRIPTION OF DRAWINGS

[0067] Figure 1 is a schematic view of part of the structure of the part gripping device based on the robot provided by the embodiment of the present application at one angle;

[0068] Figure 2 is Figure 1 a schematic view of part of the structure at another angle;

[0069] Figure 3 is a schematic view of part of the structure of the part gripping device based on the robot provided by the embodiment of the present application at one angle;

[0070] Figure 4 is Figure 3 a schematic view at another angle;

[0071] Figure 5 is a schematic view of a switching and adapting mechanism without a switching plate provided by an embodiment of the present application;

[0072] Figure 6 is a partial schematic view of a switching and adapting mechanism provided by an embodiment of the present application;

[0073] Figure 7 is another partial schematic view of a switching and adapting mechanism provided by an embodiment of the present application;

[0074] Figure 8 is still another partial schematic view of a switching and adapting mechanism provided by an embodiment of the present application;

[0075] Figure 9 is a schematic view of an adapting and grabbing mechanism provided by an embodiment of the present application;

[0076] Figure 10 is a schematic view of a switching and adapting mechanism and an adapting and grabbing mechanism connected together provided by an embodiment of the present application;

[0077] Figure 11 is a schematic view of a part of structure of an adapting and grabbing mechanism provided by an embodiment of the present application;

[0078] Figure 12 is a partial schematic view of an adapting and grabbing mechanism provided by an embodiment of the present application;

[0079] Figure 13 is a schematic view of a part grabbing device based on a robot provided by an embodiment of the present application, for grabbing and detecting a part;

[0080] wherein:

[0081] 1 - robot; 2 - horizontal mechanical arm; 3 - horizontal shaft rotating mechanism; 4 - switching and adapting mechanism; 5 - adapting and grabbing mechanism; 6 - horizontal shaft rotating monitoring camera; 7 - adapting and grabbing monitoring camera; 8 - controller; 9 - power supply; 10 - detection cabinet; 11 - commutator; 12 - detection disc;

[0082] 101 - base body; 102 - vertical screw rod; 103 - lifting platform; 104 - lifting driving motor;

[0083] 201 - first mechanical arm; 202 - second mechanical arm; 203 - third mechanical arm; 204 - first driving motor; 205 - second driving motor; 206 - third driving motor;

[0084] 301 - horizontal shaft driving motor; 302 - horizontal shaft rotating disc;

[0085] 401-adapter plate; 402-support disc; 403-slid block; 404-adapted card plate; 405-adapted tension spring; 406-lock bar; 407-lock frame; 408-lock rod; 409-lock spring; 410-transmission rod; 411-support ring; 412-linkage ring; 413-pressing tension spring; 414-pressing block; 415-guide shaft; 416-follower ring; 417-adapted top shaft; 418-adapted top spring; 419-support block; 420-push rod; 421-push spring;

[0086] 501-connection block; 502-reversing motor; 503-reversing disc; 504-shape adaptation motor; 505-size adaptation guide tube; 506-size adaptation inner sliding tube; 507-size adaptation connecting rod; 508-size adaptation motor; 509-adapted grabbing telescopic rod; 510-grabbing head; 511-grabbing drive motor; 512-pressing rod; 513-pressing disc.

[0087] In order to better illustrate the embodiments, some contents in the drawings are omitted, enlarged or reduced, which are only used for exemplary illustration and cannot be understood as a limitation to the present application. DETAILED DESCRIPTION

[0088] In order to make the technical solutions of the present application and its advantages clearer, the technical solutions of the present application will be further clearly and completely described in detail below in combination with the drawings. It can be understood that the specific embodiments described herein are only some embodiments of the present application, which are used to explain the present application, but not to limit the present application. It should be noted that, in order to facilitate the description, only parts related to the present application are shown in the drawings, and other related parts can be referred to the general design.

[0089] In addition, unless otherwise defined, the technical terms or scientific terms used in the present application description should be the general meanings understood by the general technical personnel in the field to which the present application belongs. In the present application description, "including" indicates that the concept appearing before the word covers the concepts listed after the word and its equivalents, and does not exclude other associated concepts.

[0090] In addition, the words expressing the position used in the present application description are only used to express the relative direction or position relationship, and when the absolute position of the described object changes, the relative position relationship may also change accordingly. It should be noted that, unless otherwise specified and limited, "installation", "connection" and similar words used in the description of the present application should be understood in a broad sense, for example, the connection can be fixed connection, or detachable connection; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium, and the person skilled in the art can understand the specific meaning of the present application according to the specific circumstances.

[0091] A kind of part grabbing device based on robot, such as Figures 1-2 As shown, including robot 1, horizontal mechanical arm 2, horizontal shaft rotating mechanism 3, adapter mechanism 4, adaptation grabbing mechanism 5.

[0092] Robot 1 is connected with horizontal mechanical arm 2, horizontal mechanical arm 2 is connected with horizontal shaft rotating mechanism 3, horizontal shaft rotating mechanism 3 is connected with adaptation grabbing mechanism 5 by adapter mechanism 4.

[0093] Robot 1 can drive horizontal mechanical arm 2 to move in vertical direction, horizontal mechanical arm 2 can drive horizontal shaft rotating mechanism 3 to move in horizontal plane, horizontal shaft rotating mechanism 3 can drive adapter mechanism 4 to rotate around horizontal shaft, so that adaptation grabbing mechanism 5 can be aligned with part and grab part.

[0094] Robot 1 includes base body 101, vertical screw 102, lifting platform 103, lifting drive motor 104.

[0095] Base body 101 is supported by two legs.

[0096] Vertical screw 102 has two, root is connected on base body 101, can rotate relative to base body 101, specifically can be connected on base body 101 by bearing, upper side can be connected by end plate, to ensure the stability of overall structure.

[0097] Lifting platform 103 is threadedly connected on two vertical screws 102, and horizontal mechanical arm 2 is connected thereon.

[0098] Lifting drive motor 104 is arranged on base body 101 and is connected with two vertical screws 102 by tooth engagement, specifically gears can be arranged on two vertical screws 102 and lifting drive motor 104 to be connected, so that two vertical screws 102 can be driven to rotate, to drive lifting platform 103 to move in vertical direction, to drive horizontal mechanical arm 2 to move in vertical direction.

[0099] Horizontal mechanical arm 2 includes first mechanical arm 201, second mechanical arm 202, third mechanical arm 203, first drive motor 204, second drive motor 205, third drive motor 206.

[0100] First mechanical arm 201 is horizontally hinged on lifting platform 103, second mechanical arm 202 is horizontally hinged on first mechanical arm 201, third mechanical arm 203 is horizontally hinged on second mechanical arm 202, specifically can be hinged by single-double ear structure by pin shaft, and horizontal shaft rotating mechanism 3 is connected on third mechanical arm 203.

[0101] The first driving motor 204 is arranged on the lifting platform 103 and connected with the first mechanical arm 201, the second driving motor 205 is arranged on the first mechanical arm 201 and connected with the second mechanical arm 202, and the third driving motor 206 is arranged on the second mechanical arm 202 and connected with the third mechanical arm 203. The first driving motor 204, the second driving motor 205 and the third driving motor 206 can drive the first mechanical arm 201, the second mechanical arm 202 and the third mechanical arm 203 to move in the horizontal plane, so as to drive the horizontal shaft rotating mechanism 3 to move in the horizontal plane.

[0102] The horizontal shaft rotating mechanism 3 includes a horizontal shaft driving motor 301 and a horizontal shaft rotating disc 302, as shown in Figures 3-4

[0103] The horizontal shaft driving motor 301 is connected to the third mechanical arm 203, and the horizontal shaft rotating disc 302 is connected to the horizontal shaft driving motor 301. The horizontal shaft rotating disc 302 has a polygonal structure, and the adapter mechanism 4 is connected to the horizontal shaft rotating disc 302. The horizontal shaft driving motor 301 can drive the horizontal shaft rotating disc 302 to rotate around the horizontal shaft, so as to drive the adapter mechanism 4 to rotate around the horizontal shaft.

[0104] The third mechanical arm 203 is provided with a horizontal shaft rotating monitoring camera 6 for monitoring the position of the horizontal shaft rotating disc 302.

[0105] The adapter mechanism 4 includes an adapter plate 401, a support disc 402, a sliding block 403, an adapter clamping plate 404, an adapter tension spring 405, a lock bar 406, a lock frame 407, a lock rod 408, a lock spring 409, a transmission rod 410, a support ring 411, a linkage ring 412, a pressing tension spring 413, a pressing block 414, a guide shaft 415, a driven ring 416, an adapter top shaft 417, an adapter top spring 418, a support block 419, a push rod 420 and a push spring 421, as shown in Figure 5

[0106] The adapter plate 401 is connected with the adapter gripping mechanism 5 on one side, and the support disc 402 is arranged opposite to the adapter plate 401. The support disc 402 is connected with the adapter plate 401 through a plurality of support plates distributed in the circumferential direction, and the edge of the support disc 402 has a plurality of sliding grooves.

[0107] The sliding block 403 is provided in a plurality of sliding grooves and can be connected through guide rails.

[0108] The adapter clamping plate 404 is provided in a plurality of sliding grooves and can be connected through guide rails.

[0109] The adapter clamping plate 404 is provided in a plurality of sliding grooves and can be connected through guide rails. Figure 6 ​​As shown, the various adapter plates 404 are abutted to the various edges of the horizontal shaft turntable 302 to lock the horizontal shaft turntable 302, and the number of the adapter plates 404 can be less than the number of the edges of the horizontal shaft turntable 302.

[0110] The lock bars 406 are provided between the adapter plate 401 and the support disc 402, and are opposite to the various sliding grooves, and the inwardly bent end is connected to the support disc 402, as shown in the figure. Figure 7 As shown, the lock bars 406 have a plurality of lock grooves arranged along the axial direction of the sliding grooves.

[0111] The lock frames 407 are provided in the various sliding grooves and are connected to the sliding blocks 403.

[0112] The lock rods 408 are provided in pairs and pass through the lock frames 407 towards the edges of the lock bars 406, and the end towards the lock bars 406 has a lock head.

[0113] The lock springs 409 are provided in pairs and are sleeved on the outer periphery of the various pairs of lock rods 408, and the two ends are abutted against the lock frames 407 and the lock heads, and the lock heads are inserted into the lock grooves by the elastic force, and the lock heads and the lock grooves are in contact with the inwardly inclined inclined surfaces, which can be designed as wedge-shaped.

[0114] The transmission rods 410 are provided in pairs and are transversely arranged between the various lock bars 406 and the support disc 402, and the middle part passes through the protruding part and extends into the lock frame 407 to connect the end of the lock rod 408 in the lock frame 407.

[0115] The support ring 411 is provided between the adapter plate 401 and the support disc 402, and is connected to the adapter plate 401 through a plurality of support plates distributed along the circumferential direction, as shown in the figure. Figure 8

[0116] The linkage ring 412 is provided between the support ring 411 and the support disc 402.

[0117] The pressing tension springs 413 are provided in pairs and are connected between the support ring 411 and the linkage ring 412 along the circumferential direction.

[0118] The pressing blocks 414 are provided in pairs and are arranged between the linkage ring 412 and the support disc 402, and are connected to the linkage ring 412 through the connecting shaft, and pressing any pressing block 414 can make the linkage ring 412 overcome the elastic force of the pressing tension spring 413 to move, so that each pressing block 414 is abutted to each transmission rod 410, and then drives each transmission rod 410 to move, so that each pair of lock rods 408 can overcome the elastic force of the lock spring 409 to move, and the lock head is out of the lock groove.

[0119] The guide shafts 415 are provided in pairs and pass through the support ring 411 along the circumferential direction and are connected to the linkage ring 412.

[0120] ​The driven ring 416 is arranged between the adapter plate 401 and the support ring 411 and connects the guide shafts 415 to enhance the stability of the structure.

[0121] The adapter top shaft 417 is arranged through the support disc 402 and has a plurality of locking holes arranged in the axial direction. The end of the adapter top shaft 417 is provided with a top platform.

[0122] The adapter top spring 418 is sleeved on the outer periphery of the adapter top shaft 417 and abuts against the support disc 402 and the top platform at both ends. The adapter top spring 418 relies on the elastic force to press the top platform against the horizontal shaft rotating disc 302, thereby pressing the horizontal shaft rotating disc 302 against the hook heads to achieve reliable connection of the adapter and connection mechanism 4 to the horizontal shaft rotating disc 302.

[0123] The support block 419 is connected to the support disc 402.

[0124] The push rod 420 is arranged through the support block 419 and has a support platform on the end facing the adapter top shaft 417.

[0125] The push spring 421 is sleeved on the outer periphery of the push rod 420 and abuts against the support block 419 and the support platform at both ends. The push spring 421 relies on the elastic force to insert the end of the push rod 420 facing the adapter top shaft 417 into a locking hole, thereby locking the adapter top shaft 417. By overcoming the elastic force of the push spring 421 and pulling the push rod 420, the end of the push rod 420 facing the adapter top shaft 417 can be pulled out of the locking hole, thereby unlocking the adapter top shaft 417.

[0126] Each locking hole can be designed as a through hole, and the corresponding support block 419, push rod 420 and push spring 421 have two groups. The two ends of the push spring 421 facing the adapter top shaft 417 are inserted into the locking hole from both ends, respectively.

[0127] When connecting the adapter and connection mechanism 4 to the horizontal shaft rotating mechanism 3, the following steps can be referred to:

[0128] Press any pressing block 414 to make the locking head move out of the locking groove, overcome the elastic force of the adapter tension spring 405, and pull the adapter clamping plate 404 outward, so that the adapter clamping plate 404 is arranged around the outer periphery of the horizontal shaft rotating disc 302. Adjust the orientation of the adapter clamping plate 404 to align the adapter clamping plate 404 with the edges of the horizontal shaft rotating disc 302. Loosen the pressing block 414, and the locking head is inserted into the locking groove under the elastic force of the locking spring 409. Then, the adapter clamping plate 404 moves inward under the elastic force of the adapter tension spring 405 and abuts against the edges of the horizontal shaft rotating disc 302. In this process, the locking head slides into the locking groove on the inner side along the inwardly inclined slope, and finally the position of the adapter clamping plate 404 is locked and clamped on the edge of the horizontal shaft rotating disc 302.

[0129] Meanwhile, the elastic force of the push spring 421 is overcome, the two push rods 420 are pulled, the two push rods 420 are pulled out of the lock holes towards one end of the adapter top shaft 417, the locking of the adapter top shaft 417 is released, the top platform is pushed on the horizontal shaft turntable 302, the adapter top shaft 417 is pushed to overcome the elastic force of the adapter top spring 418, the horizontal shaft turntable 302 is pressed on each hook head, and then the two push rods 420 are loosened, and the two push rods 420 are inserted into the two ends of the lock hole under the elastic force of the push spring 421 towards one end of the adapter top shaft 417, and the adapter top shaft 417 is locked.

[0130] The adapter grabbing mechanism 5 includes a connecting block 501, a reversing motor 502, a reversing disc 503, a shape adapter motor 504, a size adapter guide pipe 505, a size adapter inner sliding pipe 506, a size adapter connecting rod 507, a size adapter motor 508, an adapter grabbing telescopic rod 509, a grabbing head 510, a grabbing drive motor 511, a pressing rod 512, and a pressing disc 513, as shown in Figure 9 .

[0131] The adapter grabbing mechanism 5 is connected with the adapter mechanism 4, as shown in Figure 10 .

[0132] The connecting block 501 is connected to the adapter plate 401 and can be designed in a rectangular shape.

[0133] The reversing motor 502 is connected to the connecting block 501 and is arranged vertically with the horizontal shaft drive motor 301.

[0134] The reversing disc 503 is connected to the reversing motor 502.

[0135] The shape adapter motor 504 is multiple and is connected to the reversing disc 503 in a circumferential direction and is arranged parallel to the reversing motor 502, as shown in Figures 11-12 .

[0136] The size adapter guide pipe 505 is multiple and has a rectangular cross section, one end of each size adapter guide pipe 505 is connected to each shape adapter motor 504 and is arranged vertically with the shape adapter motor 504, the other end of each size adapter guide pipe 505 extends outward, the side wall of each size adapter guide pipe 505 has a transmission hole, and the side of each size adapter guide pipe 505 away from the reversing disc 503 has a guide groove.

[0137] The size adapter inner sliding pipe 506 is multiple and is arranged to slide in each size adapter guide pipe 505, and can be specifically designed to be connected through a guide rail between each size adapter guide pipe 505 and the size adapter inner sliding pipe 506, and the outer end of each size adapter inner sliding pipe 506 extends from the end of each size adapter guide pipe 505.

[0138] The size-adapting connecting rods 507 are provided through the size-adapting inner slide pipes 506 and fixedly connected with the size-adapting inner slide pipes 506, and the inward ends thereof are designed to be slidingly connected with the size-adapting guide pipes 505, and specifically designed to be connected with the size-adapting guide pipes 505 through guide rails.

[0139] The size-adapting motors 508 are provided on each size-adapting guide pipe 505 and connected with the size-adapting inner slide pipes 506 through the transmission holes and the toothed connection, so as to drive the size-adapting inner slide pipes 506 to slide in the size-adapting guide pipes 505, and further drive the size-adapting connecting rods 507 to slide.

[0140] The size-adapting grabbing telescopic rods 509 are rectangular in cross section, and the roots thereof are connected with the inward ends of the size-adapting connecting rods 507 through the guide grooves and perpendicularly arranged with the size-adapting connecting rods 507, and the top ends thereof are provided with inwardly protruding grabbing limiting bosses, and the grabbing limiting bosses are connected with rubber layers.

[0141] The grabbing heads 510 are wedge-shaped structures, covered with rubber layers, and hingedly connected with the top ends of the size-adapting grabbing telescopic rods 509, and specifically hingedly connected with the size-adapting grabbing telescopic rods 509 through single or double ear structures and pins.

[0142] The grabbing drive motors 511 are provided on each size-adapting grabbing telescopic rod 509 and connected with the grabbing heads 510, so as to drive the grabbing heads 510 to rotate inwardly and outwardly.

[0143] The pressure rod 512 is connected with the reversing disc 503 at one end, and arranged in parallel with the size-adapting grabbing telescopic rods 509 at the center of the reversing disc 503 and in the middle of each size-adapting grabbing telescopic rod 509, and connected with the pressure disc 513 at the other end, and the pressure disc 513 is made of rubber material.

[0144] The parts are grabbed by the size-adapting grabbing mechanism 5, and the following steps can be referred to:

[0145] The reversing disc 503 is driven to rotate by the reversing motor 502, and the size-adapting guide pipes 505 are driven to rotate by the shape-adapting motors 504, so as to adjust the positions of the size-adapting grabbing telescopic rods 509 and make the size-adapting grabbing telescopic rods 509 align with the edges of the parts.

[0146] The size-adapting grabbing telescopic rods 509 are controlled to be elongated, so that the grabbing limiting bosses surround the periphery of the parts, and then the size-adapting inner slide pipes 506 are driven to slide along the size-adapting guide pipes 505 by the size-adapting motors 508, so as to drive the size-adapting connecting rods 507 and the size-adapting grabbing telescopic rods 509 to slide inwardly, and make the grabbing limiting bosses abut against the edges of the parts, and then the grabbing heads 510 are driven to rotate inwardly by the grabbing drive motors 511, so as to lift the parts.

[0147] The individual adaptive gripping telescopic rods 509 are controlled to retract, driving the part to the pressing table, so as to realize reliable gripping of the part.

[0148] When the part needs to be placed down, the individual adaptive gripping telescopic rods 509 are controlled to extend, sending the part to the position where it needs to be placed, and then the gripping head 510 is driven to rotate outward by the individual gripping drive motor 511, so as to place the part down.

[0149] The adaptive gripping monitoring camera 7 is arranged on the outer edge of the pressing disc 513, and is used to monitor the position of the part.

[0150] The controller 8 is arranged on the base body 101 of the robot 1, and is connected with the lifting drive motor 104, the first drive motor 204, the second drive motor 205, the third drive motor 206, the horizontal shaft drive motor 301, the reversing motor 502, the shape adaptive motor 504, the size adaptive motor 508, the adaptive gripping telescopic rod 509, and the gripping drive motor 511, so as to control the start and stop of the lifting drive motor 104, the first drive motor 204, the second drive motor 205, the third drive motor 206, the horizontal shaft drive motor 301, the reversing motor 502, the shape adaptive motor 504, the size adaptive motor 508, and the gripping drive motor 511, and control the extension and retraction of the adaptive gripping telescopic rod 509.

[0151] The controller 8 is connected with the horizontal shaft rotation monitoring camera 6 and the adaptive gripping monitoring camera 7, so as to collect the position monitoring data of the horizontal shaft rotating disc 302 and the position of the part.

[0152] The power supply 9 is arranged on the base body 101 of the robot 1, and is connected with the controller 8, the lifting drive motor 104, the first drive motor 204, the second drive motor 205, the third drive motor 206, the horizontal shaft drive motor 301, the reversing motor 502, the shape adaptive motor 504, the size adaptive motor 508, the adaptive gripping telescopic rod 509, the gripping drive motor 511, the horizontal shaft rotation monitoring camera 6, and the adaptive gripping monitoring camera 7, for power supply.

[0153] In the part gripping device based on the robot disclosed in the above embodiment, the parts not described above can be made of alloy materials or other suitable materials.

[0154] The detection cabinet 10 is usually provided with a detection window, and the reversing device 11 is arranged in the detection window, and the detection disc 12 is connected with the reversing device 11. When the part is detected, the part is placed on the detection disc 12 through the detection window, the detection disc 12 is driven to rotate by the reversing device 11, the part is driven to rotate, the part is detected, and after the detection is completed, the part is taken out through the detection window and placed in a storage position.

[0155] The part grabbing device based on the robot disclosed in the above embodiment can detect the parts by grabbing. The following steps can be referred to:

[0156] The horizontal mechanical arm 2 is driven by the robot 1 to move in the vertical direction. The horizontal shaft rotating mechanism 3 is driven by the horizontal mechanical arm 2 to move in the horizontal plane. The adapter mechanism 4 is driven by the horizontal shaft rotating mechanism 3 to rotate around the horizontal shaft. The adaptive grabbing mechanism 5 is aligned with the parts. The parts are grabbed. The parts are placed on the detection disc 12 in the detection cabinet 10 through the detection window. The detection disc 12 is driven by the commutator 11 in the detection cabinet 10 to rotate. The parts are rotated to be detected, as shown in Figure 13 .

[0157] After the detection of the parts is completed, the horizontal mechanical arm 2 is driven by the robot 1 to move in the vertical direction. The horizontal shaft rotating mechanism 3 is driven by the horizontal mechanical arm 2 to move in the horizontal plane. The adapter mechanism 4 is driven by the horizontal shaft rotating mechanism 3 to rotate around the horizontal shaft. The adaptive grabbing mechanism 5 is aligned with the parts through the detection window. The parts are grabbed. The parts are taken out through the detection window and placed in the storage position.

[0158] The part grabbing device based on the robot disclosed in the above embodiment can reliably connect the adapter mechanism 4 to the rotating disc horizontal shaft rotating disc 302 of different sizes and shapes through the design of the adaptive clamping plate 404, the adaptive tension spring 405, the adaptive top shaft 417, the adaptive top spring 418 and the like. The connection with the horizontal mechanical arm 2 and the robot 1 is realized. Thus, the robot operation of various sizes and shapes can be adapted. The application range is expanded. The adaptive grabbing mechanism 5 can adaptively grab the special-shaped parts of different shapes, sizes and heights through the design of the commutating motor 502, the commutating disc 503, the shape adaptive motor 504, the size adaptive guide pipe 505, the size adaptive inner sliding pipe 506, the size adaptive connecting rod 507, the size adaptive motor 508 and the adaptive grabbing telescopic rod 509. The parts in the aviation field can be well applied in a wide range. In addition, the design of the robot 1, the horizontal mechanical arm 2 and the horizontal shaft rotating mechanism 3 can make the whole device realize the universal. Thus, the grabbing of the direction and position parts can be quickly and efficiently realized.

[0159] The technical scheme of the present application has been described in combination with the preferred embodiments shown in the drawings. It should be understood by those skilled in the art that the protection scope of the present application is obviously not limited to these specific embodiments. Without deviating from the principles of the present application, those skilled in the art can make equivalent changes or replacements to the related technical features. The technical scheme after the changes or replacements will fall within the protection scope of the present application.

Claims

1. A robot-based part gripping device, characterized in that, The robot (1) is connected with the horizontal mechanical arm (2), the horizontal mechanical arm (2) is connected with the horizontal shaft rotating mechanism (3), the horizontal shaft rotating mechanism (3) is connected with the adaptive gripping mechanism (5) through the adapter mechanism (4); The robot (1) can drive the horizontal mechanical arm (2) to move in the vertical direction, the horizontal mechanical arm (2) can drive the horizontal shaft rotating mechanism (3) to move in the horizontal plane, and the horizontal shaft rotating mechanism (3) can drive the adapter mechanism (4) to rotate around the horizontal shaft, so that the adaptive gripping mechanism (5) can be aligned with the parts and grip the parts; The adaptive gripping mechanism (5) comprises a connecting block (501), a reversing motor (502), a reversing disc (503), a shape adaptive motor (504), a size adaptive guide pipe (505), a size adaptive inner sliding pipe (506), a size adaptive connecting rod (507), a size adaptive motor (508), and an adaptive gripping telescopic rod (509); The connecting block (501) is connected to the adapter mechanism (4); The reversing motor (502) is connected to the connecting block (501) and is perpendicular to the horizontal shaft; The reversing disc (503) is connected to the reversing motor (502); The shape adaptive motor (504) is connected to the reversing disc (503) in a circumferential direction and is parallel to the reversing motor (502); The size adaptive guide pipe (505) has multiple ends connected to each shape adaptive motor (504) and is perpendicular to the shape adaptive motor (504), and the other end extends outward, the side wall has a transmission hole, and the side of the size adaptive guide pipe (505) away from the reversing disc (503) has a guide groove; The size adaptive inner sliding pipe (506) is slidably arranged in each size adaptive guide pipe (505); The size adaptive connecting rod (507) is arranged through the size adaptive inner sliding pipe (506) and is fixedly connected with the size adaptive inner sliding pipe (506); The size adaptive motor (508) is arranged on each size adaptive guide pipe (505) and is connected with the size adaptive inner sliding pipe (506) through the transmission hole and the tooth pattern, so as to drive the size adaptive inner sliding pipe (506) to slide in the size adaptive guide pipe (505); The adaptive gripping telescopic rod (509) has multiple roots connected to the inner end of the size adaptive connecting rod (507) through the guide groove and is perpendicular to the size adaptive connecting rod (507), and the top end has an inwardly protruding gripping limiting boss, and the gripping limiting boss is connected with a rubber layer. The adaptive gripping mechanism (5) further comprises a gripping head (510), a gripping drive motor (511), a pressing rod (512), and a pressing disc (513); 2. The robot-based part gripping device according to claim 1, characterized in that The gripping head (510) has multiple wedge-shaped structures and is covered with a rubber layer and is hinged to the top end of each adaptive gripping telescopic rod (509). ​ The grabbing driving motors (511) are provided on the respective adaptive grabbing telescopic rods (509) and connected with the grabbing heads (510) to drive the grabbing heads (510) to rotate inwardly and outwardly; The pressing rods (512) are connected at one end with the reversing discs (503) and arranged in parallel with the adaptive grabbing telescopic rods (509) and located in the middle of the respective adaptive grabbing telescopic rods (509), and connected at the other end with the pressing discs (513) made of rubber material; The adaptive grabbing monitoring cameras (7) are arranged on the outer edges of the pressing discs (513) to monitor the positions of the parts.

3. The robot-based part gripping device according to claim 2, characterized in that The robot (1) comprises a base body (101), vertical screws (102), a lifting platform (103) and a lifting driving motor (104); The base body (101) is supported by two legs; The vertical screws (102) are two in number and connected at the roots with the base body (101) and capable of rotating relative to the base body (101); The lifting platform (103) is threadedly connected with the two vertical screws (102) and has the horizontal mechanical arm (2) connected therewith; The lifting driving motor (104) is arranged on the base body (101) and connected with the two vertical screws (102) through the toothed engagement to drive the two vertical screws (102) to rotate and further drive the lifting platform (103) to move in the vertical direction and thus drive the horizontal mechanical arm (2) to move in the vertical direction.

4. The robot-based part gripping device according to claim 3, characterized in that The horizontal mechanical arm (2) comprises a first mechanical arm (201), a second mechanical arm (202), a third mechanical arm (203), a first driving motor (204), a second driving motor (205) and a third driving motor (206); The first mechanical arm (201) is horizontally hinged to the lifting platform (103), the second mechanical arm (202) is horizontally hinged to the first mechanical arm (201), the third mechanical arm (203) is horizontally hinged to the second mechanical arm (202), and the third mechanical arm (203) has the horizontal shaft rotating mechanism (3) connected therewith; The first driving motor (204) is arranged on the lifting platform (103) and connected with the first mechanical arm (201), the second driving motor (205) is arranged on the first mechanical arm (201) and connected with the second mechanical arm (202), the third driving motor (206) is arranged on the second mechanical arm (202) and connected with the third mechanical arm (203), and the first driving motor (204), the second driving motor (205) and the third driving motor (206) drive the first mechanical arm (201), the second mechanical arm (202) and the third mechanical arm (203) to move in the horizontal plane and thus drive the horizontal shaft rotating mechanism (3) to move in the horizontal plane.

5. The robot-based part gripping device according to claim 4, characterized in that The horizontal shaft rotating mechanism (3) comprises a horizontal shaft driving motor (301) and a horizontal shaft rotating disc (302). The horizontal shaft driving motor (301) is connected to the third mechanical arm (203), and a horizontal shaft turntable (302) is connected to the horizontal shaft driving motor (301). The horizontal shaft turntable (302) is a polygonal structure, and an adapter mechanism (4) is connected to the horizontal shaft turntable (302). The horizontal shaft driving motor (301) can drive the horizontal shaft turntable (302) to rotate around the horizontal shaft, so as to drive the adapter mechanism (4) to rotate around the horizontal shaft. The third mechanical arm (203) is provided with a horizontal shaft rotation monitoring camera (6) for monitoring the position of the horizontal shaft turntable (302).

6. The robot-based part gripping device according to claim 5, characterized in that The adapter mechanism (4) comprises an adapter plate (401), a support disc (402), a sliding block (403), an adapter clamping plate (404), an adapter tension spring (405), an adapter top shaft (417), and an adapter top spring (418). One side of the adapter plate (401) is connected with a connecting block (501), and the other side is oppositely provided with the support disc (402). The adapter plate (401) is connected with the support disc (402) through a plurality of support plates distributed in the circumferential direction. The edge of the support disc (402) has a plurality of sliding grooves. The sliding block (403) is provided in each sliding groove. The adapter clamping plate (404) has a plurality of clamping plates. One end of each clamping plate is connected with the sliding block (403), and the other end of each clamping plate extends away from the adapter plate (401) and surrounds the outer periphery of the horizontal shaft turntable (302). Each clamping plate has a hook. The adapter tension spring (405) is provided in the sliding groove and connected between the bottom of the sliding groove and the sliding block (403). The adapter tension spring (405) relies on the elastic force to pull the sliding block (403) inward, so that each adapter clamping plate (404) is clamped to the edge of the horizontal shaft turntable (302). The adapter top shaft (417) penetrates through the support disc (402) and has a plurality of lock holes distributed in the axial direction. The end of the adapter top shaft (417) facing the horizontal shaft turntable (302) has a top platform. The adapter top spring (418) is sleeved on the outer periphery of the adapter top shaft (417) and abuts against the support disc (402) and the top platform at both ends. The adapter top spring (418) relies on the elastic force to press the top platform against the horizontal shaft turntable (302), so as to press the horizontal shaft turntable (302) against each hook.

7. The robot-based part gripping device according to claim 6, characterized in that The adapter mechanism (4) further comprises a lock strip (406), a lock frame (407), a lock rod (408), a lock spring (409), a transmission rod (410), a support ring (411), a linkage ring (412), a pressing tension spring (413), a pressing block (414), a guide shaft (415), a driven ring (416), a support block (419), a push rod (420), and a push spring (421). The lock strip (406) is provided between the adapter plate (401) and the support disc (402) and faces each sliding groove. The inward end of the lock strip (406) is bent and connected to the support disc (402). The lock strip (406) has a plurality of lock grooves arranged in the axial direction of the sliding groove. The lock frame (407) is provided in each sliding groove and connected to the sliding block (403). The lock rod (408) has a plurality of pairs of lock rods. The lock rod (408) penetrates through the lock frame (407) and is provided at the edge facing the lock strip (406). The end of the lock rod (408) facing the lock strip (406) has a lock head. The lock spring (409) has multiple pairs, which are sleeved on the outer periphery of each pair of lock rods (408), and the two ends are abutted on the lock frame (407) and the lock head. The lock head is inserted into the lock slot by relying on the elastic force, and the lock head and the lock slot are in contact with the inwardly inclined inclined surface; The transmission rod (410) has multiple, which are transversely arranged between each lock bar (406) and the support disc (402), and the middle part is extended into the lock frame (407) through the protruding part, and is connected to one end of the lock rod (408) in the lock frame (407); The support ring (411) is arranged between the adapter plate (401) and the support disc (402), and is connected with the adapter plate (401) through multiple support plates distributed in the circumferential direction; The linkage ring (412) is arranged between the support ring (411) and the support disc (402); The press spring (413) has multiple, which are connected in the circumferential direction between the support ring (411) and the linkage ring (412); The pressing block (414) has multiple, which are arranged between the linkage ring (412) and the support disc (402), and are connected to the linkage ring (412) through the connecting shaft. Pressing any pressing block (414) can make the linkage ring (412) overcome the elastic force of the press spring (413) and move, so that each pressing block (414) is attached to each transmission rod (410), and then drives each transmission rod (410) to move, so that each pair of lock rods (408) can overcome the elastic force of the lock spring (409) and move, so that the lock head is out of the lock slot; The guide shaft (415) has multiple, which are arranged in the circumferential direction through the support ring (411) and are connected to the linkage ring (412); The driven ring (416) is arranged between the adapter plate (401) and the support ring (411), and is connected to each guide shaft (415); The support block (419) is connected to the support disc (402); The push rod (420) is arranged through the support block (419), one end of which faces the adaptive top shaft (417), and the outer wall of the end has a support table; The push spring (421) is sleeved on the outer periphery of the push rod (420), and the two ends are abutted between the support block (419) and the support table. By relying on the elastic force, the push rod (420) is inserted into one lock hole from one end towards the adaptive top shaft (417), so as to lock the adaptive top shaft (417).

8. The machine-based part grabbing device according to claim 7, wherein The base body (101) of the robot (1) is provided with a controller (8) connected to the lifting drive motor (104), the first drive motor (204), the second drive motor (205), the third drive motor (206), the horizontal shaft drive motor (301), the reversing motor (502), the shape adapting motor (504), the size adapting motor (508), the adapting grabbing telescopic rod (509), and the grabbing drive motor (511) to control the start and stop of the lifting drive motor (104), the first drive motor (204), the second drive motor (205), the third drive motor (206), the horizontal shaft drive motor (301), the reversing motor (502), the shape adapting motor (504), the size adapting motor (508), and the grabbing drive motor (511), and control the extension and retraction of the adapting grabbing telescopic rod (509). The controller (8) is connected to the horizontal shaft rotation monitoring camera (6) and the adapting grabbing monitoring camera (7) to collect the position of the horizontal shaft turntable (302) and the position monitoring data of the parts.

9. The robot-based part grabbing device according to claim 8, characterized in that, The base body (101) of the robot (1) is provided with a power supply (9) connected to the controller (8), the lifting drive motor (104), the first drive motor (204), the second drive motor (205), the third drive motor (206), the horizontal shaft drive motor (301), the reversing motor (502), the shape adapting motor (504), the size adapting motor (508), the adapting grabbing telescopic rod (509), the grabbing drive motor (511), the horizontal shaft rotation monitoring camera (6), and the adapting grabbing monitoring camera (7) for power supply.

10. A robot-based part pick detection method implemented based on the robot-based part pick apparatus of claim 9, characterized by, Including: The robot (1) drives the horizontal mechanical arm (2) to move in the vertical direction, the horizontal mechanical arm (2) drives the horizontal shaft rotation mechanism (3) to move in the horizontal plane, and the horizontal shaft rotation mechanism (3) drives the adapter (4) to rotate around the horizontal shaft, so that the adapting grabbing mechanism (5) is aligned with the part, and the part is grabbed, and then the part is placed on the detection disc (12) in the detection cabinet (10) through the detection window, the detection disc (12) is driven to rotate by the reversing device (11) in the detection cabinet (10), and the part is rotated to detect the part; After the part detection is completed, the robot (1) drives the horizontal mechanical arm (2) to move in the vertical direction, the horizontal mechanical arm (2) drives the horizontal shaft rotation mechanism (3) to move in the horizontal plane, and the horizontal shaft rotation mechanism (3) drives the adapter (4) to rotate around the horizontal shaft, so that the adapting grabbing mechanism (5) is aligned with the part through the detection window, and the part is grabbed, and then the part is taken out through the detection window and placed in the storage position.

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