Auxiliary precise grabbing device based on robot

Abstract

The invention discloses an auxiliary precise grabbing device based on a robot, and relates to the technical field of robot grabbing, the auxiliary precise grabbing device comprises a grabbing robot, the top of the grabbing robot is fixedly provided with a telescopic device, one end of the telescopic device is movably sleeved with a grabbing assembly, and the side edge of the grabbing robot is fixedly provided with a supporting device; a positioning assembly is fixedly installed on the side edge of the supporting device. According to the auxiliary precise grabbing device based on the robot, the lifting rope is limited, the situation that the shaking amplitude of the grabbing assembly is too large due to the fact that the hanging length of the lifting rope is too long is avoided, and then the grabbing assembly is assisted to achieve precise grabbing; the limiting sleeve descends along the limiting column and is connected to the outer surface of the positioning block in a sleeving mode, guiding and fixing of the grabbing assembly are achieved, the grabbing stability of the grabbing assembly is improved, meanwhile, the grabbing position of the grabbing assembly every time is fixed, and automation of the whole device is conveniently achieved; and through multi-directional positioning, the object can accurately stay at the top of the rotating disc, and accurate grabbing of the grabbing assembly is facilitated.

Description

Technical Field

[0001] This invention relates to the field of robot grasping technology, and in particular to a robot-assisted precision grasping device. Background Technology

[0002] In various fields such as industry, logistics, construction, and rescue, some robots utilize slings as a key component of their core handling mechanisms due to the demands of their tasks. These robots' sling systems typically work in conjunction with winches, pulley systems, tension control modules, and positioning and navigation technology to achieve the lifting, translating, or precise placement of objects. In modern industrial production, logistics warehousing, and large-scale engineering construction, bridge crane robots play a crucial role as core equipment for material handling. Leveraging their ability to move laterally along tracks on factory rooftops and utilize sling retraction to transport materials over large spaces, they are widely used in automotive manufacturing, steel metallurgy, heavy machinery assembly, and e-commerce warehousing. However, as industries increasingly demand higher production efficiency, operational precision, and safety, traditional bridge crane robots have revealed a series of pressing issues regarding precise grasping. Traditional overhead crane robots primarily rely on manual operation by operators via a control console, using experience to judge the position of goods and the state of the lifting ropes to control the gripping process, making it difficult to achieve precise gripping and positioning. This not only easily leads to collision damage to parts, affecting product quality, but also reduces assembly efficiency and increases production costs due to repeated adjustments to the gripping position, bringing certain adverse effects to the user experience. To address the shortcomings of existing technologies, we propose a robot-assisted precision gripping device. Summary of the Invention

[0003] The main objective of this invention is to provide a robot-assisted precision grasping device that can effectively solve the problems in the background art.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A robot-based assisted precision grasping device includes a grasping robot, a telescopic device fixedly installed on the top of the grasping robot, a grasping component movably sleeved at one end of the telescopic device, a support device fixedly installed on the side of the grasping robot, and a positioning component fixedly installed on the side of the support device. The gripping assembly includes a fixed frame, with connecting columns fixedly installed at both ends of the top of the fixed frame, and limit sleeves fixedly fitted at the bottom of both ends of the fixed frame. Lifting cylinders are fixedly installed on both sides of the top of the fixed frame, and lifting frames are fixedly installed at the bottom of the lifting cylinders at both ends. A mechanical claw is rotatably installed inside the lifting frame, and a fixed gear is fixedly fitted onto the outer surface of the upper end of the mechanical claw. A rotary motor is fixedly installed inside the lifting frame, and a drive gear is fixedly installed at the output end of the rotary motor. The outer surface of the drive gear meshes with the outer surface of the fixed gear. Side frames are fixedly installed on both sides of the fixed frame, and a first magnet is fixedly installed inside the side frames.

[0005] Preferably, the grasping robot includes a fixed base, a steering motor is fixedly installed inside the fixed base, a fixed track is fixedly installed on the top of the fixed base, a steering chassis is fixedly installed at the output end of the steering motor, a rolling wheel is provided at the bottom of the steering chassis, the rolling wheel is rolled inside the fixed track, and hydraulic telescopic rods are fixedly installed at both ends of the top of the steering chassis.

[0006] Preferably, a support frame is fixedly installed on the left side of the top of the steering chassis, a winding motor is fixedly installed on the side of the support frame, a rotating shaft is fixedly installed at the output end of the winding motor, the rotating shaft is rotatably installed inside the support frame, and both ends of the outer surface of the rotating shaft are wound with suspension ropes.

[0007] Preferably, the telescopic device includes a top frame, a movable frame is movably sleeved on the right side of the top frame, a connecting plate is fixedly installed on the right end of the movable frame, a fixed sleeve is fixedly installed on the bottom of the connecting plate, and a movable telescopic rod is movably sleeved inside the fixed sleeve.

[0008] Preferably, a push cylinder is fixedly installed on both sides of the top of the top frame, and the output ends of the push cylinders at both ends are fixedly connected to the top of the right end of the movable frame. Guide wheels are rotatably installed at both ends of the bottom of the top frame, and the suspension rope is movably sleeved on the outer surface of the guide wheel. The suspension rope is movably sleeved inside the fixed sleeve and the movable telescopic rod.

[0009] Preferably, the bottom of the suspension ropes at both ends is fixedly connected to the top of the connecting column, and the connecting column is movably sleeved on the bottom of the movable telescopic rod.

[0010] Preferably, the support device includes a support platform, a commutator motor is fixedly installed inside the support platform, a rotating disk is fixedly installed at the output end of the commutator motor, the rotating disk is rotatably installed on the top of the support platform, connecting frames are fixedly installed at both ends of the top of the support platform, positioning blocks are fixedly installed at both ends of the top of the connecting frames, limit posts are fixedly installed on the top of the positioning blocks, limit frames are fixedly installed on the top of the connecting frames at both ends, and second magnets are fixedly installed on the opposite sides of the limit frames on both sides.

[0011] Preferably, the positioning component includes a positioning frame, a sliding groove is provided on the side of the positioning frame, a sliding rod is fixedly installed at both ends inside the sliding groove, a sliding frame is movably sleeved on the outer surface of both ends of the sliding rod, a positioning wheel is provided on the side of the sliding frame away from the positioning frame, a positioning motor is fixedly installed on the top of the positioning frame, a rotating gear is fixedly installed on the output end of the positioning motor, the rotating gear is rotatably installed inside the positioning frame, and a fixed rack is fixedly installed on the opposing sides of the two ends of the sliding frame, the sides of the two ends of the fixed rack meshing with the two sides of the outer surface of the rotating gear respectively.

[0012] Preferably, the positioning frame is fixedly installed on the side of the connecting frame, and the positioning wheel is movably installed on the top of the rotating disk.

[0013] Preferably, the limiting sleeve is frustum-shaped, and the limiting sleeve and the fixing frame are movably sleeved on the outer surface of the limiting post and the positioning block, and the second magnet is magnetically connected to the first magnet.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. In this invention, the movable telescopic rod extends and retracts inside the fixed sleeve, limiting the suspension rope and preventing the suspension rope from being too long, which would cause the gripping component to shake excessively. This helps the gripping component to achieve precise gripping, while also preventing environmental influences from causing the gripping component to shake and affecting its gripping function.

[0015] 2. In this invention, the limiting sleeve is shaped like a frustum and is fitted onto the outer surface of the limiting post. Based on the shape of the limiting sleeve, the guide fixing frame moves slightly according to the guide of the limiting post, causing the limiting sleeve to descend along the limiting post and fit onto the outer surface of the positioning block. This achieves the guidance and fixation of the gripping component, preventing the gripping component from shaking during the gripping process, improving the gripping stability of the gripping component, and fixing the gripping position of the gripping component each time, which facilitates the automation of the overall device.

[0016] 3. In this invention, the fixed racks at both ends drive the sliding frames at both ends to move towards each other, and the positioning wheels at both ends position the object. In conjunction with the reversing motor, the rotating disk is controlled to rotate, adjusting the orientation of the object. Through multi-directional positioning, the object is accurately positioned on the top of the rotating disk, which facilitates the precise gripping of the gripping component. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the grasping robot structure of the present invention; Figure 3 This is a schematic diagram of the telescopic device structure of the present invention; Figure 4 This is a schematic diagram of the gripping component structure of the present invention; Figure 5 This is a schematic diagram of the support device structure of the present invention; Figure 6 This is a schematic diagram of the positioning component structure of the present invention.

[0018] In the diagram: 1. Grasping robot; 2. Telescopic device; 3. Grasping component; 4. Support device; 5. Positioning component; 11. Fixed base; 12. Fixed track; 13. Steering chassis; 14. Rolling wheel; 15. Support frame; 16. Rewinding motor; 17. Hydraulic telescopic rod; 18. Lifting rope; 19. Rotating shaft; 21. Top frame; 22. Push cylinder; 23. Movable frame; 24. Guide wheel; 25. Connecting plate; 26. Fixed sleeve; 27. Movable telescopic rod; 31. Fixed frame; 32. Limiting sleeve; 33. Connecting column 34. Lifting cylinder; 35. Side frame; 36. First magnet; 37. Lifting frame; 38. Rotary motor; 39. Drive gear; 310. Mechanical claw; 311. Fixed gear; 41. Support platform; 42. Reversing motor; 43. Rotating disk; 44. Connecting frame; 45. Positioning block; 46. Limiting post; 47. Limiting frame; 48. Second magnet; 51. Positioning frame; 52. Positioning motor; 53. Rotating gear; 54. Sliding groove; 55. Sliding rod; 56. Sliding frame; 57. Fixed rack; 58. Positioning wheel. Detailed Implementation

[0019] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0020] Example 1, as Figures 1-3 As shown, a robot-assisted precision grasping device includes a grasping robot 1 and a support device 4. A telescopic device 2 is fixedly installed on the top of the grasping robot 1, and a grasping component 3 is movably sleeved at one end of the telescopic device 2. A positioning component 5 is fixedly installed on the side of the support device 4.

[0021] like Figure 2 As shown, the gripping robot 1 includes a fixed base 11, a steering motor is fixedly installed inside the fixed base 11, a fixed track 12 is fixedly installed on the top of the fixed base 11, a steering chassis 13 is fixedly installed at the output end of the steering motor, a rolling wheel 14 is provided at the bottom of the steering chassis 13, the rolling wheel 14 is rolled inside the fixed track 12, and hydraulic telescopic rods 17 are fixedly installed at both ends of the top of the steering chassis 13.

[0022] Among them, a support frame 15 is fixedly installed on the left side of the top of the steering chassis 13, a winding motor 16 is fixedly installed on the side of the support frame 15, a rotating shaft 19 is fixedly installed at the output end of the winding motor 16, the rotating shaft 19 is rotatably installed inside the support frame 15, and both ends of the outer surface of the rotating shaft 19 are wound with suspension ropes 18.

[0023] Specifically, the hydraulic telescopic rod 17 extends and retracts according to the height required to lift the object, thereby adjusting the height at which the gripping component 3 grips the object. The winding motor 16 controls the rotating shaft 19 to wind and unwind, and the suspension rope 18 drives the gripping component 3 to rise and fall.

[0024] like Figure 3 As shown, the telescopic device 2 includes a top frame 21, a fixed sleeve 26, and a movable telescopic rod 27. A movable frame 23 is movably sleeved on the right side of the top frame 21. A connecting plate 25 is fixedly installed on the right end of the movable frame 23. The bottom of the connecting plate 25 is fixedly installed with the fixed sleeve 26. The movable telescopic rod 27 is movably sleeved inside the fixed sleeve 26.

[0025] Among them, push cylinders 22 are fixedly installed on both sides of the top of the top frame 21. The output ends of the push cylinders 22 are fixedly connected to the top of the right end of the movable frame 23. Guide wheels 24 are rotatably installed at both ends of the bottom of the top frame 21. The suspension rope 18 is movably sleeved on the outer surface of the guide wheel 24 and is movably sleeved inside the fixed sleeve 26 and the movable telescopic rod 27.

[0026] In this embodiment, the bottom of the two suspension ropes 18 is fixedly connected to the top of the connecting post 33. The connecting post 33 is movably sleeved on the bottom of the movable telescopic rod 27. When the suspension rope 18 pulls the fixed frame 31 to rise, the connecting post 33 rises with the fixed frame 31 and is inserted into the bottom of the movable telescopic rod 27. As the fixed frame 31 rises, the fixed frame 31 pushes the movable telescopic rod 27 to retract and finally retract into the inside of the fixed sleeve 26. Similarly, when the fixed frame 31 is affected by gravity and drives the suspension rope 18 to descend, the movable telescopic rod 27 descends inside the fixed sleeve 26 and gradually unfolds and extends, limiting the suspension rope 18 and preventing the suspension rope 18 from being too long and causing the gripping component 3 to shake too much. This helps the gripping component 3 to achieve accurate gripping and also prevents the gripping component 3 from shaking due to environmental factors such as strong winds, which would affect the gripping function of the gripping component 3.

[0027] Example 2, as Figures 1-5 As shown, a robot-assisted precision grasping device includes a support device 4 comprising a support platform 41 and a limiting post 46. A reversing motor 42 is fixedly installed inside the support platform 41, and a rotating disk 43 is fixedly installed at the output end of the reversing motor 42. The rotating disk 43 is rotatably mounted on the top of the support platform 41. Connecting frames 44 are fixedly installed at both ends of the top of the connecting frames 44, and positioning blocks 45 are fixedly installed at both ends of the top of the connecting frames 44. The top of the positioning blocks 45 is fixedly installed with the limiting post 46. Limiting frames 47 are fixedly installed on the top of the connecting frames 44 at both ends, and second magnets 48 are fixedly installed on the opposite sides of the limiting frames 47 on both sides.

[0028] like Figure 3 As shown, the gripping component 3 includes a fixed frame 31 and limiting sleeves 32 fixedly sleeved at the bottom of both ends of the fixed frame 31. Connecting columns 33 are fixedly installed at both ends of the top of the fixed frame 31. Lifting cylinders 34 are fixedly installed on both sides of the top of the fixed frame 31. Lifting frame 37 is fixedly installed at the bottom of the lifting cylinders 34 at both ends. Mechanical claws 310 are rotatably installed inside the lifting frame 37. Fixed gears 311 are fixedly sleeved on the outer surface of the upper end of the mechanical claws 310. Rotary motors 38 are fixedly installed inside the lifting frame 37. Drive gears 39 are fixedly installed at the output end of the rotary motor 38. The outer surface of the drive gears 39 meshes with the outer surface of the fixed gears 311. Side frames 35 are fixedly installed on both sides of the fixed frame 31. First magnets 36 are fixedly installed inside the side frames 35.

[0029] In this embodiment, the limiting sleeve 32 is shaped like a frustum. The limiting sleeve 32 and the fixing frame 31 are movably sleeved on the outer surfaces of the limiting post 46 and the positioning block 45. The second magnets 48 at both ends magnetically attract the first magnets 36 on both sides of the fixing frame 31, preventing the fixing frame 31 from rotating during the lifting and lowering process. The limiting sleeve 32 is a frustum cover with a bottom diameter larger than the top diameter. When the fixing frame 31 is descending, the limiting sleeve 32 is sleeved on the outer surface of the limiting post 46. According to the shape of the limiting sleeve 32, the fixing frame 31 is guided to move slightly according to the guide of the limiting post 46, so that the limiting sleeve 32 descends along the limiting post 46 and is sleeved on the outer surface of the positioning block 45. This realizes the guidance and fixation of the gripping component 3, prevents the gripping component 3 from shaking during the gripping process, improves the gripping stability of the gripping component 3, and at the same time, fixes the gripping position of the gripping component 3 each time, which facilitates the automation of the overall device.

[0030] Example 3, as Figures 1-5 As shown, a robot-assisted precision grasping device includes a positioning component 5 comprising a positioning frame 51 and positioning wheels 58. The positioning frame 51 has a sliding groove 54 on its side. Sliding rods 55 are fixedly installed at both ends inside the sliding groove 54. Sliding frames 56 are movably sleeved on the outer surfaces of both ends of the sliding rods 55. Positioning wheels 58 are provided on the side of the sliding frame 56 away from the positioning frame 51. A positioning motor 52 is fixedly installed on the top of the positioning frame 51. A rotating gear 53 is fixedly installed on the output end of the positioning motor 52. The rotating gear 53 is rotatably installed inside the positioning frame 51. Fixed racks 57 are fixedly installed on the opposing sides of the two sliding frames 56. The sides of the fixed racks 57 mesh with the two sides of the outer surface of the rotating gear 53, respectively.

[0031] The positioning frame 51 is fixedly installed on the side of the connecting frame 44, and the positioning wheel 58 is movably installed on the top of the rotating disk 43.

[0032] In this embodiment, the positioning motor 52 controls the rotating gear 53 to rotate. Through the meshing action of the rotating gear 53 and the fixed rack 57, the fixed racks 57 at both ends drive the sliding frames 56 at both ends to move in opposite directions, thereby enabling the positioning wheel 58 to position the object, which facilitates the gripping component 3 to grip the object.

[0033] It should be noted that this invention is a robot-assisted precision grasping device. In use, the object is placed on the top of the rotating disk 43 by the feeding device. At this time, the positioning motor 52 controls the rotating gear 53 to rotate. Through the meshing of the rotating gear 53 and the fixed rack 57, the fixed racks 57 at both ends drive the sliding frames 56 at both ends to move towards each other. The positioning wheels 58 at both ends realize the positioning of the object. Subsequently, the positioning motor 52 controls the rotating gear 53 to rotate in the opposite direction. The positioning wheels 58 stop limiting the object. The reversing motor 42 controls the rotating disk 43 to rotate 90 degrees. The positioning motor 52 controls the rotating gear 53 to rotate again, so that the positioning wheels 58 at both ends position the object in other directions. Through multi-directional positioning, the object is accurately stopped on the top of the rotating disk 43. The winding motor 16 controls the rotating shaft 19 to unwind, causing the lifting rope 18 to move inside the movable telescopic rod 27. At this time, the fixed frame 31 is affected by gravity, and when the lifting rope 18 is driven down, the movable telescopic rod 27 descends inside the fixed sleeve 26 and gradually unfolds and extends, so as to avoid the lifting rope 18 being suspended for too long, which would cause the gripping component 3 to shake too much. As the fixed frame 31 descends, the limiting sleeve 32 is fitted onto the outer surface of the limiting post 46. Based on the shape of the limiting sleeve 32, the fixed frame 31 is guided to move slightly according to the guide of the limiting post 46. The limiting sleeve 32 descends along the limiting post 46 and is fitted onto the outer surface of the positioning block 45, thereby guiding and fixing the gripping component 3. After the gripping component 3 grips the object, the winding motor 16 controls the rotating shaft 19 to wind up the lifting rope 18. When the lifting rope 18 pulls the fixed frame 31 upward, the connecting post 33 rises along with the fixed frame 31 and is inserted into the bottom of the movable telescopic rod 27. As the fixed frame 31 rises, the fixed frame 31 pushes the movable telescopic rod 27 to retract, and finally retracts into the interior of the fixed sleeve 26, thereby achieving precise gripping of the object.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A robot-assisted precision grasping device, comprising a grasping robot (1), characterized in that: The top of the gripping robot (1) is fixedly equipped with a telescopic device (2), one end of which is movably sleeved with a gripping component (3), and a support device (4) is fixedly installed on the side of the gripping robot (1), and a positioning component (5) is fixedly installed on the side of the support device (4). The gripping component (3) includes a fixed frame (31), with connecting columns (33) fixedly installed at both ends of the top of the fixed frame (31), and limit sleeves (32) fixedly sleeved at the bottom of both ends of the fixed frame (31). Lifting cylinders (34) are fixedly installed on both sides of the top of the fixed frame (31), and lifting frames (37) are fixedly installed at the bottom of the lifting cylinders (34) at both ends. A mechanical claw (310) is rotatably installed inside the lifting frame (37), and a fixed gear (311) is fixedly sleeved on the outer surface of the upper end of the mechanical claw (310). A rotary motor (38) is fixedly installed inside the lifting frame (37), and a drive gear (39) is fixedly installed at the output end of the rotary motor (38). The outer surface of the drive gear (39) meshes with the outer surface of the fixed gear (311). Side frames (35) are fixedly installed on both sides of the fixed frame (31), and a first magnet (36) is fixedly installed inside the side frame (35).

2. The robot-assisted precision grasping device according to claim 1, characterized in that: The grasping robot (1) includes a fixed base (11), a steering motor is fixedly installed inside the fixed base (11), a fixed track (12) is fixedly installed on the top of the fixed base (11), a steering chassis (13) is fixedly installed at the output end of the steering motor, a rolling wheel (14) is provided at the bottom of the steering chassis (13), the rolling wheel (14) is rolled inside the fixed track (12), and hydraulic telescopic rods (17) are fixedly installed at both ends of the top of the steering chassis (13).

3. The robot-assisted precision grasping device according to claim 2, characterized in that: A support frame (15) is fixedly installed on the left side of the top of the steering chassis (13). A winding motor (16) is fixedly installed on the side of the support frame (15). A rotating shaft (19) is fixedly installed at the output end of the winding motor (16). The rotating shaft (19) is rotatably installed inside the support frame (15). Both ends of the outer surface of the rotating shaft (19) are wound with suspension ropes (18).

4. The robot-assisted precision grasping device according to claim 3, characterized in that: The telescopic device (2) includes a top frame (21), a movable frame (23) is movably sleeved on the right side of the top frame (21), a connecting plate (25) is fixedly installed on the right end of the movable frame (23), a fixed sleeve (26) is fixedly installed on the bottom of the connecting plate (25), and a movable telescopic rod (27) is movably sleeved inside the fixed sleeve (26).

5. The robot-assisted precision grasping device according to claim 4, characterized in that: Both sides of the top of the top frame (21) are fixedly installed with push cylinders (22). The output ends of the push cylinders (22) at both ends are fixedly connected to the top of the right end of the movable frame (23). Both ends of the bottom of the top frame (21) are rotatably installed with guide wheels (24). The hoisting rope (18) is movably sleeved on the outer surface of the guide wheel (24). The hoisting rope (18) is movably sleeved inside the fixed sleeve (26) and the movable telescopic rod (27).

6. The robot-assisted precision grasping device according to claim 5, characterized in that: The bottom of the suspension ropes (18) at both ends is fixedly connected to the top of the connecting column (33), and the connecting column (33) is movably sleeved on the bottom of the movable telescopic rod (27).

7. The robot-assisted precision grasping device according to claim 1, characterized in that: The support device (4) includes a support platform (41), a commutator motor (42) is fixedly installed inside the support platform (41), a rotating disk (43) is fixedly installed at the output end of the commutator motor (42), the rotating disk (43) is rotatably installed on the top of the support platform (41), a connecting frame (44) is fixedly installed at both ends of the top of the support platform (41), a positioning block (45) is fixedly installed at both ends of the top of the connecting frame (44), a limit post (46) is fixedly installed on the top of the positioning block (45), a limit frame (47) is fixedly installed on the top of the connecting frame (44) at both ends, and a second magnet (48) is fixedly installed on the side of the limit frame (47) on both sides facing each other.

8. The robot-assisted precision grasping device according to claim 7, characterized in that: The positioning component (5) includes a positioning frame (51). A sliding groove (54) is provided on the side of the positioning frame (51). Sliding rods (55) are fixedly installed at both ends of the sliding groove (54). Sliding frames (56) are movably sleeved on the outer surfaces of both ends of the sliding rods (55). Positioning wheels (58) are provided on the side of the sliding frame (56) away from the positioning frame (51). A positioning motor (52) is fixedly installed on the top of the positioning frame (51). A rotating gear (53) is fixedly installed at the output end of the positioning motor (52). The rotating gear (53) is rotatably installed inside the positioning frame (51). Fixed racks (57) are fixedly installed on the opposing sides of the sliding frames (56) at both ends. The sides of the fixed racks (57) at both ends mesh with the two sides of the outer surface of the rotating gear (53).

9. A robot-assisted precision grasping device according to claim 8, characterized in that: The positioning frame (51) is fixedly installed on the side of the connecting frame (44), and the positioning wheel (58) is movably installed on the top of the rotating disk (43).

10. A robot-assisted precision grasping device according to claim 10, characterized in that: The limiting sleeve (32) is shaped like a frustum. The limiting sleeve (32) and the fixing frame (31) are movably sleeved on the outer surface of the limiting post (46) and the positioning block (45). The second magnet (48) is magnetically connected to the first magnet (36).

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