Intelligent induction type rolling body moving grabbing and transferring manipulator

Abstract

The application relates to the technical field of mechanical hands, and discloses an intelligent induction type rolling body moving, grabbing and transferring mechanical hand, a mechanical hand base, a mechanical driving arm, a mounting block, a clamping jaw, a winding assembly, a flexible wrapping assembly and a swinging assembly, two groups of clamping jaw bottom ends form a picking opening, the flexible wrapping assembly is arranged between the two groups of winding assemblies, the winding assembly can wind the flexible wrapping assembly to wrap a rolling body workpiece, the winding assembly is installed at the clamping jaw bottom end through the swinging assembly, when falling and contacting adjacent rolling body workpieces, the swinging assembly senses the pressure swinging state of the winding assembly, and according to the pressure swinging state, one side winding assembly is controlled to rotate inward to push in a target rolling body workpiece, and the other side winding assembly is controlled to rotate outward to push away a non-target rolling body workpiece, the mechanical hand can improve single-piece grabbing fault tolerance under a smaller picking opening, reduces the misclamping of adjacent workpieces, the jamming and the surface damage of the rolling body.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to an intelligent sensing-type rolling body moving grasping and transferring robotic arm. Background Technology

[0002] In the processes of bearing manufacturing, rolling element inspection, sorting, assembly, and transportation, it is often necessary to move and grip rolling element workpieces such as steel balls, rollers, and needle rollers. These workpieces share the common characteristics of having relatively smooth outer surfaces, making them prone to rolling displacement when subjected to slight vibrations, material channel inertia, or pressure from adjacent workpieces. Furthermore, their surfaces typically have a high degree of smoothness, making them highly sensitive to scratches, indentations, and contamination.

[0003] When gripping rolling element workpieces, existing robotic arms typically use rigid grippers to clamp them from both sides. Since the outer surface of the rolling element is mostly curved, the actual contact area between the rigid gripper and the rolling element is small, making it prone to problems such as localized pressure concentration, misalignment, and slippage during gripping. To improve the tolerance for errors during part removal, some devices increase the gripper opening angle to cover potential positional deviations of the rolling element. However, when the rolling element is continuously fed or adjacent workpieces are close together, a larger opening angle can easily cause adjacent rolling elements to enter the gripping area simultaneously, resulting in over-gripping, jamming, or incorrect material carrying.

[0004] Reducing the gripper opening angle can decrease the probability of picking up adjacent workpieces, but it requires high positional accuracy of the target rolling element. When the target rolling element is still slightly rolling, or when there is a deviation in the pick-up position, the gripper may not be able to accurately clamp the target rolling element after it descends, and may even push the target rolling element away from its original position. Existing equipment usually relies on high-precision visual recognition and real-time position compensation, but this increases control complexity, and the recognition results may still have errors when the rolling element surface is reflective, oily, or in an unstable motion state.

[0005] Therefore, it is necessary to provide a mobile gripping and transfer robot suitable for rolling element workpieces, which can still have good fault tolerance for picking up parts under the condition of a small picking opening, and can reduce the risk of accidentally clamping adjacent rolling elements and damaging the surface of rolling elements. Summary of the Invention

[0006] The technical problem to be solved by the present invention is that existing rolling element gripping robots have small contact area when gripping rolling elements on arc surfaces, are prone to misalignment or slippage, and are prone to clamping adjacent rolling element workpieces when increasing the opening angle of the grippers to improve fault tolerance. To address this, we propose an intelligent sensing rolling element moving gripping and transfer robot.

[0007] To achieve the above objectives, this application adopts the following technical solution: an intelligent sensing-type rolling body moving gripping and transfer robot, comprising: a robot base and a swing assembly, wherein a mechanical drive arm is installed at the top of the robot base, and an installation block is installed at the output end of the mechanical drive arm, and grippers are rotatably connected to both sides of the installation block, wherein the bottom ends of the two sets of grippers form a pick-up opening for a single rolling body workpiece to enter when the grippers are open, and a winding assembly is installed at the bottom ends of the two sets of grippers, wherein a flexible wrapping assembly is installed between the two sets of winding assemblies, so that the flexible wrapping assembly wraps around the outer surface of the rolling body workpiece when the two sets of grippers are closed;

[0008] Both ends of the winding assembly are mounted to the bottom of the gripper via swinging components, allowing the winding assembly to swing relative to the gripper when it falls and contacts the rolling workpiece. Simultaneously, the swinging components can sense the pressure swinging state of the winding assembly. When the two sets of winding assemblies contact adjacent rolling workpieces during the falling process, the position of the corresponding rolling workpiece relative to the pick-up opening is determined based on the pressure swinging state of the two sets of swinging components. The winding assembly corresponding to the target rolling workpiece closer to the inside of the pick-up opening is rotated inward to push the target rolling workpiece into the pick-up opening. At the same time, the winding assembly on the other side is rotated outward to push the adjacent non-target rolling workpiece away from the pick-up opening.

[0009] Preferably, the flexible wrapping assembly includes an adaptive wrapping section and a toggle section. The adaptive wrapping section is located between two sets of winding assemblies and is used to wrap the rolling workpiece in contact with the two sets of grippers when they close. The toggle section is connected to both sides of the adaptive wrapping section and is wound onto the corresponding winding assembly.

[0010] Preferably, the inner and outer walls of the flexible wrapping component are provided with friction particles to form a friction-enhancing surface on the inner wall of the adaptive wrapping part, i.e., the contact surface with the rolling workpiece, and on the outer wall of the agitating part, i.e., the part wrapped around the winding component, to form a friction-enhancing surface at the agitation point of the rolling workpiece.

[0011] Preferably, a pull spring is fixedly connected to the top of the adaptive wrapping part, and the top end of the pull spring is fixedly connected to the mounting block. The pull spring is used to pull the adaptive wrapping part upward.

[0012] Preferably, the winding assembly includes a receiving block, which is mounted on the swing assembly.

[0013] Preferably, a micro motor is fixedly connected to the side of the receiving block, and a winding shaft is fixedly connected to the output end of the micro motor. The winding shaft is rotatably connected to the receiving block, and a winding roller is fixedly connected to the outside of the winding shaft.

[0014] Preferably, the swing assembly includes a support shaft fixedly connected to the bottom end of the gripper, a rotating ring rotatably connected to the outside of the support shaft, a connecting block fixedly connected to the bottom of the rotating ring, and a receiving block fixedly connected to the end of the connecting block away from the rotating ring, so that the receiving block can drive the winding assembly to swing relative to the gripper with the support shaft as the center.

[0015] Preferably, the swing assembly further includes an inverted U-shaped block fixedly connected to the side of the gripper, the inverted U-shaped block having a limiting groove inside, and a toggle sensor block fixedly connected to the top of the rotating ring, the toggle sensor block being inserted into the limiting groove so that the limiting groove can limit the swing range of the toggle sensor block.

[0016] Preferably, pressure sensors are installed on both sides of the limiting slot, and trigger springs are fixedly connected to both sides of the actuation sensing block. The end of the trigger spring away from the actuation sensing block is fixedly connected to the pressure sensor on the corresponding side, so that the actuation sensing block can transmit pressure to the pressure sensor through the trigger spring on the corresponding side when it swings with the rotating ring.

[0017] Preferably, when the winding assembly falls and contacts the rolling workpiece and causes the rotating ring to swing relative to the supporting shaft, the actuating sensing block swings synchronously within the limiting slot, and the trigger spring on one side of its swing direction presses against the corresponding pressure sensor, so as to determine the position of the rolling workpiece contacted by the bottom of the receiving block relative to the take-up opening by the pressure state of the corresponding pressure sensor.

[0018] The technical effects and advantages of this invention are as follows:

[0019] This invention utilizes the cooperation of grippers, winding components, flexible wrapping components, and oscillating components. During the picking process of rolling workpieces, the oscillating component first senses the pressure and oscillation state of the winding component after contact with the rolling workpiece to determine the position of the target rolling workpiece relative to the picking opening. Then, the forward and reverse rotation of the two winding components pushes the target rolling workpiece into the picking opening and pushes adjacent non-target rolling workpieces away from the picking opening. This allows the robot to maintain good picking error tolerance even when the gripper opening is small, reducing the risks of missing, misaligned, or jammed workpieces. After the target rolling workpiece enters the picking opening, the two sets of winding components wind up the flexible wrapping component, so that the adaptive wrapping part forms a flexible wrapping contact along the outer arc surface of the rolling workpiece, thereby increasing the clamping contact area, reducing local pressure, and reducing the risk of surface indentation, scratches, and slippage of the rolling workpiece. This improves the single-piece gripping accuracy, clamping stability, and surface protection effect of rolling workpieces during continuous feeding, inspection, sorting, and transfer. Attached Figure Description

[0020] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts:

[0021] Figure 1 This is a three-dimensional structural diagram of the entire invention;

[0022] Figure 2 This is a three-dimensional structural diagram of the gripper of the present invention in the open state;

[0023] Figure 3 This is a three-dimensional structural diagram of the gripper of the present invention gripping a rolling workpiece;

[0024] Figure 4 This is a three-dimensional structural diagram of the flexible wrapping component of the present invention;

[0025] Figure 5 This is an exploded view of the winding assembly portion of the present invention;

[0026] Figure 6 This is a schematic diagram of the internal structure of the swing component of the present invention;

[0027] Figure 7 This is a cross-sectional structural diagram of the rotating ring portion of the present invention.

[0028] Legend: 1. Robotic arm base; 2. Mechanical drive arm; 3. Mounting block; 4. Gripper; 5. Rewinding assembly; 6. Flexible wrapping assembly; 7. Swinging assembly; 8. Pulling spring; 501. Rewinding roller; 502. Receiving block; 503. Rewinding shaft; 504. Micro motor; 601. Adaptive wrapping part; 602. Actuating part; 701. Support shaft; 702. Rotating ring; 703. Torsion spring; 704. Connecting block; 705. Actuating sensor block; 706. Inverted U-shaped block; 707. Limiting slot; 708. Trigger spring; 709. Pressure sensor. Detailed Implementation

[0029] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0030] like Figures 1 to 3As shown, this embodiment provides an intelligent sensing rolling body moving gripping and transferring robot, which includes a robot base 1. The robot base 1 is used to install and support a mechanical drive arm 2. A mounting block 3 is installed at the output end of the mechanical drive arm 2. The mounting block 3 is used to support two sets of grippers 4 and the gripping structure at their lower ends.

[0031] Both sides of the mounting block 3 are rotatably connected to grippers 4. The two sets of grippers 4 can close towards each other or open away from each other under the action of the driving structure. The bottom ends of the two sets of grippers 4 form a pick-up opening when they are open. The width of the pick-up opening is slightly larger than the outer diameter of a single rolling element workpiece, so that a single rolling element workpiece can enter the pick-up opening, while reducing the possibility of two adjacent rolling element workpieces entering the pick-up opening at the same time.

[0032] Both sets of grippers 4 are equipped with winding components 5 at their bottom ends, and a flexible wrapping component 6 is installed between the two sets of winding components 5. The flexible wrapping component 6 has flexible deformation capability. When the two sets of grippers 4 are open, the flexible wrapping component 6 can be in a relaxed state so as to contact and guide the rolling workpiece with the winding components 5. After the two sets of grippers 4 are closed, the two sets of winding components 5 wind up the flexible wrapping component 6, so that the flexible wrapping component 6 gradually adheres to and forms a wrapping constraint along the outer arc surface of the rolling workpiece. This can transform the small point or line contact between ordinary rigid grippers and rolling bodies into a larger area of ​​flexible surface contact, reducing local pressure during the gripping process and reducing the risk of indentation, scratches or slippage on the surface of the rolling workpiece. At the same time, after the flexible wrapping component 6 is tightened, it can form multi-directional limiting of the rolling workpiece, so that the rolling workpiece is not prone to rolling off due to its own smooth shape, surface oil film or the inertia of the robot arm during lifting and transfer, thereby improving the stability of single-piece gripping and moving transfer of rolling workpieces.

[0033] like Figure 2 , Figure 3 and Figure 4As shown, the flexible wrapping assembly 6 includes an adaptive wrapping part 601 and a levering part 602. The adaptive wrapping part 601 is located between two sets of winding assemblies 5, and is mainly used to wrap the rolling workpiece when the grippers 4 close. The levering part 602 is connected to both sides of the adaptive wrapping part 601 and is wound onto the corresponding winding assembly 5. When the winding assembly 5 rotates forward or backward, the levering part 602 can drive the adaptive wrapping part 601 to tighten or loosen. Alternatively, when it falls and contacts the rolling workpiece, the levering part 602 can be used to lever the rolling workpiece by friction. To improve the reliability of the action on the rolling workpiece, friction particles are provided on both the inner and outer walls of the flexible wrapping assembly 6. The friction particles on the inner wall of the adaptive wrapping part 601 are used to form a friction-enhancing surface that contacts the rolling workpiece, making it less prone to slippage when wrapping the rolling workpiece. The friction particles on the outer wall of the agitator part 602 are used to form a friction-enhancing surface when agitating the rolling workpiece, so that the agitator part 602 can more reliably apply tangential agitation force to the rolling workpiece when rotating with the take-up roller 501.

[0034] A tension spring 8 is fixedly connected to the top of the adaptive wrapping part 601. The top end of the tension spring 8 is fixedly connected to the mounting block 3. The tension spring 8 provides an upward preload to the adaptive wrapping part 601. When the grippers 4 open, the tension spring 8 can pull the adaptive wrapping part 601 upward to prevent the adaptive wrapping part 601 from drooping excessively between the two sets of winding components 5. When the grippers 4 close and tighten the flexible wrapping component 6, the tension spring 8 can be appropriately stretched so that the adaptive wrapping part 601 can be compressed and deformed according to the shape of the rolling workpiece.

[0035] like Figure 3 , Figure 5 As shown, the winding assembly 5 includes a receiving block 502, which is mounted on the swing assembly 7. A micro motor 504 is fixedly connected to the side of the receiving block 502. A winding shaft 503 is fixedly connected to the output end of the micro motor 504. The winding shaft 503 is rotatably connected to the receiving block 502. A winding roller 501 is fixedly connected to the outside of the winding shaft 503. When the micro motor 504 drives the winding shaft 503 to rotate, the winding roller 501 rotates synchronously with the winding shaft 503, thereby winding or unwinding the actuating part 602.

[0036] Both sets of take-up assemblies 5 can rotate in both directions. The take-up roller 501 on the side closer to the target rolling workpiece can rotate inward, so that the actuating part 602 at the contact point with the rolling workpiece has a tendency to move towards the inside of the take-up opening, thereby pushing the target rolling workpiece into the take-up opening; the take-up roller 501 on the other side can rotate outward, so that the actuating part 602 at the contact point with the non-target rolling workpiece has a tendency to move away from the take-up opening, thereby pushing the non-target rolling workpiece away from the take-up opening. After the target rolling workpiece enters the take-up opening, the two sets of take-up rollers 501 can synchronously take up the actuating part 602, so that the adaptive wrapping part 601 wraps and fixes the target rolling workpiece.

[0037] The two sets of winding components 5 select appropriate forward and reverse rotation actions according to the pressing state. Thus, during the picking process, they apply opposite frictional pushing forces to the target rolling workpiece and the adjacent non-target rolling workpiece respectively. This allows the target rolling workpiece near the inside of the picking opening to be actively pushed into the picking opening, while the adjacent non-target rolling workpiece is pushed away from the picking opening. This improves the picking fault tolerance capability even when the gripper 4 opens only slightly, reduces the problems of clamping gaps or misalignment caused by the rolling workpiece being offset or still in a rolling state, and also reduces the risk of accidentally clamping adjacent workpieces, causing jamming or surface extrusion damage when the gripper 4 opens too wide to expand the fault tolerance range. This improves the accuracy of gripping a single rolling workpiece and the stability of continuous picking.

[0038] like Figure 3 , Figure 6 and Figure 7 As shown, the oscillating assembly 7 is used to mount the winding assembly 5 at the bottom of the gripper 4 and allows the winding assembly 5 to oscillate in a controlled manner when it contacts the rolling workpiece. A support shaft 701 is fixedly connected to the bottom of the gripper 4, and a rotating ring 702 is rotatably connected to the outside of the support shaft 701. A connecting block 704 is fixedly connected to the bottom of the rotating ring 702, and the end of the connecting block 704 away from the rotating ring 702 is fixedly connected to the receiving block 502. Thus, the receiving block 502 can drive the winding assembly 5 to oscillate at a small angle relative to the gripper 4 with the support shaft 701 as the center. A torsion spring 703 can also be provided between the rotating ring 702 and the support shaft 701 to assist the rotating ring 702 in returning to its initial position after the winding assembly 5 leaves the rolling workpiece.

[0039] An inverted U-shaped block 706 is fixedly connected to the side of the gripper 4. A limiting groove 707 is formed inside the inverted U-shaped block 706. A toggle sensor block 705 is fixedly connected to the top of the rotating ring 702. The toggle sensor block 705 is inserted into the limiting groove 707. The limiting groove 707 is used to limit the swing range of the toggle sensor block 705, thereby limiting the swing range of the rotating ring 702, the connecting block 704, the receiving block 502, and the winding assembly 5, preventing the winding assembly 5 from excessively deflecting after contacting the rolling workpiece.

[0040] Pressure sensors 709 are installed on both sides of the limiting slot 707, and trigger springs 708 are fixedly connected to both sides of the actuation sensing block 705. The end of the trigger spring 708 away from the actuation sensing block 705 is fixedly connected to the pressure sensor 709 on the corresponding side. When the winding assembly 5 falls and contacts the rolling workpiece, the receiving block 502 is pushed by the rolling workpiece and drives the rotating ring 702 to swing relative to the supporting shaft 701. The actuation sensing block 705 swings synchronously within the limiting slot 707. The trigger spring 708 on the swing direction side of the actuation sensing block 705 is compressed and transmits pressure to the pressure sensor 709 on the corresponding side. By observing the pressure position and pressure state of the pressure sensor 709, the position of the rolling workpiece contacted by the bottom of the receiving block 502 relative to the take-up opening can be determined.

[0041] The swing assembly 7 enables the winding assembly 5 to swing in a controlled manner relative to the gripper 4 when it falls and contacts the rolling workpiece. This absorbs the impact of the pick-up height error, the rolling workpiece position deviation, and the instantaneous impact caused by the push of adjacent workpieces, preventing the winding assembly 5 from rigidly pressing against the rolling workpiece and causing the workpiece to be squeezed, damaged, or stuck. At the same time, the swing of the winding assembly 5 can be converted into a recognizable pressure signal through the actuation of the actuation sensor 705, the trigger spring 708, and the pressure sensor 709. This allows the robot to determine the position of the corresponding rolling workpiece relative to the pick-up opening and control the winding assemblies 5 on both sides to perform inward and outward actions respectively. This improves the single-piece recognition capability, selection stability, and rolling surface protection effect when picking up small-opening parts.

[0042] Working principle: During operation, the robot base 1 supports the mechanical drive arm 2. The mechanical drive arm 2 drives the mounting block 3 to move above the picking position of the rolling workpiece. The two sets of grippers 4 are initially in an open state, so that the picking opening formed at the bottom of the two sets of grippers 4 is aligned with the rolling workpiece to be picked up. Since the picking opening is mainly used for a single rolling workpiece to enter, its opening width only needs to be slightly larger than the outer diameter of a single rolling workpiece. This means that the grippers 4 do not need to open significantly when they fall to pick up the workpiece, thereby reducing the probability of adjacent rolling workpieces entering the picking opening at the same time.

[0043] During the process of the mechanical drive arm 2 driving the mounting block 3 and gripper 4 to fall, the two sets of winding assemblies 5 first approach the rolling workpiece. If there is a deviation between the rolling workpiece to be gripped and the pick-up opening, or if there are two adjacent rolling workpieces at the pick-up position, the two sets of winding assemblies 5 may contact different rolling workpieces respectively. At this time, after the receiving block 502 is pushed by the rolling workpiece, it drives the rotating ring 702 to swing around the support shaft 701 at a small angle through the connecting block 704. The actuation sensing block 705 at the top of the rotating ring 702 swings synchronously in the limiting groove 707 of the inverted U-shaped block 706. The limiting groove 707 limits the swing range of the actuation sensing block 705 to avoid excessive sway of the winding assembly 5.

[0044] When the toggle sensing block 705 swings, the trigger spring 708 on one side of its swing direction is compressed and transmits pressure to the pressure sensor 709 on the corresponding side. Since the position of the winding assembly 5 in contact with the rolling workpiece is different, the swing direction of the rotating ring 702 is also different. Therefore, the position of the rolling workpiece contacted by the bottom of the receiving block 502 relative to the take-up opening can be determined according to the pressure position and pressure state of the pressure sensor 709. If the rolling workpiece under the winding assembly 5 on one side is closer to the inside of the take-up opening, then the rolling workpiece is taken as the target rolling workpiece; the rolling workpiece under the winding assembly 5 on the other side is taken as the non-target rolling workpiece.

[0045] After the above judgment is completed, the micro motor 504 on the side closer to the target rolling workpiece drives the corresponding winding shaft 503 and winding roller 501 to rotate inward, so that the agitator 602 on the outside of the winding roller 501 generates a frictional agitation force with the surface of the target rolling workpiece toward the inside of the pick-up opening, thereby pushing the target rolling workpiece into the pick-up opening between the two sets of grippers 4; at the same time, the micro motor 504 on the other side drives the corresponding winding shaft 503 and winding roller 501 to rotate outward, so that the corresponding agitator 602 generates a frictional agitation force with the surface of the non-target rolling workpiece away from the pick-up opening, thereby pushing the non-target rolling workpiece away from the pick-up opening.

[0046] After the target rolling workpiece enters the pick-up opening, the two sets of grippers 4 close towards each other. At this time, the two sets of micro motors 504 drive the two take-up rollers 501 to take up the actuating part 602, so that the adaptive wrapping part 601 located between the two sets of take-up components 5 gradually fits the outer surface of the target rolling workpiece. Since the adaptive wrapping part 601 is flexible, it can adapt to the arc outer surface of the rolling workpiece, so that the adaptive wrapping part 601 and the rolling workpiece form a large contact area, reducing the risk of crushing the local surface of the rolling workpiece by ordinary rigid clamping and improving clamping stability.

[0047] During the process of the flexible wrapping assembly 6 participating in the pushing and wrapping, the friction particles on the inner wall of the adaptive wrapping part 601 are used to enhance the friction between it and the outer surface of the rolling workpiece, so that the target rolling workpiece is not easy to slip out in the flexible wrapping assembly 6 after being wrapped; the friction particles on the outer wall of the pushing part 602 are used to enhance the pushing force when it contacts the rolling workpiece outside the take-up roller 501, so that the take-up roller 501 can more reliably push the target rolling workpiece into the take-up opening when rotating forward and backward, and push the non-target rolling workpiece away from the take-up opening.

[0048] The pull spring 8 provides an upward preload between the top of the adaptive wrapping part 601 and the mounting block 3, so that the adaptive wrapping part 601 maintains a certain upward state when the gripper 4 opens and the winding assembly 5 releases, avoiding excessive drooping of the adaptive wrapping part 601 and premature interference with adjacent rolling workpieces; when the target rolling workpiece enters the take-up opening and the flexible wrapping assembly 6 is tightened by the two sets of winding assemblies 5, the pull spring 8 allows the adaptive wrapping part 601 to produce an appropriate amount of downward deformation under the push of the rolling workpiece, so that the adaptive wrapping part 601 can conform to the outer surface of the target rolling workpiece.

[0049] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. An intelligent sensing-type rolling body moving gripping and transferring robot, characterized in that, The device includes a robot arm base and a swing assembly. A mechanical drive arm is mounted on the top of the robot arm base. A mounting block is mounted on the output end of the mechanical drive arm. Grippers are rotatably connected to both sides of the mounting block. The bottom ends of the two sets of grippers form a pick-up opening for a single rolling workpiece to enter when the grippers are open. A winding assembly is mounted on the bottom ends of the two sets of grippers. A flexible wrapping assembly is mounted between the two sets of winding assemblies so that the flexible wrapping assembly wraps around the outer surface of the rolling workpiece when the two sets of grippers are closed. Both ends of the winding assembly are mounted on the bottom of the gripper via swinging components, allowing the winding assembly to swing relative to the gripper when it falls and contacts the rolling workpiece. At the same time, the swinging components sense the pressure swinging state of the winding assembly. When the two sets of winding assemblies contact adjacent rolling workpieces during the falling process, the position of the corresponding rolling workpiece relative to the pick-up opening is determined according to the pressure swinging state of the two sets of swinging components. The winding assembly corresponding to the target rolling workpiece that is closer to the inside of the pick-up opening is rotated inward to push the target rolling workpiece into the pick-up opening. At the same time, the winding assembly on the other side is rotated outward to push the adjacent non-target rolling workpiece away from the pick-up opening. The winding assembly includes a receiving block, which is mounted on the swing assembly; The swing assembly includes a support shaft fixedly connected to the bottom of the gripper. A rotating ring is rotatably connected to the outside of the support shaft. A connecting block is fixedly connected to the bottom of the rotating ring. The end of the connecting block away from the rotating ring is fixedly connected to a receiving block, so that the receiving block can drive the winding assembly to swing relative to the gripper around the support shaft. The swing assembly also includes an inverted U-shaped block fixedly connected to the side of the gripper. A limit slot is formed inside the inverted U-shaped block. A toggle sensor block is fixedly connected to the top of the rotating ring. The toggle sensor block is inserted into the limit slot so that the limit slot can limit the swing range of the toggle sensor block. Pressure sensors are installed on both sides of the limiting slot, and trigger springs are fixedly connected to both sides of the actuation sensing block. The end of the trigger spring away from the actuation sensing block is fixedly connected to the pressure sensor on the corresponding side, so that the actuation sensing block can transmit pressure to the pressure sensor through the trigger spring on the corresponding side when it swings with the rotating ring.

2. The intelligent sensing rolling body moving gripping and transferring robot according to claim 1, characterized in that: The flexible wrapping assembly includes an adaptive wrapping section and a toggle section. The adaptive wrapping section is located between two sets of winding assemblies and is used to wrap the rolling workpiece in contact with the two sets of grippers when they close. The toggle section is connected to both sides of the adaptive wrapping section and is wound onto the corresponding winding assembly.

3. The intelligent sensing rolling body moving gripping and transferring robot according to claim 2, characterized in that: The flexible wrapping component has friction particles on both its inner and outer walls. These particles form a friction-enhancing surface on the inner wall of the adaptive wrapping part, i.e., the contact surface with the rolling workpiece, and on the outer wall of the agitating part, i.e., the part wrapped around the winding component, to form a friction-enhancing surface at the agitation point of the rolling workpiece.

4. The intelligent sensing rolling body moving gripping and transferring robot according to claim 2, characterized in that: A pull spring is fixedly connected to the top of the adaptive wrapping part, and the top end of the pull spring is fixedly connected to the mounting block. The pull spring is used to pull the adaptive wrapping part upward.

5. The intelligent sensing rolling body moving gripping and transferring robot according to claim 1, characterized in that: A micro motor is fixedly connected to the side of the receiving block, and a winding shaft is fixedly connected to the output end of the micro motor. The winding shaft is rotatably connected to the receiving block, and a winding roller is fixedly connected to the outside of the winding shaft.

6. The intelligent sensing rolling body moving gripping and transferring robot according to claim 1, characterized in that: When the winding assembly falls and contacts the rolling workpiece and causes the rotating ring to swing relative to the supporting shaft, the actuating sensing block swings synchronously in the limiting slot, and the trigger spring on one side of its swing direction presses against the corresponding pressure sensor, so as to determine the position of the rolling workpiece contacted by the bottom of the receiving block relative to the take-up opening by the pressure state of the corresponding pressure sensor.

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