Automatic material grabbing device for carousel raw material area

Abstract

The utility model relates to material grabbing technical field, proposed for the material automatic grabbing device for carousel formula raw material area, including the material disc, the one side of material disc is provided with the grabbing device for raw material grabbing, the top of material disc and grabbing device is provided with the visual identifier for grabbing identification in common, the bottom of grabbing device is provided with the control box for to the grabbing control and the adjustment, through the setting of harmonic wave reducer, electric cylinder etc. structure, the angle of each joint of harmonic wave reducer control transmission skeleton, the flexible adjustment of arm length is combined electric cylinder, makes grabbing device can cover the whole area of material disc, no matter material is located in the near place, the remote place or the edge, can reach and steady grabbing, has realized the coverage to the wide range work space, solved the problem of the insufficient work range and the insufficient grabbing universality in the prior art.

Description

Technical Field

[0001] This utility model relates to the field of material gripping technology, specifically to an automatic material gripping device for a rotary raw material area. Background Technology

[0002] In the field of industrial automation, rotary material handling systems are widely used because they can efficiently and cyclically transport materials.

[0003] The existing technology, patent number CN219078477U, entitled "Rotary Transfer Device," employs a scheme where multiple picking mechanisms are arranged at intervals around a rotary table. The rotation of the rotary table drives these fixed picking mechanisms to sequentially pass through various surrounding workstations, thereby achieving continuous material grabbing and release. However, this design has some inherent limitations. First, the range of motion and trajectory of each picking mechanism are essentially fixed, lacking sufficient flexibility and accessibility. When it is necessary to grab materials on non-fixed workstations or at special angles on the rotary table, this rigid structure is difficult to adaptively adjust, potentially leading to failure to grab or requiring complex position calibration. Second, the end effector of such devices typically has a single function and cannot efficiently handle materials with vastly different shapes and materials simultaneously, thus limiting its application potential in flexible production lines. Summary of the Invention

[0004] This invention proposes an automatic material gripping device for rotary raw material areas, which solves the problems of insufficient working range and insufficient gripping versatility in related technologies.

[0005] The technical solution of this utility model is as follows: an automatic material gripping device for a rotary raw material area, including a rotary disc, a gripping device for gripping raw materials is provided on one side of the rotary disc, a visual recognition device for gripping identification is provided on the top of the rotary disc and the gripping device, and a control box for gripping control and adjustment is provided at the bottom of the gripping device. The gripping device consists of a transmission frame, several flexible fixed sections, several flexible universal adjusters, and a flexible gripper. The transmission frame is located on the top of the control box and is used to support the entire gripping device. Several of the aforementioned flexible fixing sections are disposed on the outer peripheral surface of the transmission frame and are interconnected with the transmission frame to provide flexible support for the transmission of the transmission frame; The flexible gripper is disposed at one end of the transmission frame and is used for gripping raw materials; The flexible universal adjuster is disposed on the rotation node of the transmission frame and is used for the universal rotation of the transmission frame.

[0006] As a preferred embodiment of this utility model, the transmission frame is composed of four connecting straight shafts, which are interconnected by spherical universal joints, allowing the four connecting straight shafts to rotate at an angle relative to each other. The outer circumferential surface of the connecting straight shaft is provided with a plurality of equally spaced circular keels, which are used to support the flexible fixed section.

[0007] As a preferred embodiment of this utility model, harmonic reducers are provided at the middle and both ends of the four connecting shafts. The harmonic reducers are used for the angle transmission of the transmission frame and the flexible gripper. Electric cylinders are installed on the two connecting shafts located in the middle of the four connecting shafts. The output end of the electric cylinder is connected to the connecting shaft. The electric cylinder is used to adjust the length of the connecting shaft.

[0008] In a preferred embodiment of this utility model, the flexible fixing joint is composed of a flexible support joint and a flexible tension joint. The flexible support joint is fixedly sleeved on the outer peripheral surface of the circular keel, and the flexible tension joint is disposed on the outer peripheral surface of the circular keel on both sides of the electric cylinder. The flexible support joint is used for connection between the circular keels, and the flexible tension joint is used for connection assistance when the electric cylinder is stretched.

[0009] As a preferred embodiment of this utility model, the flexible universal adjuster is composed of several airbag flexible beams, each airbag flexible beam being arranged in a circumferentially evenly distributed manner, and each airbag flexible beam being composed of multiple airbags connected at equal intervals. The airbag flexible beams are fixedly sleeved on the circular keels on both sides of the spherical universal joint, and the airbag flexible beams are used for the universal angle transmission of the transmission frame.

[0010] In a preferred embodiment of this utility model, the flexible gripper consists of a fixed end, which is connected to a harmonic reducer at one end of the transmission frame. One side of the fixed end is provided with an airbag flexible finger for three-dimensional material clamping. The airbag flexible fingers are evenly distributed circumferentially on one side of the fixed end, and the number of airbag flexible fingers is at least three. One side of several airbag flexible fingers is connected to a gas transfer ring, which is used for synchronous gas delivery.

[0011] As a preferred embodiment of this utility model, a flexible suction cup is provided inside the fixed end. The flexible suction cup is used to clamp planar and three-dimensional materials. An electric push cylinder is installed on both the flexible suction cup and the fixed end. A sliding shaft is installed at the output end of the electric push cylinder, and one end of the sliding shaft is connected to the flexible suction cup.

[0012] As a preferred embodiment of this utility model, a flexible skin is provided on the outer peripheral surfaces of several flexible support sections and several flexible tension sections. A flexible steering knuckle is provided on the flexible skin at the position of the harmonic reducer. The flexible skin is used to protect the gripping device.

[0013] The working principle and beneficial effects of this utility model are as follows: 1. This utility model, through the setting of a harmonic reducer, an electric cylinder and other structures, the harmonic reducer controls the angle of each joint of the transmission frame, and the electric cylinder flexibly adjusts the arm extension length, so that the gripping device can cover the entire area of ​​the material transfer disc. No matter whether the material is near, far or at the edge, it can reach and stably grip it, thus achieving coverage of a large working space.

[0014] 2. This utility model, through the setting of structures such as airbag flexible fingers and flexible suction cups, allows the airbag flexible fingers to adaptively wrap various three-dimensional and irregularly shaped materials, while the flexible suction cup is specifically used to stably adsorb flat or fragile materials. These two end effectors can work alone or in combination, enabling the device to flexibly cope with diverse materials of different shapes, materials and gripping requirements, thereby enhancing gripping versatility. Attached Figure Description

[0015] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the overall structure of the practical gripping device; Figure 3 This is a schematic diagram of the internal structure of this practical gripping device; Figure 4 This is a schematic diagram showing the installation position of the flexible universal adjuster of this utility model; Figure 5 This is a schematic diagram of the overall structure of the transmission frame of this practical application; Figure 6 This is a schematic diagram of the installation structure of the spherical universal joint of this utility model; Figure 7 This is a schematic diagram of the overall structure of the flexible universal adjuster of this utility model; Figure 8 This is a schematic diagram of the overall structure of this practical flexible gripper; Figure 9 This is a schematic diagram of the internal structure of this practical flexible gripper; Figure 10 This is a flowchart illustrating the transmission principle of this utility model.

[0017] In the diagram: 100, material transfer disc; 200. Visual Recognition Device; 300. Grabbing device; 301. Control box; 310. Flexible skin; 311. Flexible steering knuckle; 320. Transmission frame; 321. Harmonic reducer; 322. Connecting shaft; 323. Circular keel; 324. Spherical universal joint; 325. Electric cylinder; 330. Flexible fixed joint; 331. Flexible support joint; 332. Flexible tension joint; 340. Flexible universal adjuster; 341. Airbag flexible beam; 350. Flexible gripper; 351. Fixed end; 352. Gas transfer ring; 353. Flexible airbag finger; 354. Electric push cylinder; 355. Sliding shaft; 356. Flexible suction cup. Detailed Implementation

[0018] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this utility model. Example

[0019] like Figures 1-10 As shown, an automatic material gripping device for a rotary raw material area includes a rotary disc 100, a gripping device 300 for gripping raw materials is provided on one side of the rotary disc 100, a vision recognition device 200 for gripping identification is provided on the top of the rotary disc 100 and the gripping device 300, and a control box 301 for gripping control and adjustment is provided at the bottom of the gripping device 300. The gripping device 300 consists of a transmission frame 320, several flexible fixed sections 330, several flexible universal adjusters 340, and a flexible gripper 350. The transmission frame 320 is located on the top of the control box 301 and is used to support the entire gripping device 300. Several flexible fixed sections 330 are disposed on the outer peripheral surface of the transmission frame 320 and are interconnected with the transmission frame 320 to provide flexible support for the transmission of the transmission frame 320. A flexible gripper 350 is installed at one end of the transmission frame 320 and is used to grip raw materials. The flexible universal adjuster 340 is installed on the rotation node of the transmission frame 320 and is used for the universal rotation of the transmission frame 320.

[0020] The transfer disc 100 serves as a platform for placing and rotating raw materials, enabling materials from different positions to be sequentially transported to the gripping station. A vision recognition device 200 is mounted on top of the transfer disc 100 and the gripping device 300. The vision recognition device 200 uses a high-resolution camera and image processing algorithms to identify the shape, position, and posture of the materials in real time and transmits this information to the control box 301. The control box 301 is located at the bottom of the gripping device 300 and contains a built-in PLC and pneumatic control system, responsible for coordinating the operation of the electrical and pneumatic components of the entire device. The gripping device 300 consists of a transmission frame 320, several flexible fixed sections 330, several flexible universal adjusters 340, and a flexible gripper 350. The transmission frame 320 is mounted on top of the control box 301 and serves as the support frame for the entire gripping device 300. The rigid structure of the transmission frame 320 ensures stability during movement. The flexible fixed sections 330 are distributed on the outer circumference of the transmission frame 320. The elastic material is connected to the transmission frame 320, providing buffering and auxiliary support during transmission to reduce vibration and impact. The flexible universal adjuster 340 is set on the rotation node of the transmission frame 320, allowing the transmission frame 320 to bend and rotate flexibly in three-dimensional space, thereby adapting to the gripping of materials at different angles on the transfer disc 100. The flexible gripper 350 is located at the end of the transmission frame 320 and achieves material clamping through pneumatic or electric drive. Its flexible material can adapt to the surface contours of planar and three-dimensional materials to avoid damaging the materials. During operation, the vision recognition device 200 first scans the materials on the transfer disc 100. The control box 301 calculates the gripping path based on the recognition result and drives the transmission frame 320 to adjust its posture through the flexible universal adjuster 340. The flexible fixed joint 330 assists in maintaining stability. Finally, the flexible gripper 350 performs the gripping action, enabling the gripping device 300 to cover all areas of the transfer disc 100 and to grip materials of different shapes.

[0021] The transmission frame 320 consists of four connecting straight shafts 322, which are interconnected by ball joints 324. The ball joints 324 allow the four connecting straight shafts 322 to rotate relative to each other at an angle. Several equally spaced circular keels 323 are provided on the outer circumferential surface of the connecting straight shaft 322. The circular keels 323 are used to support the flexible fixed section 330.

[0022] In the automatic material gripping device 300 used in the rotary raw material area, four connecting shafts 322 are interconnected by ball joints 324. The ball joints 324 are installed between the connecting shafts 322, and their internal components utilize a ball-and-socket joint and a ball-and-socket joint, allowing the connecting shafts 322 to rotate at angles in multiple directions. This enables the transmission frame 320 to bend flexibly, allowing the gripping device 300 to adapt to complex material positions on the rotary material tray 100. For example, when gripping materials at edges or tilted positions, the transmission frame 320 can adjust its posture via the ball joints 324 to avoid rigid collisions. Several equidistant circular keels 323 are provided on the outer circumferential surface of the connecting straight shaft 322. The circular keels 323 serve as auxiliary support structures, and the surface area is increased by the annular protrusions, which facilitates the installation and fixation of the flexible fixing section 330. The working principle of the transmission frame 320 is as follows: when the control box 301 receives the material position signal from the vision recognition device 200, the motor driving the transmission frame 320 drives the connecting straight shaft 322 to rotate through the ball universal joint 324. The circular keels 323 provide additional support points to ensure smooth transmission, so that the gripping device 300 can efficiently handle various materials on the transfer disc 100.

[0023] Harmonic reducers 321 are provided at the middle and both ends of the four connecting shafts 322. The harmonic reducers 321 are used for the angle transmission of the drive frame 320 and the flexible gripper 350. Electric cylinders 325 are installed on the two connecting shafts 322 located in the middle of the four connecting shafts 322. The output end of the electric cylinder 325 is connected to the connecting shaft 322. The electric cylinder 325 is used to adjust the length of the connecting shaft 322.

[0024] In the automatic material gripping device 300 used in the rotary raw material area, the transmission frame 320 achieves angle and length adjustment through a harmonic reducer 321 and an electric cylinder 325. The harmonic reducer 321 is installed in the middle and at both ends of the four connecting shafts 322. Its internal components consist of a wave generator, a flexible wheel, and a rigid wheel. It uses elastic deformation to transmit torque, achieving a high reduction ratio and zero backlash transmission, thereby controlling the angle changes of the transmission frame 320 and the flexible gripper 350. When the vision recognition device 200 detects that the material needs to be tilted for gripping, the control box 301 drives the harmonic reducer 321 to adjust the included angle between the connecting shafts 322, so that the flexible gripper 350 is aligned with the material. At the same time, electric cylinders 325 are installed on the two connecting shafts 322 located in the middle of the four connecting shafts 322. The output end of the electric cylinder 325 is directly connected to the connecting shaft 322. The length of the connecting shaft 322 is adjusted by the extension and retraction of the piston rod. The electric cylinder 325 is driven by a servo motor and has a built-in position sensor to ensure control of the length change. During operation, if the material is located far from the transfer disc 100, the control box 301 will activate the electric cylinder 325 to extend the connecting shaft 322 and expand the gripping range. Conversely, it will shorten to avoid obstacles. The coordinated work of the harmonic reducer 321 and the electric cylinder 325 enables the transmission frame 320 to have multi-degree-of-freedom motion capabilities, which can adapt to the gripping of materials at different heights and angles on the transfer disc 100. In addition, the control box 301 monitors the status of the harmonic reducer 321 and the electric cylinder 325 in real time, and ensures smooth operation and reduces energy consumption through feedback adjustment. This not only improves the gripping accuracy but also enhances the adaptability of the device, making it suitable for diverse needs of planar and three-dimensional materials.

[0025] The flexible fixed joint 330 consists of a flexible support joint 331 and a flexible tension joint 332. The flexible support joint 331 is fixedly sleeved on the outer peripheral surface of the circular keel 323, and the flexible tension joint 332 is disposed on the outer peripheral surface of the circular keel 323 on both sides of the electric cylinder 325. The flexible support joint 331 is used for connection between the circular keels 323, and the flexible tension joint 332 is used for connection assistance when the electric cylinder 325 is stretched.

[0026] The flexible fixed section 330 plays an auxiliary support role in the automatic material gripping device 300 used in the rotary raw material area. It consists of a flexible support section 331 and a flexible tension section 332. The flexible support section 331 is fixedly sleeved on the outer circumferential surface of the circular keel 323 of the transmission frame 320. It is made of high-elasticity polyurethane material and filled with a buffer medium to absorb vibration and impact during transmission, ensuring the stability of the transmission frame 320. The flexible tension section 332 is set on the outer circumferential surface of the circular keel 323 on both sides of the electric cylinder 325. The flexible tension section 332 has a bellows-like structure and high tensile and compressive properties. When the electric cylinder 325 adjusts the length of the connecting straight shaft 322, the flexible tension section 332 extends and retracts accordingly to maintain the connection. The sealing and continuity of the parts are ensured. When gripping high-position materials on the transfer disc 100, the electric cylinder 325 extends the connecting straight shaft 322, and the flexible tension joint 332 is stretched to prevent the frame from disengaging. When retracting, the flexible support joint 331 provides a rebound force to help with rapid reset. The working principle of the flexible fixed joint 330 is based on the elasticity of the material and pneumatic assistance. The control box 301 adjusts the internal pressure of the flexible support joint 331 and the flexible tension joint 332 through the pneumatic system to optimize their rigidity and flexibility. This not only improves the flexibility and durability of the transmission frame 320, but also reduces the wear of metal parts, so that the gripping device 300 remains efficient during long-term operation. The combination of the flexible fixed joint 330 and the transmission frame 320 ensures the smooth and accurate gripping action.

[0027] The flexible universal adjuster 340 is composed of several airbag flexible beams 341. The airbag flexible beams 341 are arranged in at least four circumferences. The airbag flexible beams 341 are composed of multiple airbags connected at equal intervals. The airbag flexible beams 341 are fixedly sleeved on the circular keel 323 on both sides of the spherical universal joint 324. The airbag flexible beams 341 are used for universal angle transmission of the transmission frame 320.

[0028] The flexible universal joint adjuster 340 enables the universal rotation of the transmission frame 320 in the automatic material gripping device 300 for the rotary raw material area. It consists of several air-bag flexible beams 341, each composed of multiple independent airbags equidistantly connected. The airbags are made of rubber and filled with compressed air. The pressure is regulated by the air pressure system of the control box 301. The air-bag flexible beams 341 are fixedly mounted on the circular ribs 323 on both sides of the spherical universal joint 324, forming a ring support, with at least four circumferences evenly distributed. When the transmission frame 320 needs to rotate, the control box 301 adjusts the internal pressure of the different air-bag flexible beams 341, causing them to expand or contract, thereby pushing the spherical universal joint 324 to bend in multiple directions. This allows for the gripping of materials at the edge of the rotating material disk 100. The visual recognition device 200 provides position data, and the control box 301 drives the flexible airbag beam 341 to inflate asymmetrically, causing the transmission frame 320 to tilt or rotate, enabling the flexible gripper 350 to perform grasping and positioning. The working principle of the flexible airbag beam 341 is based on air pressure balance and elastic deformation. Each airbag acts as a miniature actuator, achieving angle control through coordinated action. The flexible universal adjuster 340 not only provides smooth transmission but also avoids the jamming problem of rigid mechanisms, enabling the gripping device 300 to adapt to complex working environments. In addition, the redundant design of the flexible airbag beam 341 ensures that even if a single airbag fails, the overall function is not affected. Overall, the flexible universal adjuster 340 enhances the adaptability and reliability of the device, making the gripping action smoother and more efficient.

[0029] The flexible gripper 350 consists of a fixed end 351, which is connected to a harmonic reducer 321 at one end of the transmission frame 320. One side of the fixed end 351 is provided with an airbag flexible finger 353 for three-dimensional material clamping. The airbag flexible fingers 353 are evenly distributed in a circle on one side of the fixed end 351, and there are at least three airbag flexible fingers 353. One side of several airbag flexible fingers 353 is connected to a gas transfer ring 352, which is used for synchronous gas delivery.

[0030] The flexible gripper 350, in the automatic material gripping device 300 for a rotary raw material area, is responsible for directly gripping materials. It consists of a fixed end 351, air-filled flexible fingers 353, and a gas transfer ring 352. The fixed end 351 is connected to a harmonic reducer 321 at one end of the transmission frame 320. The reducer 321 receives rotation commands from the control box 301 for positioning. The air-filled flexible fingers 353 are evenly distributed circumferentially on one side of the fixed end 351, with at least three fingers. Each air-filled flexible finger 353 consists of multiple air-filled segments, filled with compressed air. The expansion and contraction of the air-filled flexible fingers grips the material. The gas transfer ring 352 is installed inside the fixed end 351 and connects to all the air-filled flexible fingers 353, serving as a gas distribution center to ensure… Each flexible airbag finger 353 inflates and deflates synchronously to achieve uniform gripping force. When gripping three-dimensional materials on the transfer disc 100, the vision recognition device 200 identifies the material shape, and the control box 301 adjusts the air pressure of the gas transfer ring 352 so that the flexible airbag finger 353 adaptively wraps around the material surface to avoid slippage or damage. The working principle of the flexible airbag finger 353 is based on pneumatic bionics, simulating the smooth movement of human fingers. The control box 301 precisely controls the air pressure to achieve the gripping of objects of different sizes and shapes. The gas transfer ring 352 adopts a ring channel design to reduce airflow resistance and improve response speed. The flexible gripper 350 is not only suitable for gripping planar materials, but can also handle irregular three-dimensional materials, improving the versatility and efficiency of the device.

[0031] The fixed end 351 is equipped with a flexible suction cup 356. The flexible suction cup 356 is used to clamp planar and three-dimensional materials. An electric push cylinder 354 is installed on both the flexible suction cup 356 and the fixed end 351. A sliding shaft 355 is installed at the output end of the electric push cylinder 354. One end of the sliding shaft 355 is connected to the flexible suction cup 356.

[0032] The flexible gripper 350 further integrates a flexible suction cup 356 and an electric push cylinder 354 to enhance its gripping ability. The flexible suction cup 356, made of silicone material, is installed inside the fixed end 351. It adsorbs planar materials or assists in clamping three-dimensional materials through negative pressure. The electric push cylinder 354 is mounted on the fixed end 351 and the flexible suction cup 356, and its output end is connected to a sliding shaft 355. One end of the sliding shaft 355 is fixed to the flexible suction cup 356. When the control box 301 activates the electric push cylinder 354, the sliding shaft 355 pushes the flexible suction cup 356 forward, making it contact the material surface. Then, a vacuum pump generates negative pressure to achieve adsorption and gripping. The gripping and transferring disc 10... When handling thin, flat materials, after the vision recognition device 200 positions the material, the control box 301 drives the electric push cylinder 354 to extend, causing the flexible suction cup 356 to adhere to the material. Simultaneously, vacuum adsorption is initiated. For three-dimensional materials, the flexible suction cup 356 can work in conjunction with the airbag flexible finger 353 to provide additional fixing force. The electric push cylinder 354 is driven by a servo motor or linear motor, and the built-in encoder ensures pushing accuracy. The working principle of the flexible suction cup 356 is based on air pressure difference and elastic sealing. The control box 301 adjusts the vacuum level and pushing force to adapt to the surface characteristics of different materials, which not only expands the gripping range but also improves gripping stability, making it especially suitable for handling fragile or smooth materials.

[0033] A flexible skin 310 is fitted on the outer circumferential surfaces of several flexible support sections 331 and several flexible tension sections 332. A flexible steering knuckle 311 is provided on the flexible skin 310 at the position of the harmonic reducer 321. The flexible skin 310 is used to protect the gripping device 300.

[0034] The flexible skin 310 is made of polyurethane or nylon fabric, which has wear-resistant and corrosion-resistant properties. The flexible skin 310 is fitted on the outer peripheral surface of several flexible support sections 331 and flexible tension sections 332 to form a protective layer to prevent dust, moisture or foreign objects from entering the internal structure. At the location of the harmonic reducer 321, the flexible skin 310 is equipped with a flexible steering knuckle 311, which adopts a corrugated design, allowing the flexible skin 310 to bend freely when the transmission frame 320 rotates without affecting the sealing performance. When the gripping device 300 moves frequently on the transfer disc 100, the flexible skin 310 reduces friction and wear, and extends the service life of the components. The flexible steering knuckle 311 ensures that the harmonic reducer 321 is not constrained when the angle changes. The working principle of the flexible skin 310 is based on elastic coverage and dynamic adaptation, which not only protects the transmission frame 320 and the flexible fixed section 330, but also reduces the maintenance frequency, enabling the gripping device 300 to operate stably in harsh environments.

[0035] Working principle: When the system is working, the top vision recognition device 200 first scans the material transfer disk 100, and uses image processing technology to obtain the shape, position and posture information of the material in real time, and transmits the data to the control box 301. The control box 301, as the control core, has a built-in PLC and pneumatic control system, which plans the optimal grasping path and coordinates all actuators accordingly. The gripping action is performed by the gripping device 300, which is supported by the transmission frame 320. The transmission frame 320 is formed by four connecting straight shafts 322 hinged together by ball joints 324. Harmonic reducers 321 are set in the middle and at both ends of the connecting straight shafts 322. The harmonic reducers 321 adjust the included angle of each connecting straight shaft 322. At the same time, the electric cylinder 325 installed on the middle connecting straight shaft 322 can extend and retract according to the command, directly changing the arm length to adapt to materials at different distances. The circular keel 323 on the outer circumference of the connecting straight shaft 322 provides the installation base for the flexible fixed joint 330. The flexible fixed section 330 includes a flexible support section 331 sleeved on the circular keel 323 and flexible tension sections 332 located on both sides of the electric cylinder 325, which provide buffering, vibration absorption and extension assistance for the transmission frame 320, ensuring the smoothness and continuity of the transmission process. The flexible universal adjuster 340 is composed of at least four circumferentially distributed flexible airbag beams 341, which are composed of multiple independent airbags connected in series. The flexible airbag beams 341 are fixed on the circular keels 323 on both sides of the spherical universal joint 324. The control box 301 drives the spherical universal joint 324 to achieve multi-directional bending by precisely adjusting the internal air pressure of each set of flexible airbag beams 341, thereby enabling the transmission frame 320 to rotate in all directions. The fixed end 351 of the flexible gripper 350 is positioned by a harmonic reducer 321. For three-dimensional or irregular materials, gas is synchronously delivered to at least three circumferentially distributed flexible airbag fingers 353 via a gas transfer ring 352, causing them to expand and adaptively wrap around the material. For flat or fragile materials, an electric push cylinder 354 pushes the flexible suction cup 356 inside the fixed end 351 to contact the material surface via a sliding shaft 355, thereby generating negative pressure to achieve adsorption and gripping. The two gripping methods can work individually or in combination to adapt to diverse material characteristics.

[0036] The entire gripping device 300 is covered with a flexible skin 310. The flexible skin 310 has flexible steering knuckles 311 at the moving joints such as the harmonic reducer 321 to ensure sealing and protection during continuous flexible movement, effectively resist the intrusion of external dust and moisture, and ensure long-term stable operation of the equipment.

[0037] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An automatic material gripping device for a rotary raw material area, comprising a rotary disc (100), a gripping device (300) for gripping raw materials is provided on one side of the rotary disc (100), a visual recognition device (200) for gripping identification is provided on the top of the rotary disc (100) and the gripping device (300), and a control box (301) for gripping control and adjustment is provided at the bottom of the gripping device (300), characterized in that... ； The gripping device (300) consists of a transmission frame (320), several flexible fixed sections (330), several flexible universal adjusters (340), and a flexible gripper (350). The transmission frame (320) is located on the top of the control box (301) and is used to support the entire gripping device (300). Several flexible fixing sections (330) are disposed on the outer peripheral surface of the transmission frame (320) and interconnected with the transmission frame (320) to provide flexible support for the transmission of the transmission frame (320); The flexible gripper (350) is disposed at one end of the transmission frame (320), and the flexible gripper (350) is used for gripping raw materials; The flexible universal adjuster (340) is disposed on the rotation node of the transmission frame (320) for universal rotation of the transmission frame (320).

2. The automatic material gripping device for a turntable raw material area according to claim 1, characterized by, The transmission frame (320) consists of four connecting straight shafts (322), which are interconnected by ball joints (324). The ball joints (324) allow the four connecting straight shafts (322) to rotate relative to each other at an angle. A plurality of equally spaced circular keels (323) are provided on the outer circumferential surface of the connecting straight shaft (322), and the circular keels (323) are used to support the flexible fixing section (330).

3. The automatic material gripping device for a turntable raw material area according to claim 2, characterized in that, Harmonic reducers (321) are provided at the middle and both ends of the four connecting shafts (322). The harmonic reducers (321) are used for angular transmission of the transmission frame (320) and the flexible gripper (350). Electric cylinders (325) are installed on the two connecting shafts (322) located in the middle of the four connecting shafts (322). The output end of the electric cylinder (325) is connected to the connecting shaft (322). The electric cylinder (325) is used to adjust the length of the connecting shaft (322).

4. The automatic material gripping device for a turntable raw material area according to claim 3, characterized in that, The flexible fixing section (330) is composed of a flexible support section (331) and a flexible tension section (332). The flexible support section (331) is fixedly sleeved on the outer circumferential surface of the circular keel (323). The flexible tension section (332) is disposed on the outer circumferential surface of the circular keel (323) on both sides of the electric cylinder (325). The flexible support section (331) is used for the connection between the circular keels (323), and the flexible tension section (332) is used for connection assistance when the electric cylinder (325) is stretched.

5. The automatic material gripping device for a turntable raw material area according to claim 2, characterized by The flexible universal adjuster (340) is composed of several airbag flexible beams (341). The airbag flexible beams (341) are arranged in at least four circumferences. The airbag flexible beams (341) are composed of multiple airbags connected at equal intervals. The airbag flexible beams (341) are fixedly sleeved on the circular keels (323) on both sides of the spherical universal joint (324). The airbag flexible beams (341) are used for the universal angle transmission of the transmission frame (320).

6. The automatic material gripping device for a turntable raw material area according to claim 2, characterized by The flexible gripper (350) consists of a fixed end (351), which is connected to a harmonic reducer (321) at one end of the transmission frame (320). One side of the fixed end (351) is provided with an airbag flexible finger (353) for three-dimensional material clamping. The airbag flexible fingers (353) are evenly distributed in a circle on one side of the fixed end (351). The number of airbag flexible fingers (353) is at least three. One side of several airbag flexible fingers (353) is connected to a meat gas transfer ring (352), which is used for synchronous gas delivery.

7. The automatic material gripping device for a rotary raw material area according to claim 6, characterized in that, The fixed end (351) is provided with a flexible suction cup (356) inside. The flexible suction cup (356) is used to clamp planar and three-dimensional materials. An electric push cylinder (354) is installed on both the flexible suction cup (356) and the fixed end (351). A sliding shaft (355) is installed on the output end of the electric push cylinder (354). One end of the sliding shaft (355) is connected to the flexible suction cup (356).

8. The automatic material gripping device for a turntable raw material area according to claim 4, characterized by A flexible skin (310) is provided on the outer peripheral surfaces of several flexible support sections (331) and several flexible tension sections (332). A flexible steering knuckle (311) is provided on the flexible skin (310) at the position of the harmonic reducer (321). The flexible skin (310) is used to protect the gripping device (300).

Images