CN114620481A - Multi-vehicle-type flexible stepless self-adaptive switching and carrying device and control method thereof - Google Patents
Multi-vehicle-type flexible stepless self-adaptive switching and carrying device and control method thereof Download PDFInfo
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- CN114620481A CN114620481A CN202210426242.1A CN202210426242A CN114620481A CN 114620481 A CN114620481 A CN 114620481A CN 202210426242 A CN202210426242 A CN 202210426242A CN 114620481 A CN114620481 A CN 114620481A
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 45
- 241000252254 Catostomidae Species 0.000 claims abstract description 21
- 230000000007 visual effect Effects 0.000 claims description 22
- 230000003044 adaptive effect Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 9
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- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 230000009471 action Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
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- 238000007664 blowing Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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Abstract
The invention discloses a multi-vehicle flexible stepless self-adaptive switching carrying device and a control method thereof, wherein the carrying device comprises a robot and a carrying gripping apparatus, the carrying gripping apparatus comprises a carrying frame, and a plurality of groups of flexible stepless self-adaptive adsorption units are detachably arranged on the carrying frame; each group of flexible stepless self-adaptive adsorption units comprises a mounting plate, a cylinder with a lock and a sucker assembly, wherein the sucker assembly comprises a sucker rod and a sucker, a piston rod of the cylinder with the lock is connected with the sucker rod, a cylinder body of the cylinder with the lock is provided with an air inlet, an air outlet and a locking air port, the air inlet is provided with an air inlet valve, the locking air port is provided with a locking air valve, the air outlet is communicated with the outside, and the sucker assembly is driven to extend downwards by feeding air into the air inlet; the position of the suction disc assembly is locked by air intake to the lock port. The advantages of the invention over the prior art are: the stepless self-adaptive position adjustment of each group of suckers is realized, so that the flexible collinear/mixed line production of multiple vehicle types is met.
Description
Technical Field
The invention relates to the technical field of robot grippers and control, in particular to a multi-vehicle flexible stepless self-adaptive switching and carrying device and a control method thereof.
Background
In the automatic installation process of the automobile door in the field of automobile welding, the robot is used for carrying the carrying gripping apparatus to realize the taking and carrying of the automobile door plate. In the prior art, the adopted carrying gripping apparatus is provided with a plurality of groups of sucker units, each group of sucker units adopts a cylinder to drive a sucker to stretch, and the gripping apparatus and the realization method thereof have the following defects:
1) the compatibility of the gripping apparatus is poor: for the condition that the profiles of the plates are different and can not be shared, the sucking disc units need to be switched in multiple groups; and the common cylinder drives the sucker to stretch, the piston rod of the cylinder only extends out and retracts into two positions, the sucker can only be switched between the two positions, all suckers cannot be guaranteed to completely adsorb the upper plate, the adsorption effect is poor, and the compatibility is very limited.
2) The gripping apparatus has high cost: if one set of gripping apparatus exists in a shared manner, a corresponding switching mechanism needs to be added, the cost investment is high, the conventional shared gripping apparatus has a complex structure and heavy weight, the requirement on the load of the robot is high, and the purchase cost of the robot is increased.
3) The production beat is high: if one set of gripping apparatus shares, the time consumption of the control time sequence of the added switching mechanism is long, especially if collinear vehicle types are more, the conventional one set of gripping apparatus cannot meet all vehicle types, when a plurality of sets of gripping apparatuses need to be added for mutual switching use, the switching time is generally at least 8-10 s every time, and the production beat and the production cost are greatly increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a multi-vehicle flexible stepless self-adaptive switching and carrying device and a control method thereof to realize stepless self-adaptive position adjustment of each group of suckers, thereby meeting the flexible collinear/mixed line production of multiple vehicles.
The invention is realized by the following technical scheme:
a multi-vehicle flexible stepless self-adaptive switching carrying device comprises a robot and a carrying gripping apparatus connected with a robot executing part, wherein the carrying gripping apparatus comprises a carrying frame, and a plurality of groups of flexible stepless self-adaptive adsorption units are detachably mounted on the carrying frame;
each group of flexible stepless self-adaptive adsorption units comprises a mounting plate, a cylinder with a lock and a sucker assembly, the mounting plate is detachably mounted on the carrying frame, a cylinder body with the cylinder with the lock is mounted on the mounting plate, the sucker assembly comprises a sucker rod and a sucker which are connected up and down, a vacuum air pipe interface is arranged on one side of the sucker rod, and the outside of the vacuum air pipe interface is connected to a vacuum generator through a vacuum pipeline; the cylinder body of the cylinder with the lock is provided with an air inlet, an air outlet and a locking air port, the air inlet is provided with an air inlet valve, the locking air port is provided with a locking air valve, the air outlet is communicated with the outside, the air inlet and the locking air port of the cylinder with the lock are supplied with air through a valve island, and the air inlet is supplied with air to drive the piston rod of the cylinder with the lock to extend downwards so as to drive the sucker assembly to extend downwards; the position of the piston rod of the cylinder with the lock is locked by air entering the lock air port, and the position of the sucker component is further locked.
As a preferable scheme of the carrying device, a piston rod of the cylinder with the lock is connected with a sucker rod of the sucker assembly through a switching assembly, and the switching assembly comprises a switching block and a rotation stopping part; the upper end and the lower end of the switching block are respectively connected with the piston rod and the sucker rod, and the rotation stopping part is fixed on the switching block and used for preventing the piston rod and the sucker rod from rotating.
As a preferable scheme of the carrying device, the rotation stopping part comprises a first rotation stopping piece and a second rotation stopping piece, the lower end of the first rotation stopping piece is fixed on the rotation connecting block, a first rotation stopping plate is arranged at the upper end of the first rotation stopping piece, a first rotation stopping groove is formed in the end part of the first rotation stopping plate, the first rotation stopping groove is clamped on a piston rod of the cylinder with the lock, and two side walls of the first rotation stopping groove are in plane fit with the piston rod of the cylinder with the lock; the upper end of the second rotation stopping piece is fixed on the rotation connecting block, a second rotation stopping plate is arranged at the lower end of the second rotation stopping piece, a second rotation stopping groove is formed in the end portion of the second rotation stopping plate, the second rotation stopping groove is clamped on the sucker rod, and two side walls of the second rotation stopping groove are in plane fit with two sides of the sucker rod.
As the preferable scheme of the carrying device, the upper end and the lower end of the switching block are respectively provided with a threaded hole, and the piston rod with the lock cylinder and the sucker rod of the sucker component are respectively in threaded connection with the threaded holes at the upper end and the lower end of the switching block.
As a preferable scheme of the carrying device, the carrying frame of the carrying gripper is in quick-change connection with the robot through the gun changing disc.
As a preferable scheme of the carrying device, the carrying gripper further comprises a visual frame, the visual frame is fixedly connected with the carrying frame, and at least one group of visual camera units is arranged on the visual frame.
Preferably, the conveying frame is provided with a distance measuring sensor.
The invention also discloses a control method of the multi-vehicle type flexible stepless self-adaptive switching and carrying device, which is carried out based on the multi-vehicle type flexible stepless self-adaptive switching and carrying device and comprises the following steps:
the robot drives the carrying gripping apparatus to move to the side of a workpiece to be gripped, so that the sucker assemblies of the multiple groups of stepless self-adaptive adsorption units face the workpiece;
step two, controlling locking air valves of the air cylinders with locks of the multiple groups of stepless adaptive adsorption units to be in a closed state, simultaneously controlling air inlet valves of the air cylinders with locks of the multiple groups of stepless adaptive adsorption units to be opened, and introducing air through air inlets of the air cylinders with locks so as to drive piston rods of the air cylinders with locks to extend towards the direction close to the workpiece, driving corresponding suckers to move towards the direction close to the workpiece by the piston rods, closing the corresponding air inlet valves after the piston rods of the air cylinders with locks extend in place, stopping air introduction through the air inlets, and enabling the piston rods of the air cylinders with locks to be in a free state;
and step three, controlling the sucker assemblies of the stepless self-adaptive adsorption units to continuously suck air, and simultaneously driving the whole carrying grab to continuously move towards the direction close to the workpiece by the robot, wherein in the process, the suckers of the stepless self-adaptive adsorption units are in a free state until a vacuum generator detects that the suckers of the stepless self-adaptive adsorption units all generate vacuum, the suckers of the stepless self-adaptive adsorption units are adsorbed on the surface of the workpiece, at the moment, controlling the robot to stop feeding, controlling locking air valves of locking air cylinders of the multi-group stepless self-adaptive adsorption units to be opened, and air is sucked through the locking air ports of the locking air cylinders to lock the position of a piston rod of the locking air cylinders, so that the suckers are locked at the current state position, and completing the adsorption and taking of the workpiece by the carrying grab.
As a preferable scheme of the control method, in the carrying device based on which the control method is based, the carrying gripper further comprises a visual frame, the visual frame is fixedly connected with the carrying frame, at least one group of visual camera units is arranged on the visual frame, and a distance measuring sensor is arranged on the carrying frame;
in the first step, in the moving process of the carrying gripping apparatus, the distance between the carrying gripping apparatus and the workpiece is detected through the distance measuring sensor, so that whether the carrying gripping apparatus reaches a photographing position or not is judged, and when the distance measuring sensor detects that the carrying gripping apparatus reaches the photographing position, the workpiece is photographed through a visual camera unit on a visual frame;
in the second step, in the process that the piston rod of the cylinder with the lock pushes the sucker to move towards the direction close to the workpiece, the vision camera unit shoots to reflect whether the sucker reaches the pick-up position, and when the sucker reaches the pick-up position, the piston rod of the cylinder with the lock stretches out to be in place.
Compared with the prior art, the invention has the following advantages:
1. the invention provides a multi-vehicle flexible stepless self-adaptive switching carrying device, which is characterized in that a plurality of groups of flexible stepless self-adaptive adsorption units are arranged on a carrying frame, each group of flexible stepless self-adaptive adsorption units adopts a locking cylinder to drive a sucker assembly to stretch, the locking cylinder is provided with an air inlet, an air outlet and a locking air port, and the stepless self-adaptive position adjustment of a plurality of suckers of the plurality of groups of flexible stepless self-adaptive adsorption units can be realized by controlling the air inlet valve at the air inlet and the locking air valve at the locking air port, so that all the suckers can be effectively adsorbed on the surface of a workpiece, the stability and the reliability of the carrying gripper for workpiece adsorption are ensured, the adsorption effect is good, the carrying gripper can be well applicable to workpieces with different plate profiles, the flexible collinear/mixed line production of multiple vehicle types is met, and the compatibility is very strong; and redundant switching mechanisms and switching actions are omitted, the production cost of the switching mechanisms is saved, the working procedure of the switching actions is omitted, the production cost is effectively saved, and the production takt is improved.
2. The invention provides a control method of a multi-vehicle flexible stepless self-adaptive switching carrying device, which is characterized in that a robot is matched with a carrying gripping apparatus for use, the robot controls the whole feeding motion of the whole carrying gripping apparatus, and the robot is matched with the action of respective locking cylinders of each group of stepless self-adaptive adsorption units on the carrying gripping apparatus, firstly controls the air inlet valves of the locking cylinders to be opened and then closed, and at the moment, each sucker is in a free state; then each sucker sucks air, and meanwhile, the robot drives the whole carrying gripping apparatus to continuously move, in the process, the position of each sucker can be adaptively adjusted according to the position of the surface of a workpiece, and after all the suckers are completely adsorbed in place, the locking air valves of the cylinders with the locks are controlled to be opened to lock the positions of the suckers, so that stable adsorption of all the suckers and the workpiece is realized; the whole plate adsorption control method is simple, short in time consumption and capable of effectively improving the production takt.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the structure of the vision frame of the present invention.
Fig. 3 is a schematic structural view of the carrying frame of the present invention.
Fig. 4 is a schematic structural diagram of a single set of flexible stepless adaptive adsorption units of the present invention.
Fig. 5 is a schematic structural view of another perspective of the carrying frame of the present invention.
Reference numbers in the figures: the system comprises a vision frame 1, a carrying frame 2, a first connecting flange 3, a second connecting flange 4, a vision camera unit 5, a flexible stepless self-adaptive adsorption unit 6, a mounting plate 7, an air cylinder 8 with a lock, a piston rod 9, a sucker rod 10, a sucker 11, a vacuum air pipe interface 12, a vacuum generator 13, an air outlet 14, an air inlet valve 15, a locking air valve 16, a switching block 17, a first rotation stopping piece 18, a second rotation stopping piece 19, a first rotation stopping plate 20, a second rotation stopping plate 21, a distance measuring sensor 22 and a valve island 23.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Referring to fig. 1 to 5, the present embodiment provides a flexible stepless adaptive switching handling device for multiple vehicle types, including a robot and a handling gripper connected to a robot executing component, where the handling gripper includes a handling frame 2 and a vision frame 1, and the vision frame 1 is fixedly connected to the handling frame 2. Can adopt between transport gripping apparatus and the robot executive component to trade the rifle dish and realize quick change connection, also can adopt following fixed connection's mode, specifically be: the carrying frame 2 and the vision frame 1 can be installed on a six-axis flange of the robot together or respectively; in this embodiment, the carrying frame 2 and the vision frame 1 are mounted together on a six-axis flange of the robot, specifically: install first flange 3 on the transport frame 2, install second flange 4 on the vision frame 1, first flange 3, second flange 4 all with the six flange mounting of robot together to realize the installation of transport frame 2, vision frame 1 and robot. At least one set of vision camera unit 5 is disposed on the vision frame 1, and the vision camera unit 5 is an existing component, and the specific structure thereof is not described here. Each group of vision camera units 5 is located at the periphery of the carrying frame 2.
A plurality of groups of flexible stepless self-adaptive adsorption units 6 are detachably arranged on the carrying frame 2.
Each group of flexible stepless self-adaptive adsorption units 6 comprises a mounting plate 7, a cylinder 8 with a lock and a sucker assembly, wherein the mounting plate 7 is detachably mounted on the carrying frame 2, a cylinder body of the cylinder 8 with the lock is mounted on the mounting plate 7, the sucker assembly comprises a sucker rod 10 and a sucker 11 which are connected up and down, a vacuum air pipe interface 12 is arranged on one side of the sucker rod 10, and the outside of the vacuum air pipe interface 12 is connected to a vacuum generator 13 through a vacuum pipeline; a piston rod 9 of the air cylinder 8 with the lock extends downwards and is connected with a sucker rod 10 of the sucker component, an air inlet, an air outlet 14 and a locking air port are arranged on a cylinder body of the air cylinder 8 with the lock, an air inlet valve 15 is arranged at the air inlet, a locking air valve 16 is arranged at the locking air port, the air outlet 14 is communicated with the outside, the air inlet and the locking air port of the air cylinder 8 with the lock are supplied with air through a valve island 23, and the piston rod 9 of the air cylinder 8 with the lock is driven to extend downwards by feeding air into the air inlet, so that the sucker component is driven to extend downwards; the position of the piston rod 9 of the cylinder 8 with lock is locked by the intake to the lock port, and the position of the disc assembly is locked. The vacuum generator 13 and the valve island 23 are mounted on the conveyance frame 2.
Wherein, the piston rod 9 with the lock cylinder 8 is connected with the sucking disc rod 10 of the sucking disc component through a switching component, and the switching component comprises a switching block 17 and a rotation stopping part; the upper end and the lower end of the transfer block (17) are respectively connected with the piston rod (9) and the sucker rod (10), and the rotation stopping part is fixed on the transfer block (17) and used for preventing the piston rod (9) and the sucker rod (10) from rotating. The rotation stopping part comprises a first rotation stopping part 18 and a second rotation stopping part 19, threaded holes are respectively formed in the upper end and the lower end of a switching block 17, a piston rod 9 of the cylinder 8 with a lock and a sucker rod 10 of a sucker assembly are respectively in threaded connection with the threaded holes in the upper end and the lower end of the switching block 17, the lower end of the first rotation stopping part 18 is fixed on the switching block 17 through screws, a first rotation stopping plate 20 is arranged at the upper end of the first rotation stopping part 18, a first rotation stopping groove is formed in the end part of the first rotation stopping plate 20 and clamped on the piston rod 9 of the cylinder 8 with the lock, and two side walls of the first rotation stopping groove are in plane fit with the piston rod 9 of the cylinder 8 with the lock to prevent the two rotation stopping parts; the upper end of the second rotation preventing piece 19 is fixed on the rotation block 17 through a screw, the lower end of the second rotation preventing piece 19 is provided with a second rotation preventing plate 21, a second rotation preventing groove is formed in the end portion of the second rotation preventing plate 21, the second rotation preventing groove is clamped on the sucker rod 10, and two side walls of the second rotation preventing groove are in plane fit with two sides of the sucker rod 10 to prevent the rotation of the two side walls and the two sides.
The conveying frame 2 is provided with a distance measuring sensor 22, the distance between the conveying frame and the workpiece to be adsorbed is detected through the distance measuring sensor 22, and preferably, the distance measuring sensor 22 is a laser distance measuring sensor.
The embodiment also discloses a control method of the multi-vehicle flexible stepless self-adaptive switching and carrying device, which is performed based on the multi-vehicle flexible stepless self-adaptive switching and carrying device and comprises the following steps:
step one, a workpiece to be adsorbed in the embodiment is a vehicle door plate; the robot drives the carrying gripping apparatus to move to the side of the car door plate to be gripped, so that the sucker assemblies of the multiple groups of stepless self-adaptive adsorption units face the car door plate, the distance between the sucker assemblies and the car door plate is detected by the distance measuring sensor 22, whether the carrying gripping apparatus reaches a photographing position is judged, and when the distance measuring sensor 22 detects that the carrying gripping apparatus reaches the photographing position, the car door plate is photographed by at least one group of visual camera units 5 on the visual frame 1;
step two, controlling a locking air valve 16 of a plurality of groups of stepless self-adaptive adsorption units with locking cylinders 8 to be in a closed state through a valve island 23, simultaneously controlling an air inlet valve 15 of the multistage self-adaptive adsorption units with the locking cylinders 8 to be opened, and respectively allowing air from an air source of the valve island 23 to enter air through air inlets of the locking cylinders 8, so as to drive a piston rod 9 of each locking cylinder 8 to extend towards the direction close to the car door plate, and then pushing a corresponding sucking disc 11 to move towards the direction close to the car door plate by the piston rod 9, and in the process, photographing is performed by a vision camera unit 5 to reflect whether the sucking disc 11 reaches a pickup position or not so as to guide subsequent pickup; when the workpiece taking position is reached, the piston rod 9 of each locking cylinder 8 extends to the proper position, the corresponding air inlet valve 15 is closed through the valve island 23, air inlet stops air inlet, pressure does not exist on two sides of the piston at the moment, the piston of each locking cylinder 8 is in a free state, therefore, the piston rod 9 of each locking cylinder 8 and the sucker 11 connected with the piston rod are also in the free state, and the sucker 11 can move along with external force only under the action of external force;
step three, starting a vacuum generator 13, controlling the sucker assemblies of each group of the stepless self-adaptive adsorption units to continuously suck air, and simultaneously driving the whole carrying grab tool to continuously move towards the direction close to the car door plate by the robot, wherein in the process, the suckers 11 of each group of the stepless self-adaptive adsorption units are in a free state, when the surface of the car door plate sucked by each sucker 11 has a high-low fall, for example, one sucker 11 is firstly attached to the car door plate and is sucked, at the moment, the robot continuously feeds, the sucker 11 firstly attached to the car door plate is resisted by the car door plate, a piston rod 9 of a locking cylinder 8 corresponding to the sucker 11 is compressed, a space is reserved for the other suckers 11 which are not adsorbed to advance, when all the suckers 11 adsorb the car door plate, the suckers 11 of each group of the stepless self-adaptive adsorption units all generate vacuum, and the vacuum generator 13 detects that the vacuum degree reaches a set vacuum degree, the sucking discs 11 representing each group of stepless self-adaptive adsorption units are adsorbed on the surface of the car door plate, the robot is controlled to stop feeding at the moment, the locking air valves 16 of the locking air cylinders 8 of the multistage self-adaptive adsorption units are controlled to be opened, air is sucked through the locking air ports of the locking air cylinders 8 to lock the positions of the piston rods 9 of the locking air cylinders 8, and then the sucking discs 11 are locked at the current state position, so that the adsorption and taking of the car door plate by the carrying grab are completed. Then the robot drives the whole carrying gripping apparatus and the door plate absorbed by the gripping apparatus to leave, and after the workpiece is placed to a designated position, the suction disc 11 is cut off and the vacuum is released by blowing, thereby completing a cycle.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a flexible stepless self-adaptation of multi-vehicle type switches handling device which characterized in that: the automatic conveying device comprises a robot and a conveying gripping apparatus connected with a robot executing component, wherein the conveying gripping apparatus comprises a conveying frame (2), and a plurality of groups of flexible stepless self-adaptive adsorption units (6) are detachably mounted on the conveying frame (2);
each group of flexible stepless self-adaptive adsorption units (6) comprises a mounting plate (7), a cylinder with a lock (8) and a sucker assembly, the mounting plate (7) is detachably mounted on the carrying frame (2), a cylinder body of the cylinder with the lock (8) is mounted on the mounting plate (7), the sucker assembly comprises a sucker rod (10) and a sucker (11) which are connected up and down, one side of the sucker rod (10) is provided with a vacuum air pipe interface (12), and the outside of the vacuum air pipe interface (12) is connected to a vacuum generator (13) through a vacuum pipeline; a piston rod (9) of the cylinder (8) with the lock extends downwards and is connected with a sucker rod (10) of the sucker component, a cylinder body of the cylinder (8) with the lock is provided with an air inlet, an air outlet (14) and a locking air port, the air inlet is provided with an air inlet valve (15), the locking air port is provided with a locking air valve (16), the air outlet (14) is communicated with the outside, the air inlet and the locking air port of the cylinder (8) with the lock are supplied with air through a valve island (23), and the piston rod (9) of the cylinder (8) with the lock is driven to extend downwards by feeding air into the air inlet, so that the sucker component is driven to extend downwards; the position of a piston rod (9) of a cylinder (8) with a lock is locked by air entering a lock air inlet, and the position of a disc assembly is further locked.
2. The flexible stepless adaptive switching carrying device for multiple vehicle types according to claim 1 is characterized in that: the piston rod (9) of the cylinder (8) with the lock is connected with the sucker rod (10) of the sucker assembly through a switching assembly, and the switching assembly comprises a switching block (17) and a rotation stopping part; the upper end and the lower end of the transfer block (17) are respectively connected with the piston rod (9) and the sucker rod (10), and the rotation stopping part is fixed on the transfer block (17) and used for preventing the piston rod (9) and the sucker rod (10) from rotating.
3. The flexible stepless adaptive switching carrying device for multiple vehicle types according to claim 2, characterized in that: the rotation stopping part comprises a first rotation stopping piece (18) and a second rotation stopping piece (19), the lower end of the first rotation stopping piece (18) is fixed on the rotation connecting block (17), a first rotation stopping plate (20) is arranged at the upper end of the first rotation stopping piece (18), a first rotation stopping groove is formed in the end part of the first rotation stopping plate (20), the first rotation stopping groove is clamped on a piston rod (9) of the cylinder (8) with the lock, and two side walls of the first rotation stopping groove are in plane fit with the piston rod (9) of the cylinder (8) with the lock; the upper end of a second rotation stopping piece (19) is fixed on the rotation connecting block (17), a second rotation stopping plate (21) is arranged at the lower end of the second rotation stopping piece (19), a second rotation stopping groove is formed in the end portion of the second rotation stopping plate (21), the second rotation stopping groove is clamped on the sucker rod (10), and two side walls of the second rotation stopping groove are in plane fit with two sides of the sucker rod (10).
4. The flexible stepless adaptive switching carrying device for multiple vehicle types according to claim 2, characterized in that: threaded holes are formed in the upper end and the lower end of the adapter block (17) respectively, and a piston rod (9) with a lock cylinder (8) and a sucker rod (10) of the sucker component are in threaded connection with the threaded holes in the upper end and the lower end of the adapter block (17) respectively.
5. The flexible stepless adaptive switching carrying device for multiple vehicle types according to claim 1, characterized in that: the carrying frame (2) of the carrying gripping apparatus is in quick-change connection with the robot through a gun changing disc.
6. The flexible stepless adaptive switching carrying device for multiple vehicle types according to claim 1, characterized in that: the carrying gripping apparatus further comprises a visual frame (1), the visual frame (1) is fixedly connected with the carrying frame (2), and at least one group of visual camera units (5) is arranged on the visual frame (1).
7. The flexible stepless adaptive switching carrying device for multiple vehicle types according to claim 6 is characterized in that: and a distance measuring sensor (22) is arranged on the carrying frame (2).
8. A control method of a multi-vehicle flexible stepless self-adaptive switching and carrying device is characterized by comprising the following steps: the control method is performed based on the multi-vehicle flexible stepless self-adaptive switching and carrying device of any one of claims 1 to 5, and the control method comprises the following steps:
the robot drives the carrying gripping apparatus to move to the side of a workpiece to be gripped, so that the sucker assemblies of the multiple groups of stepless self-adaptive adsorption units face the workpiece;
step two, controlling locking air valves (16) of locking cylinders (8) of a plurality of groups of stepless self-adaptive adsorption units to be in a closed state, simultaneously controlling air inlet valves (15) of the locking cylinders (8) of the multistage self-adaptive adsorption units to be opened, and introducing air through air inlets of the locking cylinders (8) to drive piston rods (9) of the locking cylinders (8) to extend towards the direction close to the workpiece, wherein the piston rods (9) further push corresponding suckers (11) to move towards the direction close to the workpiece, and after the piston rods (9) of the locking cylinders (8) extend to the proper position, closing the corresponding air inlet valves (15) to stop air inlet, and at the moment, the piston rods (9) of the locking cylinders (8) are in a free state;
step three, controlling the sucker components of each group of the stepless self-adaptive adsorption units to continuously suck air, simultaneously driving the whole carrying gripping apparatus to continuously move towards the direction close to the workpiece by the robot, in the process, the suckers (11) of each group of the stepless self-adaptive adsorption units are in a free state until a vacuum generator (13) detects that the suckers (11) of each group of the stepless self-adaptive adsorption units generate vacuum, the suckers (11) of each group of the stepless self-adaptive adsorption units are adsorbed on the surface of a workpiece at the moment, the robot is controlled to stop feeding at the moment, and controls the locking air valve (16) of the cylinder (8) with lock of the multi-stage self-adaptive adsorption unit to open, the air is fed through the locking air port of each cylinder (8) with lock so as to lock the position of the piston rod (9) of the cylinder (8) with lock, and then each sucker (11) is locked at the current state position, and the workpiece is sucked and taken by the carrying gripping tool.
9. The control method of the flexible stepless adaptive switching carrying device of the multiple vehicle types as claimed in claim 8, characterized in that: in the conveying device based on the control method, the conveying gripping apparatus further comprises a visual frame (1), the visual frame (1) is fixedly connected with the conveying frame (2), at least one group of visual camera units (5) is arranged on the visual frame (1), and a distance measuring sensor (22) is arranged on the conveying frame (2);
in the first step, in the moving process of the carrying gripping apparatus, the distance between the carrying gripping apparatus and the workpiece is detected through the distance measuring sensor (22), so that whether the carrying gripping apparatus reaches a photographing position or not is judged, and when the distance measuring sensor (22) detects that the carrying gripping apparatus reaches the photographing position, the workpiece is photographed through the visual camera unit (5) on the visual frame (1);
in the second step, in the process that the piston rod (9) of the cylinder (8) with the lock pushes the sucker (11) to move towards the direction close to the workpiece, the vision camera unit (5) shoots to reflect whether the sucker (11) reaches the pick-up position, and when the sucker (11) reaches the pick-up position, the piston rod (9) of the cylinder (8) with the lock stretches out to the right position.
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