CN114620481A - Multi-vehicle-type flexible stepless self-adaptive switching and carrying device and control method thereof - Google Patents

Abstract

The invention discloses a multi-model flexible and stepless adaptive switching handling device and a control method thereof. The handling device includes a robot and a handling gripper. The handling gripper includes a handling frame, and a plurality of flexible and non-removable groups are detachably installed on the handling frame. Each group of flexible and stepless adaptive adsorption units includes a mounting plate, a cylinder with a lock, and a suction cup assembly. The suction cup assembly includes a suction cup rod and a suction cup. The piston rod of the lock cylinder is connected with the suction cup rod. The cylinder body is provided with an air inlet, an air outlet and a locking air port, an air inlet valve is arranged at the air inlet, and a locking air valve is arranged at the locking air port, and the air outlet is communicated with the outside world, and is The air drives the suction cup assembly to extend downward; the position of the suction cup assembly is locked by sucking air into the locking air port. Compared with the prior art, the present invention has the advantages that the stepless self-adaptive position adjustment of each group of suction cups is realized, so as to satisfy the flexible collinear/mixed line production of multiple models.

Description

A multi-model flexible stepless adaptive switching handling device and control method thereof

technical field

The invention relates to the technical field of robot grippers and control, in particular to a multi-model flexible and stepless adaptive switching transport device and a control method thereof.

Background technique

In the process of automatic door installation in the field of automobile welding, the picking and handling of door panels are realized by robots carrying and handling grippers. In the prior art, the transport gripper used is provided with multiple sets of suction cup units, and each set of suction cup units adopts a cylinder to drive the suction cups to expand and contract, so as to realize the suction and removal of the door panels. The gripper with this structure and its realization method have the following defects. :

1) Poor compatibility of the gripper: For the case where there are differences in the surface of the plate that cannot be shared, the suction cup unit needs to be switched in multiple groups; and the suction cup is driven to expand and contract by a common cylinder, and the piston rod of the cylinder only has two positions, which are extended and retracted. The suction cups can only be switched in these two positions, and it cannot be guaranteed that all suction cups can completely absorb the upper plate, the suction effect is poor, and the compatibility is very limited.

2) High cost of grippers: If a set of grippers is shared, a corresponding switching mechanism needs to be added, and the cost is high. In addition, the conventional shared grippers are complex in structure and heavy in weight, and have higher requirements for the robot load, which increases the robot's load. purchase cost.

3) High production takt time: If a set of grippers is shared, the increased control sequence of the switching mechanism will take a long time, especially if there are many collinear models, a conventional set of grippers cannot satisfy all models, and multiple sets of grippers need to be added. When the tools are switched to each other, each switching time is generally at least 8 to 10s, which greatly increases the production tact and production cost.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies of the prior art, and to provide a multi-model flexible stepless adaptive switching device and a control method thereof, so as to realize the stepless adaptive position adjustment of each group of suction cups, so as to satisfy the multi-model flexibility Inline/mixed line production.

The present invention is achieved through the following technical solutions:

A multi-model flexible and stepless adaptive switching transport device, comprising a robot and a transport gripper connected with the robot execution part, the transport gripper includes a transport frame, and a plurality of sets of flexible Stepless adaptive adsorption unit;

Each group of flexible stepless adaptive adsorption units includes a mounting plate, a cylinder with lock and a suction cup assembly. The mounting plate is detachably mounted on the transport frame, and the cylinder body with a locking cylinder is mounted on the mounting plate. The suction cup assembly includes suction cups connected up and down Rod and suction cup, one side of the suction cup rod is provided with a vacuum air pipe interface, and the outside of the vacuum air pipe interface is connected to the vacuum generator through a vacuum pipe; the piston rod with lock cylinder extends downward and is connected with the suction cup rod of the suction cup assembly, and the cylinder with lock cylinder is connected to the suction cup rod of the suction cup assembly. The cylinder body is provided with an air inlet, an air outlet and a locking air port. The air inlet is provided with an air intake valve, and the locking air port is provided with a locking air valve. Air is supplied to the air inlet of the cylinder and the lock air port, and the piston rod of the cylinder with lock is extended downward by taking air into the air inlet, thereby driving the suction cup assembly to extend downward; The position of the piston rod of the lock cylinder is locked, which in turn locks the position of the suction cup assembly.

As a preferred solution of the above handling device, the piston rod of the locking cylinder and the suction cup rod of the suction cup assembly are connected by an adapter assembly, and the adapter assembly includes an adapter block and a rotation stop; the adapter block The upper and lower ends are respectively connected with the piston rod and the suction cup rod, and the anti-rotation part is fixed on the adapter block to prevent the piston rod and the suction cup rod from rotating.

As a preferred solution of the above-mentioned conveying device, the rotation stop part includes a first rotation stop part and a second rotation stop part, the lower end of the first rotation stop part is fixed on the adapter block, and the upper end of the first rotation stop part is provided with a first stop part. The end of the first anti-rotation plate is provided with a first anti-rotation groove, the first anti-rotation groove is stuck on the piston rod of the cylinder with lock, and the two side walls of the first anti-rotation groove are connected with the piston rod of the cylinder with lock. There is a plane fit between them; the upper end of the second anti-rotation piece is fixed on the adapter block, the lower end of the second anti-rotation piece is provided with a second anti-rotation plate, and the end of the second anti-rotation plate is provided with a second anti-rotation groove. The anti-rotation groove is clamped on the suction cup rod, and the two side walls of the second anti-rotation groove and the two sides of the suction cup rod are in plane fit.

As a preferred solution of the above-mentioned handling device, the upper and lower ends of the adapter block are respectively provided with threaded holes, and the piston rod with the lock cylinder and the sucker rod of the sucker assembly are respectively threadedly connected with the threaded holes at the upper and lower ends of the adapter block.

As a preferred solution of the above-mentioned conveying device, the conveying frame of the conveying gripper realizes quick-change connection with the robot through a gun changing plate.

As a preferred solution of the above-mentioned conveying device, the conveying gripper further comprises a vision frame, the vision frame is fixedly connected with the conveying frame, and at least one group of vision camera units are arranged on the vision frame.

As a preferred solution of the above-mentioned conveying device, a distance measuring sensor is provided on the conveying frame.

The invention also discloses a control method of a multi-model flexible stepless adaptive switching transport device, the control method is performed based on the above-mentioned multi-model flexible stepless adaptive switching transport device, and the control method is performed according to the following steps:

Step 1, the robot drives the handling gripper to move to the workpiece to be grasped, so that the suction cup assemblies of the multiple groups of stepless adaptive adsorption units face the workpiece;

Step 2: Control the locking air valves of the lock cylinders of the multi-group stepless adaptive adsorption units to be in a closed state, and control the intake valves of the lock cylinders of the multi-group self-adaptive adsorption units to open. The air inlet takes in air, thereby driving the piston rods of each lock cylinder to extend toward the workpiece, and the piston rod pushes the corresponding suction cups to move toward the workpiece. When the intake valve is opened, the intake port stops intake air, and the piston rod of the locked cylinder is in a free state at this time;

Step 3: Control the suction cup components of each group of stepless adaptive adsorption units to continuously inhale, and at the same time, the robot drives the entire handling gripper to continue to move toward the workpiece. During this process, the suction cups of each group of stepless adaptive adsorption units are in In the free state, until the vacuum generator detects that the suction cups of each group of stepless adaptive adsorption units generate vacuum, at this time, the suction cups of each group of stepless adaptive adsorption units are adsorbed on the surface of the workpiece, at this time, the robot is controlled to stop feeding, and Control the locking air valve of the locking cylinder of the multi-group adaptive adsorption unit to open, and lock the position of the piston rod of the locking cylinder through the locking air port of each locking cylinder, and then lock each suction cup at the current position. The state position is completed, and the suction and pick-up of the workpiece by the handling gripper is completed.

As a preferred solution of the above control method, in the handling device on which the control method is based, the handling gripper further includes a vision frame, the vision frame is fixedly connected to the handling frame, and at least one set of vision cameras is arranged on the vision frame unit, the carrying frame is provided with a ranging sensor;

In the first step, during the movement of the handling gripper, the distance between the handling gripper and the workpiece is detected by the ranging sensor, so as to determine whether the handling gripper has reached the photographing position. When the distance measuring sensor detects that the handling gripper has reached the photographing position, When , the workpiece is photographed by the vision camera unit on the vision frame;

In the second step, when the piston rod with the lock cylinder pushes the suction cup to move in the direction close to the workpiece, the visual camera unit takes pictures to reflect whether the suction cup reaches the pick-up position. When it reaches the pick-up position, it means that the cylinder with lock the piston rod extends into place.

Compared with the prior art, the present invention has the following advantages:

1. The present invention provides a multi-model flexible stepless self-adaptive switching conveying device, which is provided with multiple groups of flexible stepless self-adaptive adsorption units on the carrying frame, and each group of flexible stepless self-adaptive adsorption units adopts a cylinder with a lock to drive the suction cup The components are telescopic, and the lock cylinder has an air inlet, an air outlet and a lock air port. By controlling the air inlet valve at the air inlet and the switch of the lock air valve at the lock air port, multiple groups of flexible and stepless air can be realized. The stepless self-adaptive position adjustment of multiple suction cups of the self-adaptive adsorption unit enables all suction cups to be effectively adsorbed on the surface of the workpiece, which ensures the stability and reliability of the workpiece adsorption by the handling gripper, and the adsorption effect is good. Workpieces with different part profiles can be well applied, which satisfies the flexible collinear/mixed line production of multiple models, and has strong compatibility; redundant switching mechanisms and switching actions are omitted, and switching mechanisms are omitted. At the same time, the process of switching action is omitted, which effectively saves the production cost and improves the production tact.

2. The present invention provides a control method for a multi-model flexible and stepless adaptive switching handling device, which uses a robot in conjunction with the handling gripper, and the robot controls the overall feeding motion of the entire handling gripper, and cooperates with the handling gripper. Equipped with the respective lock cylinder action of each group of stepless self-adaptive adsorption units, first control the intake valve of each lock cylinder to open and then close, at this time each suction cup is in a free state; then each suction cup inhales, and the robot drives the entire handling The gripper continues to move. During this process, the position of the suction cup can be adaptively adjusted according to the position of the workpiece surface. After all the suction cups are adsorbed in place, the locking air valve of each cylinder with lock is controlled to open, and the position of each suction cup is locked. That is, the stable adsorption of all the suction cups and the workpiece is realized; the control method of the entire plate adsorption is simple, time-consuming is short, and the production tact is effectively improved.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

FIG. 2 is a schematic structural diagram of the vision frame of the present invention.

FIG. 3 is a schematic view of the structure of the transport frame of the present invention.

4 is a schematic structural diagram of a single group of flexible stepless adaptive adsorption units of the present invention.

FIG. 5 is a schematic structural diagram of the carrying frame of the present invention from another perspective.

Labels in the figure: 1 Vision frame, 2 Handling frame, 3 First connecting flange, 4 Second connecting flange, 5 Vision camera unit, 6 Flexible stepless adaptive adsorption unit, 7 Mounting plate, 8 Cylinder with lock, 9 Piston Rod, 10 Suction Cup Rod, 11 Suction Cup, 12 Vacuum Air Pipe Interface, 13 Vacuum Generator, 14 Air Outlet, 15 Inlet Valve, 16 Locking Air Valve, 17 Adapter Block, 18 First Stopper, 19 Second Anti-rotation piece, 20 first anti-rotation plate, 21 second anti-rotation plate, 22 distance measuring sensor, 23 valve island.

Detailed ways

The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and provides a detailed implementation manner and a specific operation process, but the protection scope of the present invention is not limited to the following implementation. example.

Referring to FIG. 1 to FIG. 5 , the present embodiment provides a multi-model flexible and stepless adaptive switching handling device, including a robot and a handling gripper connected with the robot execution component, and the handling gripper includes a handling frame 2 and a vision frame 1 , the vision frame 1 is fixedly connected with the transport frame 2 . The gun-changing disc can be used to realize quick-change connection between the handling gripper and the robot execution part, or the following fixed connection method can be used. Specifically, the handling frame 2 and the vision frame 1 can be installed together on the six-axis flange of the robot. It can also be installed on the six-axis flange of the robot respectively; in this embodiment, the handling frame 2 and the vision frame 1 are installed on the six-axis flange of the robot together, specifically: the first connecting flange is installed on the handling frame 2 3. A second connecting flange 4 is installed on the vision frame 1. The first connecting flange 3 and the second connecting flange 4 are installed with the six-axis flange of the robot, so as to realize the transport frame 2, the vision frame 1 and the robot's six-axis flange. Robot installation. The vision frame 1 is provided with at least one group of vision camera units 5, and the vision camera units 5 are existing components, and the specific structure thereof will not be described here. Each group of vision camera units 5 is located on the periphery of the transport frame 2 .

A plurality of groups of flexible and stepless adaptive adsorption units 6 are detachably installed on the carrying frame 2 .

Each group of flexible and stepless adaptive adsorption units 6 includes a mounting plate 7, a cylinder with lock 8, and a suction cup assembly. The mounting plate 7 is detachably mounted on the transport frame 2, and the cylinder with a lock cylinder 8 is mounted on the mounting plate 7. The suction cup assembly includes a suction cup rod 10 and a suction cup 11 connected up and down. A vacuum air pipe interface 12 is provided on one side of the suction cup rod 10, and the outside of the vacuum air pipe interface 12 is connected to a vacuum generator 13 through a vacuum pipe; the piston rod 9 of the cylinder 8 with a lock is downward Extend and connect with the sucker rod 10 of the sucker assembly, the cylinder body with the lock cylinder 8 is provided with an air inlet, an air outlet 14 and a lock air port, the air inlet is provided with an air intake valve 15, and the lock air port is provided with There is a locking air valve 16, and the air outlet 14 is communicated with the outside world. The air inlet and the locking air port of the locked cylinder 8 are supplied with air through the valve island 23, and the piston rod of the locked cylinder 8 is driven by taking air into the air inlet. 9 protrudes downward, thereby driving the suction cup assembly to extend downward; the position of the piston rod 9 of the lock cylinder 8 is locked by taking air into the locking air port, thereby locking the position of the suction cup assembly. Both the vacuum generator 13 and the valve island 23 are mounted on the transport frame 2 .

Wherein, the piston rod 9 of the cylinder with lock 8 and the suction cup rod 10 of the suction cup assembly are connected by an adapter assembly, and the adapter assembly includes an adapter block 17 and a rotation stop; the upper and lower ends of the adapter block (17) They are respectively connected with the piston rod (9) and the suction cup rod (10), and the rotation stop part is fixed on the adapter block (17) to prevent the piston rod (9) and the suction cup rod (10) from rotating. The anti-rotation part includes a first anti-rotation member 18 and a second anti-rotation member 19. The upper and lower ends of the adapter block 17 are respectively provided with threaded holes. The threaded holes at the upper and lower ends of the block 17 are threadedly connected, the lower end of the first anti-rotation member 18 is fixed on the transfer block 17 by screws, the upper end of the first anti-rotation member 18 is provided with a first anti-rotation plate 20, and the end of the first anti-rotation plate 20 There is a first anti-rotation groove, the first anti-rotation groove is stuck on the piston rod 9 of the cylinder with lock , to prevent the two from rotating; the upper end of the second anti-rotation member 19 is fixed on the adapter block 17 by screws, the lower end of the second anti-rotation member 19 is provided with a second anti-rotation plate 21, and the end of the second anti-rotation plate 21 is open There is a second anti-rotation groove, the second anti-rotation groove is clamped on the suction cup rod 10, and the two side walls of the second anti-rotation groove and the two sides of the suction cup rod 10 are in plane fit to prevent the two from rotating.

The conveying frame 2 is provided with a distance measuring sensor 22, and the distance between the distance measuring sensor 22 and the workpiece to be adsorbed is detected by the distance measuring sensor 22. Preferably, the distance measuring sensor 22 is a laser distance measuring sensor.

This embodiment also discloses a control method for a multi-model flexible stepless adaptive switching transport device, the control method is performed based on the above-mentioned multi-model flexible stepless adaptive switching transport device, and the control method is performed according to the following steps:

Step 1. In this embodiment, the workpiece to be adsorbed is the door panel; the robot drives the handling gripper to move to the side of the door panel that needs to be grasped, so that the suction cup assemblies of the multiple groups of stepless adaptive adsorption units face the door panel, The distance between it and the door panel is detected by the distance measuring sensor 22, so as to determine whether the transport gripper has reached the photographing position. When the distance measuring sensor 22 detects that the transport gripper has reached the photographing position, at least one group The visual camera unit 5 takes pictures of the door panel;

Step 2: Control the locking air valve 16 of the lock cylinder 8 of the multi-group stepless adaptive adsorption unit through the valve island 23 to be in a closed state, and control the intake valve 15 of the lock cylinder 8 of the multi-group adaptive adsorption unit at the same time. When the valve island 23 is opened, the air source of the valve island 23 enters the air through the air inlets of the respective lock cylinders 8, thereby driving the piston rods 9 of the lock cylinders 8 to extend toward the direction close to the door panel, and the piston rod 9 pushes the corresponding The suction cup 11 moves in the direction close to the door panel. During this process, the visual camera unit 5 takes pictures to reflect whether the suction cup 11 has reached the pick-up position, so as to guide subsequent pick-up; when it reaches the pick-up position, the lock cylinder 8 The piston rod 9 is extended in place, the corresponding intake valve 15 is closed through the valve island 23, and the intake port stops air intake. At this time, there is no pressure on both sides of the piston, and the piston of each lock cylinder 8 is in a free state, so each belt The piston rod 9 of the lock cylinder 8 and the suction cup 11 connected to it are also in a free state, and only under the action of an external force, the suction cup 11 will move with the external force;

Step 3: The vacuum generator 13 is activated to control the suction cup components of each group of stepless self-adaptive adsorption units to continuously inhale. At the same time, the robot drives the entire handling gripper to continue to move in the direction close to the door panel. During this process, each group has no suction. The suction cups 11 of the level-adaptive suction unit are in a free state. When there is a height difference on the surface of the door panel held by each suction cup 11, for example, one of the suction cups 11 first fits and holds the door panel. At this time, the robot continues to advance. For, because the suction cup 11 that first fits the door panel is resisted by the door panel, the piston rod 9 of the lock cylinder 8 corresponding to the suction cup 11 will be compressed, leaving space for other unadsorbed suction cups 11 to move forward. , until all the suction cups 11 are adsorbed on the door panel, the suction cups 11 of each group of stepless self-adaptive adsorption units all generate vacuum, and the vacuum generator 13 detects that the vacuum degree reaches the set vacuum degree, indicating that each group of stepless self-adaptive The suction cups 11 of the adaptive adsorption unit are all adsorbed on the surface of the door panel. At this time, the robot is controlled to stop feeding, and the locking air valve 16 of the lock cylinder 8 of the multi-group adaptive adsorption unit is controlled to open, and each lock cylinder 8 The locking air port takes in air so as to lock the position of the piston rod 9 of the cylinder with lock 8, and then lock each suction cup 11 in the current state position to complete the suction and removal of the door panel by the transport gripper. Afterwards, the robot drives the entire handling gripper and its adsorbed door panels to leave, and after placing the parts to the designated position, the suction cup 11 cuts off the air and blows air to release the vacuum, completing a cycle.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention. Inside.

Claims (9)

1. A multi-model flexible and stepless adaptive switching transport device, characterized in that: it comprises a robot and a transport gripper connected with the robot execution part, and the transport gripper comprises a transport frame (2), and in the transport frame (2) There are multiple groups of flexible and stepless adaptive adsorption units (6) on the detachable installation; Each set of flexible stepless adaptive adsorption units (6) includes a mounting plate (7), a cylinder with lock (8) and a suction cup assembly, the mounting plate (7) is detachably mounted on the transport frame (2), and the cylinder with lock ( 8) The cylinder body is installed on the mounting plate (7), the suction cup assembly includes a suction cup rod (10) and a suction cup (11) connected up and down, and a vacuum air pipe interface (12) is provided on one side of the suction cup rod (10), and the vacuum air pipe interface (12) is connected to the vacuum generator (13) through a vacuum pipe; the piston rod (9) of the cylinder with lock (8) extends downward and is connected with the suction cup rod (10) of the suction cup assembly, and the cylinder with lock (8) The cylinder block is provided with an air inlet, an air outlet (14) and a lock air port, an air inlet valve (15) is arranged at the air inlet, a lock air valve (16) is arranged at the lock air port, and the air outlet ( 14) Connect with the outside world, supply air to the air inlet and lock air port of the cylinder with lock (8) through the valve island (23), and drive the piston rod (9) of the cylinder with lock (8) by taking air into the air inlet ) extends downward, thereby driving the suction cup assembly to extend downward; the position of the piston rod (9) of the cylinder with lock (8) is locked by taking air into the locking air port, thereby locking the position of the suction cup assembly. 2. The multi-model flexible and stepless adaptive switching and handling device according to claim 1, characterized in that: the piston rod (9) of the cylinder with lock (8) and the suction cup rod (10) of the suction cup assembly They are connected by an adapter assembly, the adapter assembly includes an adapter block (17) and a rotation stop; the upper and lower ends of the adapter block (17) are respectively connected with the piston rod (9) and the suction cup rod (10). connected, the anti-rotation part is fixed on the adapter block (17) to prevent the piston rod (9) and the suction cup rod (10) from rotating. 3. The multi-model flexible and stepless adaptive switching and handling device according to claim 2, characterized in that: the rotation stop part comprises a first rotation stop part (18) and a second rotation stop part (19), The lower end of the first anti-rotation member (18) is fixed on the adapter block (17), the upper end of the first anti-rotation member (18) is provided with a first anti-rotation plate (20), and the end of the first anti-rotation plate (20) is open. There is a first anti-rotation groove, the first anti-rotation groove is stuck on the piston rod (9) of the cylinder with lock (8), and the two side walls of the first anti-rotation groove are connected with the piston rod (9) of the cylinder with lock (8). ) is a plane fit; the upper end of the second anti-rotation member (19) is fixed on the adapter block (17), the lower end of the second anti-rotation member (19) is provided with a second anti-rotation plate (21), and the second anti-rotation member (19) is provided with a second anti-rotation plate (21). The end of the plate (21) is provided with a second anti-rotation groove, the second anti-rotation groove is clamped on the suction cup rod (10), and two side walls of the second anti-rotation groove and the two sides of the suction cup rod (10) are planes Cooperate. 4. The flexible and stepless adaptive switching and handling device for multi-model vehicles according to claim 2, characterized in that: the upper and lower ends of the adapter block (17) are respectively provided with threaded holes; The piston rod (9) and the suction cup rod (10) of the suction cup assembly are respectively threadedly connected with the threaded holes at the upper and lower ends of the adapter block (17). 5 . The multi-model flexible and stepless adaptive switching transport device according to claim 1 , wherein the transport frame ( 2 ) of the transport gripper realizes quick-change connection with the robot through a gun-changing disc. 6 . 6. The multi-model flexible and stepless adaptive switching handling device according to claim 1, characterized in that: the handling gripper further comprises a vision frame (1), the vision frame (1) and the handling frame ( 2) Fixed connection, the vision frame (1) is provided with at least one group of vision camera units (5). 7 . The multi-vehicle flexible and stepless adaptive switching transport device according to claim 6 , wherein a distance measuring sensor ( 22 ) is provided on the transport frame ( 2 ). 8 . 8. A control method for a multi-model flexible stepless adaptive switching transport device, characterized in that: the control method is performed based on the multi-model flexible stepless adaptive switching transport device according to any one of claims 1 to 5. , the control method is carried out according to the following steps: Step 1, the robot drives the handling gripper to move to the workpiece to be grasped, so that the suction cup assemblies of the multiple groups of stepless adaptive adsorption units face the workpiece; Step 2: Control the locking valve (16) of the lock cylinder (8) of the multi-group stepless adaptive adsorption unit to be in a closed state, and control the intake air of the lock cylinder (8) of the multi-group adaptive adsorption unit at the same time The valve (15) is opened, and the air is taken in through the air inlet of each cylinder with lock (8), thereby driving the piston rod (9) of each cylinder with lock (8) to extend toward the direction close to the workpiece, and the piston rod (9) again Push the corresponding suction cup (11) to move in the direction close to the workpiece. After the piston rod (9) of the cylinder with lock (8) extends in place, close the corresponding air intake valve (15), and the air inlet stops air intake. The piston rod (9) of the lock cylinder (8) is in a free state; Step 3: Control the suction cup components of each group of stepless adaptive adsorption units to continuously inhale, and at the same time, the robot drives the entire handling gripper to continue to move in the direction close to the workpiece. During this process, the suction cups ( 11) In a free state, until the vacuum generator (13) detects that the suction cups (11) of each group of stepless self-adaptive adsorption units generate vacuum, and at this time, the suction cups (11) of each group of stepless self-adaptive adsorption units are all adsorbed on the suction cups (11). The surface of the workpiece, at this time, control the robot to stop feeding, and control the locking air valve (16) of the lock cylinder (8) of the multi-level adaptive adsorption unit to open, and enter the air through the lock air port of each lock air cylinder (8). Therefore, the position of the piston rod (9) of the cylinder with lock (8) is locked, and each suction cup (11) is locked in the current state position to complete the suction and removal of the workpiece by the conveying gripper. 9. The control method of a multi-model flexible and stepless adaptive switching handling device according to claim 8, characterized in that: in the handling device on which the control method is based, the handling gripper further comprises a visual frame (1 ), the vision frame (1) is fixedly connected with the transport frame (2), the vision frame (1) is provided with at least one group of vision camera units (5), and the transport frame (2) is provided with ranging sensor (22); In the step 1, during the movement of the handling gripper, the distance between it and the workpiece is detected by the distance measuring sensor (22), so as to determine whether the handling gripper has reached the photographing position, when the distance measuring sensor (22) detects When the handling gripper reaches the photographing position, the workpiece is photographed by the visual camera unit (5) on the visual frame (1); In the second step, when the piston rod (9) of the air cylinder (8) with the lock pushes the suction cup (11) to move in a direction close to the workpiece, the visual camera unit (5) takes a picture to reflect whether the suction cup (11) has reached or not. Pick-up position, when it reaches the pick-up position, it means that the piston rod (9) of the cylinder with lock (8) is extended in place.

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