CN116352747A

CN116352747A - Automatic control grabbing device of industrial robot

Info

Publication number: CN116352747A
Application number: CN202310332761.6A
Authority: CN
Inventors: 韩京海; 邱荣华; 倪世钱
Original assignee: Nanjing Communications Institute of Technology
Current assignee: Nanjing Communications Institute of Technology
Priority date: 2023-03-31
Filing date: 2023-03-31
Publication date: 2023-06-30

Abstract

The invention discloses an automatic control grabbing device of an industrial robot, which is used for transferring articles, and comprises a rotary lifting assembly, a lifting assembly and a lifting assembly, wherein the rotary lifting assembly comprises a rotary part and a lifting part connected to the rotary part, and a connecting frame is fixedly connected to the movable end of the lifting part; the two clamping pieces are positioned on two sides of the article in the length direction and are connected to the connecting frame in a sliding manner, the two clamping ends of the clamping pieces are positioned on two sides of the article in the width direction through the opposite movement directions of the driving piece, and the connecting frame rises, so that the distance between the two clamping ends is reduced and the two clamping ends are contacted with the article; the supporting pieces are positioned below the clamping pieces and are in one-to-one correspondence with the clamping pieces, the connecting frames descend, the supporting pieces support the clamping ends, and the distance between the two clamping ends is increased to be separated from the article. The invention can realize real-time detection of the width of the article and feedback to the clamping end, and when the article is clamped, a driving device is not required to be additionally arranged, so that the use cost of the article is reduced.

Description

Automatic control grabbing device of industrial robot

Technical Field

The invention belongs to the technical field of grabbing machine equipment, and particularly relates to an automatic control grabbing device of an industrial robot.

Background

In the field of industrial automation, industrial robots for handling or transporting are used to grasp an article and transport the grasped article to a predetermined position.

In the prior art, when an industrial robot grabs and clamps an article, a preset moving distance is generally set for clamping the article by the clamping jaw, if the size of the article is changed, the moving distance of the clamping jaw needs to be reset, the moving distance of the clamping jaw is reset, the operation is complicated, meanwhile, the article is clamped by the clamping jaw, generally, two opposite clamping jaws are clamped on two sides of the article, and an acting force is applied to the clamping jaw to clamp the article, wherein a driving device is additionally arranged for driving the two clamping jaws to move and applying the acting force to the article, and the structure is complex and the use cost is high.

Therefore, the automatic control grabbing device of the industrial robot is provided, the width of the article can be detected in real time and fed back to the clamping end, and when the article is clamped, a driving device is not required to be additionally arranged, so that the use cost of the automatic control grabbing device is reduced.

Disclosure of Invention

In order to solve the technical problems, the invention provides an automatic control grabbing device of an industrial robot, which can realize real-time detection of the width of an article and feedback to a clamping end, and when the article is clamped, a driving device is not required to be additionally arranged, so that the use cost of the automatic control grabbing device is reduced.

In order to achieve the above object, the present invention provides an automatically controlled gripping device of an industrial robot for transferring objects, comprising,

the rotary lifting assembly comprises a rotary piece and a lifting piece connected to the rotary piece, and the movable end of the lifting piece is fixedly connected with a connecting frame;

the two clamping pieces are positioned on two sides of the article in the length direction and are connected to the connecting frame in a sliding manner, the two clamping pieces are opposite in movement direction through the driving piece, the two clamping ends of the clamping pieces are positioned on two sides of the article in the width direction, the connecting frame is lifted, and the distance between the two clamping ends is reduced and is contacted with the article;

the supporting pieces are positioned below the clamping pieces and are arranged in one-to-one correspondence with the clamping pieces, the connecting frames descend, the supporting pieces support the clamping ends, and the distance between the two clamping ends is increased to be separated from the article;

the electronic measuring piece is fixed on the connecting frame and corresponds to the top end of the article, and is used for measuring the length of the article and electrically connected with the driving piece.

Further, two clamping ends of the clamping piece are a first clamping plate and a second clamping plate respectively, the first clamping plate is located on one side, away from the connecting frame, of the second clamping plate, two connecting plates are hinged to the outer side wall of the first clamping plate, the two connecting plates are arranged up and down oppositely, the middle positions of the two connecting plates are hinged to the outer side wall of the second clamping plate, fixing plates are hinged to the tail ends of the two connecting plates respectively, and the top ends of the fixing plates are in transmission connection with the driving piece.

Further, contact patterns are arranged on the side walls, close to each other, of the first clamping plate and the second clamping plate, and the first clamping plate and the second clamping plate are in contact with the surface of the article through the contact patterns.

Further, the rotating member comprises a supporting table, a first driving motor is fixedly connected to the bottom end of the supporting table, a rotating table is fixedly connected to the output end of the first driving motor, the rotating table is located at the top end of the supporting table and is rotationally connected with the supporting table, the lifting member is a first telescopic cylinder fixedly connected to the top end of the rotating table, and the movable end of the first telescopic cylinder is fixedly connected with the bottom end of the connecting frame through a frame plate.

Further, the spout has been seted up on the link top, the driving piece is including setting up rotatory screw rod in the spout, rotatory screw rod both ends with the link rotates to be connected, be provided with two sliders in the spout, rotatory screw rod runs through two slider and with two slider threaded connection, logical groove has been seted up to the spout diapire, two the fixed plate top passes respectively logical groove with slider bottom rigid coupling, the link lateral wall rigid coupling has second driving motor, second driving motor output with rotatory screw rod rigid coupling.

Further, the support piece includes a fixed position's mount, the mount top rigid coupling has the magnetism platform, the magnetism platform is close to the rigid coupling has the electro-magnet on the lateral wall of article, be connected with elastic connection spare on the magnetism platform, elastic connection spare is close to the one end rigid coupling of article has supporting platform, supporting platform top with first splint bottom contact, supporting platform is close to the rigid coupling has with the iron sheet that the electro-magnet matches on the lateral wall of magnetism platform.

Further, the elastic connecting piece comprises a connecting rod, the connecting rod runs through the magnetic table and with magnetic table sliding connection, the one end of connecting rod with supporting platform lateral wall rigid coupling, the magnetic table is kept away from one side rigid coupling of supporting platform has the base plate, base plate top sliding connection has the movable plate, the other end of connecting rod with the movable plate rigid coupling, the cover is equipped with reset spring on the connecting rod, reset spring is located the magnetic table with between the movable plate, just the reset spring both ends respectively with the magnetic table with the movable plate rigid coupling.

Further, the electronic measuring part comprises a second telescopic cylinder, the second telescopic cylinder is fixed on the connecting frame and is close to the side wall of the article, a displacement sensor is fixedly connected to the movable end of the second telescopic cylinder, a distance sensor is fixedly connected to the movable end of the second telescopic cylinder through a supporting rod, the distance sensor is located above the article and corresponds to the top surface of the article, a controller is fixedly connected to the connecting frame, the distance sensor and the displacement sensor are electrically connected with the controller, and the controller is electrically connected with the second driving motor.

Further, the supporting bench is located between first conveyer belt and the second conveyer belt, two the clamping piece cooperation will the article by first conveyer belt is transported to on the second conveyer belt, the mount is fixed first conveyer belt lateral wall.

Compared with the prior art, the invention has the following advantages and technical effects:

1. through electron measuring part and driving piece cooperation, under the effect of electron measuring part, measure the length of article and transmit to the driving piece, two clamping pieces of driving piece drive and article adaptation are convenient for the centre gripping to not unidimensional article.

2. When transporting article, the lifting piece drives the link and rises for be located article width direction's two clamping ends and be close to each other, carry out the centre gripping and shift to article, need not set up extra drive arrangement when this setting is to article centre gripping down, its use cost is low, simultaneously, the centre gripping to article can be accomplished to the lifting action in the lifting rotation action when utilizing transporting article, its centre gripping is effectual.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application, illustrate and explain the application and are not to be construed as limiting the application. In the drawings:

FIG. 1 is a perspective view of a grasping device;

fig. 2 is a perspective view showing a state in which the support supports the first clamping plate;

FIG. 3 is an enlarged view of a portion of FIG. 2 at A;

FIG. 4 is a perspective view of the connection of the clamping member to the connecting frame;

FIG. 5 is a side view of FIG. 4;

FIG. 6 is a top view of FIG. 4;

FIG. 7 is a perspective view of an electromagnet in an unactuated state;

FIG. 8 is a perspective view of an electromagnet activated state;

the device comprises a first object, a 2-connecting frame, a 3-first clamping plate, a 4-second clamping plate, a 5-connecting plate, a 6-fixing plate, 7-contact patterns, an 8-supporting table, a 9-first driving motor, a 10-rotating table, an 11-first telescopic cylinder, a 12-frame plate, a 13-sliding groove, a 14-rotating screw, a 15-sliding block, a 16-through groove, a 17-second driving motor, a 18-fixing frame, a 19-magnetic table, a 20-electromagnet, a 21-supporting platform, a 22-iron sheet, a 23-connecting rod, a 24-substrate, a 25-moving plate, a 26-return spring, a 27-second telescopic cylinder, a 28-displacement sensor, a 29-supporting rod, a 30-distance sensor, a 31-controller, a 32-first conveying belt, a 33-second conveying belt and a 34-power supply.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.

Referring to fig. 1 to 8, the invention provides an automatic control gripping device of an industrial robot, which is used for transferring an article 1, and comprises a rotary lifting assembly, a lifting assembly and a gripping assembly, wherein the rotary lifting assembly comprises a rotary part and a lifting part connected to the rotary part, and a connecting frame 2 is fixedly connected to the movable end of the lifting part; the two clamping pieces are positioned on two sides of the article 1 in the length direction and are connected to the connecting frame 2 in a sliding manner, the two clamping ends of the clamping pieces are positioned on two sides of the article 1 in the width direction through the opposite movement directions of the driving pieces, the connecting frame 2 ascends, and the distance between the two clamping ends is reduced and is contacted with the article 1; the supporting pieces are positioned below the clamping pieces and are arranged in one-to-one correspondence with the clamping pieces, the connecting frames 2 descend, the supporting pieces support the clamping ends, and the distance between the two clamping ends is increased to be separated from the article 1; the electronic measuring piece is fixed on the connecting frame 2 and corresponds to the top end of the article 1, the electronic measuring piece is used for measuring the length of the article 1, and the electronic measuring piece is electrically connected with the driving piece.

When the article 1 is transported, firstly, detect the article length through the electron measuring part and feed back to the driving part, the driving part works, drive two clamping pieces and be close to each other, make the both ends of every clamping piece all be located article 1's width direction both sides, then lifting part work rises, drive link 2 and rise, link 2 drives the in-process that both ends rise, the distance between both ends reduces, and carry out the centre gripping to article 1 width direction both sides, utilize article 1 dead weight, guarantee that it can follow link 2 and remove, after finishing article 1 lifting, the rotating member works, drive lifting part, link 2, article 1 is rotatory and remove to the preset position after, the lifting part descends and descends article 1, when the support piece on lifting part and the preset position contacts, both ends keep away from each other and relieve the centre gripping to article 1, simultaneously, two clamping pieces reset through the driving part, make article 1 can be carried and leave, after waiting to carry, rotatory lifting assembly resets, simultaneously, two clamping pieces are supported through another support piece after reset, the distance between two clamping ends is big, the article 1 is held conveniently.

The article 1 may be a package, a package box containing a product, or a workpiece with a flat and regular surface.

Wherein the article 1 should have a certain hardness to avoid damage to the contact of the gripping end with the article 1.

Further optimizing scheme, refer to fig. 2, 3, two clamping ends of holder are first splint 3 and second splint 4 respectively, and first splint 3 is located the one side that link 2 was kept away from to second splint 4, and first splint 3 lateral wall articulates has two connecting plates 5, and two connecting plates 5 set up relatively from top to bottom, and the middle part position of two connecting plates 5 articulates with second splint 4 lateral wall, and the end of two connecting plates 5 articulates respectively has fixed plate 6, and fixed plate 6 top is connected with the driving piece transmission.

It can be understood that the driving member drives the two fixing plates 6 to be close to each other and away from each other, so that the two groups of the first clamping plates 3 and the second clamping plates 4 can be close to each other or away from each other, meanwhile, the tail ends of the two connecting plates 5 are respectively hinged to the bottom and the middle of the fixing plates 6, when the fixing plates 6 are lifted, under the action of the two connecting plates 5, the first clamping plates 3 drop due to dead weight, the distance between the first clamping plates 3 and the second clamping plates 4 is reduced, clamping of the article 1 is completed, meanwhile, when the article is lowered, the height of the first clamping plates 3 is kept unchanged under the action of the supporting member, the distance between the first clamping plates 3 and the second clamping plates 4 is increased, and clamping of the article 1 is relieved.

In addition, with this structural arrangement, even if the width of the article 1 is slightly changed, the first clamping plate 3 and the second clamping plate 4 can adapt to the dimensional change in real time under the cooperation of the connecting plates 5, and still the clamping and transferring of the article 1 can be realized.

In a further preferred embodiment, contact patterns 7 are provided on the side walls of the first clamping plate 3 and the second clamping plate 4, which are close to each other, and the first clamping plate 3 and the second clamping plate 4 are in surface contact with the object 1 through the contact patterns 7. The purpose of the contact pattern 7 is to increase the friction between the first clamping plate 3 and the second clamping plate 4 and the object 1, facilitating the transfer thereof.

Further optimizing scheme, referring to fig. 4, 5 and 6, the rotating member comprises a supporting table 8, the bottom end of the supporting table 8 is fixedly connected with a first driving motor 9, the output end of the first driving motor 9 is fixedly connected with a rotating table 10, the rotating table 10 is located at the top end of the supporting table 8 and is rotationally connected with the supporting table 8, the lifting member is a first telescopic cylinder 11 fixedly connected with the top end of the rotating table 10, and the movable end of the first telescopic cylinder 11 is fixedly connected with the bottom end of the connecting frame 2 through a frame plate 12.

It can be appreciated that the first driving motor 9 drives the rotary table 10 to rotate, so as to realize rotary displacement when transferring the article 1, the first telescopic cylinder 11 can lift the article 1 from the initial conveying device and separate the article 1, and on the other hand, in the process of lifting the article 1, the clamping of the first clamping plate 3 and the second clamping plate 4 to the article 1 is realized, namely, compared with the prior art, the clamping of the article 1 is firstly carried out and then the lifting is carried out.

Further optimizing scheme, referring to fig. 6, spout 13 has been seted up on link 2 top, the driving piece is including setting up rotatory screw rod 14 in spout 13, rotatory screw rod 14 both ends are connected with link 2 rotation, be provided with two sliders 15 in the spout 13, rotatory screw rod 14 runs through two sliders 15 and with two sliders 15 threaded connection, spout 13 diapire has been seted up logical groove 16, logical groove 16 and slider 15 bottom rigid coupling are passed respectively on two fixed plate 6 tops, link 2 lateral wall rigid coupling has second driving motor 17, second driving motor 17 output and rotatory screw rod 14 rigid coupling.

The sliding groove 13 is used for limiting the two sliding blocks 15, so that the sliding blocks 15 can only move in the sliding groove 13 and cannot rotate, the rotating screw 14 is driven to rotate under the action of the second driving motor 17, the two sliding blocks 15 are pushed to be close to or far away from each other, and then the two fixing plates 6 are driven to be close to or far away from each other.

When the two clamping pieces are in a reset state, the distance between the two clamping pieces is the largest, and the distance between the two clamping pieces is reduced according to feedback of the electronic measuring piece.

With reference to fig. 7 and 8, the support member comprises a fixed frame 18 with a fixed position, a magnetic table 19 is fixedly connected to the top end of the fixed frame 18, an electromagnet 20 is fixedly connected to the side wall of the magnetic table 19, which is close to the article 1, an elastic connecting member is connected to the magnetic table 19, a support platform 21 is fixedly connected to one end of the elastic connecting member, which is close to the article 1, the top end of the support platform 21 is in contact with the bottom end of the first clamping plate 3, and an iron sheet 22 matched with the electromagnet 20 is fixedly connected to the side wall of the support platform 21, which is close to the magnetic table 19.

It will be appreciated that the fixed frame 18 is of a fixed structure for supporting the magnetic table 19, and that the electromagnet 20 and the iron plate 22 and the elastic connection are provided in order to allow the first clamping plate 3 to be supported by the support platform 21 without affecting the normal clamping of the article 1. The use mode of the device is that in the process of conveying the article 1, the elastic connecting piece pushes the supporting platform 21 to enable the supporting platform 21 to be located below the first clamping plate 3 to support the first clamping plate 3, after the length measurement of the article 1 is finished, the supporting platform is fed back to the second driving motor 17 and drives the two clamping pieces to move towards the direction of the article 1, at the moment, the bottom end of the first clamping plate 3 is still located at the top end of the supporting platform 21 and slides with the top end of the supporting platform 21, after the first clamping plate 3 moves to a preset position, the electromagnet 20 is electrified to enable the electromagnet to attract the iron sheet 22 and drive the supporting platform 21 to move, the supporting platform 21 does not support the first clamping plate 3 any more, the first clamping plate 3 falls down under the dead weight effect and is attached to the surface of the article 1, and then the article 1 is clamped through the lifting of the fixing plate 6. After the article 1 is lifted and transported, the electromagnet 20 is powered off, so that the supporting platform 21 is reset under the action of the elastic connecting piece, and the next operation is convenient.

Further, a power source 34 is fixedly connected to the magnetic table 19 and is used for supplying power to the electromagnet 20.

Further optimizing scheme, the elastic connecting piece includes a connecting rod 23, connecting rod 23 runs through magnetic table 19 and with magnetic table 19 sliding connection, the one end and the lateral wall rigid coupling of supporting platform 21 of connecting rod 23, one side rigid coupling that supporting platform 21 was kept away from to magnetic table 19 has base plate 24, base plate 24 top sliding connection has movable plate 25, the other end and the movable plate 25 rigid coupling of connecting rod 23, the cover is equipped with reset spring 26 on the connecting rod 23, reset spring 26 is located between magnetic table 19 and the movable plate 25, and reset spring 26 both ends respectively with magnetic table 19 and movable plate 25 rigid coupling.

The connecting rod 23 plays a connection limiting role, when the electromagnet 20 is in contact with the iron sheet 22, the supporting platform 21 pushes the moving plate 25 to move away from the magnetic table 19 through the connecting rod 23, so that the reset spring 26 is stretched, and when the electromagnet 20 is powered off, the reset spring 26 is restored and the supporting platform 21 is reset.

Further optimizing scheme, the electronic measurement piece includes the flexible cylinder 27 of second, flexible cylinder 27 of second is fixed and is close to the lateral wall of article 1 at link 2, flexible cylinder 27 expansion end rigid coupling of second has displacement sensor 28, flexible cylinder 27 expansion end of second has a distance sensor 30 through branch 29 rigid coupling, distance sensor 30 is located article 1 top and corresponds with article 1 top surface, the rigid coupling has controller 31 on the link 2, distance sensor 30 and displacement sensor 28 and controller 31 electric connection, controller 31 and second driving motor 17 electric connection.

Specifically, the displacement sensor 28 is used for monitoring displacement of the movable end of the second telescopic cylinder 27, and the transmitting end of the distance sensor 30 corresponds to the surface of the article 1, which is used in a manner that the distance sensor 30 moves from one side of the article 1 to the other side under the action of the second telescopic cylinder 27, and because the article 1 has a certain height, when the height of the article 1 is suddenly changed, the distance sensor 30 can monitor and feed back to the controller 31, and the controller 31 determines the displacement distance of the displacement sensor 28 when the height is not suddenly changed, namely, the length of the article 1 can be measured, and meanwhile, the controller 31 feeds back to the second driving motor 17 to enable the two clamping pieces to work and drive the two clamping pieces to move for a certain distance.

Meanwhile, the control end of the electromagnet 20 can be connected with the controller 31, and start and stop can be fed back and realized through the controller 31.

In the above arrangement, the controller 31 is a PLC control module, and the above functions can be implemented by programming, and the technology is the prior art and will not be described in detail herein.

Alternatively, the article 1 may be detected in other ways, for example using a laser rangefinder or the like.

It should be noted that the distance between the two clamping members should be slightly greater than the length of the article 1 to ensure proper clamping thereof.

In a further preferred embodiment, the support table 8 is located between the first conveyor belt 32 and the second conveyor belt 33, and the two clamping members cooperate to transfer the articles 1 from the first conveyor belt 32 to the second conveyor belt 33, and the fixing frame 18 is fixed on the side wall of the first conveyor belt 32.

It will be appreciated that the fixing frame 18 is secured to the first conveyor belt 32 so as to be supported when transferring the articles 1 from the first conveyor belt 32 to the second conveyor belt 33.

In addition, in order to facilitate placement of the articles 1, a support (not shown in the drawings) may be provided on the second conveyor belt 33 to facilitate separation of the first clamping plate 3 from the second clamping plate 4.

The foregoing is merely a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An automatic control grabbing device of industrial robot for transport article (1), its characterized in that: comprising the steps of (a) a step of,

the rotary lifting assembly comprises a rotary piece and a lifting piece connected to the rotary piece, and a connecting frame (2) is fixedly connected to the movable end of the lifting piece;

the two clamping pieces are positioned on two sides of the length direction of the article (1) and are connected to the connecting frame (2) in a sliding manner, the two clamping pieces are opposite in movement direction through the driving piece, the two clamping ends of the clamping pieces are positioned on two sides of the width direction of the article (1), the connecting frame (2) is lifted, and the distance between the two clamping ends is reduced and is in contact with the article (1);

the supporting pieces are positioned below the clamping pieces and are arranged in one-to-one correspondence with the clamping pieces, the connecting frames (2) descend, the supporting pieces support the clamping ends, and the distance between the two clamping ends is increased to be separated from the article (1);

the electronic measuring piece is fixed on the connecting frame (2) and corresponds to the top end of the article (1), and is used for measuring the length of the article (1), and is electrically connected with the driving piece.

2. The automatic control gripping device of an industrial robot according to claim 1, wherein: two clamping ends of the clamping piece are respectively a first clamping plate (3) and a second clamping plate (4), the first clamping plate (3) is located the second clamping plate (4) is far away from one side of the connecting frame (2), two connecting plates (5) are hinged to the outer side wall of the first clamping plate (3), the two connecting plates (5) are oppositely arranged up and down, the middle position of each connecting plate (5) is hinged to the outer side wall of the second clamping plate (4), the two tail ends of the connecting plates (5) are respectively hinged to a fixing plate (6), and the top ends of the fixing plates (6) are connected with the driving piece in a transmission mode.

3. The automatic control gripping device of an industrial robot according to claim 2, wherein: the side walls of the first clamping plate (3) and the second clamping plate (4) which are close to each other are provided with contact patterns (7), and the first clamping plate (3) and the second clamping plate (4) are in surface contact with the object (1) through the contact patterns (7).

4. The automatic control gripping device of an industrial robot according to claim 2, wherein: the rotary part comprises a supporting table (8), a first driving motor (9) is fixedly connected to the bottom end of the supporting table (8), a rotary table (10) is fixedly connected to the output end of the first driving motor (9), the rotary table (10) is located at the top end of the supporting table (8) and is rotationally connected with the supporting table (8), the lifting part is a first telescopic cylinder (11) fixedly connected to the top end of the rotary table (10), and the movable end of the first telescopic cylinder (11) is fixedly connected with the bottom end of the connecting frame (2) through a frame plate (12).

5. The automatic control gripping device of an industrial robot according to claim 2, wherein: the utility model discloses a sliding chute (13) has been seted up on link (2) top, the driving piece is including setting up rotatory screw rod (14) in spout (13), rotatory screw rod (14) both ends with link (2) rotate and connect, be provided with two sliders (15) in spout (13), rotatory screw rod (14) run through two slider (15) and with two slider (15) threaded connection, logical groove (16) has been seted up to spout (13) diapire, two fixed plate (6) top is passed respectively logical groove (16) with slider (15) bottom rigid coupling, link (2) lateral wall rigid coupling has second driving motor (17), second driving motor (17) output with rotatory screw rod (14) rigid coupling.

6. The automatic control gripping device of an industrial robot according to claim 4, wherein: the support piece comprises a fixed frame (18) with a fixed position, a magnetic table (19) is fixedly connected to the top end of the fixed frame (18), an electromagnet (20) is fixedly connected to the side wall of the article (1) in a manner that the magnetic table (19) is close to the magnetic table, an elastic connecting piece is connected to the magnetic table (19), a support platform (21) is fixedly connected to one end of the article (1) in a manner that the elastic connecting piece is close to the article, the top end of the support platform (21) is in contact with the bottom end of the first clamping plate (3), and an iron sheet (22) matched with the electromagnet (20) is fixedly connected to the side wall of the magnetic table (19) in a manner that the support platform (21) is close to the magnetic table.

7. The automatic control gripping device of an industrial robot according to claim 6, wherein: the elastic connecting piece comprises a connecting rod (23), the connecting rod (23) penetrates through the magnetic table (19) and is in sliding connection with the magnetic table (19), one end of the connecting rod (23) is fixedly connected with the side wall of the supporting platform (21), the magnetic table (19) is far away from one side of the supporting platform (21) and is fixedly connected with a base plate (24), the top end of the base plate (24) is in sliding connection with a movable plate (25), the other end of the connecting rod (23) is fixedly connected with the movable plate (25), a reset spring (26) is sleeved on the connecting rod (23), the reset spring (26) is located between the magnetic table (19) and the movable plate (25), and two ends of the reset spring (26) are fixedly connected with the magnetic table (19) and the movable plate (25) respectively.

8. The automatic control gripping device of an industrial robot according to claim 5, wherein: the electronic measuring part comprises a second telescopic cylinder (27), the second telescopic cylinder (27) is fixed on the connecting frame (2) and is close to the side wall of the article (1), a displacement sensor (28) is fixedly connected to the movable end of the second telescopic cylinder (27), a distance sensor (30) is fixedly connected to the movable end of the second telescopic cylinder (27) through a supporting rod (29), the distance sensor (30) is located above the article (1) and corresponds to the top surface of the article (1), a controller (31) is fixedly connected to the connecting frame (2), the distance sensor (30) and the displacement sensor (28) are electrically connected with the controller (31), and the controller (31) is electrically connected with the second driving motor (17).

9. The automatic control gripping device of an industrial robot according to claim 6, wherein: the supporting table (8) is located between the first conveying belt (32) and the second conveying belt (33), the two clamping pieces are matched to transfer the article (1) from the first conveying belt (32) to the second conveying belt (33), and the fixing frame (18) is fixed on the side wall of the first conveying belt (32).