CN216638137U - High-adaptability gripping device and robot automatic feeding system - Google Patents

Abstract

The utility model provides a high-adaptability gripping device and an automatic robot feeding system, wherein the gripping device comprises a gripping mechanism and a connecting mechanism, wherein: one end of the connecting mechanism is connected to the front end of the mechanical arm, and the other end of the connecting mechanism is fixedly connected to the grabbing mechanism, so that the grabbing mechanism can move along with the mechanical arm; the grabbing mechanism comprises a fixed part and a plurality of suction parts, the suction parts are connected to the fixed part, suction pieces are arranged at the front ends of the suction parts, and the suction pieces can move back and forth relative to the fixed part; the suction part can adjust the extending position of the suction piece according to the surface shape or the position of the obstacle when the target object is grabbed by the grabbing mechanism so as to fit the surface shape of the target object or avoid the obstacle. A plurality of grabbing pieces of the grabbing device can be independently adjusted according to the surface shape of the target object and the position of the barrier, so that the barrier is effectively avoided and the surface shape of the target object is adapted, and the grabbing success rate of the grabbing device is effectively improved.

Description

High-adaptability gripping device and robot automatic feeding system

Technical Field

The utility model relates to the technical field of assembly line automatic feeding, in particular to a high-adaptability gripping device and a robot automatic feeding system.

Background

Structured light cameras are generally considered as techniques for restoring the three-dimensional shape of an object from three-dimensional cues (e.g., parallax between two-dimensional photographs, brightness, texture, contour, and focus) in a two-dimensional image, and specifically: the structured light is actively projected on the surface of the object to be measured and modulated by the shape of the object to be measured, the modulated structured light is collected by a camera system and is transmitted to a computer, and three-dimensional surface shape data of the object to be measured can be obtained through complex calculation by analyzing deformation (or flight time and the like) parameters of the structured light.

For target objects with high surface roughness, such as cartons, boards and the like, three-dimensional information and position information of the target objects can be well obtained by using a structured light camera; when a target object with low surface roughness is irradiated by light, specular reflection (commonly called light spots or glare) is easily generated on the surface of the target object, and when a camera measures, positions or acquires the surface shape of the object, complete point clouds of a product cannot be obtained easily because the camera lens cannot receive light rays or incident light rays are too concentrated, and finally actual information of the target object cannot be determined. That is, after the industrial camera acquires the image with the light spot, even though point cloud matching or deep learning is performed, the accurate position of the target object cannot be accurately located, so that the coordinate information of the target object cannot be sent to the robot, and finally feeding failure is caused. Meanwhile, when a plurality of target objects are stacked and placed, the middle of the target objects is provided with a cushion for buffering, and if obstacles such as cushion blocks exist in a grabbing area of the grabbing device, the grabbing success rate of the target objects is affected.

SUMMERY OF THE UTILITY MODEL

The utility model provides a high-adaptability gripping device, which is used for effectively adapting to the surface shape of a target object and avoiding obstacles so as to improve the gripping success rate, and comprises a gripping mechanism and a connecting mechanism, wherein:

one end of the connecting mechanism is connected to the front end of the mechanical arm, and the other end of the connecting mechanism is fixedly connected to the grabbing mechanism, so that the grabbing mechanism can move along with the mechanical arm;

the grabbing mechanism comprises a fixed part and a plurality of suction parts, the suction parts are connected to the fixed part, a suction piece is arranged at the front end of each suction part, and the suction piece can move back and forth relative to the fixed part; the suction part can adjust the extending position of the suction piece according to the surface shape of the target object when the grabbing mechanism grabs the target object so as to fit the surface shape of the target object.

In specific implementation, the suction part comprises a suction piece and an adjusting piece, wherein the adjusting piece is fixedly connected to the fixing part and used for driving the suction piece to move to and fro relative to the fixing part.

In specific implementation, the adjusting piece is an electric cylinder adjusting piece, the electric cylinder adjusting piece comprises a motor and a lead screw, one end of the lead screw is connected with the sucking piece, and the motor can drive the lead screw to move so as to drive the sucking piece to move in a reciprocating manner relative to the fixing part.

In a specific implementation, the suction member is a vacuum chuck.

In a specific implementation, the vacuum chuck is a corrugated chuck.

In a specific implementation, the vacuum chuck is a self-closing chuck.

In specific implementation, the suction piece is an electromagnet suction piece.

In specific implementation, the fixed part is a rectangular fixing plate, the connecting mechanism is vertically connected to the central position of the rectangular fixing plate, and the plurality of suction parts are arranged along the rectangular fixing plate in a matrix manner.

In specific implementation, the connecting mechanism comprises a first stand column, a second stand column and a connecting plate, one end of the first stand column is connected to the mechanical arm, the other end of the first stand column is vertically connected to one end of the connecting plate, one end of the second stand column is vertically connected to the other end of the connecting plate, and the other end of the second stand column is connected to the grabbing mechanism.

The utility model also provides a robot automatic feeding system which is used for effectively positioning and reconstructing the shape of an object with a reflective surface, so that the grabbing success rate of the target object is further improved.

In specific implementation, the robot automatic feeding system comprises two industrial cameras, and the two industrial cameras are respectively and electrically communicated with the mechanical arm so as to send the acquired image information of the target object to the mechanical arm; the mechanical arm is electrically communicated with the high-adaptability gripping device so as to control the movement of each suction part of the high-adaptability gripping device according to the acquired image information of the target object, and further adapt to the surface shape of the target object.

In specific implementation, the two industrial cameras are arranged above the shooting area through camera supports and movably connected with the camera supports, and each industrial camera can rotate so as to adjust the shooting angle according to the placing position of a target object.

In a specific implementation, the mechanical arm is a six-axis mechanical arm.

In the high-adaptability gripping device and the robot automatic feeding system provided by the utility model, the high-adaptability gripping device comprises a gripping mechanism and a connecting mechanism, wherein: one end of the connecting mechanism is connected to the front end of the mechanical arm, and the other end of the connecting mechanism is fixedly connected to the grabbing mechanism, so that the grabbing mechanism can move along with the mechanical arm; the grabbing mechanism comprises a fixed part and a plurality of suction parts, the suction parts are connected to the fixed part, suction pieces are arranged at the front ends of the suction parts, and the suction pieces can move back and forth relative to the fixed part; the suction part can adjust the extending position of the suction piece according to the surface shape or the position of the obstacle when the target object is grabbed by the grabbing mechanism so as to fit the surface shape of the target object or avoid the obstacle. A plurality of grabbing pieces of the grabbing device can be independently adjusted according to the surface shape of the target object and the position of the barrier, so that the barrier is effectively avoided and the surface shape of the target object is adapted, and the grabbing success rate of the grabbing device is effectively improved. The robot automatic feeding system can effectively avoid light spots generated on the surface of a target object through the arrangement of a plurality of industrial cameras, the light spots fall outside the target object through the splicing of images, and then the object with the easily reflected light on the surface is effectively positioned and reconstructed in shape.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts. In the drawings:

FIG. 1 is a schematic diagram of a highly adaptable gripping device according to one embodiment of the present invention;

FIG. 2 is a side view of a highly adaptable gripping device according to one embodiment of the present invention;

FIG. 3 is a schematic diagram of a movement path of a suction member according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of the structure of a target object, a spacer and a loading trolley according to an embodiment of the present invention;

fig. 5 is a schematic diagram of the overall structure of the high-adaptability gripping device and the robot feeding system according to an embodiment of the utility model.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

As shown in fig. 1, fig. 2, fig. 3 and fig. 5, the present invention provides a high adaptability gripping device 100 for effectively adapting to the surface shape of a target object 300 and avoiding obstacles, so as to improve the success rate of gripping, wherein the high adaptability gripping device 100 includes a gripping mechanism 110 and a connecting mechanism 120, wherein:

one end of the connecting mechanism 120 is connected to the front end of the robot arm 200, and the other end is fixedly connected to the gripping mechanism 110, so that the gripping mechanism 110 can move along with the robot arm 200;

the grasping mechanism 110 includes a fixed portion 111 and a plurality of suction portions 112, the plurality of suction portions 112 are all connected to the fixed portion 111, a suction member 1122 is provided at a front end of each suction portion 112, and the suction member 1122 is capable of reciprocating relative to the fixed portion 111; the suction unit 112 may adjust the protruding position of the suction member 1122 according to the surface shape of the target object 300 so as to conform to the surface shape of the target object 300 when the grasping mechanism 110 grasps the target object 300.

In specific implementations, the suction portion 112 can be provided in various embodiments. For example, as shown in fig. 1, fig. 2, and fig. 3, the suction portion 112 may include a suction member 1122 and an adjusting member 1121, and the adjusting member 1121 is fixedly connected to the fixing portion 111 for driving the suction member 1122 to reciprocate relative to the fixing portion 111. Further, in consideration of the fact that an electric cylinder is convenient to adjust and control, has high stability and has high precision, the adjusting member 1121 is an electric cylinder adjusting member 1121, the electric cylinder adjusting member 1121 includes a motor and a lead screw, one end of the lead screw is connected to the suction member 1122, and the motor can drive the lead screw to move, so as to drive the suction member 1122 to reciprocate relative to the fixing portion 111. During setting, one end of the motor can be fixedly connected to the fixing portion 111, a lead screw extends out of the front end of the motor, and the lead screw can be driven by the motor to adjust the extending length, so that the leading suction member 1122 is driven to move along with the lead screw. Each motor can be controlled individually, i.e., the extended length of the lead screw can be adjusted individually, so that obstacles in a certain area of a cargo can be effectively avoided without affecting other suction members 1122. Further, as shown in fig. 3, when the suction member 1122 needs to be operated, it can be extended, i.e. at an operating position away from the fixing portion 111, and when the suction member 1122 is not needed to be operated, the suction member 1122 can be retracted by the lead screw, i.e. at a waiting position close to the fixing portion 111.

In particular implementations, the suction member 1122 can be selected in a variety of embodiments. For example, the suction member 1122 may be a vacuum chuck because the target object 300 is generally made of a material with a smooth surface, such as glass or metal, and the material is loaded by vacuum suction to generate a superior vacuum suction effect. Vacuum chuck can pass through the trachea with the vacuum draw-out device that sets up in grabbing device 100 outside and link to each other, thereby make vacuum chuck can realize effectively absorbing, and simultaneously, trachea and vacuum chuck are connected one side and can be set up the solenoid valve, the solenoid valve can open the gas circuit after grabbing device 100 removes to target object 300 top, thereby make vacuum chuck can effectively absorb target object 300, and carry target object 300 to on the workstation 700 of low reaches, after the assigned position of target object 300 at workstation 700 of low reaches, the solenoid valve alright with closing the gas circuit, thereby place target object 300 on workstation 700 of low reaches, accomplish the work of material loading.

In specific implementation, the vacuum chuck can be selected from various embodiments. For example, the vacuum chuck may be configured as a corrugated chuck. This fold sucking disc can compress vertical space, and when certain or some error appears because of the reconstruction of target object 300 in a plurality of fold sucking discs, this certain or some fold sucking disc can compress on vertical, and then can make the front end of other fold sucking discs can reach the target object 300 surface to guaranteed the absorption to target object 300, avoided the target object 300 to drop at the absorption in-process.

In an implementation, the vacuum chuck may be a self-closing type chuck, so as to avoid the overall absorption capacity of the gripping portion from being reduced due to air leakage when some vacuum chucks cannot be absorbed on the surface of the target object 300. When the plurality of self-closing suction cups which are independent of each other are arranged on the surface of the target object 300, the suction force can be effectively provided, and if one or more suction cups are arranged above the obstacle, the whole vacuum efficiency is not influenced by air leakage.

In a specific implementation, when the target object 300 is made of a metal material, the suction element 1122 may also be a magnet suction element, and further, for effective suction and loading, the suction element 1122 may be an electromagnet suction element. The electromagnetic suckers can be powered on after the grasping device 100 moves above the target 300, so as to effectively suck the target 300 and carry the target 300 to the downstream workstation 700, and when the target 300 is at a designated position of the downstream workstation 700, the electromagnetic suckers 1122 can be powered off, so as to place the target 300 on the downstream workstation 700, thereby completing the loading operation.

In specific implementations, the fixing portion 111 can be provided in various embodiments. For example, as shown in fig. 1, the fixing portion 111 may be a rectangular fixing plate, the connecting mechanism 120 is vertically connected to a central position of the rectangular fixing plate, and the plurality of suction portions 112 are arranged in a matrix along the rectangular fixing plate. Further, the fixing portion 111 may be provided with ten suction portions 112, which are arranged in three rows, four suction portions are arranged on two sides, and one suction portion 112 is arranged on two sides of the middle row of the connecting mechanism 120. For another example, the fixing portion 111 may also be a circular fixing plate, the connecting mechanism 120 is vertically connected to a center position of the circular fixing plate, and the plurality of suction portions 112 are circumferentially arranged around the connecting mechanism 120.

In particular implementations, the attachment mechanism 120 may be provided in a variety of embodiments. For example, as shown in fig. 1, the connecting mechanism 120 may include a first upright 121, a second upright 122 and a connecting plate 123, wherein one end of the first upright 121 is connected to the robot arm 200, the other end is vertically connected to one end of the connecting plate 123, one end of the second upright 122 is vertically connected to the other end of the connecting plate 123, and the other end is connected to the grasping mechanism 110. Due to the arrangement of the connecting structure, the grabbing mechanism 110 can be extended out to a certain extent, so that a larger target object 300 can be grabbed, and the target object 300 is not scratched against the body of the mechanical arm 200 in the grabbing process, so that the mechanical arm 200 or the target object 300 is damaged.

As shown in fig. 5, the present invention further provides an automatic robot feeding system, which is used to effectively position and reconstruct the shape of an object with a reflective surface, so as to further improve the grabbing success rate of the target object 300, and the automatic robot feeding system includes the high-adaptability grabbing device 100 and a plurality of industrial cameras 400.

In a specific implementation, as shown in fig. 5, the robot automatic loading system includes two industrial cameras 400, and the two industrial cameras 400 are respectively electrically connected to the robot arm 200 to send the acquired image information of the target object 300 to the robot arm 200; the robot arm 200 is electrically connected to the high-adaptability gripping device 100 to control the suction portions 112 of the high-adaptability gripping device 100 to move according to the acquired image information of the target object 300, so as to adapt to the surface shape of the target object 300.

In a specific implementation, the two industrial cameras 400 are disposed above the shooting area through the camera support 500 and movably connected to the camera support 500, and each industrial camera 400 can rotate to adjust the shooting angle according to the placement position of the target object 300.

In a specific implementation, as shown in fig. 4 and 5, when the system is set up, the camera support and the robot arm may both be set at the downstream workstation 700 side, the robot arm 200 may drive the gripping device to move between the camera support 500 and the downstream workstation 700 without any obstacle, when a plurality of target objects 400 are stacked, the middle of the target objects 600 may be set with the spacer 310, and the loader 600 is moved to a position below the camera support 500, that is, within the shooting range of the industrial camera 400, so that the industrial camera 400 can conveniently acquire image information of the target objects 300 and the spacer 310, and the robot arm 200 may grip and feed the target objects 300 according to the pose of the industrial camera 400. For the mat 310, the target object 300 may be tilted at an angle after being grabbed, so that the mat 310 slides freely or is directly removed in a downstream process.

In particular, the robotic arm 200 of the system may be selected for use in the set-up of the system in a variety of embodiments. For example, the robot arm 200 may be a four-axis robot arm. For another example, a six-axis robot has two more joints than a four-axis robot, and thus has more "freedom of movement". The first joint of the six-axis mechanical arm can freely rotate on the horizontal plane like a four-axis mechanical arm, the latter two joints can move on the vertical plane, namely the six-axis mechanical arm has an 'arm' and two 'wrist' joints, so that the six-axis mechanical arm has the capabilities similar to the human arm and wrist, more joints of the six-axis mechanical arm mean that the six-axis mechanical arm can take up parts in any direction on the horizontal plane, and the six-axis mechanical arm can also perform a plurality of operations which can be completed by skilled workers, can realize the grabbing at any position and angle in the moving range, and has wide application range, so the mechanical arm 200 can be a six-axis mechanical arm.

In summary, in the high-adaptability gripping apparatus and the automatic robot feeding system provided by the present invention, the high-adaptability gripping apparatus 100 includes a gripping mechanism 110 and a connecting mechanism 120, wherein: one end of the connecting mechanism 120 is connected to the front end of the robot arm 200, and the other end is fixedly connected to the grasping mechanism 110, so that the grasping mechanism 110 can move along with the robot arm 200; the grasping mechanism 110 includes a fixed portion 111 and a plurality of suction portions 112, the plurality of suction portions 112 are all connected to the fixed portion 111, a suction member 1122 is provided at the front end of each suction portion 112, and the suction member 1122 can reciprocate relative to the fixed portion 111; the suction unit 112 may adjust the protruding position of the suction member 1122 according to the surface shape of the target object 300 or the position of the obstacle so as to conform to the surface shape of the target object 300 or to avoid the obstacle when the grasping mechanism 110 grasps the target object 300. The plurality of grabbing pieces of the grabbing device 100 can be independently adjusted according to the surface shape of the target object 300 and the position of the obstacle, so that the obstacle is effectively avoided and the surface shape of the target object 300 is adapted to, and the grabbing success rate of the grabbing device 100 is effectively improved. The robot automatic feeding system can effectively avoid light spots generated on the surface of the target object 300 through the arrangement of the industrial cameras 400, the light spots fall outside the target object 300 through image splicing, and then the object with the easily-reflected surface is effectively positioned and reconstructed in shape. Therefore, the position and the surface information of the target object 300 and the cushion block 310 can be distinguished, and the grabbing and feeding functions of the light reflecting piece can be easily realized by combining the plurality of independently controlled suction parts 112.

It is to be understood that the terminology used in the embodiments of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used in the examples of the utility model and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "the plural" typically includes at least two, but does not exclude the presence of at least one.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present invention to describe certain elements, these elements should not be limited by these terms. These terms are only used to distinguish one component from another. For example, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element, without departing from the scope of embodiments of the present invention.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a monitoring", depending on the context. Similarly, the phrase "if it is determined" or "if it is monitored (a stated condition or event)" may be interpreted as "when determining" or "in response to determining" or "when monitoring (a stated condition or event)" or "in response to monitoring (a stated condition or event)", depending on the context.

In the embodiments of the present application, "substantially equal to", "substantially perpendicular", "substantially symmetrical", and the like mean that the macroscopic size or relative positional relationship between the two features referred to is very close to the stated relationship. However, it is clear to those skilled in the art that the positional relationship of the object is difficult to be exactly constrained at small scale or even at microscopic angles due to the existence of objective factors such as errors, tolerances, etc. Therefore, even if a slight point error exists in the size and position relationship between the two, the technical effect of the present application is not greatly affected.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

In the various embodiments described above, while, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated by those of ordinary skill in the art that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one of ordinary skill in the art.

Those of skill in the art would understand that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits (bits), symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

Those of skill would further appreciate that the various illustrative logical blocks, modules, units, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, units, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

Finally, it should be noted that those skilled in the art will appreciate that embodiments of the present invention set forth numerous technical details for the purpose of providing a better understanding of the present application. However, the technical solutions claimed in the claims of the present application can be basically implemented without these technical details and various changes and modifications based on the above-described embodiments. Accordingly, in actual practice, various changes in form and detail may be made to the above-described embodiments without departing from the spirit and scope of the utility model.

Claims (13)

1. A high-adaptability gripping apparatus (100), characterized in that the high-adaptability gripping apparatus (100) comprises a gripping mechanism (110) and a connecting mechanism (120), wherein:

one end of the connecting mechanism (120) is connected to the front end of the mechanical arm (200), and the other end of the connecting mechanism is fixedly connected to the grabbing mechanism (110), so that the grabbing mechanism (110) can move along with the mechanical arm (200);

the grabbing mechanism (110) comprises a fixing part (111) and a plurality of suction parts (112), the suction parts (112) are connected to the fixing part (111), a suction piece (1122) is arranged at the front end of each suction part (112), and the suction piece (1122) can reciprocate relative to the fixing part (111); the suction unit (112) can adjust the protruding position of the suction member (1122) in accordance with the surface shape of the target object (300) so as to conform to the surface shape of the target object (300) when the grasping mechanism (110) grasps the target object (300).

2. The high-adaptability gripping device (100) according to claim 1, wherein the suction portion (112) comprises a suction member (1122) and an adjusting member (1121), and the adjusting member (1121) is fixedly connected to the fixing portion (111) for driving the suction member (1122) to reciprocate relative to the fixing portion (111).

3. The high-adaptability gripping device (100) according to claim 2, wherein the adjusting member (1121) is an electric cylinder adjusting member, the electric cylinder adjusting member comprises a motor and a lead screw, one end of the lead screw is connected to the suction member (1122), and the motor can drive the lead screw to move, so as to drive the suction member (1122) to reciprocate relative to the fixing portion (111).

4. The high-adaptability gripping device (100) according to claim 3, wherein the suction member (1122) is a vacuum cup.

5. The high-adaptability gripping device (100) according to claim 4, wherein the vacuum chuck is a corrugated chuck.

6. The high-adaptability gripping device (100) according to claim 4, wherein the vacuum chuck is a self-closing chuck.

7. The high-adaptability gripping device (100) according to claim 1, wherein the suction member (1122) is an electromagnet suction member.

8. The high-adaptability gripping device (100) according to claim 1, wherein the fixing portion (111) is a rectangular fixing plate, the connecting mechanism (120) is vertically connected to a central position of the rectangular fixing plate, and the plurality of suction portions (112) are arranged in a matrix along the rectangular fixing plate.

9. The high-adaptability gripping device (100) according to claim 1, wherein the connecting mechanism (120) comprises a first upright (121), a second upright (122) and a connecting plate (123), one end of the first upright (121) is connected to the mechanical arm (200), the other end is connected to one end of the connecting plate (123) perpendicularly, one end of the second upright (122) is connected to the other end of the connecting plate (123) perpendicularly, and the other end is connected to the gripping mechanism (110).

10. A robotic automatic feeding system, characterized in that it comprises a high-adaptability gripping device (100) according to any of claims 1 to 9 and a plurality of industrial cameras (400).

11. The robotic auto-loading system according to claim 10, characterized in that it comprises two of said industrial cameras (400), both of said industrial cameras (400) being in electrical communication with said robot arm (200) respectively, for sending acquired image information of the target object (300) to said robot arm (200); the mechanical arm (200) is electrically communicated with the high-adaptability gripping device (100) so as to control each suction part (112) of the high-adaptability gripping device (100) to move according to the acquired image information of the target object (300), and further adapt to the surface shape of the target object (300).

12. The robotic automatic feeding system according to claim 11, wherein two of said industrial cameras (400) are disposed above a photographing area through a camera bracket (500) and movably connected to said camera bracket (500), each of said industrial cameras (400) being rotatable to adjust a photographing angle according to a placement position of a target object (300).

13. The robotic auto-loading system according to claim 10, wherein the robotic arm (200) is a six-axis robotic arm.

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