Clamping performance control system and method for robot gripper

Abstract

The invention relates to a clamping performance regulation control system for a robot handgrip. The system comprises an information collection module, a calculation module, an instruction module and a steering engine control module, wherein the information collection module collects corner information and opening degree information of the robot handgrip as well as measured structural information of the robot handgrip, and inputs the information to the calculation module for operation; the instruction module converts a result calculated by the calculation module into an instruction that can be identified by the steering engine control module; and according to the instruction, the steering engine control module regulates and controls the clamping force and speed of the robot handgrip and realize online programming of the clamping force and speed. The system is reasonable in design and simple in structure, the clamping performance of the robot handgrip can be programmed online, whether a workpiece is grabbed successfully can be detected, and the requirement of intelligent manufacturing is met.

Description

technical field [0001] The invention relates to a technology in the field of robot control, in particular to a clamping performance control system and method for a robot gripper. Background technique [0002] With the advent of the era of Industry 4.0, a particularly important trend will be individualized mass production. In order to realize personalized production, the factory must have the ability to deal with the processing of various parts, so the reprogrammability of processing equipment is essential. Most of the robotic grippers that are widely used in factories as robots are facing the following shortcomings: (1) can only control the opening and closing; (2) the clamping force is adjustable offline but cannot be programmed online in real time, such as pneumatic grippers The clamping force of the gripper can be adjusted by manually adjusting the opening and closing of the valve offline, but it cannot be controlled in real time through computer programming; (3) The cla...

AI Technical Summary

Problems solved by technology

Most of the robotic grippers that are widely used in factories as robots are facing the following shortcomings: (1) can only control the opening and closing; (2) the clamping force is adjustable offline but cannot be programmed online in real time, such as pneumatic grippers The clamping force of the gripper can be adjusted by manually adjusting the opening and closing of the valve offline, but it cannot be controlled in real time through computer programming; (3) The clamping speed cannot be programmed online; (4) Without adding a force sensor, Does not have force perception, cannot detect whether the workpiece is successfully clamped

These deficiencies greatly limit the flexibility of the robot gripper application, and also bring unstable factors to the entire production line

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