Piezoresistive fiber array monitoring-based porous sucker device and working method thereof

Abstract

The invention relates to a multi-hole suction cup device based on piezoresistive fiber array monitoring and a working method of the multi-hole suction cup device. A multi-hole suction cup device based on piezoresistive fiber array monitoring comprises a shell, a claw disc is installed on the outer bottom wall face of the shell in a matched mode, a suction nozzle assembly is arranged on the claw disc and comprises a plurality of suction nozzles arranged in an array mode, and a vacuum source is installed in the shell in a matched mode. The output end of the vacuum source is independently connected with an air port of each suction nozzle through the air exhaust pipe set, so that the suction nozzle assembly sucks workpieces through negative pressure under the action of the vacuum source. The piezoresistive fiber assembly is installed in the claw disc in a matched mode, and the resistance value of the piezoresistive fiber assembly changes along with changes of external force, so that the stress form of the claw disc is fed back by monitoring the resistance value of the piezoresistive fiber assembly, and then the vacuum degree corresponding to the suction nozzle assembly is fed back. By arranging the piezoresistive fibers, the adsorption states of the suction nozzles can be monitored one by one through impedance changes of the piezoresistive fibers, and the monitoring accuracy is high.

Description

Technical Field

[0001] The present invention relates to the technical field of suction cup devices, and in particular to a porous suction cup device based on piezoresistive fiber array monitoring and a working method thereof. Background Art

[0002] As an end effector that can effectively grasp objects, suction cups have a wide range of practical applications in the engineering field. Improving the strength and stability of suction cup adsorption has always been the focus of suction cup product design iteration. Suction cups include single-disc vacuum suction cups and multi-hole vacuum suction cups. Among them, single-disc vacuum suction cups are mostly used to adsorb targets with relatively flat surfaces, and their compact structure is suitable for portable application scenarios. They are usually equipped with a pressure gauge to monitor the vacuum level. However, for targets with rough surfaces or complex shapes, multi-hole vacuum suction cups are often used for adsorption. In addition, in order to ensure the stability of the fixture and the safety of personnel and equipment during cutting, multi-hole vacuum suction cups need to be continuously evacuated during operation to ensure the adsorption strength.

[0003] In the prior art, the multi-hole vacuum chuck only monitors the vacuum of the negative pressure source to indirectly monitor the vacuum of each hole of the multi-hole vacuum chuck. However, this monitoring method is difficult to independently and effectively monitor the changes in the vacuum of each hole, and the monitoring accuracy is poor; at the same time, since multiple holes may share a negative pressure source, this monitoring method is difficult to timely and accurately feedback the blockage of each hole. Summary of the invention

[0004] In response to the shortcomings of the above-mentioned existing production technology, the applicant provides a porous suction cup device based on piezoresistive fiber array monitoring and a working method thereof. By implanting piezoresistive fibers around the suction nozzle in the silicone claw disk, the adsorption state of the suction nozzle can be monitored one by one through the impedance change of the piezoresistive fibers, and the monitoring accuracy is high.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A porous suction cup device based on piezoresistive fiber array monitoring comprises a hollow shell, a claw plate is mounted on the outer bottom wall of the shell, a suction nozzle assembly is arranged on the claw plate, the suction nozzle assembly comprises a plurality of suction nozzles arranged in an array, a vacuum source is mounted inside the shell, the output end of the vacuum source is independently connected to the air port of each suction nozzle through an air exhaust pipe group, so that the suction nozzle assembly sucks the workpiece through negative pressure under the action of the vacuum source;

[0007] The interior of the claw plate is cooperated with the installation of a piezoresistive fiber assembly, and the resistance value of the piezoresistive fiber assembly changes with the change of the external force applied, so that the force form of the claw plate is fed back by monitoring the resistance value of the piezoresistive fiber assembly, and then the corresponding vacuum degree of the suction nozzle assembly is fed back.

[0008] As a further improvement of the above technical solution:

[0009] The structure of the shell is as follows: it includes a shell, the interior of the shell is divided into a first chamber, a second chamber, and a third chamber in sequence by a plurality of partitions, a first connector is installed on the partition for separating the first chamber from the second chamber, and a second connector is installed on the partition for separating the second chamber from the third chamber;

[0010] A pressure relief port is provided on the shell wall surface corresponding to the third chamber, and a pressure relief valve is installed at the pressure relief port.

[0011] An electric control system is installed in the first chamber, and the electric control system is electrically connected to a vacuum source arranged in the second chamber through a first connector. The electric control system is electrically connected to the piezoresistive fiber assembly through the first connector and the second connector in sequence.

[0012] The electric control system comprises a circuit board, on which a main control chip and connection terminals are welded, and the electric control system is electrically connected to the lithium battery via the connection terminals.

[0013] The structure of the claw plate is as follows: it includes a plate body, and a plurality of through holes arranged in an array are opened on the end surface of the plate body, each through hole is conical, so that the bottom end surface of the plate body forms a protrusion arranged in an array, and a suction nozzle is formed at a single through hole.

[0014] The piezoresistive fiber assembly comprises a first piezoresistive fiber array and a second piezoresistive fiber array arranged in intervals from top to bottom;

[0015] The first piezoresistive fiber array includes a plurality of first transverse piezoresistive fibers arranged in parallel at equal intervals, and a plurality of first vertical piezoresistive fibers arranged in parallel at equal intervals, and a single first transverse piezoresistive fiber is perpendicular to a single first vertical piezoresistive fiber, so that first intersections arranged in an array are formed between the first transverse piezoresistive fibers and the first vertical piezoresistive fibers, and the first intersections correspond one-to-one to the centers of the through holes;

[0016] The second piezoresistive fiber array includes a plurality of second transverse piezoresistive fibers arranged in parallel at equal intervals, and a plurality of second vertical piezoresistive fibers arranged in parallel at equal intervals. A single second transverse piezoresistive fiber is perpendicular to a single second vertical piezoresistive fiber, so that second intersections arranged in an array are formed between the second transverse piezoresistive fibers and the second vertical piezoresistive fibers, and the second intersections correspond one-to-one to the centers of the protrusions.

[0017] The disc body is made of silicone rubber.

[0018] The vacuum source adopts a diaphragm pump.

[0019] The structure of the air exhaust pipe group is as follows: it includes a first diversion main pipe connected to the output end of the vacuum source, a plurality of first branch pipes are installed on the first diversion main pipe, the first branch pipes are connected to the air ports of the suction nozzle one by one, a second branch pipe is installed on the single first branch pipe, and the end of the second branch pipe is simultaneously connected to the second diversion main pipe.

[0020] A working method of a porous suction cup device based on piezoresistive fiber array monitoring comprises the following steps:

[0021] The first impedance threshold lower limit N1, the second impedance threshold lower limit N2, the first impedance threshold upper limit M1, and the second impedance threshold upper limit M2 are pre-set in the electric control system;

[0022] The impedance of the piezoresistive fiber assembly is monitored in real time by an electronic control system, thereby obtaining an impedance data set A of the first piezoresistive fiber array and an impedance data set B of the second piezoresistive fiber array respectively;

[0023] When in the startup state or standby state, the impedance values ​​in the impedance data set A are compared with the impedance values ​​in the first impedance threshold lower limit N1 one by one, and the impedance values ​​in the impedance data set B are compared with the impedance values ​​in the second impedance threshold lower limit N2 one by one. If the impedance values ​​in the impedance data set A are all greater than the impedance values ​​in the first impedance threshold lower limit N1 and the impedance values ​​in the impedance data set B are all greater than the impedance values ​​in the second impedance threshold lower limit N2, the vacuum source is controlled by the electronic control system to start vacuuming, otherwise it is in standby mode for continuous monitoring;

[0024] When in a stable working state, the impedance values ​​in the impedance data set A are compared one by one with the impedance values ​​in the first impedance threshold upper limit M1, and the impedance values ​​in the impedance data set B are compared one by one with the impedance values ​​in the second impedance threshold upper limit M2. If the impedance values ​​in the impedance data set A are all greater than the impedance values ​​in the first impedance threshold upper limit M1 and the impedance values ​​in the impedance data set B are all greater than the impedance values ​​in the second impedance threshold upper limit M2, the vacuum source is controlled to stop working through the electronic control system; otherwise, it continues to work and maintains continuous monitoring.

[0025] The beneficial effects of the present invention are as follows:

[0026] The present invention has a compact and reasonable structure and is easy to operate. By arranging a piezoresistive fiber component, the compressive deformation of each hole on the disc body can be reflected in the impedance value change of the corresponding piezoresistive fiber. Therefore, by monitoring the impedance value at the intersection of the piezoresistive fiber, the vacuum degree of each suction nozzle can be accurately monitored, ensuring that the adsorption state of the porous suction cup device is perceptible, stable and controllable, and intelligent and portable.

[0027] The present invention can realize a loosely coupled combination among the electric control system, the vacuum source, the one-way valve and the claw plate by arranging the first connector and the second connector, so as to facilitate rapid replacement and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the present invention.

[0029] Figure 2 It is a schematic diagram of the working principle between the piezoresistive fiber assembly and the suction nozzle assembly in the present invention.

[0030] Figure 3 It is a schematic diagram of the structure of the shell in the present invention.

[0031] Figure 4 It is a bottom view of the claw plate in the present invention.

[0032] Figure 5 It is a schematic diagram of the working principle between the first piezoresistive fiber array and the nozzle assembly in the present invention.

[0033] Figure 6 It is a schematic diagram of the working principle between the second piezoresistive fiber array and the suction nozzle assembly in the present invention.

[0034] Wherein: 1. Shell; 2. Vacuum source; 3. Claw plate; 4. One-way valve; 5. First piezoresistive fiber array; 6. Second piezoresistive fiber array; 7. Connecting pipe group; 8. Electronic control system; 9. Exhaust pipe group; 10. Lithium battery;

[0035] 101, housing; 102, first connector; 103, second connector; 104, first chamber; 105, second chamber; 106, third chamber; 107, pressure relief port; 108, pressure relief valve;

[0036] 301, disk body; 302, nozzle; 303, bump; 304, conductive slot;

[0037] 501, first transverse piezoresistive fiber; 502, first vertical piezoresistive fiber; 503, first intersection;

[0038] 601, second transverse piezoresistive fiber; 602, second vertical piezoresistive fiber; 603, second intersection;

[0039] 801, main control chip; 802, connection terminal;

[0040] 901, first branch pipe; 902, second branch pipe; 903, first branch pipe; 904, second branch pipe; 905, third branch pipe. DETAILED DESCRIPTION

[0041] The specific implementation of the present invention will be described below in conjunction with the accompanying drawings.

[0042] like Figure 1-Figure 6 As shown, the porous suction cup device based on piezoresistive fiber array monitoring of this embodiment includes an outer shell 1 with a hollow interior, a claw plate 3 is installed on the outer bottom wall of the outer shell 1, a suction nozzle assembly is arranged on the claw plate 3, and the suction nozzle assembly includes a plurality of suction nozzles 302 arranged in an array, a vacuum source 2 is installed inside the outer shell 1, and the output end of the vacuum source 2 is independently connected to the air port of each suction nozzle 302 through an air exhaust pipe group 9, so that the suction nozzle assembly can suck the workpiece through negative pressure under the action of the vacuum source 2; a piezoresistive fiber assembly is installed inside the claw plate 3, and the resistance value of the piezoresistive fiber assembly changes with the change of the external force, so that the force form of the claw plate 3 is fed back by monitoring the resistance value of the piezoresistive fiber assembly, and then the corresponding vacuum degree of the suction nozzle assembly is fed back.

[0043] The specific structure and functions of this embodiment are as follows:

[0044] The porous suction cup device based on piezoresistive fiber array monitoring of this embodiment includes a housing 1, a vacuum source 2, a claw plate 3, a piezoresistive fiber assembly, and an air exhaust pipe group 9; wherein,

[0045] like Figure 3 As shown, the structure of the shell 1 is as follows: it includes a shell 101, the interior of the shell 101 is divided into a first chamber 104, a second chamber 105, and a third chamber 106 in sequence by several partitions, the partition for separating the first chamber 104 and the second chamber 105 is equipped with a first connector 102, and the partition for separating the second chamber 105 and the third chamber 106 is equipped with a second connector 103; a pressure relief port 107 is provided on the wall of the shell 101 corresponding to the third chamber 106, and a pressure relief valve 108 is installed at the pressure relief port 107; the pressure relief valve 108 is used to control the opening and closing of the pressure relief port 107, and when the pressure relief valve 108 is opened, the vacuum of the nozzle assembly can be broken, so that the nozzle assembly releases the workpiece.

[0046] An electric control system 8 is installed in the first chamber 104 , and the electric control system 8 is electrically connected to the vacuum source 2 arranged in the second chamber 105 through the first connector 102 . The electric control system 8 is electrically connected to the piezoresistive fiber assembly through the first connector 102 and the second connector 103 in turn.

[0047] The outer wall of the housing 101 is provided with a handle for the operator to lift and use; a quick-release connector is also provided for connecting with the output end of other actuators.

[0048] The electric control system 8 includes a circuit board, on which a main control chip 801 and a terminal 802 are welded, and the electric control system 8 is electrically connected to the lithium battery 10 through the terminal 802. Under the control of the electric control system 8, the lithium battery 10 supplies power to the vacuum source 2 through the first connector 102, and supplies power to the piezoresistive fiber assembly through the first connector 102 and the second connector 103. An acquisition circuit is installed on the circuit board, which measures the impedance value of the piezoresistive fiber assembly step by step through the terminal 802, and analyzes and calculates the vacuum degree of the nozzle assembly corresponding to the impedance value of the piezoresistive fiber assembly through the main control chip 801, thereby driving the vacuum source 2 to start and stop vacuuming in a controlled manner, thereby maintaining the adhesion of the nozzle assembly to the target object.

[0049] In addition, the electric control system 8 also includes a start / stop button, so that the operator can manually control the start / stop of the vacuum source 2, thereby controlling the suction nozzle assembly to work or stop;

[0050] The electric control system 8 includes a display screen and a wireless communication device (such as Bluetooth), which can realize human-machine interactive functions such as vacuum degree, battery remaining capacity and working status.

[0051] The exhaust pipe group 9 is arranged in the third chamber 106, and the structure of the exhaust pipe group 9 is: it includes a first branch pipe 901 connected to the output end of the vacuum source 2, and several first branch pipes 903 are installed on the first branch pipe 901. The first branch pipes 903 are connected to the air ports of the suction nozzle 302 one by one. A second branch pipe 904 is installed on the single first branch pipe 903, and the end of the second branch pipe 904 is connected to the second branch pipe 902 at the same time; the second branch pipe 902 is connected to the pressure relief port 107 through the third branch pipe 905.

[0052] A one-way valve 4 is installed in each of the single first branch pipe 903 and the single second branch pipe 904. The one-way valve 4 is provided to prevent the gas inside the pipeline from flowing back, so that when the porous suction cup device sucks the workpiece, the vacuum degree of the suction nozzle assembly can be kept stable.

[0053] like Figure 1 , Figure 4 As shown, the structure of the claw plate 3 is as follows: it includes a plate body 301, and a plurality of through holes arranged in an array are provided on the end surface of the plate body 301, and each through hole is tapered, so that a convex block 303 arranged in an array is formed on the bottom end surface of the plate body 301, and a suction nozzle 302 is formed at a single through hole. A plurality of conductive slot groups are also provided on the plate body 301, and a single conductive slot group includes two conductive slots 304, which are used to supply power to the piezoresistive fiber assembly.

[0054] A filter element is provided at the connection between a single suction nozzle 302 and the corresponding first branch pipe 901. The filter element may be made of metal mesh, filter cotton or sintered ceramics, and is used to protect the exhaust pipe group 9 and prevent the inside thereof from being blocked.

[0055] The piezoresistive fiber assembly includes a first piezoresistive fiber array 5 and a second piezoresistive fiber array 6 arranged at intervals from top to bottom; the first piezoresistive fiber array 5 includes a plurality of first transverse piezoresistive fibers 501 arranged in parallel at equal intervals, and a plurality of first vertical piezoresistive fibers 502 arranged in parallel at equal intervals, and a single first transverse piezoresistive fiber 501 is perpendicular to a single first vertical piezoresistive fiber 502, so that a first intersection 503 arranged in an array is formed between the first transverse piezoresistive fiber 501 and the first vertical piezoresistive fiber 502. The intersection 503 corresponds one-to-one with the center of the through hole; the second piezoresistive fiber array 6 includes a plurality of second transverse piezoresistive fibers 601 arranged in parallel at equal intervals, and a plurality of second vertical piezoresistive fibers 602 arranged in parallel at equal intervals, and a single second transverse piezoresistive fiber 601 is perpendicular to a single second vertical piezoresistive fiber 602, so that a second intersection 603 arranged in an array is formed between the second transverse piezoresistive fibers 601 and the second vertical piezoresistive fibers 602, and the second intersection 603 corresponds one-to-one with the center of the bump 303.

[0056] Since the silicone rubber disc 301 deforms when sucking or releasing the workpiece, a pulling force is generated, thereby pulling the piezoresistive fiber component inside it to change the impedance value of the corresponding piezoresistive fiber; therefore,

[0057] The first intersection 503 formed by the first piezoresistive fiber array 5 is located directly above the corresponding suction nozzle 302 to monitor the deformation of the corresponding suction nozzle 302 under the action of negative pressure;

[0058] If one or some of the nozzles 302 leak, the force form of the current silicone rubber disc 301 will change, thereby changing the impedance value of the corresponding piezoresistive fiber inside the disc 301; therefore,

[0059] The second piezoresistive fiber array 6 is interwoven beside the corresponding suction nozzle 302 to monitor the deformation balance between the four adjacent suction nozzles 302 .

[0060] In this embodiment, Figure 2 , Figure 4-Figure 6 As shown, the nozzle assembly adopts a 7×7 square array, that is, it includes 49 nozzles 302; correspondingly, the through holes adopt a 7×7 square array, forming a 6×6 square array of bumps 303;

[0061] Seven first transverse piezoresistive fibers 501 and seven first vertical piezoresistive fibers 502 are arranged to form 49 first intersections 503; six second transverse piezoresistive fibers 601 and six second vertical piezoresistive fibers 602 are arranged to form 36 second intersections 603;

[0062] In addition, 26 groups of conductive slots are arranged, corresponding to 52 conductive slots 304 ; 49 first branch pipes 903 are connected to the first flow diversion main pipe 901 , and 49 second branch pipes 904 are connected to the second flow diversion main pipe 902 .

[0063] The disk body 301 is made of silicone rubber.

[0064] The vacuum source 2 is a diaphragm pump. The vacuum port of the diaphragm pump corresponds to the output end of the vacuum source 2, which is connected to the first branch main pipe 901 through the connecting pipe group 7.

[0065] The working process of this embodiment is as follows:

[0066] The diaphragm pump is started or stopped by the electronic control system 8, thereby driving the suction nozzle assembly to suck or release the workpiece;

[0067] When the diaphragm pump is started, the corresponding suction nozzles 302 are vacuumed in sequence through the connecting pipe group 7, the first branch pipe 901, and the first branch pipe 903; by setting the first branch pipe 901 and the first branch pipe 903, when the diaphragm pump is pumping air, synchronous drainage and vacuuming can be achieved for all the suction nozzles 302;

[0068] When the diaphragm pump is working, negative pressure is formed at the rear end of the one-way valve 4 installed in the first branch pipe 903, and the air in the suction nozzle 302 is sucked out. At this time, the pressure relief valve 108 is closed. Under the joint action of the pressure relief valve 108 and the one-way valve 4 installed in the first branch pipe 903, the suction nozzle assembly maintains a negative pressure state, thereby sucking up the workpiece;

[0069] When the suction nozzle assembly reaches the set vacuum degree, the diaphragm pump stops. At this time, since negative pressure is formed at the front end of the one-way valve 4 installed in the first branch pipe 903 and the diaphragm pump itself is not sealed, under the action of the corresponding one-way valve 4, the air path in the first branch pipe 903 cannot flow back, so the vacuum degree of the suction nozzle assembly at this time can be guaranteed by the one-way valve 4 and the pressure relief valve 108;

[0070] When the workpiece needs to be loosened, the pressure relief valve 10 is pressed, or the pressure relief valve 10 is controlled to open automatically by the electronic control system 8, so that the air in the external environment can enter the suction nozzle assembly through the pressure relief port 107, the third branch pipe 905, the second branch pipe 902, the second branch pipe 904, and the first branch pipe 903 in sequence, and then the vacuum of the suction nozzle assembly is broken, so that the suction nozzle assembly releases the workpiece.

[0071] The working method of the porous suction cup device based on piezoresistive fiber array monitoring of this embodiment includes the following steps:

[0072] S1. The first impedance threshold lower limit N1, the second impedance threshold lower limit N2, the first impedance threshold upper limit M1, and the second impedance threshold upper limit M2 are pre-set in the electronic control system 8;

[0073] S1.1. The first impedance threshold lower limit N1 and the first impedance threshold upper limit M1 are both 7×7 matrices, each containing 49 impedance values, which are respectively compared with the impedance values ​​at the 49 first intersections 503 in the first piezoresistive fiber array 5;

[0074] The second impedance threshold lower limit N2 and the second impedance threshold upper limit M2 are both 6×6 matrices, each containing 36 impedance values, which are respectively compared with the impedance values ​​at the 36 second intersections 603 in the second piezoresistive fiber array 6;

[0075] S2. The impedance of the piezoresistive fiber assembly is monitored in real time by the electronic control system 8, thereby obtaining an impedance data set A of the first piezoresistive fiber array 5 and an impedance data set B of the second piezoresistive fiber array 6 respectively;

[0076] S2.1. Impedance data set A is a 7×7 matrix, which contains 49 impedance values, which correspond to the impedance values ​​at 49 first intersections 503 in the first piezoresistive fiber array 5; impedance data set B is a 6×6 matrix, which contains 36 impedance values, which correspond to the impedance values ​​at 36 second intersections 603 in the second piezoresistive fiber array 6;

[0077] S3. When in the startup state or standby state, the impedance values ​​in the impedance data set A are compared with the impedance values ​​in the first impedance threshold lower limit N1 one by one, and the impedance values ​​in the impedance data set B are compared with the impedance values ​​in the second impedance threshold lower limit N2 one by one. If the impedance values ​​in the impedance data set A are all greater than the impedance values ​​in the first impedance threshold lower limit N1 and the impedance values ​​in the impedance data set B are all greater than the impedance values ​​in the second impedance threshold lower limit N2, the vacuum source 2 is controlled by the electronic control system 8 to start vacuuming, otherwise it is in standby mode for continuous monitoring;

[0078] S3.1. In addition, the set interval time can be installed to continuously record the impedance data set A and the impedance data set B, respectively, and calculate the change rate of the impedance data set A and the impedance data set B over time, respectively, and continuously judge and update the time when the lower limit of the adsorption force corresponding to the first impedance threshold lower limit N1 and the second impedance threshold lower limit N2 is reached, and this time is the effective adsorption time;

[0079] S4. When in a stable working state, the impedance values ​​in the impedance data set A are compared one by one with the impedance values ​​in the first impedance threshold upper limit M1, and the impedance values ​​in the impedance data set B are compared one by one with the impedance values ​​in the second impedance threshold upper limit M2. If the impedance values ​​in the impedance data set A are all greater than the impedance values ​​in the first impedance threshold upper limit M1 and the impedance values ​​in the impedance data set B are all greater than the impedance values ​​in the second impedance threshold upper limit M2, the vacuum source 2 is controlled to stop working through the electronic control system 8, otherwise it continues to work and maintains continuous monitoring.

[0080] S4.1. In addition, when the first impedance threshold upper limit M1 and the second impedance threshold upper limit M2 are not preset, or the setting of the timeout protection mechanism is pre-stored in the electric control system 8, the porous suction cup device can be stopped after the porous suction cup device continues to evacuate for more than a certain time or a set time, and the impedance data set corresponding to the current first piezoresistive fiber array and the impedance data set corresponding to the second piezoresistive limit array are recorded, and the two impedance data sets are respectively recorded as the first impedance threshold upper limit M1 and the second impedance threshold upper limit M2;

[0081] S5. Introduce the Hamiltonian operator to perform gradient conversion on the impedance data set A and the impedance data set B, so as to obtain the force distribution of the claw plate 3 at this time, and then know the roughness of the suction surface of the workpiece at this time; when it is determined that the suction surface of the workpiece at this time is a plane, it can be judged whether leakage occurs in the claw plate 3 at this time through the force distribution;

[0082] The suction surface of the workpiece refers to the surface of the workpiece that contacts the suction nozzle 302 when the porous suction cup device sucks the workpiece.

[0083] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A porous suction cup device based on piezoresistive fiber array monitoring, characterized in that: The invention comprises an outer shell (1) with a hollow interior, a claw plate (3) being mounted on the outer bottom wall of the outer shell (1), a suction nozzle assembly being arranged on the claw plate (3), the suction nozzle assembly comprising a plurality of suction nozzles (302) arranged in an array, a vacuum source (2) being mounted inside the outer shell (1), the output end of the vacuum source (2) being independently connected to the air port of each suction nozzle (302) through an air exhaust pipe group (9), so that the suction nozzle assembly can suck the workpiece through negative pressure under the action of the vacuum source (2); The claw plate (3) is internally mounted with a piezoresistive fiber assembly, the resistance value of which changes with the external force applied, thereby monitoring the resistance value of the piezoresistive fiber assembly to provide feedback on the force applied to the claw plate (3), and further providing feedback on the vacuum degree corresponding to the nozzle assembly.

2. The porous suction cup device based on piezoresistive fiber array monitoring according to claim 1, characterized in that: The structure of the housing (1) is as follows: it comprises a shell (101), the interior of the shell (101) being divided into a first chamber (104), a second chamber (105), and a third chamber (106) in sequence by a plurality of partitions, a first connector (102) being mounted on the partition for separating the first chamber (104) and the second chamber (105), and a second connector (103) being mounted on the partition for separating the second chamber (105) and the third chamber (106); A pressure relief port (107) is provided on the wall surface of the shell (101) corresponding to the third chamber (106), and a pressure relief valve (108) is installed in cooperation with the pressure relief port (107).

3. The porous suction cup device based on piezoresistive fiber array monitoring according to claim 2, characterized in that: An electric control system (8) is installed in the first chamber (104); the electric control system (8) is electrically connected to a vacuum source (2) arranged in the second chamber (105) via a first connector (102); and the electric control system (8) is electrically connected to the piezoresistive fiber assembly via the first connector (102) and the second connector (103) in turn.

4. The porous suction cup device based on piezoresistive fiber array monitoring according to claim 3, characterized in that: The electric control system (8) comprises a circuit board, on which a main control chip (801) and a connection terminal (802) are welded, and the electric control system (8) is electrically connected to the lithium battery (10) via the connection terminal (802).

5. The porous suction cup device based on piezoresistive fiber array monitoring according to claim 1, characterized in that: The structure of the claw plate (3) is as follows: it comprises a plate body (301), and a plurality of through holes arranged in an array are provided on the end surface of the plate body (301), and each through hole is conical, so that a plurality of protrusions (303) arranged in an array are formed on the bottom end surface of the plate body (301), and a suction nozzle (302) is formed corresponding to a single through hole.

6. The porous suction cup device based on piezoresistive fiber array monitoring according to claim 5, characterized in that: The piezoresistive fiber assembly comprises a first piezoresistive fiber array (5) and a second piezoresistive fiber array (6) which are arranged in a spaced manner from top to bottom; The first piezoresistive fiber array (5) comprises a plurality of first transverse piezoresistive fibers (501) arranged in parallel at equal intervals, and a plurality of first vertical piezoresistive fibers (502) arranged in parallel at equal intervals, wherein a single first transverse piezoresistive fiber (501) and a single first vertical piezoresistive fiber (502) are perpendicular to each other, so that first intersections (503) arranged in an array are formed between the first transverse piezoresistive fibers (501) and the first vertical piezoresistive fibers (502), and the first intersections (503) correspond one-to-one to the centers of the through holes; The second piezoresistive fiber array (6) comprises a plurality of second transverse piezoresistive fibers (601) arranged in parallel at equal intervals, and a plurality of second vertical piezoresistive fibers (602) arranged in parallel at equal intervals, wherein a single second transverse piezoresistive fiber (601) and a single second vertical piezoresistive fiber (602) are perpendicular to each other, so that second intersection points (603) arranged in an array are formed between the second transverse piezoresistive fibers (601) and the second vertical piezoresistive fibers (602), and the second intersection points (603) correspond one-to-one to the centers of the protrusions (303).

7. The porous suction cup device based on piezoresistive fiber array monitoring according to claim 5, characterized in that: The disk body (301) is made of silicone rubber.

8. The porous suction cup device based on piezoresistive fiber array monitoring according to claim 1, characterized in that: The vacuum source (2) is a diaphragm pump.

9. The porous suction cup device based on piezoresistive fiber array monitoring according to claim 1, characterized in that: The structure of the air exhaust pipe group (9) is as follows: it includes a first branch pipe (901) connected to the output end of the vacuum source (2), a plurality of first branch pipes (903) are installed on the first branch pipe (901), the first branch pipes (903) are connected to the air ports of the suction nozzle (302) in a one-to-one correspondence, a second branch pipe (904) is installed on the single first branch pipe (903), and the end of the second branch pipe (904) is simultaneously connected to the second branch pipe (902).

10. A working method of a porous suction cup device based on piezoresistive fiber array monitoring, characterized in that: The steps include: A first impedance threshold lower limit N1, a second impedance threshold lower limit N2, a first impedance threshold upper limit M1, and a second impedance threshold upper limit M2 are pre-set in the electric control system (8); The impedance of the piezoresistive fiber assembly is monitored in real time by an electric control system (8), thereby obtaining an impedance data set A of the first piezoresistive fiber array (5) and an impedance data set B of the second piezoresistive fiber array (6); When in the start-up state or the standby state, the impedance values ​​in the impedance data set A are compared one by one with the impedance values ​​in the first impedance threshold lower limit N1, and the impedance values ​​in the impedance data set B are compared one by one with the impedance values ​​in the second impedance threshold lower limit N2. If the impedance values ​​in the impedance data set A are all greater than the impedance values ​​in the first impedance threshold lower limit N1 and the impedance values ​​in the impedance data set B are all greater than the impedance values ​​in the second impedance threshold lower limit N2, the vacuum source (2) is controlled by the electronic control system (8) to start vacuuming, otherwise it is in standby mode for continuous monitoring. When in a stable working state, the impedance values ​​in the impedance data set A are compared one by one with the impedance values ​​in the first impedance upper threshold M1, and the impedance values ​​in the impedance data set B are compared one by one with the impedance values ​​in the second impedance upper threshold M2. If the impedance values ​​in the impedance data set A are all greater than the impedance values ​​in the first impedance upper threshold M1 and the impedance values ​​in the impedance data set B are all greater than the impedance values ​​in the second impedance upper threshold M2, the vacuum source (2) is controlled to stop working through the electronic control system (8); otherwise, it continues to work and maintains continuous monitoring.

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