Multi-model compatible self-adaptive grabbing structure

Abstract

The invention relates to the technical field of small box girders, in particular to a multi-model compatible self-adaptive grabbing structure. Comprising a fixing frame, air cylinders, a fixing base, a first pneumatic clamping jaw set, a second pneumatic clamping jaw set, a third pneumatic clamping jaw set and a controller, the air cylinders are fixedly connected to the lower portion of the fixing frame, the output ends of the air cylinders are fixedly connected with the upper wall of the fixing base, and the first pneumatic clamping jaw set, the second pneumatic clamping jaw set and the third pneumatic clamping jaw set are connected to the lower wall of the fixing base; the second pneumatic clamping jaw set is located between the first pneumatic clamping jaw set and the third pneumatic clamping jaw set. The second pneumatic clamping jaw set is rotationally connected to the lower wall of the fixing base, and a plurality of pressure sensors are arranged in the second pneumatic clamping jaw set. The pressure sensors are all electrically connected with the controller, the air cylinder is also electrically connected with the controller, and the controller adjusts the rotating angle and the clamping distance of the second pneumatic clamping jaw set according to measured values of the pressure sensors. According to the invention, the compatibility of different models of small box girder long ribs is improved.

Description

Technical Field

[0001] The invention relates to the technical field of small box beams, and in particular to a multi-model compatible adaptive grabbing structure. Background Art

[0002] Small box beam is a type of beam in bridge engineering. It is hollow inside and has flanges on both sides of the upper part, similar to a box, hence the name. Small box beam has been widely used in bridge engineering because of its good integrity of bridge structure and convenient erection.

[0003] In the production process of small box girders, the long reinforcement of the small box girders needs to be bent according to the model requirements. After bending, the long reinforcement needs to be transported to the pallet through the long reinforcement transport device to be superimposed with the short reinforcement and then welded. Because different models of small box girders need to be produced, the length of the corresponding long reinforcement is different, and the bending position and width of the long reinforcement are also different. The existing long reinforcement transport device cannot be well compatible in the process of transporting the long reinforcement of small box girders.

[0004] Therefore, there is an urgent need to provide a multi-model compatible adaptive grabbing structure to improve the compatibility with long reinforcements of small box girders of different models compared to the existing technology. Summary of the invention

[0005] The present invention solves the technical problems existing in the prior art and provides an adaptive grasping structure compatible with multiple models.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] A multi-model compatible adaptive gripping structure comprises a fixed frame, a cylinder, a fixed seat, a first pneumatic gripper group, a second pneumatic gripper group, a third pneumatic gripper group and a controller, wherein a plurality of cylinders are fixedly connected to the lower portion of the fixed frame, the output ends of the cylinders are fixedly connected to the upper wall of the fixed seat, the first pneumatic gripper group, the second pneumatic gripper group and the third pneumatic gripper group are all connected to the lower wall of the fixed seat, and the second pneumatic gripper group is located between the first pneumatic gripper group and the third pneumatic gripper group;

[0008] The second pneumatic clamping jaw group includes a plurality of second pneumatic clamping jaws, which are rotatably connected to the lower wall of the fixing seat, and each of the second pneumatic clamping jaws includes two second clamping fingers arranged in parallel; a plurality of pressure sensors are arranged on the inner side of each second clamping finger along the horizontal direction, and the pressure sensors arranged on the two second clamping fingers are arranged one by one;

[0009] The pressure sensors are electrically connected to the controller, and the cylinder is also electrically connected to the controller. The controller adjusts the rotation angle of the second pneumatic clamp and the distance between the two second clamping fingers according to the measurement value of the pressure sensor.

[0010] Further, the pressure sensor disposed on the second clamping finger located on the inner side of the long rib bend is set as a first pressure sensor, and the pressure sensor disposed on another second clamping finger is set as a second pressure sensor, and a pressure threshold is set;

[0011] The controller controls the cylinder so that the cylinder drives the fixed seat to move to the long rib, and the controller controls the two second clamping fingers to move relative to each other; when at least one of the first pressure sensors has a measured value that is the pressure threshold, and at the same time at least one of the second pressure sensors has a measured value that is the pressure threshold, the controller controls the two second clamping fingers to stop moving relative to each other; the measured values ​​of all the first pressure sensors and all the second pressure sensors are obtained for the first time, which is recorded as P1={P 11 , P 12 ,…,P 1N}, P2={P 21 , P 22 ,…,P 2N}; Wherein, P1 represents the set of all the measurement values ​​of the first pressure sensor acquired for the first time, P 11 , P 12 , P 1N represents the first measurement value of the first pressure sensor, the second measurement value of the first pressure sensor, and the Nth measurement value of the first pressure sensor from the nearest to the farthest bending point of the long rib respectively, P2 represents the measurement value set of all the second pressure sensors obtained for the first time, P 21 , P 22 , P 2N They respectively represent the measurement value of the first second pressure sensor, the measurement value of the second second pressure sensor, and the measurement value of the Nth second pressure sensor from the nearest to the farthest distance from the bending point of the long rib obtained for the first time, where N represents the number of the first pressure sensors;

[0012] The controller determines whether the second pneumatic clamping jaw rotates and whether the two second clamping fingers move relative to each other according to P1 and P2.

[0013] Furthermore, the specific method for the controller to determine whether the second pneumatic gripper rotates and whether the two second gripping fingers move relative to each other according to P1 and P2 is:

[0014] If the following equation is satisfied, the second pneumatic gripper is rotated clockwise, and the two second gripper fingers are driven to move relative to each other:

[0015]

[0016] If the following equation is satisfied, rotate the second pneumatic gripper counterclockwise and drive the two second gripper fingers to move relative to each other:

[0017]

[0018] If the following equation is satisfied, the second pneumatic gripper will not rotate and the two second gripper fingers will not be driven to move relative to each other:

[0019]

[0020] Furthermore, a first micro distance sensor is embedded in a position on the inner side of the second clamping finger where the first pressure sensor is arranged, away from the bending point of the long rib; a second micro distance sensor is also embedded in a position on the inner side of the second clamping finger where the second pressure sensor is arranged, away from the bending point of the long rib; when the controller controls the two second clamping fingers to stop relative movement, the vertical distances from the first micro distance sensor and the second micro distance sensor to the long rib are obtained, thereby calculating the first rotation angle of the second pneumatic clamping jaw and the relative movement distance of the second clamping fingers, and the controller rotates the second pneumatic clamping jaw to rotate the first rotation angle, and at the same time controls each second clamping finger to move a relative movement distance.

[0021] Furthermore, the first rotation angle of the second pneumatic gripper is calculated by the following formula:

[0022] When turning the second pneumatic gripper clockwise:

[0023]

[0024] In the above formula, α1 represents the first rotation angle when the second pneumatic gripper is rotated clockwise, d1 represents the vertical distance from the first micro distance sensor to the long rib, L1 represents the distance between the first micro sensor and the first pressure sensor closest to the bending point of the long rib, and β represents the correction coefficient of the first micro sensor;

[0025] When turning the second pneumatic gripper counterclockwise:

[0026]

[0027] In the above formula, α2 represents the first rotation angle when the second pneumatic gripper is rotated counterclockwise, d2 represents the vertical distance from the second micro distance sensor to the long rib, L2 represents the distance between the second micro sensor and the second pressure sensor closest to the bending point of the long rib, and β2 represents the correction coefficient of the second micro sensor;

[0028] L2=L1.

[0029] Furthermore, the relative movement distance of the second gripping finger is calculated by the following formula:

[0030] When turning the second pneumatic gripper clockwise:

[0031] x1=L3×sinα1;

[0032] In the above formula, x1 represents the relative movement distance of the second gripper finger when the second pneumatic gripper is rotated clockwise; L3 represents the distance from the first pressure sensor closest to the bending point of the long rib to the center of the second gripper finger connected thereto;

[0033] When turning the second pneumatic gripper counterclockwise:

[0034] x2=L4×sinα2;

[0035] In the above formula, x2 represents the relative movement distance of the second gripper finger when the second pneumatic gripper jaw is rotated counterclockwise; L4 represents the distance from the second pressure sensor closest to the bending point of the long rib to the center of the second gripper finger to which it is connected.

[0036] Furthermore, after the controller controls the second pneumatic gripper to rotate the first rotation angle and controls the second gripper finger to move the relative movement distance, the measurement values ​​of all the first pressure sensors and all the second pressure sensors are obtained for the second time, which is recorded as P1′={P 11 ′,P 12 ′,…,P 1N ′}, P2′={P 21 ′,P 22 ′,…,P 2N ′}; wherein P1′ represents the set of all the measurement values ​​of the first pressure sensor obtained for the second time, P 11 ′、P 12 ′、P 1N ′ respectively represent the measurement values ​​of the first first pressure sensor, the second first pressure sensor, and the Nth first pressure sensor from the nearest to the farthest distance from the bending point of the long rib obtained for the second time, P2′ represents the measurement value set of all the second pressure sensors obtained for the second time, P 21 ′、P 22 ′、P 2N ' respectively represent the measurement values ​​of the first second pressure sensor, the second second pressure sensor, and the Nth second pressure sensor from the nearest to the farthest distance from the bending point of the long tendon acquired for the second time;

[0037] The controller calculates the average pressure value based on P1′ and P2′. When the average pressure value is equal to the pressure threshold, the controller drives the second clamping finger to stop moving. When the average pressure value is less than the pressure threshold, the controller drives the second clamping finger to perform relative movement. When the average pressure value is greater than the pressure threshold, the controller drives the second clamping finger to perform opposite movement. During the relative movement or opposite movement of the second clamping finger, P1′ and P2′ are obtained in real time and analyzed until the set conditions are met.

[0038] Furthermore, the pressure average is calculated by:

[0039]

[0040] In the above formula, Indicates the average pressure.

[0041] Furthermore, a photoelectric sensor is provided on the fixed seat, and the photoelectric sensor is used to measure the distance from the fixed seat to the long rib. The distance from the initial position of the photoelectric sensor to the long rib is set to D0, and the distance from the terminal position of the photoelectric sensor to the long rib is set to D1; the set position D2 is set, D0<D2<D1; in the movement of the cylinder from the D0 position to the D2 position, the controller controls the cylinder to accelerate first and then decelerate with an acceleration a1, and in the movement of the cylinder from the D2 position to the D1 position, the controller controls the cylinder to accelerate first and then decelerate with an acceleration a2.

[0042] Furthermore, the relationship between acceleration a1 and acceleration a2 is:

[0043]

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] When the present invention grasps the straight long reinforcement, the first clamping jaw group and the third clamping jaw group are used for grasping, and when the bent long reinforcement is grasped, the first clamping jaw group and the second clamping jaw group or the second clamping jaw group and the third clamping jaw group are used for grasping, and a plurality of pressure sensors are arranged on the second clamping jaw group. The controller adjusts the rotation angle of the second pneumatic clamping jaw according to the measurement value of the pressure sensor and adjusts the distance between the two second clamping fingers at the same time, thereby improving the compatibility with the long reinforcements of small box girders of different models. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0047] Description of reference numerals:

[0048] 1. Fixed frame; 2. Cylinder; 3. Fixed seat; 4. First pneumatic gripper group; 41. First gripper finger; 5. Second pneumatic gripper group; 51. Second gripper finger; 6. Third pneumatic gripper group; 61. Third gripper finger. DETAILED DESCRIPTION

[0049] The technical solution of the present invention will be clearly described below in conjunction with the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention. All other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention. It should be noted that the orientation or position relationship indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", etc. is based on the orientation or position relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0050] like Figure 1 As shown, the present invention provides a multi-model compatible adaptive grasping structure, including a fixed frame 1, a cylinder 2, a fixed seat 3, a first pneumatic gripper group 4, a second pneumatic gripper group 5, a third pneumatic gripper group 6 and a controller, a plurality of cylinders 2 are fixedly connected below the fixed frame 1, the output ends of the cylinders 2 are fixedly connected to the upper wall of the fixed seat 3, the first pneumatic gripper group 4, the second pneumatic gripper group 5 and the third pneumatic gripper group 6 are all connected to the lower wall of the fixed seat 3, and the second pneumatic gripper group 5 is located between the first pneumatic gripper group 4 and the third pneumatic gripper group 6.

[0051] The first pneumatic clamping jaw group 4 includes a plurality of first pneumatic clamping jaws, each of which includes two first clamping fingers 41 arranged in parallel, and the long tendon is clamped by the two first clamping fingers 41; the second pneumatic clamping jaw group 5 includes a plurality of second pneumatic clamping jaws, which are rotatably connected to the lower wall of the fixed seat 3, and a motor can be arranged on the fixed seat 3, and the second pneumatic clamping jaws are driven to rotate by the rotation of the motor, and each second pneumatic clamping jaw includes two second clamping fingers 51 arranged in parallel, and the long tendon is clamped by the two second clamping fingers 51; the third pneumatic clamping jaw group The 6 pieces include a plurality of third pneumatic clamps, each of which includes two third clamping fingers 61 arranged in parallel, and the long rebar is clamped by the two third clamping fingers 61; when the long rebar to be clamped is a straight long rebar, the steel bar is clamped and transported by a first pneumatic clamp and a third pneumatic clamp; when the long rebar to be clamped is a bent long rebar, the steel bar is clamped and transported by a first pneumatic clamp and a second pneumatic clamp or a third pneumatic clamp and a second pneumatic clamp, and the second pneumatic clamp clamps the bent part of the steel bar.

[0052] A plurality of pressure sensors are arranged horizontally on the inner side of each second clamping finger 51, and the pressure sensors arranged on the two second clamping fingers 51 are arranged one by one. The pressure sensors are electrically connected to the controller, and the cylinder 2 is also electrically connected to the controller. The controller adjusts the rotation angle of the second pneumatic clamping jaw and the distance between the two second clamping fingers 51 according to the measured values ​​of the pressure sensors.

[0053] The pressure sensor arranged on the second clamping finger 51 located on the inner side of the bend of the long rib is set as the first pressure sensor, and the pressure sensor arranged on the other second clamping finger 51 is set as the second pressure sensor, and the pressure threshold is set; the controller controls the cylinder 2 so that the cylinder 2 drives the fixing seat 3 to move to the long rib, and the controller controls the relative movement of the two second clamping fingers 51.

[0054] When at least one of the first pressure sensors has a measured value that is the pressure threshold and at least one of the second pressure sensors has a measured value that is the pressure threshold, the controller controls the two second gripping fingers 51 to stop relative movement; the measured values ​​of all the first pressure sensors and all the second pressure sensors are obtained for the first time, which is recorded as P1={P 11 , P 12 ,…,P 1N}, P2={P 21 , P 22 ,…,P 2N}; Wherein, P1 represents the set of all the measurement values ​​of the first pressure sensor acquired for the first time, P 11 , P 12 , P 1N represents the first measurement value of the first pressure sensor, the second measurement value of the first pressure sensor, and the Nth measurement value of the first pressure sensor from the nearest to the farthest bending point of the long rib respectively, P2 represents the measurement value set of all the second pressure sensors obtained for the first time, P 21 , P 22 , P 2N They respectively represent the measurement values ​​of the first second pressure sensor, the measurement values ​​of the second second pressure sensor, and the measurement values ​​of the Nth second pressure sensor, which are obtained for the first time from the bending point of the long rib, and N represents the number of first pressure sensors; the controller determines whether the second pneumatic clamp rotates and whether the two second clamping fingers 51 move relative to each other based on P1 and P2.

[0055] The specific method for the controller to judge whether the second pneumatic clamping jaw rotates and whether the two second clamping fingers 51 move relative to each other according to P1 and P2 is:

[0056] If the following equation is satisfied, the second pneumatic clamping jaw is rotated clockwise, and the two second clamping fingers 51 are driven to move relative to each other:

[0057]

[0058] If the following equation is satisfied, the second pneumatic clamping jaw is rotated counterclockwise, and the two second clamping fingers 51 are driven to move relative to each other:

[0059]

[0060] If the following equation is satisfied, the second pneumatic clamping jaw is not rotated, and the two second clamping fingers 51 are not driven to move relative to each other:

[0061]

[0062] A first micro distance sensor is embedded in the inner side of the second clamping finger 51 where the first pressure sensor is arranged, away from the bending point of the long rib; a second micro distance sensor is also embedded in the inner side of the second clamping finger 51 where the second pressure sensor is arranged, away from the bending point of the long rib; when the controller controls the two second clamping fingers 51 to stop relative movement, the vertical distances from the first micro distance sensor and the second micro distance sensor to the long rib are obtained, thereby calculating the first rotation angle of the second pneumatic clamping jaw and the relative movement distance of the second clamping finger 51, and the controller rotates the second pneumatic clamping jaw to rotate the first rotation angle, and at the same time controls each second clamping finger 51 to move a relative movement distance.

[0063] The first rotation angle of the second pneumatic gripper is calculated by the following formula:

[0064] When turning the second pneumatic gripper clockwise:

[0065]

[0066] In the above formula, α1 represents the first rotation angle when the second pneumatic gripper is rotated clockwise, d1 represents the vertical distance from the first micro distance sensor to the long rib, L1 represents the distance between the first micro sensor and the first pressure sensor closest to the bending point of the long rib, and β represents the correction coefficient of the first micro sensor;

[0067] When turning the second pneumatic gripper counterclockwise:

[0068]

[0069] In the above formula, α2 represents the first rotation angle when the second pneumatic gripper is rotated counterclockwise, d2 represents the vertical distance from the second micro distance sensor to the long rib, L2 represents the distance between the second micro sensor and the second pressure sensor closest to the bending point of the long rib, and β2 represents the correction coefficient of the second micro sensor;

[0070] L2=L1.

[0071] The relative movement distance of the second clamping finger 51 is calculated by the following formula:

[0072] When turning the second pneumatic gripper clockwise:

[0073] x1=L3×sinα1;

[0074] In the above formula, x1 represents the relative movement distance of the second clamping finger 51 when the second pneumatic clamping jaw is rotated clockwise; L3 represents the distance from the first pressure sensor closest to the bending point of the long rib to the center of the second clamping finger 51 connected thereto;

[0075] When turning the second pneumatic gripper counterclockwise:

[0076] x2=L4×sinα2;

[0077] In the above formula, x2 represents the relative movement distance of the second clamping finger 51 when the second pneumatic clamping jaw is rotated counterclockwise; L4 represents the distance from the second pressure sensor closest to the bending point of the long rib to the center of the second clamping finger 51 to which it is connected.

[0078] After the controller controls the second pneumatic gripper to rotate the first rotation angle and controls the second gripper finger 51 to move the relative movement distance, the measurement values ​​of all the first pressure sensors and all the second pressure sensors are obtained for the second time, which is recorded as P1′={P 11 ′,P 12 ′,…,P 1N ′}, P2′={P 21 ′,P 22 ′,…,P 2N ′}; wherein P1′ represents the set of all the measurement values ​​of the first pressure sensor obtained for the second time, P 11 ′、P 12 ′、P 1N ′ respectively represent the measurement values ​​of the first first pressure sensor, the second first pressure sensor, and the Nth first pressure sensor from the nearest to the farthest distance from the bending point of the long rib obtained for the second time, P2′ represents the measurement value set of all the second pressure sensors obtained for the second time, P 21 ′、P 22 ′、P 2N ' respectively represent the measurement values ​​of the first second pressure sensor, the second second pressure sensor, and the Nth second pressure sensor whose distances from the bending point of the long rib are obtained for the second time from near to far.

[0079] The controller calculates the average pressure value based on P1′ and P2′. When the average pressure value is equal to the pressure threshold, the second clamping finger 51 is driven to stop moving. When the average pressure value is less than the pressure threshold, the second clamping finger 51 is driven to perform relative movement. When the average pressure value is greater than the pressure threshold, the second clamping finger 51 is driven to perform opposite movement. During the relative movement or opposite movement of the second clamping finger 51, P1′ and P2′ are obtained in real time and analyzed until the set condition is met, and the set condition is that the average pressure value is equal to the pressure threshold.

[0080] The average pressure is calculated using the following formula:

[0081]

[0082] In the above formula, Indicates the average pressure.

[0083] A photoelectric sensor is provided on the fixing seat 3, and the photoelectric sensor is used to measure the distance from the fixing seat 3 to the long rib. The distance from the initial position of the photoelectric sensor to the long rib is set to D0, and the distance from the end position of the photoelectric sensor to the long rib is set to D1; the set position D2 is set, D0<D2<D1; in the movement of the cylinder 2 from the D0 position to the D2 position, the controller controls the cylinder 2 to accelerate first and then decelerate with an acceleration a1, and in the movement of the cylinder 2 from the D2 position to the D1 position, the controller controls the cylinder 2 to accelerate first and then decelerate with an acceleration a2.

[0084] The relationship between acceleration a1 and acceleration a2 is:

[0085]

[0086] When the present invention grasps the straight long reinforcement, the first clamping jaw group 4 and the third clamping jaw group 6 are used for grasping, and when the bent long reinforcement is grasped, the first clamping jaw group 4 and the second clamping jaw group 5 or the second clamping jaw group 5 and the third clamping jaw group 6 are used for grasping, and a plurality of pressure sensors are provided on the second clamping jaw group 5. The controller adjusts the rotation angle of the second pneumatic clamping jaw according to the measurement value of the pressure sensor and adjusts the distance between the two second clamping fingers 51 at the same time, thereby improving the compatibility with the long reinforcements of small box girders of different models.

[0087] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions of the technical solution of the present invention by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the present invention.

Claims

1. A multi-model compatible adaptive grasping structure, characterized in that: It comprises a fixing frame, a cylinder, a fixing seat, a first pneumatic clamping jaw group, a second pneumatic clamping jaw group, a third pneumatic clamping jaw group and a controller, wherein a plurality of cylinders are fixedly connected to the lower portion of the fixing frame, the output ends of the cylinders are fixedly connected to the upper wall of the fixing seat, the first pneumatic clamping jaw group, the second pneumatic clamping jaw group and the third pneumatic clamping jaw group are all connected to the lower wall of the fixing seat, and the second pneumatic clamping jaw group is located between the first pneumatic clamping jaw group and the third pneumatic clamping jaw group; The second pneumatic clamping jaw group includes a plurality of second pneumatic clamping jaws, which are rotatably connected to the lower wall of the fixing seat, and each of the second pneumatic clamping jaws includes two second clamping fingers arranged in parallel; a plurality of pressure sensors are arranged on the inner side of each second clamping finger along the horizontal direction, and the pressure sensors arranged on the two second clamping fingers are arranged one by one; The pressure sensors are electrically connected to the controller, and the cylinder is also electrically connected to the controller. The controller adjusts the rotation angle of the second pneumatic clamp and the distance between the two second clamping fingers according to the measurement value of the pressure sensor.

2. The multi-model compatible adaptive grasping structure according to claim 1, characterized in that: The pressure sensor disposed on the second clamping finger located inside the bend of the long rib is set as the first pressure sensor, the pressure sensor disposed on another second clamping finger is set as the second pressure sensor, and the pressure threshold is set; The controller controls the cylinder so that the cylinder drives the fixed seat to move to the long rib, and the controller controls the two second clamping fingers to move relative to each other; when at least one of the first pressure sensors has a measured value that is the pressure threshold, and at the same time at least one of the second pressure sensors has a measured value that is the pressure threshold, the controller controls the two second clamping fingers to stop moving relative to each other; the measured values ​​of all the first pressure sensors and all the second pressure sensors are obtained for the first time, which is recorded as P1={P 11 ,P 12 ,…,P 1N }, P2={P 21 ,P 22 ,…,P 2N }; Wherein, P1 represents the set of all the measurement values ​​of the first pressure sensor acquired for the first time, P 11 , P 12 , P 1N represents the first measurement value of the first pressure sensor, the second measurement value of the first pressure sensor, and the Nth measurement value of the first pressure sensor from the nearest to the farthest bending point of the long rib respectively, P2 represents the measurement value set of all the second pressure sensors obtained for the first time, P 21 , P 22 , P 2N They respectively represent the measurement value of the first second pressure sensor, the measurement value of the second second pressure sensor, and the measurement value of the Nth second pressure sensor from the nearest to the farthest distance from the bending point of the long rib obtained for the first time, where N represents the number of the first pressure sensors; The controller determines whether the second pneumatic clamping jaw rotates and whether the two second clamping fingers move relative to each other according to P1 and P2.

3. The multi-model compatible adaptive grasping structure according to claim 2, characterized in that: The specific method for the controller to judge whether the second pneumatic gripper rotates and whether the two second gripping fingers move relative to each other according to P1 and P2 is: If the following equation is satisfied, the second pneumatic gripper is rotated clockwise, and the two second gripper fingers are driven to move relative to each other: If the following equation is satisfied, rotate the second pneumatic gripper counterclockwise and drive the two second gripper fingers to move relative to each other: If the following equation is satisfied, the second pneumatic gripper will not rotate and the two second gripper fingers will not be driven to move relative to each other:

4. The multi-model compatible adaptive grasping structure according to claim 3, characterized in that: A first micro distance sensor is embedded in the inner side of the second gripping finger of the first pressure sensor, away from the bending point of the long rib; a second micro distance sensor is also embedded in the inner side of the second gripping finger of the second pressure sensor, away from the bending point of the long rib; when the controller controls the two second gripping fingers to stop relative movement, the vertical distances from the first micro distance sensor and the second micro distance sensor to the long rib are obtained, thereby calculating the first rotation angle of the second pneumatic gripper and the relative movement distance of the second gripper fingers, and the controller rotates the second pneumatic gripper to rotate the first rotation angle, and at the same time controls each second gripper finger to move a relative movement distance.

5. The multi-model compatible adaptive grasping structure according to claim 4, characterized in that: The first rotation angle of the second pneumatic gripper is calculated by the following formula: When turning the second pneumatic gripper clockwise: In the above formula, α1 represents the first rotation angle when the second pneumatic gripper is rotated clockwise, d1 represents the vertical distance from the first micro distance sensor to the long rib, L1 represents the distance between the first micro sensor and the first pressure sensor closest to the bending point of the long rib, and β represents the correction coefficient of the first micro sensor; When turning the second pneumatic gripper counterclockwise: In the above formula, α2 represents the first rotation angle when the second pneumatic gripper rotates counterclockwise, d2 represents the vertical distance from the second micro distance sensor to the long rib, L2 represents the distance between the second micro sensor and the second pressure sensor closest to the bending point of the long rib, and β2 represents the correction coefficient of the second micro sensor; L2 = L1.

6. The multi-model compatible adaptive grasping structure according to claim 5, characterized in that: The relative movement distance of the second finger is calculated by the following formula: When the second pneumatic gripper rotates clockwise: x1 = L3 × sinα1; In the above formula, x1 represents the relative movement distance of the second finger when the second pneumatic gripper rotates clockwise; L3 represents the distance from the first pressure sensor closest to the bending point of the long rib to the center of the second finger it is connected to; When the second pneumatic gripper rotates counterclockwise: x2 = L4 × sinα2; In the above formula, x2 represents the relative movement distance of the second finger when the second pneumatic gripper rotates counterclockwise; L4 represents the distance from the second pressure sensor closest to the bending point of the long rib to the center of the second finger it is connected to.

7. The multi-model compatible adaptive grasping structure according to claim 4, characterized in that: After the controller controls the second pneumatic gripper to rotate the first rotation angle and controls the second gripper finger to move the relative movement distance, the measurement values ​​of all the first pressure sensors and all the second pressure sensors are obtained for the second time, which is recorded as P1. ′ = {P 11 ′ ,P 12 \ ,…,P 1N ′ }, P2 ′ = {P 21 ′ ,P 22 ′ ,…,P 2N ′ }; Among them, P1 ′ represents the set of all the measurement values ​​of the first pressure sensor obtained for the second time, P 11 ′ , P 12 ′ , P 1N ′ P2 represents the measured value of the first first pressure sensor, the measured value of the second first pressure sensor, and the measured value of the Nth first pressure sensor from the distance from the bending point of the long rib obtained for the second time, respectively. ′ represents the set of measurement values ​​of all second pressure sensors acquired for the second time, P 21 ′ , P 22 ′ , P 2N ′ Respectively represent the measurement value of the first second pressure sensor, the measurement value of the second second pressure sensor, and the measurement value of the Nth second pressure sensor from near to far from the bending point of the long rib obtained for the second time; The controller is based on P1 ′ 、P2 ′ Calculate the pressure average value. When the pressure average value is equal to the pressure threshold, drive the second gripper to stop moving. When the pressure average value is less than the pressure threshold, drive the second gripper to move relative to the pressure. When the pressure average value is greater than the pressure threshold, drive the second gripper to move in the opposite direction. During the relative or opposite movement of the second gripper, obtain P1 in real time. ′ 、P2 ′ , and analyze until the set conditions are met.

8. The multi-model compatible adaptive grasping structure according to claim 7, characterized in that: The average pressure is calculated by the following formula: In the above formula, Indicates the average pressure.

9. The multi-model compatible adaptive grasping structure according to claim 1, characterized in that: An optoelectronic sensor is provided on the fixed seat. The optoelectronic sensor is used to measure the distance from the fixed seat to the long rib. The distance from the initial position of the optoelectronic sensor to the long rib is set as D0, and the distance from the end position of the optoelectronic sensor to the long rib is set as D1; a set position D2 is set, where D0 < D2 < D1; during the movement of the cylinder from the D0 position to the D2 position, the controller controls the cylinder to perform a motion of accelerating first and then decelerating with an acceleration a1, and during the movement of the cylinder from the D2 position to the D1 position, the controller controls the cylinder to perform a motion of accelerating first and then decelerating with an acceleration a2.

10. The multi-model compatible adaptive grasping structure according to claim 9, characterized in that: The relationship between the acceleration a1 and the acceleration a2 is:

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