Multi-model compatible adaptive grabbing structure

Abstract

The present application relates to the technical field of small box girder, especially to a multi-model compatible self-adaptive grabbing structure, which comprises a fixing frame, a plurality of air cylinders, a fixing base, a first pneumatic jaw group, a second pneumatic jaw group, a third pneumatic jaw group and a controller, the air cylinders are fixedly connected below the fixing frame, the output ends of the air cylinders are fixedly connected with the upper wall of the fixing base, the first pneumatic jaw group, the second pneumatic jaw group and the third pneumatic jaw group are connected with the lower wall of the fixing base, the second pneumatic jaw group is located between the first pneumatic jaw group and the third pneumatic jaw group, the second pneumatic jaw group is rotatably connected with the lower wall of the fixing base, a plurality of pressure sensors are arranged in the second pneumatic jaw group, the pressure sensors are electrically connected with the controller, the air cylinders are also electrically connected with the controller, and the controller adjusts the rotation angle and the clamping distance of the second pneumatic jaw group according to the measurement value of the pressure sensors, thereby improving the compatibility of the small box girder long ribs of different models.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of small box girder, and particularly relates to a self-adaptive grabbing structure compatible with multiple models. BACKGROUND

[0002] The small box girder is a kind of girder in bridge engineering, which is hollow inside, has flanges on both sides of the upper part, and is similar to a box, and thus is named. The small box girder has good overall bridge structure and is convenient to erect, and has been widely used in bridge engineering.

[0003] In the production process of the small box girder, the long tendon part of the small box girder needs to be bent according to the model requirements. The long tendon after bending needs to be transported to the tray and stacked with the short tendon by the long tendon transporting device, and then welded. Because different models of small box girders need to be produced, the lengths of the corresponding long tendons are different, and the positions and widths of the long tendon bending are also different. The existing long tendon transporting device cannot be well compatible in the transporting process of the long tendon of the small box girder.

[0004] Therefore, it is urgent to provide a self-adaptive grabbing structure compatible with multiple models, which improves the compatibility of the long tendons of different models of small box girders compared with the prior art. SUMMARY

[0005] The present application solves the technical problems existing in the prior art, and provides a self-adaptive grabbing structure compatible with multiple models.

[0006] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0007] A self-adaptive grabbing structure compatible with multiple models, comprising a fixing frame, a gas cylinder, a fixing seat, a first pneumatic jaw group, a second pneumatic jaw group, a third pneumatic jaw group and a controller, a plurality of gas cylinders are fixedly connected below the fixing frame, the output ends of the gas cylinders are fixedly connected with the upper wall of the fixing seat, the first pneumatic jaw group, the second pneumatic jaw group and the third pneumatic jaw group are connected to the lower wall of the fixing seat, and the second pneumatic jaw group is located between the first pneumatic jaw group and the third pneumatic jaw group.

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

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

[0010] Further, the pressure sensor arranged on the second clamping finger inside the long tendon bending is set as a first pressure sensor, and the pressure sensor arranged on the other second clamping finger is set as a second pressure sensor, and a pressure threshold is set.

[0011] The controller controls the air cylinder to drive the fixed seat to move to the long tendon, and controls the relative movement of the two second clamping fingers; when at least one first pressure sensor has a measured value of the pressure threshold, and at least one second pressure sensor has a measured value of the pressure threshold, the controller controls the two second clamping fingers to stop relative movement; the measured values of all first pressure sensors and all second pressure sensors are obtained for the first time, recorded as P1={P 11 , P 12 , …, P 1N}, P2={P 21 , P 22 , …, P 2N}; wherein P1 represents the set of measured values of all first pressure sensors obtained for the first time, P 11 , P 12 , P 1N respectively represent the measured values of the first, second and Nth first pressure sensors obtained for the first time, and P2 represents the set of measured values of all second pressure sensors obtained for the first time, P 21 , P 22 , P 2N respectively represent the measured values of the first, second and Nth second pressure sensors obtained for the first time, and N represents the number of first pressure sensors.

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

[0013] Further, the specific method for the controller to determine whether the second pneumatic clamp rotates and whether the two second clamping fingers move relative to each other according to P1 and P2 is as follows:

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

[0015]

[0016] If the following equation is satisfied, the second pneumatic gripper will rotate counterclockwise, simultaneously driving the two second gripping fingers to move relative to each other:

[0017]

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

[0019]

[0020] Furthermore, a first miniature distance sensor is embedded on the inner side of the second gripper finger where the first pressure sensor is located, away from the bending point of the long rib; a second miniature distance sensor is also embedded on the inner side of the second gripper finger where the second pressure sensor is located, away from the bending point of the long rib; when the controller controls the two second gripper fingers to stop relative movement, it obtains the vertical distance from the first miniature distance sensor, the second miniature distance sensor to the long rib, and thus calculates the first rotation angle of the second pneumatic gripper and the relative movement distance of the second gripper fingers. 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 the relative movement distance.

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

[0022] When the second pneumatic gripper is rotated 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 miniature distance sensor to the long rib, L1 represents the distance between the first miniature sensor and the first pressure sensor closest to the bending point of the long rib, and β represents the correction coefficient of the first miniature sensor.

[0025] When the second pneumatic gripper is rotated 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 miniature distance sensor to the long rib, L2 represents the distance between the second miniature sensor and the second pressure sensor closest to the bending point of the long rib, and β2 represents the correction coefficient of the second miniature sensor.

[0028] L2 = L1.

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

[0030] When the second pneumatic gripper is rotated clockwise:

[0031] x1 = L3 x sin a1

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

[0033] When the second pneumatic clamp jaw is rotated counterclockwise:

[0034] x2 = L4 x sin a2

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

[0036] Further, after the controller controls the second pneumatic clamp jaw to rotate the first rotation angle and controls the second finger to move the relative movement distance, the controller secondly acquires the measurement values of all the first pressure sensors and all the second pressure sensors, denoted as P1' = {P1'1, P1'2, …, P1'N} and P2' = {P2'1, P2'2, …, P2'N}; wherein P1' represents the measurement value set of all the first pressure sensors secondly acquired, P1'1, P1'2, P1'N respectively represent the measurement value of the first first pressure sensor, the measurement value of the second first pressure sensor, the measurement value of the Nth first pressure sensor secondly acquired from near to far with respect to the bending point of the long muscle, P2' represents the measurement value set of all the second pressure sensors secondly acquired, P2'1, P2'2, P2'N respectively represent the measurement value of the first second pressure sensor, the measurement value of the second second pressure sensor, the measurement value of the Nth second pressure sensor secondly acquired from near to far with respect to the bending point of the long muscle. 11 12 1N 21 22 2N 11 12 1N 21 22 2N

[0037] The controller calculates the pressure average value according to P1' and P2', when the pressure average value is equal to the pressure threshold value, the controller drives the second finger to stop moving; when the pressure average value is less than the pressure threshold value, the controller drives the second finger to move relatively; when the pressure average value is greater than the pressure threshold value, the controller drives the second finger to move reversely, in the process of the relative movement or the reverse movement of the second finger, P1' and P2' are acquired in real time and analyzed until the set condition is met.

[0038] ​​​​​​​​​​​​Further, the pressure average value is calculated by the following formula:

[0039]

[0040] In the above formula, represents the pressure average value.

[0041] Further, the fixed seat is provided with a photoelectric sensor, the photoelectric sensor is used for measuring 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 as D0, the distance from the terminal position of the photoelectric sensor to the long rib is set as D1, a setting position D2 is set, D0 < D2 < D1, in the movement from the D0 position to the D2 position of the cylinder, the controller controls the cylinder to move at an acceleration a1, and in the movement from the D2 position to the D1 position of the cylinder, the controller controls the cylinder to move at an acceleration a2.

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

[0043]

[0044] Compared with the prior art, the beneficial effects of the present application are:

[0045] When the present application is used for grabbing the straight long rib, the first jaw group and the third jaw group are used for grabbing, when the present application is used for grabbing the bent long rib, the first jaw group and the second jaw group or the second jaw group and the third jaw group are used for grabbing, and a plurality of pressure sensors are arranged on the second jaw group, the controller adjusts the rotation angle of the second pneumatic jaw and the distance between the two second fingers according to the measurement value of the pressure sensor, so that the compatibility of the different models of small box girder long ribs is improved. BRIEF DESCRIPTION OF DRAWINGS

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

[0047] MARKED EXPLANATION:

[0048] 1, fixed frame; 2, cylinder; 3, fixed seat; 4, first pneumatic jaw group; 41, first jaw; 5, second pneumatic jaw group; 51, second jaw; 6, third pneumatic jaw group; 61, third jaw. DETAILED DESCRIPTION

[0049] The technical solutions of the present application will be clearly described below with reference to the drawings. Obviously, the described embodiments are not all the embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present application. It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0050] As shown in Figure 1 The present application provides a multi-model compatible adaptive grabbing structure, which comprises a fixing frame 1, a plurality of air cylinders 2, a fixing seat 3, a first pneumatic jaw group 4, a second pneumatic jaw group 5, a third pneumatic jaw group 6 and a controller. The air cylinders 2 are fixedly connected below the fixing frame 1, the output ends of the air cylinders 2 are fixedly connected with the upper wall of the fixing seat 3, the first pneumatic jaw group 4, the second pneumatic jaw group 5 and the third pneumatic jaw group 6 are connected on the lower wall of the fixing seat 3, and the second pneumatic jaw group 5 is located between the first pneumatic jaw group 4 and the third pneumatic jaw group 6.

[0051] The first pneumatic jaw group 4 comprises a plurality of first pneumatic jaws, each first pneumatic jaw comprising two first clamping fingers 41 arranged in parallel to clamp the long reinforcing bar; the second pneumatic jaw group 5 comprises a plurality of second pneumatic jaws, the second pneumatic jaws being rotatably connected to the lower wall of the fixing seat 3, a motor can be arranged on the fixing seat 3 to rotate and drive the second pneumatic jaws to rotate, each second pneumatic jaw comprising two second clamping fingers 51 arranged in parallel to clamp the long reinforcing bar; the third pneumatic jaw group 6 comprises a plurality of third pneumatic jaws, each third pneumatic jaw comprising two third clamping fingers 61 arranged in parallel to clamp the long reinforcing bar; when the long reinforcing bar to be clamped is a straight long reinforcing bar, one first pneumatic jaw and one third pneumatic jaw are used to clamp and transport the reinforcing bar; when the long reinforcing bar to be clamped is a bent long reinforcing bar, one first pneumatic jaw and one second pneumatic jaw or one third pneumatic jaw and one second pneumatic jaw are used to clamp and transport the reinforcing bar, and the second pneumatic jaw clamps the bent part of the reinforcing bar.

[0052] A plurality of pressure sensors are arranged on the inner side of each second clamping finger 51 in the horizontal direction, and the pressure sensors arranged on the two second clamping fingers 51 are arranged one by one in correspondence. The pressure sensors are electrically connected with the controller, and the air cylinders 2 are also electrically connected with the controller. The controller adjusts the rotation angle of the second pneumatic jaw and the distance between the two second clamping fingers 51 according to the measurement value of the pressure sensor.

[0053] The pressure sensor arranged on the second clamp finger 51 inside the long tendon bending is set as a first pressure sensor, and the pressure sensor arranged on the other second clamp finger 51 is set as a second pressure sensor, and a pressure threshold is set; the controller controls the air cylinder 2 to drive the fixed seat 3 to move to the long tendon, and controls the relative movement of the two second clamp fingers 51.

[0054] When the measured value of at least one first pressure sensor is the pressure threshold, and the measured value of at least one second pressure sensor is the pressure threshold, the controller controls the two second clamp fingers 51 to stop relative movement; the measured values of all first pressure sensors and all second pressure sensors are acquired for the first time, recorded as P1={P 11 , P 12 , …, P 1N}, P2={P 21 , P 22 , …, P 2N}; wherein P1 represents the set of measured values of all first pressure sensors acquired for the first time, P 11 , P 12 , P 1N respectively represent 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 acquired for the first time from near to far from the long tendon bending point, P2 represents the set of measured values of all second pressure sensors acquired for the first time, P 21 , P 22 , P 2N respectively represent the measured value of the first second pressure sensor, the measured value of the second second pressure sensor, and the measured value of the Nth second pressure sensor acquired for the first time from near to far from the long tendon bending point, and N represents the number of first pressure sensors; the controller judges whether the second pneumatic clamp jaw rotates and whether the two second clamp fingers 51 relatively move according to P1 and P2.

[0055] The specific method for the controller to judge whether the second pneumatic clamp jaw rotates and whether the two second clamp fingers 51 relatively move according to P1 and P2 is as follows:

[0056] If the following formula is satisfied, the second pneumatic clamp jaw is rotated clockwise, and the two second clamp fingers 51 are driven to relatively move:

[0057]

[0058] If the following formula is satisfied, the second pneumatic clamp jaw is rotated counterclockwise, and the two second clamp fingers 51 are driven to relatively move:

[0059]

[0060] If the following condition is met, the second pneumatic gripper will not rotate, and the two second gripper fingers 51 will not be driven to move relative to each other:

[0061]

[0062] A first miniature distance sensor is embedded on the inner side of the second gripper 51, away from the bending point of the long rib, where the first pressure sensor is located; a second miniature distance sensor is also embedded on the inner side of the second gripper 51, away from the bending point of the long rib, where the second pressure sensor is located; when the controller controls the two second grippers 51 to stop relative movement, it obtains the vertical distance from the first miniature distance sensor and the second miniature distance sensor to the long rib, thereby calculating the first rotation angle of the second pneumatic gripper and the relative movement distance of the second gripper 51. The controller rotates the second pneumatic gripper to rotate the first rotation angle, and at the same time controls each second gripper 51 to move the relative movement distance.

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

[0064] When the second pneumatic gripper is rotated 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 miniature distance sensor to the long rib, L1 represents the distance between the first miniature sensor and the first pressure sensor closest to the bending point of the long rib, and β represents the correction coefficient of the first miniature sensor.

[0067] When the second pneumatic gripper is rotated 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 miniature distance sensor to the long rib, L2 represents the distance between the second miniature sensor and the second pressure sensor closest to the bending point of the long rib, and β2 represents the correction coefficient of the second miniature sensor.

[0070] L2 = L1.

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

[0072] When the second pneumatic gripper is rotated clockwise:

[0073] x1 = L3 × sinα1;

[0074] In the above formula, x1 represents the relative moving 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 muscle to the center of the second clamping finger 51 to which the first pressure sensor is connected;

[0075] When the second pneumatic clamping jaw is rotated counterclockwise:

[0076] x2 = L4 x sin a2

[0077] In the above formula, x2 represents the relative moving 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 muscle to the center of the second clamping finger 51 to which the second pressure sensor is connected.

[0078] After the controller controls the second pneumatic clamping jaw to rotate the first rotation angle and controls the second clamping finger 51 to move the relative moving distance, the second time, the measured values of all the first pressure sensors and all the second pressure sensors are acquired, and are recorded as P1' = {P1'1, P1'2, …, P1'N} and P2' = {P2'1, P2'2, …, P2'N}; wherein P1' represents the measured value set of all the first pressure sensors acquired the second time, P1'1, P1'2, P1'N respectively represent 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 acquired the second time from near to far with respect to the distance from the bending point of the long muscle; P2' represents the measured value set of all the second pressure sensors acquired the second time, P2'1, P2'2, P2'N respectively represent the measured value of the first second pressure sensor, the measured value of the second second pressure sensor, and the measured value of the Nth second pressure sensor acquired the second time from near to far with respect to the distance from the bending point of the long muscle. 11 12 1N 21 22 2N 11 12 1N 21 22 2N

[0079] The controller calculates the pressure average value according to P1' and P2'. When the pressure average value is equal to the pressure threshold value, the second clamping finger 51 is driven to stop moving; when the pressure average value is less than the pressure threshold value, the second clamping finger 51 is driven to move relatively; when the pressure average value is greater than the pressure threshold value, the second clamping finger 51 is driven to move reversely; in the process of the relative movement or the reverse movement of the second clamping finger 51, P1' and P2' are acquired in real time and are analyzed until the set condition is met, and the set condition is that the pressure average value is equal to the pressure threshold value.

[0080] The pressure average value is calculated by the following formula: ​​​​​​​​​​​​

[0081]

[0082] In the above formula, The pressure average value is represented.

[0083] The fixed seat 3 is provided with a photoelectric sensor for measuring the distance from the fixed seat 3 to the long rib, the initial position of the photoelectric sensor is set to a distance D0 from the long rib, and the terminal position of the photoelectric sensor is set to a distance D1 from the long rib; a set position D2 is set, and 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 move at an acceleration a1 for acceleration and then deceleration, and in the movement of the cylinder 2 from the D2 position to the D1 position, the controller controls the cylinder 2 to move at an acceleration a2 for acceleration and then deceleration.

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

[0085]

[0086] When the straight long rib is grabbed, the first jaw group 4 and the third jaw group 6 are used for grabbing, when the bent long rib is grabbed, the first jaw group 4 and the second jaw group 5 or the second jaw group 5 and the third jaw group 6 are used for grabbing, and a plurality of pressure sensors are arranged on the second jaw group 5, the controller adjusts the rotation angle of the second pneumatic jaw and the distance between the two second fingers 51 according to the measurement value of the pressure sensor, thereby improving the compatibility of different models of small box girder long ribs.

[0087] Finally, it should be noted that the above content is only used to illustrate the technical solutions of the present application, and is not a limitation on the protection scope of the present application. Simple modifications or equivalent replacements of the technical solutions of the present application made by those skilled in the art do not deviate from the essence and scope of the technical solutions of the present application.

Claims

1. A multi-model compatible adaptive grasping structure, characterized in that, The device includes a fixed frame, cylinders, a fixed base, a first pneumatic gripper group, a second pneumatic gripper group, a third pneumatic gripper group, and a controller. Multiple cylinders are fixedly connected to the lower part of the fixed frame, and the output ends of the cylinders are fixedly connected to the upper wall of the fixed base. The first, second, and third pneumatic gripper groups are all connected to the lower wall of the fixed base, and the second pneumatic gripper group is located between the first and third pneumatic gripper groups. The second pneumatic gripper assembly includes multiple second pneumatic grippers, which are rotatably connected to the lower wall of the fixed base. Each second pneumatic gripper includes two parallel second gripping fingers. Multiple pressure sensors are provided on the inner side of each second gripping finger along the horizontal direction, and the pressure sensors provided on the two second gripping fingers are provided one-to-one. The pressure sensors are all 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 gripper and the distance between the two second gripper fingers according to the measured value of the pressure sensors. The pressure sensor located on the second finger on the inner side of the long rib bend is set as the first pressure sensor, and the pressure sensor located on the other second finger is set as the second pressure sensor. A pressure threshold is set. The controller controls the cylinder, causing it to move the fixed base to the long rib. The controller also controls the relative movement of the two second grippers. When at least one first pressure sensor measures a pressure threshold value, and simultaneously at least one second pressure sensor measures a pressure threshold value, the controller stops the relative movement of the two second grippers. The first acquisition of all measurements from the first and second pressure sensors is recorded as follows: in, This represents the set of all initial measurements from the first pressure sensor. , , These represent the measured values ​​of the first pressure sensor, the second pressure sensor, and the Nth pressure sensor, respectively, from the closest to the bending point of the long rib, in ascending order of distance. This represents the set of all measurements from the second pressure sensor acquired in the first instance. , , These represent the measured values ​​of the first second pressure sensor, the second second pressure sensor, and the Nth second pressure sensor, respectively, from the closest to the bending point of the long rib, in ascending order of distance. N represents the number of first pressure sensors. Controller according to , Determine whether the second pneumatic gripper is rotating and whether the two second gripper fingers are moving relative to each other.

2. The multi-model compatible adaptive grasping structure according to claim 1, characterized in that, Controller according to , The specific method for determining whether the second pneumatic gripper is rotating and whether the two second gripping fingers are moving relative to each other is as follows: If the following equation is satisfied, rotate the second pneumatic gripper clockwise, simultaneously driving the two second gripping fingers to move relative to each other: If the following equation is satisfied, the second pneumatic gripper will rotate counterclockwise, simultaneously driving the two second gripping fingers to move relative to each other: If the following condition is met, the second pneumatic gripper will not rotate, and the two second gripping fingers will not be driven to move relative to each other: 。 3. The multi-model compatible adaptive grasping structure according to claim 2, characterized in that, A first miniature distance sensor is embedded on the inner side of the second gripper finger where the first pressure sensor is located, away from the bending point of the long rib; a second miniature distance sensor is also embedded on the inner side of the second gripper finger where the second pressure sensor is located, away from the bending point of the long rib; when the controller controls the two second gripper fingers to stop relative movement, it obtains the vertical distance from the first miniature distance sensor, the second miniature distance sensor to the long rib, and thus calculates the first rotation angle of the second pneumatic gripper and the relative movement distance of the second gripper fingers. 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 the relative movement distance.

4. The multi-model compatible adaptive grasping structure according to claim 3, characterized in that, The first rotation angle of the second pneumatic gripper is calculated using the following formula: When the second pneumatic gripper is rotated clockwise: In the above formula, This indicates the first rotation angle when the second pneumatic gripper is rotated clockwise. This represents the vertical distance from the first miniature distance sensor to the long rib. This indicates the distance between the first micro-sensor and the first pressure sensor closest to the bend point of the long rib. This represents the correction coefficient for the first micro-sensor; When the second pneumatic gripper is rotated counterclockwise: In the above formula, This indicates the first rotation angle when the second pneumatic gripper is rotated counterclockwise. This indicates the vertical distance from the second miniature distance sensor to the long rib. This indicates the distance between the second micro-sensor and the second pressure sensor closest to the bend point of the long rib. This represents the correction factor for the second micro-sensor; 。 5. The multi-model compatible adaptive grasping structure according to claim 4, characterized in that, The relative movement distance of the second finger is calculated using the following formula: When the second pneumatic gripper is rotated clockwise: In the above formula, This indicates the relative movement distance of the second gripper finger when the second pneumatic gripper is rotated clockwise; This indicates the distance from the first pressure sensor closest to the bend of the long rib to the center of the second clamping finger it is connected to; When the second pneumatic gripper is rotated counterclockwise: In the above formula, This indicates the relative movement distance of the second gripper finger when the second pneumatic gripper is rotated counterclockwise; This indicates the distance from the second pressure sensor closest to the bending point of the long rib to the center of the second clamping finger to which it is connected.

6. The multi-model compatible adaptive grasping structure according to claim 3, characterized in that, After the controller controls the second pneumatic gripper to rotate by the first rotation angle and controls the second gripper finger to move by the relative distance, it acquires the measurement values ​​from all the first and second pressure sensors for the second time, and records them as follows: in, This represents the set of all measurements from the first pressure sensor acquired in the second iteration. , , These represent the measured values ​​of the first pressure sensor, the second pressure sensor, and the Nth pressure sensor, respectively, from the closest to the bending point of the long rib, obtained in the second acquisition. This represents the set of all measurements from the second pressure sensor acquired in the second instance. , , These represent the measured values ​​of the first, second, and Nth second pressure sensors, respectively, representing the distances from the bending point of the long rib to the farthest point. Controller according to , The system calculates the average pressure. When the average pressure equals a pressure threshold, it stops the movement of the second gripper finger. When the average pressure is less than the pressure threshold, it initiates relative movement of the second gripper finger. When the average pressure is greater than the pressure threshold, it initiates opposite movement of the second gripper finger. During these relative or opposite movements, the system continuously monitors the data. , And analyze it until the set conditions are met.

7. The multi-model compatible adaptive grasping structure according to claim 6, characterized in that, The average pressure is calculated using the following formula: In the above formula, This represents the average pressure.

8. The multi-model compatible adaptive grasping structure according to claim 1, characterized in that, The mounting base is equipped with a photoelectric sensor, which measures the distance from the mounting base to the long rib. The initial distance from the photoelectric sensor to the long rib is set to... The distance from the termination position of the photoelectric sensor to the long rib is set to... Set the location , ; cylinder from Position moved to During this movement of the position, the controller controls the cylinder to accelerate. The cylinder undergoes a motion that first accelerates and then decelerates. Position moved to During this movement of the position, the controller controls the cylinder to accelerate. It involves a motion that first accelerates and then decelerates.

9. The multi-model compatible adaptive grasping structure according to claim 8, characterized in that, acceleration With acceleration The relationship between them is: 。

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