A flexible assembly gripper device based on multi-dimensional force sensing

Abstract

The present application relates to the technical field of assembly fixture, and discloses a flexible assembly clamping jaw device based on multidimensional force sensing, comprising: a central precise positioning unit, comprising: a central positioning seat, and a central adsorption disc provided with a first pressure sensor and a first microwave resonance sensor at the tail end; and a miniature laser radar arranged at the tail end of the central positioning seat and used for space pose calibration; the device adopts multi-sensor fusion sensing, constructs a complete closed-loop control, the central adsorption disc, the proximal telescopic adsorption disc and the distal telescopic adsorption disc are all integrated with pressure sensors and microwave resonance sensors, respectively monitor the contact force and the gap change, all sensing data are fed back to the control unit in real time, the action parameters of each actuator are dynamically adjusted, intelligent regulation and control of the whole process from contact, adhesion to locking are realized, and the environmental adaptability and operation stability of the clamping jaw are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of assembly fixture, in particular to a flexible assembly clamping jaw device based on multi-dimensional force sensing. BACKGROUND

[0002] As a key actuator for realizing workpiece grabbing, carrying and positioning in the field of industrial automation, clamping jaw is widely used in production links such as assembly, welding, spraying and detection. With the development of intelligent manufacturing technology, clamping jaw has gradually evolved from traditional mechanical clamping type to new generation of flexible clamping type mainly based on pneumatic adsorption, electromagnetic adsorption and vacuum adsorption. Especially when facing workpieces with easily damaged surface, complex shape or various materials, flexible adsorption type clamping jaw is favored due to its small contact stress and strong adaptability. Modern clamping jaw usually integrates driving mechanism, guiding component and basic sensing element, and realizes opening and closing, lifting and positioning actions through program control to meet the operation needs of different production lines.

[0003] However, when facing curved workpieces with significant curvature changes or local irregular features, the existing clamping jaw still has obvious limitations in practical application. Such workpieces are commonly found in aircraft wing skins, automobile body coverings and curved shell of consumer electronic products in the field of aerospace, automobile manufacturing and consumer electronics, etc. The complex surface morphology puts forward higher requirements for the fitting precision and stress uniformity in the clamping process. Traditional clamping jaws mostly rely on fixed or limited floating structure for contact, lack real-time sensing ability of workpiece surface topography, which makes it difficult for the adsorption disc to achieve full fitting at the moment of contact, and prone to problems such as edge lifting, local suspension or pressure concentration. More importantly, the existing clamping jaws generally lack closed-loop feedback mechanism for contact state, which cannot dynamically sense the pressure distribution and micro-gap changes of the adsorption surface during the grabbing process, making it difficult for the control system to adjust the action parameters of the actuator in time. This core defect makes the clamping jaw rely on preset path and experience parameters for operation when facing curved workpieces, and once there are batch differences or installation deviations in the workpiece, it is easy to cause adsorption failure, workpiece slip or even surface scratching, which seriously affects production efficiency and product quality. In addition, due to the lack of real-time sensing data in multiple dimensions, the clamping jaw is difficult to realize intelligent regulation and control from initial contact, local compensation to final locking, which limits its further application in high-precision and high-flexibility automation scenarios. Therefore, how to improve the sensing ability and dynamic adaptability of clamping jaw for curved workpieces has become an important direction for current technical improvement. SUMMARY

[0004] The purpose of the present application is to provide a flexible assembly clamping jaw device based on multi-dimensional force sensing to solve the problems raised in the background art.

[0005] To address the aforementioned technical problems, the present invention provides the following technical solution: a flexible assembly gripper device based on multidimensional force sensing, comprising:

[0006] The central precision positioning unit includes:

[0007] The central positioning seat has a central adsorption plate with a first pressure sensor and a first microwave resonant sensor at its end;

[0008] A miniature lidar, located at the end of the central positioning mount, is used for spatial attitude calibration.

[0009] The proximal annular micro-adsorption unit includes:

[0010] The proximal pivot seat is movably fitted onto the central positioning seat via a first angle adjustment component;

[0011] Six proximal telescopic adsorption plates are evenly distributed around the proximal central seat. Each proximal telescopic adsorption plate integrates a second pressure sensor and a second microwave resonant sensor.

[0012] The first guide component is linked with the first servo motor to drive the near-end telescopic adsorption disk to extend and retract radially.

[0013] The distal annular strong adsorption unit includes:

[0014] The distal central seat is movably fitted onto the central positioning seat via a second angle adjustment component;

[0015] Three telescopic adsorption plates are evenly distributed around the circumference of the remote central seat, and an electromagnetic adsorption component with a third pressure sensor is embedded in the center of each telescopic adsorption plate.

[0016] The second guide component is linked with the second servo motor to drive the remote telescopic adsorption disk to extend and retract radially.

[0017] The central adsorption plate prioritizes contact with the workpiece and feeds back the contact force signal, the near-end telescopic adsorption plate compensates for surface deformation, and the far-end telescopic adsorption plate applies electromagnetic pre-tightening force based on near-end sensor data, forming a closed-loop control.

[0018] According to the above technical solution, the central positioning seat includes:

[0019] Coaxially connected docking base, middle connecting base and end docking base;

[0020] The first connecting rod group is arranged in a circular array to connect the docking base and the central connecting seat;

[0021] The second connecting rod group is arranged in a circular array to connect the middle connecting seat and the end docking seat;

[0022] The proximal central seat is provided with a first connecting rod group that cooperates with the first arc-shaped sliding groove;

[0023] The distal central seat is provided with a second connecting rod group that cooperates with the second arc-shaped sliding groove;

[0024] The curvature centers of the first and second arc-shaped sliding grooves coincide with the axis of the central positioning seat, and the groove lengths correspond to the deflection angles.

[0025] According to the above technical solution, the central adsorption disk includes:

[0026] Metal substrate, bolted to the end of the docking base;

[0027] A honeycomb-shaped microporous adsorption layer covers the adsorption surface of the metal substrate;

[0028] The first pressure sensor is annularly embedded in the honeycomb microporous adsorption layer;

[0029] The first microwave resonant sensor is embedded at the center of the honeycomb microporous adsorption layer.

[0030] According to the above technical solution, the first angle adjustment component and the second angle adjustment component have the same structure and similar functions, and the first angle adjustment component includes:

[0031] Adjust the servo motor and fix it to the side wall of the middle connecting seat via the mounting bracket;

[0032] The drive gear is connected to the output shaft of the regulating servo motor;

[0033] The ring rack is fixed to the outer wall of the proximal pivot seat and meshes with the drive gear.

[0034] According to the above technical solution, the proximal telescopic adsorption disk includes:

[0035] The proximal sliding base is movably connected to the first guide assembly;

[0036] A voice coil motor, fixed to a near-end sliding base;

[0037] The lifting base is connected to the mover end of the voice coil motor;

[0038] The flexible adsorption plate is connected to the lifting base via a floating joint.

[0039] The second pressure sensor is annularly embedded in the flexible adsorption disk;

[0040] The second microwave resonant sensor is embedded at the center of the flexible adsorption disk.

[0041] According to the above technical solution, the remote telescopic adsorption plate includes:

[0042] The distal sliding base is slidably connected to the second guide assembly;

[0043] A linear motor is fixed below the distal sliding base;

[0044] The first cross roller guide is symmetrically arranged below the far end sliding base;

[0045] The remote lifting base is fixed to the end of the first cross roller guide rail;

[0046] A silicone composite adsorption plate is disposed at the lower end of the remote lifting base, and the diameter of the silicone composite adsorption plate is larger than that of the flexible adsorption plate.

[0047] The third pressure sensor is embedded in the silicone composite adsorption plate in a ring shape.

[0048] According to the above technical solution, the proximal telescopic adsorption disk is radially guided by a first guide assembly and synchronously driven by a single first servo motor. The first guide assembly includes:

[0049] A proximal guide rod is symmetrically fixed to the side wall of the proximal pivot seat and extends radially along the proximal pivot seat; the proximal sliding base is movably disposed on the proximal guide rod.

[0050] A proximal rotating shaft is movably disposed through the side wall of the proximal pivot seat and located between the proximal guide rods. One end away from the center is threaded into the proximal sliding base, and the other end adjacent to the center extends into the proximal pivot seat and is fixedly installed with a driven bevel gear. The proximal rotating shaft is disposed in the adjacent first arc-shaped sliding groove.

[0051] The first servo motor is fixedly installed in the near-end pivot seat, and the output end is fixedly installed with a driving bevel gear, which meshes with the driven bevel gear.

[0052] According to the above technical solution, the distal telescopic adsorption disk is radially guided by a second guide assembly and synchronously driven by a single second servo motor. The second guide assembly includes:

[0053] The second cross roller guide rail is symmetrically fixed to the side wall of the distal pivot seat and extends radially along the distal pivot seat. The distal sliding base is movably disposed at the end of the second cross roller guide rail.

[0054] The distal rotating shaft is movably disposed through the side wall of the distal pivot seat and located between the second cross roller guides. One end away from the center is threadedly connected to the distal sliding base, and the other end adjacent to the center extends into the distal pivot seat and is fixedly installed with a worm gear. The worm gear axially points towards the center of the distal pivot seat. The distal rotating shaft is disposed between adjacent second arc-shaped sliding grooves.

[0055] The second servo motor is fixedly installed in the remote central seat, and a sun gear is fixedly installed at the output end. The planet gears are evenly distributed around the second servo motor, and the planet gears are respectively meshed with the sun gear. A worm gear is fixedly installed on the upper end of the planet gears, and the worm gear is meshed with the worm.

[0056] According to the above technical solution, the electromagnetic adsorption component includes:

[0057] An electromagnetic chuck substrate is embedded in the bottom of a silicone composite adsorption disk;

[0058] Electromagnet, fixed to the electromagnetic chuck base plate;

[0059] A magnetic coil is embedded in a silicone composite adsorption plate, surrounding an electromagnet.

[0060] According to the above technical solution, the metal substrate extends laterally into a cantilever bracket, and the miniature lidar is installed at the end of the cantilever bracket via a quick-release interface. The emission direction of the miniature lidar is parallel to the normal of the central adsorption disk, and the emission direction of the miniature lidar avoids the area of ​​the first pressure sensor.

[0061] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0062] (1) This device adopts multi-sensor fusion sensing to construct a complete closed-loop control. The central adsorption plate, the near-end telescopic adsorption plate and the far-end telescopic adsorption plate are all integrated with pressure sensors and microwave resonant sensors to monitor the contact force and gap changes respectively. All sensor data are fed back to the control unit in real time to dynamically adjust the action parameters of each actuator, realize intelligent control of the entire process from contact, bonding to locking, and improve the environmental adaptability and operational stability of the gripper.

[0063] (2) This device achieves high-precision initial positioning of the workpiece through the setting of the central precision positioning unit. The central adsorption disk contacts the workpiece surface first. Combined with the dual feedback of the first pressure sensor and the first microwave resonant sensor, it can accurately judge the contact state and micro deformation. The miniature laser radar emits a detection beam along the normal of the central adsorption disk to obtain the three-dimensional contour and spatial pose data of the workpiece surface in real time, providing a precise basis for the overall posture adjustment of the gripper and effectively improving the positioning accuracy and safety of the gripping process.

[0064] (3) This device has multi-level adaptive bonding capability, which can adapt to the gripping requirements of complex curved workpieces. The near-end ring micro adsorption unit drives six near-end telescopic adsorption disks to synchronously extend and retract radially through the first servo motor. Combined with the vertical adjustment of the voice coil motor and the attitude adaptation of the floating joint, it can realize rapid compensation for local curvature. This structure actively unfolds after the central unit is triggered, ensuring that each adsorption point is uniformly bonded, avoiding workpiece damage or adsorption failure due to local stress concentration.

[0065] (4) This device achieves the main load locking function through the remote ring strong adsorption unit, which significantly improves the stability and reliability of clamping. The remote telescopic adsorption plate completes the pressing action under the drive of the linear motor. It is combined with the first cross roller guide to provide high rigidity guidance, ensuring the smoothness of movement under heavy load. The silicone composite adsorption plate has a large contact area and good elastic deformation ability, which can further enhance the sealing effect on the basis of air suction. It is suitable for high-intensity assembly operations.

[0066] (5) This device introduces an electromagnetic adsorption component to achieve composite enhanced adsorption of ferromagnetic material workpieces. The electromagnetic adsorption component includes an electromagnet and a magnetic coil, which can generate a static magnetic field and a high-frequency excitation magnetic field under control commands. It penetrates the silicone layer and acts on the surface of the workpiece, significantly improving the adsorption force. For non-ferromagnetic materials, it keeps the power off and only activates the air suction function, realizing an intelligent adsorption strategy that can be activated as needed, taking into account both versatility and high efficiency.

[0067] (6) The device has a compact overall structure and highly integrated functions, integrating positioning, sensing, driving, adsorption and control. The layout of each component is reasonable, the space utilization rate is high, and it supports modular maintenance and quick replacement. This gripper is suitable for various industrial scenarios such as automobile manufacturing, aerospace, and electronic assembly. It is especially suitable for flexible gripping and precision assembly of irregular workpieces with high surface quality requirements and complex shapes. Attached Figure Description

[0068] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0069] Figure 1 This is a first perspective view of the present invention;

[0070] Figure 2 This is a second perspective view of the present invention;

[0071] Figure 3 This is a third perspective view of the present invention;

[0072] Figure 4 This is a fourth perspective schematic diagram of the present invention;

[0073] Figure 5 This is a first partial three-dimensional schematic diagram of the present invention;

[0074] Figure 6 This is a second partial perspective view of the present invention;

[0075] Figure 7 This is a third partial perspective view of the present invention;

[0076] Figure 8 This is a fourth partial perspective view of the present invention;

[0077] Figure 9 This is a fifth partial perspective view of the present invention;

[0078] Figure 10 This is a sixth partial perspective view of the present invention;

[0079] In the diagram: 100-Central precision positioning unit, 110-Central positioning seat, 111-Dating base, 112-Middle connecting seat, 113-End docking seat, 114-First connecting rod assembly, 115-Second connecting rod assembly, 120-Central adsorption plate, 121-First pressure sensor, 122-First microwave resonant sensor, 123-Metal substrate, 124-Honeycomb microporous adsorption layer, 125-Cantilever bracket, 130-Miniature laser radar 200-Proximal annular micro-adsorption unit, 210-Proximal central seat, 211-First arc-shaped sliding groove, 220-Proximal telescopic adsorption disk, 221-Second pressure sensor, 222-Second microwave resonant sensor, 223-Proximal sliding base, 224-Voice coil motor, 225-Lifting base, 226-Flexible adsorption disk, 230-First guide assembly, 231-Proximal guide rod, 232-Proximal rotating shaft, 233-Driven 240 - First servo motor; 241 - Drive bevel gear; 300 - First angle adjustment component; 310 - Adjustment servo motor; 320 - Drive gear; 330 - Ring rack; 340 - Fixed base; 400 - Distant ring strong adsorption unit; 410 - Distant central base; 411 - Second arc-shaped sliding groove; 420 - Distant telescopic adsorption plate; 421 - Distant sliding base; 422 - Linear motor; 423 - First cross roller Column guide rail, 424-remote lifting base, 425-silicone composite adsorption plate, 430-electromagnetic adsorption assembly, 431-electromagnetic chuck substrate, 432-third pressure sensor, 433-electromagnet, 434-magnetic coil, 440-second guide assembly, 441-second cross roller guide rail, 442-remote rotating shaft, 443-worm gear, 444-sun gear, 445-planetary gear, 446-worm gear, 450-second servo motor. Detailed Implementation

[0080] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0081] Please see Figures 1-10 The present invention provides a technical solution: a flexible assembly gripper device based on multidimensional force sensing, comprising:

[0082] The central precision positioning unit 100 includes:

[0083] The central positioning seat 110 has a central adsorption plate 120 with a first pressure sensor 121 and a first microwave resonant sensor 122 at its end;

[0084] A miniature lidar 130 is located at the end of the central positioning base 110 for spatial pose calibration.

[0085] The proximal annular micro-adsorption unit 200 includes:

[0086] The proximal pivot seat 210 is movably fitted onto the central positioning seat 110 via the first angle adjustment component 300;

[0087] Six proximal telescopic adsorption plates 220 are evenly distributed around the proximal central seat 210. Each proximal telescopic adsorption plate 220 integrates a second pressure sensor 221 and a second microwave resonant sensor 222.

[0088] The first guide component 230 is linked with the first servo motor 240 to drive the near-end telescopic adsorption disk 220 to extend and retract radially.

[0089] The distal annular strong adsorption unit 400 includes:

[0090] The distal pivot seat 410 is movably fitted onto the central positioning seat 110 via a second angle adjustment component;

[0091] Three telescopic adsorption plates 420 are evenly distributed around the circumference of the telescopic adsorption plate 410. An electromagnetic adsorption component 430 with a third pressure sensor 432 is embedded in the center of each telescopic adsorption plate 420.

[0092] The second guide component 440 is linked with the second servo motor 450 to drive the remote telescopic adsorption plate 420 to extend and retract radially.

[0093] The central adsorption disk 120 prioritizes contact with the workpiece and feeds back the contact force signal, the near-end telescopic adsorption disk 220 compensates for the surface deformation, and the far-end telescopic adsorption disk 420 applies electromagnetic pre-tightening force based on near-end sensing data to form a closed-loop control.

[0094] Specifically, the central positioning seat 110 includes:

[0095] Coaxially connected docking base 111, middle connecting base 112 and end docking base 113;

[0096] The first connecting rod group 114 is arranged in a circular array to connect the docking base 111 and the middle connecting seat 112;

[0097] The second connecting rod group 115 is arranged in a circular array to connect the middle connecting seat 112 and the end docking seat 113;

[0098] The proximal pivot seat 210 is provided with a first connecting rod group 114 that cooperates with the first arc-shaped sliding groove 211;

[0099] The distal pivot seat 410 is provided with a second connecting rod group 115 that cooperates with the second arc-shaped sliding groove 411;

[0100] The curvature centers of the first arc-shaped sliding groove 211 and the second arc-shaped sliding groove 411 are respectively aligned with the axis of the central positioning seat 110, and the groove length corresponds to the deflection angle.

[0101] The central positioning seat 110 serves as the main structural support unit of the entire flexible assembly gripper device. Internally, it is composed of three parts: a docking base 111, a middle connecting seat 112, and an end docking seat 113, assembled sequentially via coaxial connection. This forms a rigid body that is axially continuous and geometrically aligned. The central positioning seat 110 not only provides the installation reference and mechanical bearing foundation for the entire gripper but also provides a precise guiding path for the attitude adjustment and motion transmission of subsequent functional modules. The top of the end docking seat 113 has a pre-reserved universal flange interface for easy adaptation to various robotic arm ends. Between the docking base 111 and the middle connecting seat 112, a first connecting rod group 114 is provided. This first connecting rod group 114 is evenly distributed in a circular array. The central positioning seat 110 connects the docking base 111 and the middle connecting seat 112 circumferentially. Similarly, a second connecting rod group 115 is provided between the middle connecting seat 112 and the end docking seat 113. This second connecting rod group 115 is also arranged in a circular array to connect the middle connecting seat 112 and the end docking seat 113. These two sets of connecting rods not only serve as structural connections but, more importantly, possess a certain degree of flexible deformation capability, allowing for slight deformation during external force or attitude adjustment. This enables the end component to tilt or swing controllably relative to the fixed end. A first arc-shaped sliding groove 211 is provided on the near-end pivot seat 210. This first arc-shaped sliding groove 211 cooperates with the rods in the first connecting rod group 114, enabling... The proximal pivot seat 210 can move along a preset arc trajectory. Since the curvature center of the first arc-shaped sliding groove 211 coincides with the axis of the central positioning seat 110, the proximal pivot seat 210 always rotates around the axis of the central positioning seat 110 during sliding, without eccentricity or twisting. This structural design allows the proximal annular micro-adsorption unit 200 to adaptively adjust its angle according to the actual contact state when contacting the curved surface of the workpiece, achieving localized fit. The distal pivot seat 410 is provided with a second arc-shaped sliding groove 411, which cooperates with the rod in the second connecting rod group 115, allowing the distal pivot seat 410 to move within the path defined by the second arc-shaped sliding groove 411. The curvature center of 411 also coincides with the axis of the central positioning seat 110, ensuring that the movement trajectory of the distal pivot seat 410 always revolves around the axis of the central positioning seat 110. This ensures the posture stability and movement consistency of the distal annular strong adsorption unit 400 when clamping the workpiece. The length of the first arc-shaped sliding groove 211 and the second arc-shaped sliding groove 411 determines the maximum deflection angle range that the proximal pivot seat 210 and the distal pivot seat 410 can achieve. The longer the groove, the larger the allowable swing angle and the stronger the ability to adapt to complex curved surfaces. Since the curvature centers of both sliding grooves coincide with the axis of the central positioning seat 110, the force direction of the connecting rod when sliding in the groove is always along the tangential direction, avoiding the generation of additional bending moment or shear stress.This design improves the structural smoothness and fatigue life, ensuring the overall structural rigidity and positioning accuracy of the gripper. It can adapt to workpiece surfaces with varying curvatures and tilt angles, achieving highly compliant, low-stress, flexible gripping and assembly.

[0102] Specifically, the central adsorption disk 120 includes:

[0103] Metal substrate 123 is bolted to the end of docking base 111;

[0104] A honeycomb-shaped microporous adsorption layer 124 covers the adsorption surface of the metal substrate 123.

[0105] The first pressure sensor 121 is annularly embedded in the honeycomb microporous adsorption layer 124;

[0106] The first microwave resonant sensor 122 is embedded in the center of the honeycomb microporous adsorption layer 124.

[0107] The central adsorption plate 120, serving as the initial contact and precision sensing unit of the entire flexible assembly gripper device, is composed of a metal substrate 123, a honeycomb microporous adsorption layer 124, a first pressure sensor 121, and a first microwave resonant sensor 122. These components work together to form a functionally integrated intelligent contact end. The metal substrate 123, as the basic support structure of the central adsorption plate 120, is bolted to the end docking seat 113 of the central positioning seat 110, ensuring a firm and precise connection between it and the entire gripper body. This metal substrate 123 not only bears the transmission of external contact loads but also provides a rigid mounting platform for subsequent functional layers, ensuring no deformation or displacement during stress, thereby maintaining the accuracy of the sensing data. The adsorption surface of the substrate 123 is covered with a honeycomb microporous adsorption layer 124. This adsorption layer has a regularly arranged honeycomb structure with densely distributed microporous channels on its surface. These micropores are connected to the internal air passages, and a local vacuum can be formed under the action of an external negative pressure generator, achieving initial adsorption and fixation of the workpiece surface. The honeycomb structure has a high specific surface area and uniform airflow distribution characteristics, which can improve the stability and sealing of the adsorption, especially when facing slightly rough or uneven workpiece surfaces, it can still maintain a good adhesion effect. The first pressure sensor 121 is embedded in the honeycomb microporous adsorption layer 124 in a ring shape, located at the edge of the adsorption area. This sensor is used to monitor the pressure distribution when the central adsorption disk 120 contacts the workpiece in real time. The system monitors the contact force changes, particularly in the edge areas. Through this pressure feedback, the control system can determine whether effective contact has been achieved, whether there is off-center loading or tilting, and use this as a start signal to trigger the subsequent action of the proximal annular micro-adsorption unit 200. This plays a crucial role in determining the sensing threshold. The first microwave resonant sensor 122 is embedded at the center of the honeycomb microporous adsorption layer 124, located at the geometric center of the entire adsorption surface. This sensor utilizes the principle of electromagnetic wave resonance to detect the minute gap between the central adsorption disk 120 and the workpiece surface in a non-contact or near-contact manner, sensitively capturing the microscopic deformation and degree of fit at the moment of contact. Because it is located at the center point, it can preferentially sense the approach state of the highest point of the workpiece, providing high-precision distance feedback for the gripper during the approach phase, assisting... To achieve gentle contact control and avoid impact damage, the central adsorption plate 120 is structurally supported by a metal substrate 123. Combined with a honeycomb microporous adsorption layer 124, it achieves stable air suction. Simultaneously, it integrates a first pressure sensor 121 and a first microwave resonant sensor 122 to respectively complete the dual sensing of contact force and micro-gap, achieving physical adsorption. Furthermore, it constructs an intelligent sensing endpoint with multi-dimensional sensing capabilities. The first pressure sensor 121 reflects the contact mechanical state, and the first microwave resonant sensor 122 reflects the spatial proximity state. Working together, they provide accurate initial contact judgment for the gripper, serving as the core sensing basis for initiating subsequent proximal compensation and distal locking actions, ensuring the safety, accuracy, and adaptability of the entire assembly process.

[0108] Specifically, the first angle adjustment component 300 and the second angle adjustment component have the same structure and similar functions. The first angle adjustment component 300 includes:

[0109] Adjust the servo motor 310 and fix it to the side wall of the middle connecting seat 112 via the fixing seat 340;

[0110] The drive gear 320 is connected to the output shaft of the regulating servo motor 310;

[0111] The ring rack 330 is fixed to the outer wall of the proximal pivot seat 210 and meshes with the drive gear 320;

[0112] The first angle adjustment component 300 serves as the attitude control mechanism for the proximal annular micro-adsorption unit 200. Its core function is to achieve controllable angular deflection of the proximal pivot seat 210 relative to the central positioning seat 110, thereby endowing the proximal telescopic adsorption disk 220 with attitude adaptability in space. This component is composed of an adjustment servo motor 310, a drive gear 320, an annular rack 330, and a fixed seat 340. The components work together to form a high-precision, reversible angle adjustment system. The adjustment servo motor 310 is the power source for the first angle adjustment component 300. It is firmly installed on the side wall of the central connecting seat 112 through the fixed seat 340 to ensure its stable position during operation and to prevent it from being affected by external vibration or load disturbance. The drive gear 320 is directly connected to the output shaft of the adjustment servo motor 310 and rotates synchronously with the rotation of the adjustment servo motor 310. The annular rack 330 is fixed to the outer wall of the proximal pivot seat 210 and is arranged in a circumferential closed manner. Its tooth surface faces the central axis and is aligned with the drive gear 320. Maintaining a constant meshing state, when the adjusting servo motor 310 starts and drives the drive gear 320 to rotate, the drive gear 320 rolls along the tooth profile of the ring rack 330. Since the ring rack 330 is rigidly connected to the proximal pivot seat 210, this rolling action will be converted into the overall rotational motion of the proximal pivot seat 210 around the axis of the central positioning seat 110. By controlling the rotation direction and angle of the adjusting servo motor 310, the spatial angular pose of the proximal pivot seat 210 can be precisely controlled. This structural design enables the proximal ring micro-adsorption unit 200 to make continuous and smooth angle adjustments in the circumferential direction. Thus, when the gripper approaches the workpiece, it can pre-correct its own orientation based on the spatial pose data fed back by the micro laser radar 130, so that the distribution plane of the six proximal telescopic adsorption disks 220 is aligned with the normal of the local curved surface of the workpiece, thereby improving the bonding efficiency and contact uniformity of the subsequent radial telescopic action. Although the second angle adjustment component is not explicitly labeled, its structure is exactly the same as the first angle adjustment component 300, and it is only applied to the far-end ring strong adsorption unit 400.

[0113] Specifically, the proximal telescopic adsorption disk 220 includes:

[0114] The proximal sliding base 223 is movably connected to the first guide assembly 230;

[0115] Voice coil motor 224 is fixed to near-end sliding base 223;

[0116] The lifting base 225 is connected to the mover end of the voice coil motor 224;

[0117] The flexible adsorption plate 226 is connected to the lifting base 225 via a floating joint;

[0118] The second pressure sensor 221 is annularly embedded in the flexible adsorption disk 226;

[0119] The second microwave resonant sensor 222 is embedded at the center of the flexible adsorption disk 226;

[0120] The proximal telescopic adsorption plate 220, as the core execution and sensing module of the proximal annular micro-adsorption unit 200, integrates precision drive, flexible contact, and multi-dimensional sensing functions in its structural design. It aims to achieve highly compliant adhesion and real-time status monitoring of local curved surfaces of workpieces. This component consists of a proximal sliding base 223, a voice coil motor 224, a lifting base 225, a flexible adsorption plate 226, a second pressure sensor 221, and a second microwave resonant sensor 222. These components work together to form an intelligent adsorption unit with active adjustment capabilities. The proximal sliding base 223 serves as the basic moving platform for the proximal telescopic adsorption plate 220, and its movement... The connection method is mounted on the first guide assembly 230 and can slide smoothly in the radial direction under the drive of the first servo motor 240. The voice coil motor 224 is fixedly mounted on the proximal sliding base 223. The voice coil motor 224 directly provides vertical driving force to adjust the distance between the adsorption unit and the workpiece surface, adapting to height changes in different curvature areas. The lifting base 225 is connected to the moving end of the voice coil motor 224 and generates precise axial displacement with the output of the voice coil motor 224. The lifting base transmits the linear motion generated by the voice coil motor 224 to the end adsorption component and is the key transmission link to realize active vertical adjustment. Its movement process is controlled. An external controller can adjust the position in real time based on sensor feedback. The flexible adsorption disk 226 is connected to the lifting base 225 via a floating joint. This floating joint allows the flexible adsorption disk 226 to tilt and oscillate freely within a certain range, thereby achieving adaptive contact when contacting non-planar or inclined surfaces. The flexible adsorption disk 226 itself is made of elastic material and can undergo local deformation under pressure, further increasing the contact area and sealing with the workpiece surface and enhancing the air suction effect. The second pressure sensor 221 is embedded in the flexible adsorption disk 226 in a ring shape, located at the edge area of ​​the adsorption surface, for real-time monitoring of the contact between the flexible adsorption disk 226 and the workpiece surface. The sensor detects the pressure distribution during contact with the workpiece. It can detect whether the local pressure is uniform, whether there is edge overpressure or center desorption, and feeds the data back to the controller to dynamically adjust the lifting amount of the voice coil motor 224 to achieve pressure equalization control. The second microwave resonant sensor 222 is embedded in the center of the flexible adsorption disk 226, located at the geometric center of the adsorption surface. It uses the microwave signal reflection characteristics to detect the micro gap and deformation state between the flexible adsorption disk 226 and the workpiece surface. This sensor can continuously sense the distance change before and after contact, and is especially suitable for monitoring abnormal conditions such as vibration, micro-slippage or adhesion failure, providing early warning signals for the system.

[0121] In summary, the near-end telescopic adsorption plate 220 achieves radial positioning through the near-end sliding base 223, and completes active vertical adjustment by combining the voice coil motor 224 and the lifting base 225. Then, the attitude self-adaptation of the contact surface is achieved through the floating joint and the flexible adsorption plate 226. At the same time, the second pressure sensor 221 and the second microwave resonant sensor 222 integrated in the flexible adsorption plate 226 constitute a dual-mode sensing system, which monitors the contact pressure and gap status respectively, forming a closed-loop feedback basis. This structure not only achieves high-precision fitting of complex curved surfaces, but also has real-time status sensing and dynamic compensation capabilities. It is the core execution unit of the near-end annular micro-adsorption unit 200 to complete the local deformation compensation function, effectively improving the stability and safety of the gripper in the flexible assembly process.

[0122] Specifically, the distal telescopic adsorption plate 420 includes:

[0123] The distal sliding base 421 is slidably connected to the second guide assembly 440;

[0124] Linear motor 422 is fixed below the distal sliding base 421;

[0125] The first cross roller guide 423 is symmetrically arranged below the distal sliding base 421;

[0126] The remote lifting base 424 is fixed to the end of the first cross roller guide rail 423;

[0127] A silicone composite adsorption plate 425 is disposed at the lower end of the distal lifting base 424, and the diameter of the silicone composite adsorption plate 425 is larger than the diameter of the flexible adsorption plate 226.

[0128] The third pressure sensor 432 is annularly embedded in the silicone composite adsorption plate 425;

[0129] The telescopic adsorption plate 420, as the core actuator of the telescopic annular strong adsorption unit 400, is responsible for applying the main adsorption force and locking the device. Its structural design balances high rigidity guidance, long stroke drive, and strong adsorption capacity, while integrating pressure sensing to ensure stable and reliable gripping under complex working conditions. This component consists of a telescopic sliding base 421, a linear motor 422, a first cross roller guide rail 423, a telescopic lifting base 424, a silicone composite adsorption plate 425, and a third pressure sensor 432. These components work together to form a strengthened adsorption unit with high load-bearing capacity and status feedback. The telescopic sliding base 421 serves as the moving platform for the telescopic adsorption plate 420 and forms a connection with the second guide component 440. The sliding base 421 forms a sliding connection and can move smoothly radially under the drive of the second servo motor 450. This distal sliding base bears the structural weight and working load of the entire distal telescopic adsorption tray 420, ensuring directional consistency and stable movement during extension and retraction, providing a reliable radial positioning foundation for subsequent vertical pressing actions. The linear motor 422, fixedly installed below the distal sliding base 421, is a high-thrust, long-stroke linear drive device that provides strong and controllable vertical driving force. This linear motor 422 directly drives the distal lifting base 424 to move up and down, suitable for applications requiring greater pressing force, ensuring that the silicone composite adsorption tray 425 can fully adhere to the workpiece surface and establish effective adsorption. The first cross roller guide... The rails 423 are symmetrically arranged below the distal sliding base 421, located on both sides of the linear motor 422. As a high-precision guide mechanism, they guide the vertical movement of the distal lifting base 424. This guide rail structure features high rigidity, low friction, and strong resistance to eccentric loads, maintaining smooth movement under heavy loads and preventing jamming or wear due to lateral or torsional forces. This significantly improves the system's operational accuracy and service life. The distal lifting base 424 is fixed to the end of the first crossed roller guide rail 423 and rises and falls synchronously with the linear motor 422. This lifting base serves as the mounting platform for the end effector, precisely transmitting the motion of the drive and guide system to the silicone composite adsorption plate 425, ensuring uniform and controllable force transmission during the pressing process. The composite adsorption plate 425 is located at the lower end of the distal lifting base 424. It is made of a silicone composite material with good elasticity and wear resistance, allowing for moderate deformation during the clamping process to adapt to changes in the macroscopic curvature of the workpiece surface, thus improving sealing and contact area. The diameter of the silicone composite adsorption plate 425 is larger than that of the flexible adsorption plate 226, meaning it has a larger coverage area and can generate stronger adsorption force, making it suitable for undertaking primary load-bearing tasks. Simultaneously, the larger contact surface helps to disperse pressure, avoid localized stress concentration, and protect the workpiece surface from damage. A third pressure sensor 432 is embedded in a ring shape inside the silicone composite adsorption plate 425, located at the edge of the adsorption surface, for real-time monitoring of the pressure distribution during the distal adsorption process.This sensor can provide feedback on the pressure and uniformity of the main adsorption zone, determining if there are problems such as insufficient adsorption, uneven loading, or leakage. It transmits the data to the controller for dynamically adjusting the clamping force of the linear motor 422 or adjusting the output power of the negative pressure generator, achieving closed-loop control of the adsorption force. It should be noted that the action of the distal annular strong adsorption unit 400 occurs after the proximal annular micro-adsorption unit 200 completes localized adhesion compensation. At this point, the overall posture of the workpiece has been initially fixed. The central adsorption disk 120 and the proximal telescopic adsorption disk 220 have achieved precise sensing and adaptive adjustment of the workpiece surface through multi-sensor feedback. Based on this, the distal annular strong adsorption unit 400 performs radial expansion and vertical clamping actions. Its contact process is a deterministic operation performed under a stable posture, rather than an exploratory approach. Therefore, there is no need to set up a microwave resonant sensor for gap detection or micro-deformation monitoring.

[0130] In summary, the remote telescopic adsorption plate 420 achieves radial positioning through the remote sliding base 421, combined with the linear motor 422 providing high-thrust vertical drive, and the first cross roller guide rail 423 ensuring high-rigidity guidance. The remote lifting base 424 then drives the silicone composite adsorption plate 425 to complete the pressing action. Its larger adsorption plate diameter enhances the load-bearing capacity, while the integrated third pressure sensor 432 provides crucial pressure feedback information. This structure not only has strong adsorption performance but also good environmental adaptability and control response capability. It is the core execution component of the remote annular strong adsorption unit 400 to realize the main adsorption locking function, providing a solid guarantee for the stability and reliability of the entire flexible assembly gripper device under high-intensity working conditions.

[0131] Specifically, the proximal telescopic adsorption disk 220 is radially guided by a first guide assembly 230 and synchronously driven by a single first servo motor 240. The first guide assembly 230 includes:

[0132] The proximal guide rod 231 is symmetrically fixed to the side wall of the proximal pivot seat 210 and extends in the radial direction of the proximal pivot seat 210. The proximal sliding base 223 is movably disposed on the proximal guide rod 231.

[0133] The proximal rotating shaft 232 is movably disposed through the side wall of the proximal pivot seat 210 and located between the proximal guide rods 231. One end away from the center is threaded into the proximal sliding base 223, and the other end adjacent to the center extends into the proximal pivot seat 210 and is fixedly installed with a driven bevel gear 233. The proximal rotating shaft 232 is disposed in the adjacent first arc-shaped sliding groove 211.

[0134] The first servo motor 240 is fixedly installed in the near-end pivot seat 210, and the output end is fixedly installed with a drive bevel gear 241, which meshes with the driven bevel gear 233.

[0135] The proximal telescopic adsorption disks 220 are radially guided by the first guide assembly 230 and synchronously driven by a single first servo motor 240. This structural design ensures that the six proximal telescopic adsorption disks 220 move in unison and respond quickly during deployment and retraction, possessing high-precision and high-reliability motion control capabilities. The proximal guide rods 231 are symmetrically fixed to the side wall of the proximal pivot seat 210 and extend radially along the proximal pivot seat 210, providing linear motion guidance for the proximal sliding base 223. The proximal sliding base 223 of each proximal telescopic adsorption disk 220 is movably mounted on the corresponding proximal guide rod 231, enabling... Under the action of driving force, it slides smoothly radially to prevent deflection or swaying during movement, ensuring the accuracy and stability of the telescopic path. The proximal rotating shaft 232 is movably installed through the side wall of the proximal pivot seat 210, located between two adjacent proximal guide rods 231. One end of it is far from the center and is embedded in the proximal sliding base 223 by a threaded connection, while the other end is close to the center and extends into the proximal pivot seat 210. A driven bevel gear 233 is fixedly installed at this end. When the proximal rotating shaft 232 rotates, due to the threaded engagement between it and the proximal sliding base 223, the rotational motion is converted into linear motion, thereby pushing or pulling the proximal sliding base. The seat 223 moves radially along the proximal guide rod 231. This transmission method has a self-locking characteristic, which can maintain a stable position after the drive stops, preventing backlash due to external forces. The installation position of the proximal rotating shaft 232 is between adjacent first arc-shaped sliding grooves 211. The first arc-shaped sliding grooves 211 are used to cooperate with the first connecting rod group 114 to realize the overall angle adjustment of the proximal pivot seat 210. This layout ensures that the movement of the proximal rotating shaft 232 will not interfere with the function of the first arc-shaped sliding grooves 211, while ensuring the rational use of structural space and avoiding component interference. The first servo motor 240, as the sole drive source, is fixedly installed on the proximal pivot. Inside the base 210, an active bevel gear 241 is fixedly connected to its output end. The active bevel gear 241 is engaged with each driven bevel gear 233. When the first servo motor 240 is started, the active bevel gear 241 rotates and drives all driven bevel gears 233 to rotate synchronously, thereby causing the six proximal rotating shafts 232 to rotate simultaneously. Ultimately, the six proximal sliding bases 223 and the proximal telescopic adsorption disks 220 they support are synchronously extended and retracted. The structure design of using a single motor to drive multi-point synchronous motion not only reduces the complexity of the control system and lowers energy consumption and failure rate, but also fundamentally solves the problem of asynchronous actions of multiple execution units.

[0136] Specifically, the distal telescopic adsorption disk 420 is radially guided by a second guide assembly 440 and synchronously driven by a single second servo motor 450. The second guide assembly 440 includes:

[0137] The second cross roller guide 441 is symmetrically fixed to the side wall of the distal pivot seat 410 and extends radially along the distal pivot seat 410. The distal sliding base 421 is movably disposed at the end of the second cross roller guide 441.

[0138] The distal rotating shaft 442 is movably disposed through the side wall of the distal pivot seat 410 and located between the second cross roller guides 441. One end away from the center is threaded into the distal sliding base 421, and the other end adjacent to the center extends into the distal pivot seat 410 and is fixedly mounted with a worm gear 443. The worm gear 443 axially points towards the center of the distal pivot seat 410. The distal rotating shaft 442 is disposed between adjacent second arc-shaped sliding grooves 411.

[0139] The second servo motor 450 is fixedly installed inside the remote central seat 410. A sun gear 444 is fixedly installed at the output end. Planet gears 445 are evenly distributed around the second servo motor 450, and each planet gear 445 is meshed with the sun gear 444. A worm gear 446 is fixedly installed on the upper end of the planet gear 445, and the worm gear 446 is meshed with the worm 443.

[0140] The distal telescopic adsorption plate 420 is radially guided by the second guide assembly 440 and uniformly driven by a single second servo motor 450. This structural design ensures that the three distal telescopic adsorption plates 420 maintain high synchronization during deployment and retraction, possessing high rigidity, resistance to off-center loading, and self-locking capabilities. It is suitable for stable pressing operations during the main adsorption stage. The second cross roller guide rail 441 is symmetrically fixed to the side wall of the distal pivot seat 410 and extends radially along the distal pivot seat 410, providing high-precision linear guidance for the distal sliding base 421. The distal sliding base 421 is movably mounted at the end of the second cross roller guide rail 441 and can move smoothly radially under the action of driving force. This guide rail structure has high load-bearing capacity. With low friction loss and excellent torsional resistance, it can effectively resist lateral forces caused by eccentric loads or external vibrations, ensuring that the distal telescopic adsorption plate 420 moves smoothly and without deviation during high-thrust clamping. The distal rotating shaft 442 is movably mounted through the side wall of the distal pivot seat 410, located between two adjacent sets of second cross roller guides 441. Its end away from the center is embedded in the distal sliding base 421 by a threaded connection, and its end closer to the center extends into the distal pivot seat 410, where a worm gear 443 is fixedly installed. The axis of the worm gear 443 points to the geometric center of the distal pivot seat 410, ensuring that the transmission direction is consistent with the radial direction. When the worm gear 443 rotates, the rotational motion is transmitted through the threaded engagement. The linear displacement of the distal sliding base 421 is converted into radial extension and retraction of the distal telescopic adsorption plate 420. The second servo motor 450, as the sole drive source, is fixedly installed inside the distal central base 410. Its output end is fixedly connected to a sun gear 444, which is located at the center of the transmission system and meshes with multiple planetary gears 445 evenly distributed around the circumference. The planetary gears 445 are evenly distributed around the sun gear 444, participating in power transmission and also playing a role in load sharing, ensuring that the force on each branch transmission is balanced. A worm gear 446 is fixedly installed on the upper end of each planetary gear 445, and the worm gear 446 meshes with the worm 443 of the corresponding branch. When the second servo motor 450 starts, the power is transmitted through the sun gear 444. The planetary gears 445 drive the worm gears 446 to rotate, which in turn drives the worm 443 to rotate. Finally, the threaded transmission of the distal rotating shaft 442 drives the distal sliding base 421 to move radially along the second cross roller guide 441. This transmission structure combines the advantages of planetary gear reduction and worm gear transmission, and has a high reduction ratio, large output torque and good self-locking characteristics. The worm gear meshing has a natural reverse self-locking ability, which can effectively prevent the distal telescopic adsorption plate 420 from retracting due to external load or vibration after the drive stops, ensuring the long-term stability of the pressing state. At the same time, the planetary gear structure realizes the multi-path equal distribution of power output, which improves the system's load-bearing capacity and running stability.

[0141] Specifically, the electromagnetic adsorption component 430 includes:

[0142] An electromagnetic chuck substrate 431 is embedded in the bottom of a silicone composite adsorption disk 425;

[0143] Electromagnet 433 is fixed to electromagnetic chuck base plate 431;

[0144] A magnetic coil 434 surrounds an electromagnet 433 and is embedded in a silicone composite adsorption plate 425.

[0145] The electromagnetic adsorption component 430, as the active enhancement adsorption mechanism in the distal annular strong adsorption unit 400, has the core function of superimposing controllable electromagnetic force on air adsorption to achieve high-strength, adjustable composite adsorption of ferromagnetic workpieces. The electromagnetic chuck substrate 431 is embedded inside the distal lifting base 424, serving as the mounting carrier and magnetic circuit support structure for the electromagnetic adsorption component 430. The electromagnet 433 is fixed on the electromagnetic chuck substrate 431, located in the central area of ​​the distal lifting base 424, and is the main magnetic field source of the electromagnetic adsorption component 430. After being energized, the electromagnet 433 generates a stable static magnetic field, whose magnetic lines of force are guided through the electromagnetic chuck substrate 431 and pass through the silicone composite adsorption disk 425, acting on the workpiece surface. For ferromagnetic workpieces, the magnetic field forms a closed magnetic circuit inside the workpiece, generating a strong electromagnetic adsorption force, significantly enhancing the overall performance. The clamping strength is controlled by a controller that dynamically adjusts the start / stop and current of the electromagnet according to the workpiece material and load requirements, achieving on-demand control of the adsorption force. The magnetic coil 434 is arranged around the electromagnet 433 and embedded inside the silicone composite adsorption plate 425, near the adsorption surface. After a high-frequency excitation current is applied, the coil generates an alternating magnetic field that can penetrate the silicone layer and the oxide layer or coating on the workpiece surface, improving the penetration depth and response sensitivity of the magnetic field. The magnetic coil 434 and the electromagnet 433 work together to form a composite magnetic field, further improving the amplitude and dynamic response capability of the adsorption force. This component is only activated when the workpiece is a ferromagnetic material, working in conjunction with the air suction function to form a composite adsorption mode of air suction and electromagnetic adsorption. For non-ferromagnetic workpieces, it remains de-energized and relies solely on vacuum adsorption to complete the gripping, improving the adaptability and load-bearing capacity of the gripper.

[0146] Specifically, the metal substrate 123 extends laterally into a cantilever bracket 125, and the miniature lidar 130 is installed at the end of the cantilever bracket 125 via a quick-release interface. The emission direction of the miniature lidar 130 is parallel to the normal of the central adsorption disk 120, and the emission direction of the miniature lidar 130 avoids the area of ​​the first pressure sensor 121.

[0147] A cantilever bracket 125 extends laterally from the metal substrate 123. The cantilever bracket 125 serves as a dedicated mounting support structure for the miniature lidar 130. It extends radially outward from the side of the metal substrate 123 to form an independent support arm. This structural design allows the miniature lidar 130 to obtain a mounting position away from the central area without interfering with the main function of the central adsorption disk 120, thereby expanding its field of view and avoiding structural obstruction.

[0148] The specific working process of this device is as follows:

[0149] Phase 1: Spatial Positioning and Workpiece Inspection

[0150] The miniature lidar 130 performs spatial calibration: the miniature lidar 130 emits a detection beam parallel to the normal of the central adsorption disk 120 onto the surface of the workpiece, scans the three-dimensional contour of the workpiece surface, and generates spatial pose data.

[0151] Central positioning seat 110 attitude adjustment: Based on the pose data provided by the miniature lidar 130, the central positioning seat 110 drives the central adsorption disk 120 to move to the highest point of the workpiece surface.

[0152] Central adsorption plate 120 contact and detection: The central adsorption plate 120 contacts the workpiece surface. The first pressure sensor 121 provides real-time feedback on the pressure distribution in the contact area, and the first microwave resonant sensor 122 collects microscopic deformation data of the contact surface. (This device can be equipped with a Hall sensor to automatically detect the material of the workpiece, scan the magnetic permeability characteristics of the workpiece surface and transmit them to the controller, but this is only for production lines that require different materials. Production lines that only produce the same batch of workpieces do not need this feature.)

[0153] Phase Two: Adaptive Proximal Ring Micro-Adsorption Unit 200

[0154] Radial positioning of the proximal telescopic adsorption plate 220: The controller starts the first servo motor 240 based on the central sensor data. The first servo motor 240 drives the active bevel gear 241 to rotate. The active bevel gear 241 meshes with six driven bevel gears 233, which drive the proximal rotating shaft 232 to rotate synchronously. The proximal rotating shaft 232 pushes the proximal sliding base 223 to extend and retract radially along the proximal guide rod 231.

[0155] Flexible adsorption plate 226 actively adheres: voice coil motor 224 drives the vertical displacement of lifting base 225, floating joint adaptively adjusts the tilt angle of flexible adsorption plate 226, closely adheres to the workpiece curved surface, and external negative pressure generator activates the air suction function of flexible adsorption plate 226 through independent air pipeline.

[0156] Deformation real-time compensation verification: The second pressure sensor 221 monitors the local pressure of each flexible adsorption plate 226, and the second microwave resonant sensor 222 provides feedback on the deformation compensation effect. If the local pressure exceeds the limit, the controller adjusts the lifting amount of the corresponding voice coil motor 224.

[0157] Phase 3: Enhanced Locking by the Remote Ring-Shaped Strong Adsorption Unit 400

[0158] Position adjustment of the remote telescopic adsorption plate 420: The controller starts the second servo motor 450 based on the near-end sensor data. The second servo motor 450 drives the sun gear 444 to rotate. The sun gear 444 meshes with three planet gears 445 to rotate synchronously. The planet gears 445 drive the worm gear 446 to rotate. The worm gear 446 meshes with the worm 443 to push the remote rotating shaft 442. The remote rotating shaft 442 drives the remote sliding base 421 to move radially along the second cross roller guide rail 441.

[0159] The silicone composite adsorption plate 425 presses against the workpiece surface: the linear motor 422 pushes the remote lifting base 424 downward, and the first cross roller guide rail 423 guides the silicone composite adsorption plate 425 to press vertically against the workpiece surface. The externally installed negative pressure generator starts the air suction function of the silicone composite adsorption plate 425 through an independent air pipeline. (The central adsorption plate 120, the flexible adsorption plate 226, and the silicone composite adsorption plate 425 are all equipped with independent negative pressure generators and independent air pipelines.)

[0160] Electromagnetic enhanced adsorption: If the workpiece is a ferromagnetic material, the controller activates the electromagnetic adsorption component 430, and the electromagnet 433 is supplied with a positive magnetizing current to generate a static magnetic field. The magnetic coil 434 is loaded with a high-frequency excitation current to enhance the magnetic field penetration. The composite magnetic field penetrates the silicone layer to strengthen the adsorption force. If the workpiece is a non-ferromagnetic material, the electromagnet 433 and the magnetic coil 434 remain de-energized, and only the air suction function is maintained. The third pressure sensor 432 monitors the pre-tightening force of the silicone composite adsorption plate 425 in real time, and the controller dynamically adjusts the air suction negative pressure value or the electromagnetic current intensity.

[0161] Phase 4: Closed-loop coordinated control

[0162] Central unit continuously monitors: the miniature lidar 130 updates the workpiece pose data every millisecond, and the first pressure sensor 121 and the first microwave resonant sensor 122 of the central adsorption plate 120 continuously provide feedback on the global contact status.

[0163] Proximal unit dynamic optimization: The second pressure sensor 221 detects local deformation, the controller adjusts the compensation amount of the corresponding voice coil motor 224, the second microwave resonant sensor 222 captures abnormal vibration, and immediately increases the air suction negative pressure value.

[0164] Remote unit adaptive enhancement: If the workpiece is ferromagnetic, the third pressure sensor 432 indicates insufficient adsorption force, so the current intensity of the electromagnet 433 is increased; if the workpiece is non-ferromagnetic, the negative pressure value fluctuates, and the output power of the negative pressure generator is dynamically adjusted.

[0165] Phase 5: Release and Complete Reset

[0166] The air adsorption function is released in stages: the controller shuts down the negative pressure generator in stages, and the air adsorption function of the central adsorption plate 120, the flexible adsorption plate 226, and the silica composite adsorption plate 425 is released in sequence.

[0167] Electromagnetic adsorption release of ferromagnetic workpieces: A reverse demagnetizing current is passed through the magnetic coil 434, the electromagnet 433 is demagnetized to zero by gradient, and the linear motor 422 lifts the silicone composite adsorption plate 425.

[0168] Proximal mechanism reset: Voice coil motor 224 retracts lifting base 225 to initial height, first servo motor 240 reverses to drive proximal telescopic adsorption plate 220 to retract radially.

[0169] Remote mechanism reset: The linear motor 422 fully retracts, and the second servo motor 450 reverses to drive the remote telescopic adsorption plate 420 to retract radially.

[0170] Angle adjustment to zero: Adjust the servo motor 310 to drive the drive gear 320 to reverse, which drives the ring rack 330 to rotate. The near-end pivot seat 210 is reset to the zero position of the central positioning seat 110 along the first arc-shaped sliding groove 211, and the far-end pivot seat 410 is simultaneously reset along the second arc-shaped sliding groove 411.

[0171] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0172] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible assembly gripper device based on multidimensional force sensing, characterized in that, include: The central precision positioning unit (100) includes: The central positioning seat (110) has a central adsorption plate (120) with a first pressure sensor (121) and a first microwave resonant sensor (122) at its end. The central adsorption disk (120) includes: Metal substrate (123) is bolted to the end of docking base (111); A honeycomb-shaped microporous adsorption layer (124) covers the adsorption surface of the metal substrate (123); The first pressure sensor (121) is annularly embedded in the honeycomb microporous adsorption layer (124); The first microwave resonant sensor (122) is embedded at the center of the honeycomb microporous adsorption layer (124). A miniature lidar (130) is located at the end of the central positioning base (110) for spatial pose calibration; The proximal annular micro-adsorption unit (200) includes: The proximal pivot seat (210) is movably fitted onto the central positioning seat (110) via the first angle adjustment component (300). Six proximal telescopic adsorption plates (220) are evenly distributed around the proximal central seat (210). Each proximal telescopic adsorption plate (220) integrates a second pressure sensor (221) and a second microwave resonant sensor (222). The first guide assembly (230) is linked with the first servo motor (240) to drive the near-end telescopic adsorption disk (220) to extend and retract radially; The distal annular strong adsorption unit (400) includes: The distal pivot seat (410) is movably fitted onto the central positioning seat (110) via a second angle adjustment component. Three telescopic adsorption plates (420) are evenly distributed around the circumference of the remote central seat (410), and an electromagnetic adsorption component (430) with a third pressure sensor (432) is embedded in the center of each telescopic adsorption plate (420). The electromagnetic adsorption component (430) includes: An electromagnetic chuck substrate (431) is embedded in the bottom of a silicone composite adsorption disk (425); Electromagnet (433) is fixed to electromagnetic chuck base plate (431). A magnetic induction coil (434) surrounds an electromagnet (433) and is embedded in a silicone composite adsorption plate (425); The second guide assembly (440) is linked with the second servo motor (450) to drive the remote telescopic adsorption plate (420) to extend and retract radially; The central adsorption disk (120) prioritizes contact with the workpiece and feeds back the contact force signal, the near-end telescopic adsorption disk (220) compensates for the surface deformation, and the far-end telescopic adsorption disk (420) applies electromagnetic pre-tightening force based on the near-end sensing data to form a closed-loop control.

2. The flexible assembly gripper device based on multidimensional force sensing according to claim 1, characterized in that: The central positioning base (110) includes: The coaxially connected docking base (111), the middle connecting base (112), and the end docking base (113) are all coaxially connected. The first connecting rod group (114) is arranged in a circular array to connect the docking base (111) and the middle connecting seat (112). The second connecting rod group (115) is arranged in a circular array to connect the middle connecting seat (112) and the end docking seat (113). The proximal pivot seat (210) is provided with a first connecting rod group (114) that cooperates with the first arc-shaped sliding groove (211). The distal pivot seat (410) is provided with a second connecting rod group (115) that cooperates with the second arc-shaped sliding groove (411); The curvature centers of the first arc-shaped sliding groove (211) and the second arc-shaped sliding groove (411) coincide with the axis of the central positioning seat (110), and the groove length corresponds to the deflection angle.

3. The flexible assembly gripper device based on multidimensional force sensing according to claim 1, characterized in that: The first angle adjustment component (300) and the second angle adjustment component have the same structure and similar functions. The first angle adjustment component (300) includes: Adjust the servo motor (310) and fix it to the side wall of the middle connecting seat (112) via the fixing seat (340); The drive gear (320) is connected to the output shaft of the regulating servo motor (310); The ring rack (330) is fixed to the outer wall of the proximal pivot seat (210) and meshes with the drive gear (320).

4. A flexible assembly gripper device based on multidimensional force sensing according to claim 2, characterized in that: The proximal telescopic adsorption disk (220) includes: The proximal sliding base (223) is movably connected to the first guide assembly (230); A voice coil motor (224) is fixed to a near-end sliding base (223); The lifting base (225) is connected to the mover end of the voice coil motor (224); The flexible adsorption plate (226) is connected to the lifting base (225) via a floating joint. The second pressure sensor (221) is annularly embedded in the flexible adsorption disk (226); The second microwave resonant sensor (222) is embedded at the center of the flexible adsorption disk (226).

5. A flexible assembly gripper device based on multidimensional force sensing according to claim 4, characterized in that: The distal telescopic adsorption plate (420) includes: The distal sliding base (421) is slidably connected to the second guide assembly (440); A linear motor (422) is fixed below the distal sliding base (421); The first cross roller guide (423) is symmetrically arranged below the distal sliding base (421); The remote lifting base (424) is fixed to the end of the first cross roller guide (423); A silicone composite adsorption plate (425) is disposed at the lower end of the far-end lifting base (424), and the diameter of the silicone composite adsorption plate (425) is larger than the diameter of the flexible adsorption plate (226). The third pressure sensor (432) is annularly embedded in the silicone composite adsorption plate (425).

6. A flexible assembly gripper device based on multidimensional force sensing according to claim 4, characterized in that: The proximal telescopic adsorption disk (220) is radially guided by a first guide assembly (230) and synchronously driven by a single first servo motor (240), the first guide assembly (230) comprising: The proximal guide rod (231) is symmetrically fixed to the side wall of the proximal pivot seat (210) and extends in the radial direction of the proximal pivot seat (210). The proximal sliding base (223) is movably disposed on the proximal guide rod (231). A proximal rotating shaft (232) is movably disposed through the side wall of the proximal pivot seat (210) and located between the proximal guide rods (231). One end away from the center is threaded into the proximal sliding base (223), and the other end adjacent to the center extends into the proximal pivot seat (210) and is fixedly mounted with a driven bevel gear (233). The proximal rotating shaft (232) is disposed in the adjacent first arc-shaped sliding groove (211). The first servo motor (240) is fixedly installed in the near-end pivot seat (210), and the output end is fixedly installed with an active bevel gear (241), which meshes with the driven bevel gear (233).

7. A flexible assembly gripper device based on multidimensional force sensing according to claim 5, characterized in that: The distal telescopic adsorption plate (420) is radially guided by a second guide assembly (440) and synchronously driven by a single second servo motor (450), the second guide assembly (440) comprising: The second cross roller guide (441) is symmetrically fixed to the side wall of the distal pivot seat (410) and extends in the radial direction of the distal pivot seat (410). The distal sliding base (421) is movably disposed at the end of the second cross roller guide (441). The distal rotating shaft (442) is movably disposed through the side wall of the distal pivot seat (410) and located between the second cross roller guides (441). One end away from the center is threaded into the distal sliding base (421), and the other end adjacent to the center extends into the distal pivot seat (410) and is fixedly mounted with a worm (443). The worm (443) axially points towards the center of the distal pivot seat (410). The distal rotating shaft (442) is disposed between adjacent second arc-shaped sliding grooves (411). The second servo motor (450) is fixedly installed inside the remote central seat (410). A sun gear (444) is fixedly installed at the output end. Planet gears (445) are evenly distributed around the second servo motor (450), and the planet gears (445) are meshed with the sun gear (444). A worm gear (446) is fixedly installed at the upper end of the planet gears (445), and the worm gear (446) is meshed with the worm (443).

8. A flexible assembly gripper device based on multidimensional force sensing according to claim 1, characterized in that: The metal substrate (123) extends laterally to the cantilever bracket (125). The miniature lidar (130) is installed at the end of the cantilever bracket (125) via a quick-release interface. The emission direction of the miniature lidar (130) is parallel to the normal of the central adsorption disk (120). The emission direction of the miniature lidar (130) avoids the area of ​​the first pressure sensor (121).

Images