Composite action clamping jaw and clamping control system and method

Abstract

The invention discloses a composite action clamping jaw and a clamping control system and method. The clamping jaw comprises a shell, a clamping unit and a twisting unit, the clamping unit comprises a pneumatic assembly, and an upper sliding block, two lower sliding blocks and a reset spring which are connected with the pneumatic assembly; the upper sliding blocks are provided with inclined grooves matched with the first protrusions of the lower sliding blocks, and the lower sliding blocks are provided with second protrusions matched with the grooves in the shell, so that when the upper sliding blocks are driven by the pneumatic assembly to move forwards, the two lower sliding blocks are folded, and when the upper sliding blocks are driven by the reset spring to move backwards, the two lower sliding blocks are unfolded. The twisting unit comprises a power assembly, a gear connected with the power assembly, two racks meshed with the gear, two sliding rods connected with the two racks respectively and clamping jaws connected with the sliding rods, and the sliding rods are installed in through holes of the lower sliding blocks; the power assembly drives the gear to rotate, so that one rack drives the clamping jaw to move forwards, and the other rack drives the clamping jaw to move backwards. The clamping jaw can complete clamping and rotating, and is small in occupied space, low in cost and high in automation degree.

Description

Technical Field

[0001] This invention relates to the field of medical equipment, and in particular to a compound action gripper, gripping control system and method. Background Technology

[0002] In the production of medical devices, such as syringe needles, the position and orientation of the syringe needles need to be adjusted to ensure product consistency. In existing production lines, a special gripper mechanism is generally used to clamp the syringe needle to a designated position, and then an external rotating mechanism drives the needle to rotate. With the help of vision inspection equipment, the needle angle is adjusted.

[0003] For example, Chinese Patent CN106175797A discloses a needle tip angle adjustment device for blood collection needles, which can adjust the angle of the syringe needle after it has been grasped to a designated position. The angle adjustment device works in conjunction with the control system. The driving component of the angle adjustment device rotates around the axis of the blood collection needle under the action of the control system to complete the adjustment of the needle tip angle. When it is necessary to raise or lower the needle, the raising or lowering is controlled by a handwheel. Summary of the Invention

[0004] The inventors of this application have discovered that adjusting the needle angle in existing production lines requires the coordinated use of two devices: a clamping device and a rotating device. This results in the equipment occupying a large installation space, having a complex structure, high equipment cost, and being inconvenient to operate and control. Furthermore, existing adjustment devices still require manual control, making it impossible to achieve fully automatic control and resulting in a low level of automation.

[0005] In view of the above problems, the present invention is proposed to provide a compound action gripper, gripping control system and method that overcomes or at least partially solves the above problems.

[0006] This invention provides a composite action gripper, comprising: a housing, a clamping unit and a rubbing unit located within the housing;

[0007] The clamping unit includes a pneumatic assembly, an upper slider connected to the pneumatic assembly, two lower sliders, and a return spring located between the upper slider and the outer shell. The upper slider has a groove that engages with a first protrusion of the lower slider, and the lower slider has a second protrusion that engages with a groove on the outer shell, so that when the upper slider moves forward under the drive of the pneumatic assembly, the two lower sliders close together in the middle, and when the upper slider moves backward under the action of the return spring, the two lower sliders open to the sides.

[0008] The grinding unit includes a power component, a gear connected to the power component, two racks meshing with the gear, two slide rods connected to the two racks respectively, and two grippers connected to the two slide rods respectively. The two slide rods are respectively installed in the through holes of the two lower slide blocks. The power component is used to drive the gear to rotate, so that one rack drives one slide rod and one gripper to move forward, and the other rack drives another slide rod and another gripper to move backward.

[0009] In some alternative embodiments, the housing includes a base, a middle cover, and a top cover;

[0010] The base is provided with at least one groove, and the corresponding lower slider is provided with at least one second protrusion, each second protrusion cooperating with a groove;

[0011] The power assembly is mounted on the middle cover, and the rack is mounted on the base;

[0012] The pneumatic assembly is mounted on the middle cover.

[0013] In some optional embodiments, the pneumatic assembly includes an air supply connector, an air supply, and a cylinder connected in sequence, with the cylinder connected to the upper slider; after the air supply connector is connected to the air source, the upper slider is pushed forward by the cylinder.

[0014] The upper slider is provided with a spring groove to accommodate the reset spring. One end of the reset spring abuts against the inner end of the spring groove, and the other end abuts against the front side wall of the upper cover. After the gas source is disconnected at the connector, the reset spring pushes the upper slider to move backward.

[0015] In some optional embodiments, the inclined groove on the upper slider is a V-shaped groove, and the two grooves in the V-shaped groove respectively cooperate with the first protrusion on the two lower sliders. The first protrusion forms an angle of less than 90 degrees with the central axis of the through hole in the lower slider where the slide rod is installed.

[0016] The second protrusion is perpendicular to the central axis of the through hole for mounting the slide rod.

[0017] In some alternative embodiments, the power assembly includes a motor mounted on a center cover, a gear mounted on the motor shaft, and a rack meshing with the gear;

[0018] The base has a rack mounting groove on its side wall or bottom plate, and the rack moves along the rack mounting groove when the gear rotates.

[0019] In some optional embodiments, the above-mentioned grinding unit further includes: a limiting rod disposed between two racks, the limiting rod being mounted on the base, and the racks moving back and forth under the limiting of the limiting rod and the side wall of the base.

[0020] In some optional embodiments, the aforementioned composite action gripper further includes: a positioning confirmation lever;

[0021] The positioning confirmation rod is fixed on the middle cover and is used to detect whether the gripper has moved to the designated position.

[0022] This invention provides a gripping control system, including a vision control unit and the aforementioned composite motion gripper;

[0023] The vision control unit is used to acquire images of the composite motion gripper and the target object it grips, determine the angle data of the target object based on the image, determine the angle and direction that the target object needs to be adjusted based on the angle data, and send adjustment instructions to the composite motion gripper.

[0024] The compound action gripper is used to control the power component to drive the gear to rotate according to the adjustment command, so that the two grippers rub the target object to adjust the target object to a corresponding angle along the determined adjustment direction.

[0025] In some optional embodiments, the vision control unit is further configured to:

[0026] Move the compound motion gripper to the gripping position and control the clamping unit of the compound motion gripper to grip the target object;

[0027] Move the compound motion gripper to the shooting position to capture images of the compound motion gripper and the target object it is holding; and

[0028] According to the adjustment command, control the action of the compound action gripper's rubbing unit, and rub the target object with the two grippers to adjust the target object to the corresponding angle in the determined adjustment direction;

[0029] Move the compound motion gripper to the placement position, control the clamping unit of the compound motion gripper to place the target object in the designated position.

[0030] This invention provides a gripping control method using the aforementioned composite action gripper. The method includes:

[0031] Move the compound motion gripper to the gripping position and control the clamping unit of the compound motion gripper to grip the target object;

[0032] The composite motion gripper is moved to the shooting position, and an image of the composite motion gripper and the target object being gripped is captured by the vision control unit. The angle data of the target object is determined based on the image, and the angle and direction of the target object that need to be adjusted are determined based on the angle data of the target object. An adjustment command is then sent to the composite motion gripper.

[0033] According to the adjustment command, control the action of the compound action gripper's rubbing unit, and rub the target object with the two grippers to adjust the target object to the corresponding angle in the determined adjustment direction;

[0034] Move the compound motion gripper to the placement position, control the clamping unit of the compound motion gripper to place the target object in the designated position.

[0035] In some optional embodiments, the angle data of the target object is determined based on the image, the angle and direction that the target object needs to be adjusted are determined based on the angle data, and an adjustment command is sent to the compound motion gripper, including:

[0036] The current angle data of the target object on the compound motion gripper is determined based on the image. The angle deviation between the current angle data and the expected angle data is determined based on the current angle data and the expected angle data. The angle and direction that the target object needs to be adjusted are determined based on the angle deviation. An adjustment command is generated based on the angle and direction that need to be adjusted and sent to the compound motion gripper.

[0037] In some optional embodiments, according to the adjustment command, the action of the compound action gripper's rubbing unit is controlled to rub the target object through the two grippers, adjusting the target object to a corresponding angle in a determined adjustment direction, including:

[0038] If the adjustment command is to adjust the first angle clockwise, the power component in the grinding unit of the compound action gripper will rotate clockwise so that the two grippers grind the target object clockwise and rotate the target object clockwise by the first angle.

[0039] If the adjustment command is to adjust the second angle counterclockwise, the power component in the grinding unit of the compound action gripper will rotate counterclockwise, so that the two grippers grind the target object counterclockwise, causing the target object to rotate counterclockwise by the second angle.

[0040] If the adjustment command is to stop adjustment, the power component in the grinding unit of the compound action gripper will stop rotating, so that the two grippers will stop grinding the target object.

[0041] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following:

[0042] The composite action gripper provided in this embodiment of the invention achieves both gripping and rotation simultaneously through a clamping unit and a kneading unit, enabling angle adjustment of the target object without the need for an external gripping device. The upper slider of the clamping unit has a groove that engages with a first protrusion on the lower slider, and the lower slider has a second protrusion that engages with a groove on the outer shell. Through the cooperation of a pneumatic assembly, the upper slider, the lower slider, and a return spring, when the upper slider moves forward under the drive of the pneumatic assembly, the two lower sliders close together; when the upper slider moves backward under the action of the return spring, the two lower sliders open to the sides. The gripper unit, with its two sliding rods installed in the through holes of the two lower sliding blocks, allows for the clamping and placement of the target object as the lower sliding blocks close and open. The grinding unit, through the cooperation of a power component, gears, two racks, two sliding rods, and two grippers, achieves this by having one rack move one sliding rod and one gripper forward while the other moves the other sliding rod and gripper backward when the power component drives the gears to rotate. This grinding action, achieved through the two grippers, causes the target object to rotate, allowing for angle adjustment. This composite action gripper can perform both clamping and rotation adjustment. Furthermore, its integrated design of the two clamping and rotation units results in a small footprint, simple structure, low cost, and automatic control via the power and pneumatic components, eliminating the need for manual operation and achieving a high degree of automation.

[0043] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0044] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0045] 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:

[0046] Figure 1 This is a three-dimensional structural diagram of the composite action gripper in an embodiment of the present invention;

[0047] Figure 2 for Figure 1 Front view of the compound motion gripper;

[0048] Figure 3 for Figure 1 Top view of a gripper performing a complex motion;

[0049] Figure 4 for Figure 1 A bottom view of a gripper performing a complex motion;

[0050] Figure 5 This is a BB cross-sectional view of the compound action gripper in an embodiment of the present invention;

[0051] Figure 6 This is a CC cross-sectional view of the compound action gripper in an embodiment of the present invention;

[0052] Figure 7 This is a DD cross-sectional view of the composite action gripper in an embodiment of the present invention;

[0053] Figure 8 This is a cross-sectional view of the composite action gripper in an embodiment of the present invention;

[0054] Figure 9 This is a schematic diagram of the structure after the top cover is opened in an embodiment of the present invention;

[0055] Figure 10 This is a schematic diagram of the gripping control system in an embodiment of the present invention;

[0056] Figure 11 This is a flowchart of the clamping control method in an embodiment of the present invention;

[0057] Figure 12 This is a flowchart of the clamping control method in an embodiment of the present invention;

[0058] Figure 13 This is a specific flowchart illustrating the clamping control method in an embodiment of the present invention.

[0059] Figure 14 This is an example diagram showing different working positions of the composite action gripper in an embodiment of the present invention;

[0060] Figure 15 This is an example diagram illustrating the cyclical change of the working position of the gripper in an embodiment of the present invention.

[0061] Explanation of reference numerals in the attached figures:

[0062] 1. Outer shell; 2. Clamping unit; 3. Grinding unit;

[0063] 11. Base; 12. Middle cover; 13. Top cover;

[0064] 111. Groove; 112. Rack mounting groove;

[0065] 21. Pneumatic assembly; 22. Upper slider; 23. Lower slider; 24. Return spring;

[0066] 211. Air line connector; 212. Air line; 213. Cylinder;

[0067] 221. Inclined groove;

[0068] 231. First protrusion; 232. Second protrusion;

[0069] 31. Power assembly; 32. Gear; 33. Rack; 34. Slide bar; 35. Gripper; 36. Limiting rod; 37. Position confirmation rod;

[0070] 100. Composite motion gripper; 200. Vision control unit; 300. Target object. Detailed Implementation

[0071] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0072] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0073] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0074] In existing production lines, after gripping the syringe needle, a manual control adjustment device is required to rotate and adjust the syringe needle, which cannot achieve automated adjustment. Moreover, the adjustment equipment occupies a large installation space. To solve these problems, this invention provides a composite action gripper, as well as a gripping control system and method using the composite action gripper, which can achieve gripping, handling, and on-demand rotation adjustment of the needle in a very small space.

[0075] This invention provides a composite action gripper, the three-dimensional structure of which is shown below. Figure 1As shown, see the main view. Figure 2 As shown, see the top view. Figure 3 As shown, see the bottom view. Figure 4 As shown, see the BB cross-sectional view. Figure 5 As shown, see the CC cross-sectional view. Figure 6 As shown, see the DD cross-sectional view. Figure 7 As shown, see the EE cross-sectional view. Figure 8 As shown, the structure after opening the top cover is as follows: Figure 9 As shown. The compound action gripper includes: a housing 1, a clamping unit 2 located inside the housing 1, and a rubbing unit 3.

[0076] The clamping unit 2 includes a pneumatic assembly 21, an upper slider 22 connected to the pneumatic assembly 21, two lower sliders 23, and a return spring 24 located between the upper slider 22 and the outer shell 1. The upper slider 22 has a groove 221 that engages with the first protrusion 231 of the lower slider 23, and the lower slider 23 has a second protrusion 232 that engages with the groove 111 on the outer shell 1, so that when the upper slider 22 moves forward under the action of the pneumatic assembly 21, the two lower sliders 23 close together in the middle, and when the upper slider 22 moves backward under the action of the return spring 24, the two lower sliders 23 open to the sides.

[0077] The grinding unit 3 includes a power component 31, a gear 32 connected to the power component 31, two racks 33 meshing with the gear 32, two slide rods 34 respectively connected to the two racks 33, and two grippers 35 respectively connected to the two slide rods 34. The two slide rods 34 are respectively installed in the through holes of the two lower slide blocks 23. The power component 31 is used to drive the gear 32 to rotate, so that one rack 33 drives one slide rod 34 and one gripper 35 to move forward, and the other rack 33 drives another slide rod 34 and another gripper 35 to move backward.

[0078] The composite action gripper provided in this embodiment of the invention achieves both gripping and rotation simultaneously through a clamping unit and a kneading unit, enabling angle adjustment of the target object without the need for an external gripping device. The upper slider of the clamping unit has a groove that engages with a first protrusion on the lower slider, and the lower slider has a second protrusion that engages with a groove on the outer shell. Through the cooperation of a pneumatic assembly, the upper slider, the lower slider, and a return spring, when the upper slider moves forward under the drive of the pneumatic assembly, the two lower sliders close together; when the upper slider moves backward under the action of the return spring, the two lower sliders open to the sides. The gripper unit, with its two sliding rods installed in the through holes of the two lower sliding blocks, allows for the clamping and placement of the target object as the lower sliding blocks close and open. The grinding unit, through the cooperation of a power component, gears, two racks, two sliding rods, and two grippers, achieves this by having one rack move one sliding rod and one gripper forward while the other moves the other sliding rod and gripper backward when the power component drives the gears to rotate. This grinding action, achieved through the two grippers, causes the target object to rotate, allowing for angle adjustment. This composite action gripper can perform both clamping and rotation adjustment. Furthermore, its integrated design of the two clamping and rotation units results in a small footprint, simple structure, low cost, and automatic control via the power and pneumatic components, eliminating the need for manual operation and achieving a high degree of automation.

[0079] In some optional embodiments, the outer shell 1 of the composite action gripper includes a base 11, a middle cover 12 and an upper cover 13; the base 11 is provided with at least one groove 111, and the corresponding lower slider 23 is provided with at least one second protrusion 232, each second protrusion 232 cooperating with a groove 111; the power assembly 31 is mounted on the middle cover 12, the rack 33 is mounted on the base 11; and the pneumatic assembly 21 is mounted on the middle cover 12.

[0080] See Figure 1-9 As shown, an illustrative installation method for the base 11, middle cover 12, and upper cover 13 is as follows: the middle cover 12 is fastened to the base 11, and the upper cover 13 is fastened to both the base 11 and the middle cover 12. The upper cover 13 has a through hole, and the middle cover 12 and the base 11 each have threaded holes for mounting the upper cover 13. The upper cover 13 is fixed to the base 11 and the middle cover 12 with screws. See also... Figure 9 After lifting the top cover 13, the middle cover 12 and the upper slider 22 can be exposed.

[0081] The middle cover 12 has threaded holes for mounting the base 11, and the base 11 has through holes. The base 11 is fixedly connected to the middle cover by screws. The middle cover 12 also has threaded holes for mounting the power component and through holes for the power component's rotating shaft to pass through. The figure illustrates the power component as an electric motor.

[0082] The middle cover 12 is also provided with a pneumatic component mounting hole for installing pneumatic components, and a positioning confirmation rod 37 mounting hole for installing positioning confirmation rod 37.

[0083] In some optional embodiments, the pneumatic assembly 21 includes an air connector 211, an air passage 212, and a cylinder 213 connected in sequence. The cylinder 213 is connected to the upper slider 22. After the air supply is turned on by the air connector 211, the cylinder 213 pushes the upper slider 22 to move forward. The upper slider 22 is provided with a spring groove to accommodate a return spring 24. One end of the return spring 24 abuts against the inner end of the spring groove, and the other end abuts against the front side wall of the upper cover 13. After the air supply is turned off by the air connector 211, the return spring 24 pushes the upper slider 22 to move backward.

[0084] Optionally, the inclined groove 221 on the upper slider 22 is a V-shaped groove, and the two grooves in the V-shaped groove respectively cooperate with the first protrusion 231 on the two lower sliders 23. The first protrusion 231 forms an angle of less than 90 degrees with the central axis of the through hole in the lower slider 23 where the slide rod 34 is installed; the second protrusion 232 is set perpendicular to the central axis of the through hole where the slide rod 34 is installed.

[0085] See Figure 1-9 As shown, the air passage 212 is located in the pneumatic component mounting hole of the middle cover 12. The air passage connector 211 extends to connect to an external air source. Two cylinders 213 can be provided. The upper slider 22 has a through hole, and the cylinder 213 has a threaded hole. The cylinder 213 and the upper slider 22 are connected by screws. Alternatively, the cylinder 213 and the upper slider 22 can be connected by other connection methods. The cylinder 213 can be a single-acting cylinder. When air is supplied to the cylinder 213 by an external air source, the piston of the cylinder 213 extends out of the piston cylinder and pushes the upper slider 22 forward. With the cooperation of the V-shaped groove on the upper slider 22 and the first protrusion 231 on the lower slider 23, when the upper slider 22 moves forward, the two lower sliders 23 are restricted by the groove and move towards the middle. The two lower sliders 23 respectively drive a sliding rod 34 to move towards the middle, so that the two grippers 35 close towards the middle, thereby clamping the target object. When the upper slider 22 moves forward, the return spring 24 is compressed. After the external air supply stops, the upper slider 22 moves backward under the action of the return spring 24. With the cooperation of the V-shaped groove on the upper slider 22 and the first protrusion 231 on the lower slider 23, the two lower sliders 23 are restricted by the grooves and move to the sides. Each of the two lower sliders 23 drives a sliding rod 34 to move outward, causing the two grippers 35 to separate to the sides, thus releasing the target object. The clamping and releasing of the target object is achieved through the gripping unit, cooperating with the external mechanism to complete the transport of the target object.

[0086] In some optional embodiments, the power assembly 31 includes a motor mounted on the middle cover 12, a gear 32 mounted on the motor shaft, and a rack 33 meshing with the gear 32; a rack mounting groove 112 is provided on the side wall or bottom plate of the base 11, and the rack 33 moves along the rack mounting groove when the gear 32 rotates.

[0087] See Figure 1-9 As shown, gear 32 is located below the middle cover 12 and can be driven to rotate by a motor. When the gear rotates, the two racks on both sides move forward and backward respectively under the limiting action of the rack mounting slot, completing the rubbing action and realizing the original rotation of the target object. The rack mounting slot ensures that the rack moves forward or backward in a straight line.

[0088] Optionally, the grinding unit 3 also includes a limiting rod 36 disposed between the two racks 33. The limiting rod 36 is mounted on the base 11. The racks 33 move back and forth under the limiting of the limiting rod 36 and the side wall of the base, so that the constraint force on the racks 33 is more balanced, further ensuring that the racks can move forward or backward in a straight line.

[0089] The slide bar 34 is set in the through hole of the lower slide bar, so that the slide bar 34 can close to the middle or separate to both sides with the lower slide bar, and at the same time, the slide bar can move forward or backward in the through hole.

[0090] Optionally, the grinding unit 3 also includes a positioning confirmation rod 37, which is fixed to the middle cover 12 and used to detect whether the gripper 35 has moved to the designated position. The positioning confirmation rod can detect whether the gripper has moved into position and feed back the detected signal to the vision control unit.

[0091] This composite action gripper integrates a gripping unit and a kneading unit into one unit. Through a structural design, it combines gripping and kneading / rotational functions, reducing the size of the gripper device by hundreds of times and maximizing space efficiency. It can replace similar devices that perform rotational alignment. The kneading unit is motor-controlled, and the gripping unit is pneumatically controlled. The two units achieve functional integration through a guide sliding structure. This ingenious mechanism accomplishes composite actions that previously required large equipment, and it is fully automated without manual operation. This composite action gripper is compact, easy to maintain, reduces the number of controlled objects, and is easy to control. The composite structure saves space, reduces costs, and facilitates future maintenance and expansion, improving the equipment's economic efficiency. In practical applications, multiple grippers can be arranged side-by-side, simplifying the production line structure and improving operational efficiency.

[0092] This invention provides a clamping control system, the structure of which is as follows: Figure 10 As shown, it includes a compound motion gripper 100 and a vision control unit 200;

[0093] The vision control unit 200 is used to acquire images of the compound motion gripper 100 and the target object 300 gripped on it, determine the angle data of the target object 300 based on the image, determine the angle and direction that the target object needs to be adjusted based on the angle data of the target object, and send adjustment instructions to the compound motion gripper.

[0094] The compound action gripper 100 is used to control the power component to drive the gear to rotate according to the adjustment command, so that the two grippers rub the target object to adjust the target object to the corresponding angle along the determined adjustment direction.

[0095] The aforementioned gripping control system, including the vision control unit 200, is further configured to: move the compound motion gripper to the gripping position; control the clamping unit of the compound motion gripper to grip the target object; then move the compound motion gripper to the imaging position to capture an image of the compound motion gripper and the gripped target object; and, according to an adjustment command, control the rubbing unit of the compound motion gripper to rub the target object with the two grippers, adjusting the target object to a corresponding angle in a determined adjustment direction; and move the compound motion gripper to the placement position, controlling the clamping unit of the compound motion gripper to place the target object in a designated position.

[0096] In the above system, the vision control unit may include a vision module and a control module. The vision module can be implemented using vision devices such as cameras, camcorders, and video cameras, while the control module can be implemented using hardware such as chips and processors. The motors, cylinders, and position confirmation rods on the composite action gripper can be electrically or communicatively connected to the vision control unit to transmit the collected data and control commands. The pneumatic connectors of the pneumatic components and the motor connection interfaces and cables of the power components in the composite action gripper are all located at the tail of the gripper, which does not affect the gripping and rotation operations of the gripper, and facilitates centralized wiring control and reduces wiring difficulty.

[0097] This invention provides a gripping control method, implemented through the aforementioned gripping control system, the process of which is as follows: Figure 11 and Figure 12 As shown, it includes the following steps:

[0098] Step S101: Move the compound motion gripper to the gripping position, control the clamping unit of the compound motion gripper to grip the target object.

[0099] See Figure 12 , Figure 13 and Figure 14 As shown, after the combined action gripper moves to the gripping position, it grips the target object. For example, a syringe needle.

[0100] Step S102: Move the compound motion gripper to the shooting position and capture an image of the compound motion gripper and the target object being gripped by the vision control unit.

[0101] The vision control unit may include a camera or other imaging element for taking pictures. Taking a camera as an example, the compound action gripper is moved below the camera to take a picture and obtain an image of the target object being clamped on the compound action gripper.

[0102] Step S103: Determine the angle data of the target object based on the image, determine the angle and direction that the target object needs to be adjusted based on the angle data, and send the adjustment command to the compound action gripper.

[0103] The captured image is identified to determine the current angle data of the target object on the compound action gripper. The angle data can include orientation and angle.

[0104] After acquiring the angle data of the target object, data analysis and processing are performed. If the orientation and angle of the target object do not meet expectations, angle adjustment is required. At this point, the angle and direction to be adjusted for the target object can be determined based on the predetermined target angle data, and an adjustment command can be generated. The adjustment command may include the rotation direction and rotation angle, as well as instructions to start and stop the adjustment, etc.

[0105] See Figure 12 As shown, if the angle does not meet expectations, and the angle deviation is less than -1°, then the adjustment direction is determined to be clockwise, and the adjustment angle is the angle of deviation. For example, if the deviation angle is -2°, then the adjustment angle is determined to be 2° clockwise. If the angle does not meet expectations, and the angle deviation is greater than 1°, then the adjustment direction is determined to be counterclockwise, and the adjustment angle is the angle of deviation. For example, if the deviation angle is 3°, then the adjustment angle is determined to be 3° counterclockwise. If the deviation angle meets expectations, for example, if the angle deviation is between -1° and 1°, then no adjustment is required.

[0106] Step S104: According to the adjustment command, control the rubbing unit of the compound action gripper to rub the target object with the two grippers and adjust the target object to the corresponding angle in the determined adjustment direction.

[0107] See Figure 12 As shown, if the adjustment command is to rotate clockwise by a certain degree, such as 2°, the motor will rotate forward, causing the grippers to rub in the forward direction, and the needle head to rotate clockwise by an appropriate angle. If the adjustment command is to rotate counterclockwise by a certain degree, such as 3°, the motor will rotate in reverse, causing the grippers to rub in the reverse direction, and the needle head to rotate counterclockwise by an appropriate angle. If the adjustment command is to stop adjusting, the motor will stop, the grippers will stop rubbing, the needle head will lock, and the angle adjustment will be complete.

[0108] Step S105: Move the compound motion gripper to the placement position, control the clamping unit of the compound motion gripper to place the target object in the designated position.

[0109] After the angle adjustment is completed, move the compound motion gripper to the placement position, place the target object, empty the gripper, and the target object can enter the next process step.

[0110] One optional action process of the above-mentioned gripping control system, taking a syringe needle as an example of the target object, see [link to relevant documentation]. Figure 15 As shown,

[0111] 0. Origin preparation: At this time, the compound motion gripper is in the original standby state, with both grippers open and the ends of the two grippers aligned.

[0112] 1. Clamping: At this time, by venting air to the tail of the clamping unit, the cylinder pushes the upper slider with the inclined surface to move, so that the two grippers close in the middle at the same time and clamp the syringe needle.

[0113] 2. In-situ needle retraction (clockwise rotation): At this time, external signals are obtained through the vision control unit to determine the rotation direction and angle. Assuming that the rotation direction is clockwise, the servo motor is controlled to rotate clockwise so that the syringe needle is rotated and adjusted according to the determined rotation direction and angle.

[0114] 3. In-situ tracking (counterclockwise rotation): At this time, external signals are obtained through the vision control unit to determine whether the adjustment is in place and whether further fine-tuning is needed. If so, the rotation direction and angle are determined. Assuming the rotation direction is counterclockwise, the servo motor is controlled to rotate counterclockwise to compensate for rotation overshoot or to make slight angle adjustments.

[0115] 4. Release the grippers: After the vision control unit determines that the adjustment is in place, stop the air supply to the tail of the gripping unit. The reset spring pushes the upper slider with the inclined surface to move, so that the two grippers open to both sides simultaneously, release the grippers, and release the syringe needle.

[0116] 5. Origin Reset: The servo motor drives the two grippers to move, making their ends flush.

[0117] Understandably, in practical applications, depending on the specific circumstances, either clockwise in-position rubbing or counterclockwise in-position rubbing can be performed, or both can be performed.

[0118] Regarding the systems and methods in the above embodiments, the specific ways in which each module and step performs operations have been described in detail in the embodiments of the compound action gripper, and will not be elaborated here.

[0119] The composite action gripper of this invention integrates a single-acting cylinder-driven gripping unit and a motor-driven kneading unit into a single unit. This allows for gripping, handling, and needle rotation within a very small space, reducing the overall length of the composite action gripper to within 200mm. This ingenious mechanism achieves composite actions that previously required large equipment, replacing existing large rotating devices (around 1 meter in length) while maintaining the same rotation and alignment function, with a volume reduction of hundreds of times. A positioning confirmation rod transmits gripper positioning information to the outside, effectively monitoring equipment status. Air supply, power supply, and information collection are all centralized at the product tail, reducing wiring and conduit complexity and making the product easier to use. The ingenious structure of this composite action gripper allows for the parallel arrangement of multiple grippers, simplifying the production line structure and improving operational efficiency. These technical means simplify the system structure, reduce the number of controlled objects, save space, lower costs, facilitate future equipment maintenance and expansion, and improve the economic benefits of the equipment.

[0120] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0121] In the detailed description above, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features in a single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, with each claim representing a separate preferred embodiment of the invention.

[0122] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as interpreted when used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."

Claims

1. A composite action gripper, characterized in that, include: The outer casing, the clamping unit and the grinding unit located inside the outer casing; The clamping unit includes a pneumatic assembly, an upper slider connected to the pneumatic assembly, two lower sliders, and a return spring located between the upper slider and the outer shell. The upper slider has a groove that engages with a first protrusion of the lower slider, and the lower slider has a second protrusion that engages with a groove on the outer shell, so that when the upper slider moves forward under the drive of the pneumatic assembly, the two lower sliders close together in the middle, and when the upper slider moves backward under the action of the return spring, the two lower sliders open to the sides. The grinding unit includes a power component, a gear connected to the power component, two racks meshing with the gear, two slide rods connected to the two racks respectively, and two grippers connected to the two slide rods respectively. The two slide rods are respectively installed in the through holes of the two lower slide blocks. The power component is used to drive the gear to rotate, so that one rack drives one slide rod and one gripper to move forward, and the other rack drives another slide rod and another gripper to move backward.

2. The composite action gripper as described in claim 1, characterized in that, The outer casing includes a base, a middle cover, and a top cover; The base is provided with at least one groove, and the corresponding lower slider is provided with at least one second protrusion, each second protrusion cooperating with a groove; The power assembly is mounted on the middle cover, and the rack is mounted on the base; The pneumatic assembly is mounted on the middle cover.

3. The composite action gripper as described in claim 2, characterized in that, The pneumatic assembly includes an air circuit connector, an air circuit, and a cylinder connected in sequence, with the cylinder connected to the upper slider; after the air circuit connector is connected to the air source, the upper slider is pushed forward by the cylinder. The upper slider is provided with a spring groove to accommodate the reset spring. One end of the reset spring abuts against the inner end of the spring groove, and the other end abuts against the front side wall of the upper cover. After the gas source is disconnected at the connector, the reset spring pushes the upper slider to move backward.

4. The composite action gripper as described in claim 2, characterized in that, The inclined groove on the upper slider is a V-shaped groove. The two grooves in the V-shaped groove respectively cooperate with the first protrusion on the two lower sliders. The first protrusion forms an angle of less than 90 degrees with the central axis of the through hole in the lower slider where the slide rod is installed. The second protrusion is perpendicular to the central axis of the through hole for mounting the slide rod.

5. The composite action gripper as described in claim 1, characterized in that, The power assembly includes a motor mounted on the middle cover, a gear mounted on the motor shaft, and a rack meshing with the gear. The base has a rack mounting groove on its side wall or bottom plate, and the rack moves along the rack mounting groove when the gear rotates.

6. The composite action gripper as described in claim 1, characterized in that, The grinding unit further includes a limiting rod disposed between two racks, the limiting rod being mounted on the base, and the racks moving back and forth under the limiting of the limiting rod and the side wall of the base.

7. The composite action gripper as described in any one of claims 1-6, characterized in that, Also includes: Position confirmation lever; The positioning confirmation rod is fixed on the middle cover and is used to detect whether the gripper has moved to the designated position.

8. A gripping control system, characterized in that, Includes a vision control unit and a composite motion gripper as described in any one of claims 1-7; The vision control unit is used to acquire images of the composite motion gripper and the target object it grips, determine the angle data of the target object based on the image, determine the angle and direction that the target object needs to be adjusted based on the angle data, and send adjustment instructions to the composite motion gripper. The compound action gripper is used to control the power component to drive the gear to rotate according to the adjustment command, so that the two grippers rub the target object to adjust the target object to a corresponding angle along the determined adjustment direction.

9. The system as described in claim 8, characterized in that, The vision control unit is also used for: Move the compound motion gripper to the gripping position and control the clamping unit of the compound motion gripper to grip the target object; Move the compound motion gripper to the shooting position to capture images of the compound motion gripper and the target object it is gripping; as well as According to the adjustment command, control the action of the compound action gripper's rubbing unit, and rub the target object with the two grippers to adjust the target object to the corresponding angle in the determined adjustment direction; Move the compound motion gripper to the placement position, control the clamping unit of the compound motion gripper to place the target object in the designated position.

10. A gripping control method, characterized in that, The method is implemented using a compound motion gripper as described in any one of claims 1-7, and includes: Move the compound motion gripper to the gripping position and control the clamping unit of the compound motion gripper to grip the target object; The composite motion gripper is moved to the shooting position, and an image of the composite motion gripper and the target object being gripped is captured by the vision control unit. The angle data of the target object is determined based on the image, and the angle and direction of the target object that need to be adjusted are determined based on the angle data of the target object. An adjustment command is then sent to the composite motion gripper. According to the adjustment command, control the action of the compound action gripper's rubbing unit, and rub the target object with the two grippers to adjust the target object to the corresponding angle in the determined adjustment direction; Move the compound motion gripper to the placement position, control the clamping unit of the compound motion gripper to place the target object in the designated position.

11. The method as described in claim 10, characterized in that, Based on the image, determine the angle data of the target object; based on the angle data of the target object, determine the angle and direction that the target object needs to be adjusted; and send adjustment instructions to the compound motion gripper, including: The current angle data of the target object on the compound motion gripper is determined based on the image. The angle deviation between the current angle data and the expected angle data is determined based on the current angle data and the expected angle data. The angle and direction that the target object needs to be adjusted are determined based on the angle deviation. An adjustment command is generated based on the angle and direction that need to be adjusted and sent to the compound motion gripper.

12. The method as described in claim 10 or 11, characterized in that, According to the adjustment command, the action of the compound action gripper's rubbing unit is controlled to rub the target object through the two grippers, adjusting the target object to a corresponding angle in a determined adjustment direction, including: If the adjustment command is to adjust the first angle clockwise, the power component in the grinding unit of the compound action gripper will rotate clockwise so that the two grippers grind the target object clockwise and rotate the target object clockwise by the first angle. If the adjustment command is to adjust the second angle counterclockwise, the power component in the grinding unit of the compound action gripper will rotate counterclockwise, so that the two grippers grind the target object counterclockwise, causing the target object to rotate counterclockwise by the second angle. If the adjustment command is to stop adjustment, the power component in the grinding unit of the compound action gripper will stop rotating, so that the two grippers will stop grinding the target object.

Images