Flexible assembly gripper device with force feedback

Abstract

This invention relates to the field of assembly gripper technology and discloses a flexible assembly gripper device with force feedback, comprising: a fixed base with a quick-connect interface for connecting a robotic arm at its upper end; and side grippers, mirror-symmetrically arranged on both sides of the lower end of the fixed base for gripping workpieces from both sides. Each side gripper includes: a first sliding rod, which is horizontally movable at the lower end of the fixed base via a sliding mechanism. Through the coordinated work of the side grippers and the central gripper, in conjunction with the first negative pressure adsorption head, the first magnetic adsorption head, the anti-slip gripper head on the multi-functional switching head, and the second negative pressure adsorption head and the second magnetic adsorption head on the switching adsorption head, this device can achieve frictional gripping, magnetic gripping, and negative pressure adsorption gripping of the outer sidewall of the workpiece, magnetic or negative pressure adsorption gripping of the top of the workpiece, and frictional tightening, magnetic tightening, or negative pressure adsorption tightening of the inner wall of hollow parts.

Description

Technical Field

[0001] This invention relates to the field of assembly gripper technology, specifically to a flexible assembly gripper device with force feedback. Background Technology

[0002] In the field of industrial automation assembly, end effectors (grippers) are key components for grasping and transporting workpieces. Depending on the object being handled, traditional grippers are mainly classified into several types, including mechanical grippers, magnetic grippers, vacuum suction grippers, and internal support grippers.

[0003] Mechanical grippers are the most common type of gripper, typically pneumatically or electrically driven, and hold workpieces externally through the relative movement of two or more grippers. They are simple in structure, have high clamping force, and are suitable for rigid, blocky, or irregularly shaped parts. However, mechanical grippers are sensitive to workpiece dimensional fluctuations, and the clamping force is difficult to control precisely, easily causing deformation and damage to thin-walled parts or soft materials. Furthermore, their clamping range is limited by the opening and closing stroke of the grippers, requiring replacement with grippers of different specifications when workpiece dimensions change significantly.

[0004] Magnetic grippers use electromagnets or permanent magnets to attract ferromagnetic workpieces. They offer advantages such as fast response and no need to contact sidewalls, making them commonly used for handling heavy items like steel plates and iron blocks. However, their limitations are also obvious: they can only attract magnetic materials and are completely ineffective against non-magnetic materials such as aluminum, copper, plastic, and wood. Furthermore, the magnetic force is inversely proportional to the fourth power of the distance; the reliability of attraction decreases when the workpiece surface is uneven or contains oil, and residual magnetism after power failure may prevent the workpiece from being released.

[0005] Vacuum adsorption grippers use suction cups to generate negative pressure to adsorb workpieces with smooth surfaces, making them suitable for glass, plastic shells, and thin metal sheets. However, they require a high degree of surface smoothness; porous, rough, or curved surfaces are prone to air leakage, leading to adsorption failure. Furthermore, the size and shape of the suction cups must match the workpiece, often necessitating replacement of the suction cup assembly when changing to different workpieces.

[0006] Internal support grippers are used for hollow workpieces (such as pipe sleeves and bearing rings). They achieve fixation by radially expanding or opening the claws after extending into the inner cavity. These grippers are usually specially designed, and a set of internal support claws can only correspond to a specific inner diameter size. They cannot be universally used when the inner diameter of the workpiece varies greatly.

[0007] In summary, traditional grippers are mostly designed for specific workpiece materials and shapes, resulting in poor versatility. In actual production, an assembly line often requires frequent changes to different types or specifications of grippers, which not only increases equipment costs but also reduces production efficiency. Faced with the demands of flexible manufacturing involving diverse product types and small batches, existing grippers struggle to simultaneously meet the comprehensive requirements of external clamping, internal support, and different adsorption methods. Therefore, there is an urgent need for a universal gripper device capable of adapting to various workpieces. Summary of the Invention

[0008] The purpose of this invention is to provide a flexible assembly gripper device with force feedback to solve the problems mentioned in the background art.

[0009] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a flexible assembly gripper device with force feedback, comprising:

[0010] The mounting base has a quick-connect interface at its upper end for connecting the robotic arm;

[0011] Side grippers, arranged symmetrically in mirror image on both sides of the lower end of the fixed base, are used to grip the workpiece from both sides. Each side gripper includes:

[0012] The first sliding rod is horizontally movable at the lower end of the fixed base via a sliding mechanism;

[0013] The second sliding rod is L-shaped, and its upper end is movably mounted to the end of the first sliding rod;

[0014] A multi-functional switching head is movably mounted at the end of the second sliding rod. The multi-functional switching head has multiple switchable working surfaces, and at least one working surface integrates a force sensor.

[0015] A miniature laser profilometer is fixedly mounted on the second sliding rod and is used to scan the contour data of the side of the workpiece.

[0016] A central clamping hand, located at the lower center of the fixed base, is used to secure the workpiece from the top, and includes:

[0017] The central electric telescopic rod is fixedly installed at the lower center of the fixed base;

[0018] Extension seat, fixedly installed at the telescopic end of the central electric telescopic pole;

[0019] The central camera is fixedly installed in the center of the extension base and is used to capture images of the top of the workpiece;

[0020] Switch the adsorption heads and arrange them in a mirror-symmetrical manner on both sides of the extension base;

[0021] The control system is electrically connected to the sliding mechanism, the second sliding rod, the multi-functional switching head, the miniature laser profilometer, the central electric telescopic rod, the switching adsorption head, and the central camera, respectively.

[0022] The control system is configured to: control the side grippers and the central gripper to move sequentially or synchronously based on the detection signals from the miniature laser profilometer and the central camera, and adjust the gripping force according to the feedback signal from the force sensor to achieve flexible assembly of the workpiece.

[0023] According to the above technical solution, the sliding mechanism includes:

[0024] The first servo motor is fixedly installed in one end of the sliding groove at the lower end of the fixed base;

[0025] The threaded rod is fixedly installed at the output end of the first servo motor;

[0026] A sliding block is movably installed in a sliding groove, and the threaded rod is threadedly connected inside the sliding block. The first sliding rod is fixedly installed at the lower end of the sliding block.

[0027] According to the above technical solution, the second sliding rod includes:

[0028] An L-shaped rod has a fixedly installed collar at one end, which is movably sleeved on the connector at the end of the first sliding rod.

[0029] The second servo motor is fixedly installed in the embedded groove on the side wall of the connector;

[0030] The first gear is fixedly installed at the output end of the second servo motor;

[0031] The rack is embedded in the inner wall of the sleeve ring and meshes with the first gear.

[0032] According to the above technical solution, the multi-functional switching head includes:

[0033] The central rotating disk is movably mounted at both ends of the L-shaped rod via the first rotating shaft;

[0034] The first negative pressure adsorption head is located on the side wall of the central rotating disk and consists of a first central adsorption disk and a first edge adsorption disk circumferentially arranged around the first central adsorption disk. A first pressure sensor and a second pressure sensor are respectively provided on the first central adsorption disk and the first edge adsorption disk.

[0035] The first magnetic adsorption head is located on the side wall of the central rotating disk and is composed of a first permanent magnet evenly distributed around the circumference. A first pressure sensor is located in the center.

[0036] Anti-slip gripping head is located on the side wall of the central rotating disk;

[0037] The first negative pressure adsorption head, the first magnetic adsorption head, and the anti-slip clamping head are evenly distributed circumferentially on the side wall of the central rotating disk.

[0038] According to the above technical solution, the multi-functional switching head further includes a circumferential drive assembly for controlling the angle of the central rotating disk, the circumferential drive assembly comprising:

[0039] The third servo motor is fixedly installed on the side wall of the L-shaped rod;

[0040] The second gear is fixedly installed at the output end of the third servo motor;

[0041] The third gear is fixedly sleeved on the first rotating shaft and meshes with the second gear.

[0042] According to the above technical solution, the second sliding rod further includes:

[0043] The first reinforcing rod is fixed at both ends to the two sides of the L-shaped rod that are vertically set;

[0044] The second reinforcing rod is fixedly installed at one end of the L-shaped rod, and the other end is movably sleeved on the first sliding rod.

[0045] According to the above technical solution, the switching adsorption head includes:

[0046] The edge rotating disk is movably mounted at both ends of the extension seat via a second rotating shaft;

[0047] The second negative pressure adsorption head is set on the side wall of the edge rotating disk. It consists of a second central adsorption disk and a second edge adsorption disk circumferentially arranged around the second central adsorption disk. A third pressure sensor and a fourth pressure sensor are respectively set on the second central adsorption disk and the second edge adsorption disk.

[0048] The second magnetic adsorption head is located on the side wall of the edge rotating disk and consists of a second permanent magnet evenly distributed around the circumference, with a third pressure sensor located in the center.

[0049] The second negative pressure adsorption head and the second magnetic adsorption head are symmetrically arranged on the side wall of the edge rotating disk.

[0050] According to the above technical solution, the switching adsorption head further includes:

[0051] The fourth servo motor is fixedly mounted on the side wall of the extension base;

[0052] The first pulley is fixedly installed at the output end of the fourth servo motor;

[0053] The second pulley is fixedly installed at the end of the second rotating shaft;

[0054] A belt is meshed with a first pulley and a second pulley;

[0055] An increasing angle pulley is positioned between the first pulley and the second pulley.

[0056] According to the above technical solution, the anti-slip gripping head includes:

[0057] A circumferential fixing seat is fixedly installed on the side wall of the central rotating disk;

[0058] The flexible movable block is movably installed on one side of the circumferential fixed base;

[0059] Elastic anti-slip pads are fixedly installed on the outer wall surface of the flexible movable block;

[0060] The flexible damping component, located between the flexible movable block and the circumferential fixed seat, is used to provide a buffer stroke and generate damping force when clamping the workpiece.

[0061] According to the above technical solution, the flexible damping component includes:

[0062] The damper is fixedly installed at one end on the side wall of the flexible movable block and at the other end in the circumferential fixed seat;

[0063] A telescopic spring is connected between the flexible movable block and the circumferential fixed seat, and is arranged in parallel with the damper;

[0064] The guide limiting mechanism includes a first arc-shaped positioning plate and a second arc-shaped positioning plate. One end of the first arc-shaped positioning plate is fixedly installed on the side wall of the flexible movable block, and the other end is slidably sleeved in the second arc-shaped positioning plate. The end of the second arc-shaped positioning plate is fixedly installed in the circumferential fixed seat.

[0065] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0066] 1. High versatility, capable of adapting to various workpiece shapes and materials.

[0067] This device, through the coordinated operation of the side grippers and the central gripper, along with the first negative pressure adsorption head, the first magnetic adsorption head, and the anti-slip gripping head on the multi-functional switching head, and the second negative pressure adsorption head and the second magnetic adsorption head on the switching adsorption head, can achieve frictional gripping, magnetic gripping, and negative pressure adsorption gripping of the outer sidewalls of workpieces; magnetic or negative pressure adsorption gripping of the top of workpieces; and frictional, magnetic, or negative pressure adsorption clamping of the inner walls of hollow parts. One set of equipment can cover a variety of common industrial workpieces, including solid parts, hollow parts, ferromagnetic parts, non-metallic parts, smooth surface parts, and rough surface parts, without the need to change the end effector, significantly improving the versatility of the gripper and reducing production line changeover time and equipment investment costs.

[0068] 2. Force feedback closed-loop control is adopted to achieve flexible and non-destructive assembly.

[0069] Each working surface of the multi-functional switching head integrates a first pressure sensor, a second pressure sensor, or a first pressure sensor, while the switching adsorption head integrates a third pressure sensor, a fourth pressure sensor, or a third pressure sensor. The control system collects the force / pressure signals from each sensor in real time and dynamically adjusts the thrust of the first servo motor, the swing angle of the second servo motor, the extension and retraction of the central electric telescopic rod, and the vacuum level of each adsorption head according to preset safety thresholds, forming a closed-loop force-position control. This design effectively avoids workpiece deformation or damage due to excessive clamping force, and also prevents workpiece slippage due to insufficient clamping force. It is particularly suitable for the assembly of precision parts, thin-walled parts, and fragile parts.

[0070] 3. The L-shaped rod swing extension design significantly expands the clamping specification range.

[0071] The second sliding rod adopts an L-shaped structure. When it swings around the connector, the multi-functional switching head at its end gains an additional horizontal displacement component. This displacement, combined with the linear motion of the first sliding rod, significantly increases the total horizontal displacement range of the grippers on both sides compared to traditional straight-rod telescopic designs. Without increasing the size of the fixed base or the length of the first sliding rod, stable clamping of parts ranging from narrow (tens of millimeters wide) to large (hundreds of millimeters wide) can be achieved. Furthermore, for internal clamping of hollow parts, the longer horizontal section allows for deeper insertion into the internal cavity. This design balances structural compactness with a wide clamping range, improving the device's adaptability to workpieces of different sizes.

[0072] 4. Automatically identifies workpiece features and intelligently switches clamping modes to improve work efficiency.

[0073] A central camera captures an image of the top of the workpiece, while a miniature laser profilometer scans the side profile. The control system fuses the visual and profile data to automatically determine the workpiece's material, shape, size, and surface characteristics, and accordingly decides on the optimal clamping strategy (selecting friction / magnetic attraction / negative pressure, external clamping / internal support, and whether to enable top assistance, which is generally used as auxiliary clamping). Subsequently, the third and fourth servo motors automatically rotate the central and edge rotating disks, rapidly switching the working surfaces. The entire process requires no manual intervention, avoiding the tedious steps of manual replacement or adjustment required by traditional fixtures, significantly reducing gripping preparation time, and making it suitable for mixed-flow production scenarios in automated production lines.

[0074] 5. The anti-slip clamping head has a built-in flexible damping component, which combines cushioning and reliable clamping.

[0075] The anti-slip gripper head internally incorporates a flexible damping assembly consisting of a damper and a telescopic spring connected in parallel, guided and limited by a first and second arc-shaped positioning plate. When gripping rough or fragile workpieces, the elastic anti-slip pad first contacts the workpiece surface, followed by a flexible moving block that compresses a certain stroke to absorb the initial contact impact; the damper provides a speed-dependent damping force to suppress vibration; and the telescopic spring ensures stable static contact pressure. This structure prevents damage to the workpiece from rigid impacts and increases friction through the anti-slip pad, ensuring reliable gripping, making it particularly suitable for workpieces with irregular surfaces or low hardness. Attached Figure Description

[0076] 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:

[0077] Figure 1 This is a first perspective view of the present invention;

[0078] Figure 2 This is a second perspective view of the present invention;

[0079] Figure 3 This is a third perspective view of the present invention;

[0080] Figure 4 This is a first partial three-dimensional schematic diagram of the present invention;

[0081] Figure 5 This is a second partial perspective view of the present invention;

[0082] Figure 6 This is a third partial perspective view of the present invention;

[0083] Figure 7 This is a fourth partial perspective view of the present invention;

[0084] Figure 8 This is a fifth partial perspective view of the present invention;

[0085] Figure 9 This is a sixth partial perspective view of the present invention;

[0086] Figure 10 This is the present invention. Figure 8 A magnified view of a portion of point A in the middle;

[0087] Figure 11 This is the present invention. Figure 9 A magnified view of a portion of point B in the middle;

[0088] In the diagram: 1-Fixed base, 11-Quick connector, 12-Sliding groove, 2-Side gripper, 21-First sliding rod, 211-Connector, 22-Second sliding rod, 221-L-shaped rod, 222-Socket ring, 223-Second servo motor, 224-First gear, 225-Rack, 226-First reinforcing rod, 227-Second reinforcing rod, 23-Multi-function switch head, 231-Central rotating disk, 232-First rotating shaft, 233 2331-First negative pressure adsorption head, 2332-First central adsorption plate, 2333-First edge adsorption plate, 2333-First pressure sensor, 2334-Second pressure sensor, 234-First magnetic adsorption head, 2341-First permanent magnet, 2342-First pressure sensor, 235-Anti-slip clamping head, 2351-Elastic anti-slip pad, 2352-Circumferential fixing base, 2353-Flexible movable block, 2354-Damper, 2355-Extension 2356 - First arc-shaped positioning plate; 2357 - Second arc-shaped positioning plate; 236 - Third servo motor; 237 - Second gear; 238 - Third gear; 24 - Miniature laser profilometer; 3 - Central gripper; 31 - Central electric telescopic rod; 32 - Extension seat; 33 - Central camera; 34 - Switching suction head; 341 - Edge rotating disk; 342 - Second rotating shaft; 343 - Second negative pressure suction head; 3431 - Second central... 3432 - Second edge adsorption plate, 3433 - Third pressure sensor, 3434 - Fourth pressure sensor, 344 - Second magnetic adsorption head, 3441 - Second permanent magnet, 3442 - Third pressure sensor, 345 - Fourth servo motor, 346 - First pulley, 347 - Second pulley, 348 - Belt, 349 - Angle wheel, 4 - Sliding mechanism, 41 - First servo motor, 42 - Threaded rod, 43 - Sliding block. Detailed Implementation

[0089] 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.

[0090] Please see Figure 1-11 The present invention provides a technical solution: a flexible assembly gripper device with force feedback, comprising:

[0091] The fixed base 1 has a quick-connect interface 11 for connecting the robotic arm at its upper end;

[0092] Side grippers 2 are mirror-symmetrically arranged on both sides of the lower end of the fixed base 1, and are used to grip the workpiece from both sides. Each side gripper 2 includes:

[0093] The first sliding rod 21 is horizontally movable at the lower end of the fixed base 1 via the sliding mechanism 4;

[0094] The second sliding rod 22 is L-shaped, and its upper end is movably mounted to the end of the first sliding rod 21;

[0095] The multi-functional switching head 23 is movably mounted at the end of the second sliding rod 22. The multi-functional switching head 23 has multiple switchable working surfaces, and at least one working surface integrates a force sensor.

[0096] The miniature laser profilometer 24 is fixedly mounted on the second sliding rod 22 and is used to scan the contour data of the side of the workpiece.

[0097] A central clamping hand 3, located at the lower center of the fixed base 1, is used to fix the workpiece from the top, and includes:

[0098] The central electric telescopic rod 31 is fixedly installed at the lower center of the fixed base 1;

[0099] Extension seat 32 is fixedly installed at the telescopic end of the central electric telescopic rod 31;

[0100] The central camera 33 is fixedly installed in the center of the extension base 32 and is used to capture images of the top of the workpiece;

[0101] The adsorption head 34 is switched and arranged in a mirror image symmetrically on both sides of the extension base 32;

[0102] The control system is electrically connected to the sliding mechanism 4, the second sliding rod 22, the multi-functional switching head 23, the miniature laser profilometer 24, the central electric telescopic rod 31, the switching adsorption head 34, and the central camera 33, respectively.

[0103] The control system is configured to: control the side gripper 2 and the central gripper 3 to move sequentially or synchronously according to the detection signals of the miniature laser profilometer 24 and the central camera 33, and adjust the gripping force according to the feedback signal of the force sensor to achieve flexible assembly of the workpiece.

[0104] Specifically, the sliding mechanism 4 includes:

[0105] The first servo motor 41 is fixedly installed at one end of the sliding groove 12 at the lower end of the fixed base 1;

[0106] The threaded rod 42 is fixedly installed at the output end of the first servo motor 41;

[0107] The sliding block 43 is movably installed in the sliding groove 12, the threaded rod 42 is threadedly connected in the sliding block 43, and the first sliding rod 21 is fixedly installed at the lower end of the sliding block 43;

[0108] Specifically, the second sliding rod 22 includes:

[0109] The L-shaped rod 221 has a fixedly installed sleeve ring 222 at one end, and the sleeve ring 222 is movably sleeved on the connector 211 at the end of the first sliding rod 21;

[0110] The second servo motor 223 is fixedly installed in the embedded groove on the side wall of the connector 211;

[0111] The first gear 224 is fixedly installed at the output end of the second servo motor 223;

[0112] The rack 225 is embedded in the inner wall of the sleeve ring 222 and meshes with the first gear 224.

[0113] Specifically, the multi-function switch head 23 includes:

[0114] The central rotating disk 231 is movably mounted at the other end of the L-shaped rod 221 via the first rotating shaft 232 at both ends.

[0115] The first negative pressure adsorption head 233 is disposed on the side wall of the central rotating disk 231. It consists of a first central adsorption disk 2331 and a first edge adsorption disk 2332 circumferentially disposed around the first central adsorption disk 2331. A first pressure sensor 2333 and a second pressure sensor 2334 are respectively disposed on the first central adsorption disk 2331 and the first edge adsorption disk 2332.

[0116] The first magnetic adsorption head 234 is located on the side wall of the central rotating disk 231 and is composed of a first permanent magnet 2341 evenly distributed around the circumference. A first pressure sensor 2342 is located in the center.

[0117] Anti-slip gripping head 235 is provided on the side wall of the central rotating disk 231;

[0118] Among them, the first negative pressure adsorption head 233, the first magnetic adsorption head 234 and the anti-slip clamping head 235 are evenly distributed in the circumferential direction on the side wall of the central rotating disk 231.

[0119] Specifically, the multi-functional switching head 23 further includes a circumferential drive assembly for controlling the angle of the central rotating disk 231, the circumferential drive assembly comprising:

[0120] The third servo motor 236 is fixedly installed on the side wall of the L-shaped rod 221;

[0121] The second gear 237 is fixedly installed at the output end of the third servo motor 236;

[0122] The third gear 238 is fixedly sleeved on the first rotating shaft 232 and meshes with the second gear 237.

[0123] Specifically, the second sliding rod 22 also includes:

[0124] The first reinforcing rod 226 is fixed at both ends to the two sides of the L-shaped rod 221 that are vertically arranged;

[0125] The second reinforcing rod 227 is fixedly installed at one end of the L-shaped rod 221, and the other end is movably sleeved on the first sliding rod 21;

[0126] Specifically, the switching adsorption head 34 includes:

[0127] The edge rotating disk 341 is movably mounted at both ends of the extension seat 32 via the second rotating shaft 342;

[0128] The second negative pressure adsorption head 343 is disposed on the side wall of the edge rotating disk 341. It consists of a second central adsorption disk 3431 and a second edge adsorption disk 3432 circumferentially disposed around the second central adsorption disk 3431. A third pressure sensor 3433 and a fourth pressure sensor 3434 are respectively disposed on the second central adsorption disk 3431 and the second edge adsorption disk 3432.

[0129] The second magnetic adsorption head 344 is located on the side wall of the edge rotating disk 341 and is composed of second permanent magnets 3441 evenly distributed around the circumference. A third pressure sensor 3442 is located in the center.

[0130] The second negative pressure adsorption head 343 and the second magnetic adsorption head 344 are respectively symmetrically arranged on the side wall of the edge rotating disk 341;

[0131] Specifically, the switching adsorption head 34 further includes:

[0132] The fourth servo motor 345 is fixedly mounted on the side wall of the extension base 32;

[0133] The first pulley 346 is fixedly installed at the output end of the fourth servo motor 345;

[0134] The second pulley 347 is fixedly installed at the end of the second rotating shaft 342;

[0135] Belt 348 is meshed with first pulley 346 and second pulley 347;

[0136] An increasing angle pulley 349 is disposed between the first pulley 346 and the second pulley 347;

[0137] Specifically, the anti-slip gripper 235 includes:

[0138] The circumferential fixing seat 2352 is fixedly installed on the side wall of the central rotating disk 231;

[0139] The flexible movable block 2353 is movably installed on one side of the circumferential fixed seat 2352;

[0140] Elastic anti-slip pad 2351 is fixedly installed on the outer wall surface of flexible movable block 2353;

[0141] A flexible damping component is disposed between the flexible movable block 2353 and the circumferential fixed seat 2352 to provide a buffer stroke and generate a damping force when clamping the workpiece.

[0142] Specifically, the flexible damping component includes:

[0143] The damper 2354 is fixedly installed at one end on the side wall of the flexible movable block 2353 and at the other end in the circumferential fixed seat 2352;

[0144] The telescopic spring 2355 is connected between the flexible movable block 2353 and the circumferential fixed seat 2352, and is arranged in parallel with the damper 2354;

[0145] The guide limiting mechanism includes a first arc-shaped positioning plate 2356 and a second arc-shaped positioning plate 2357. One end of the first arc-shaped positioning plate 2356 is fixedly installed on the side wall of the flexible movable block 2353, and the other end is slidably sleeved in the second arc-shaped positioning plate 2357. The end of the second arc-shaped positioning plate 2357 is fixedly installed in the circumferential fixing seat 2352.

[0146] Working Principle: This device mainly consists of a fixed base 1, two mirror-symmetrical side grippers 2, a central gripper 3, and a control system. Its core working principle is as follows: The control system integrates the detection signals from the central camera 33 (which acquires images of the top of the workpiece) and the miniature laser profilometer 24 (which scans the side profile of the workpiece) to identify the workpiece type, material, size, and whether it is hollow or solid. Based on the identification results, it automatically selects the working surface on the multi-functional switching head 23 (first negative pressure adsorption head 233, first magnetic adsorption head 234, or anti-slip gripper head 235) and the working surface on the switching adsorption head 34 (second negative pressure adsorption head 343 or second magnetic adsorption head 344). The sliding mechanism 4 drives the first sliding rod 21 to move horizontally, and the second servo motor 22... 3. Drive the L-shaped rod 221 to swing, so that the side wing clamping hand 2 can clamp or support the outer side wall of the workpiece or the inner wall of the hollow part. At the same time, the central electric telescopic rod 31 drives the extension seat 32 to move vertically, so that the switching adsorption head 34 can adsorb or assist in fixing the top of the workpiece. All contact surfaces are integrated with force / pressure sensors (first pressure sensor 2333, second pressure sensor 2334, first pressure sensor 2342, third pressure sensor 3433, fourth pressure sensor 3434, and third pressure sensor 3442), which provide real-time feedback of clamping force to the control system, forming a closed-loop force and position adjustment to achieve flexible assembly.

[0147] Workflow:

[0148] I. Workpiece Recognition and Attitude Perception Stage

[0149] Top visual acquisition: The central electric telescopic rod 31 of the central clamping hand 3 drives the extension seat 32 to descend, and the central camera 33 acquires images of the top of the workpiece to identify the workpiece type (such as metal, plastic, hollow parts, etc.) and top features (such as planes, grooves, holes).

[0150] Sidewall contour scanning: The miniature laser profiler 24 of the side wing clamping hand 2 synchronously scans the side contour of the workpiece to obtain three-dimensional data such as workpiece height, sidewall curvature, and edge features.

[0151] Data fusion decision-making: The control system integrates the detection signals from the central camera 33 and the miniature laser profilometer 24 to determine the workpiece material, structure (solid / hollow), size and assembly direction, and selects the optimal clamping strategy (such as negative pressure adsorption, magnetic attraction or friction clamping).

[0152] II. Adaptive Switching Phase of Clamping Mode

[0153] Depending on the workpiece type, the control system drives the multi-functional switching head 23 and the switching adsorption head 34 to switch modes:

[0154] Sidewall clamping mode selection:

[0155] If the workpiece is a ferromagnetic solid body, the side wings use the first magnetic adsorption head 234, and the top uses the second magnetic adsorption head 344.

[0156] If the workpiece is a non-metallic, smooth, solid body, the side wings use the first negative pressure adsorption head 233, and the top uses the second negative pressure adsorption head 343.

[0157] If the workpiece is a rough or fragile solid object, the side wings use anti-slip gripping heads 235, and the top is not used or only lightly touched for assistance.

[0158] If the workpiece is hollow (such as a tube or sleeve), the side wings adopt an internal support mode: switch the multi-functional switching head 23 to the anti-slip clamping head 235 (or the first magnetic adsorption head 234 / first negative pressure adsorption head 233) and make its working surface face outward, then insert it into the inner cavity to support it outward.

[0159] Top clamping mode selection:

[0160] The fourth servo motor 345 drives the edge rotating disk 341 to rotate via a pulley mechanism, selecting either the second negative pressure adsorption head 343 or the second magnetic adsorption head 344 to fit the top feature.

[0161] III. Multi-axis Cooperative Clamping Execution Phase

[0162] Position adjustment of side gripper 2:

[0163] Horizontal displacement: The first servo motor 41 drives the threaded rod 42 to rotate, which in turn drives the sliding block 43 and the first sliding rod 21 to move horizontally, thereby adjusting the clamping width.

[0164] Angle deflection: The second servo motor 223 meshes with the rack 225 through the first gear 224, driving the L-shaped rod 221 to rotate, so that the multi-functional switching head 23 adapts to the tilt angle of the workpiece side wall.

[0165] It should be noted that the design of the L-shaped rod 221 increases the displacement distance on both sides of the multi-functional switching head 23, enabling the clamping of workpieces of more specifications. Without increasing the size of the fixed base 1 or the length of the first sliding rod 21, considerable additional horizontal displacement is achieved through the swinging of the L-shaped rod 221. This means that the overall structure of the device can remain compact while achieving a wide range of clamping capabilities. Compared to the traditional design with an extended stroke for straight rods, this device avoids the problem of reduced cantilever stiffness caused by an excessively long first sliding rod 21. The swinging of the L-shaped rod 221 is precisely driven by the second servo motor 223 via a rack and pinion mechanism, and its rigidity is ensured by the first reinforcing rod 226 and the second reinforcing rod 227, preventing significant chatter due to increased swing angle.

[0166] Flexible contact: The elastic anti-slip pad 2351 of the anti-slip gripper 235 provides cushioning when in contact with the flexible damping assembly (damper 2354, telescopic spring 2355) to avoid rigid impact.

[0167] The top of the central clamping hand 3 is fixed:

[0168] The central electric telescopic rod 31 drives the extension seat 32 to descend, and the switching adsorption head 34 selects the adsorption mode according to the top characteristics (such as using negative pressure adsorption for the inner wall of hollow parts and magnetic adsorption for metal parts).

[0169] Coordinated action: The side wing clamping hand 2 and the central clamping hand 3 can move sequentially or simultaneously. For example, the central clamping hand 3 can fix the top first, and then the side wing clamping hand 2 can clamp from both sides to ensure the stability of the workpiece.

[0170] IV. Force Feedback and Flexible Assembly Stage

[0171] Real-time force control:

[0172] The first pressure sensor 2342, the first pressure sensor 2333, and the second pressure sensor 2334 of the multi-functional switching head 23, and the third pressure sensor 3442, the third pressure sensor 3433, and the fourth pressure sensor 3434 of the switching suction head 34, provide real-time feedback on the clamping force or clamping pressure.

[0173] The control system dynamically adjusts the output torque of the first servo motor 41, the second servo motor 223, and the third servo motor 236 based on feedback signals to ensure that the clamping force is within a safe range (e.g., fragile parts are controlled at a precision of 0.1N).

[0174] Dynamic compensation:

[0175] If workpiece slippage or vibration is detected, the system adjusts the motor parameters using a PID algorithm, combined with the damping force of damper 2354 and the elastic compensation of extension spring 2355, to maintain a stable contact force. PID (Proportional-Integral-Derivative) algorithm is a classic and widely used technique in the field of automatic control, and will not be elaborated upon here.

[0176] Safe release:

[0177] When the force sensor detects an abnormal peak (such as a collision), the control system immediately drives the motor to retract, and the flexible moving block 2353 slides along the guide limiting mechanism (first arc-shaped positioning plate 2356, second arc-shaped positioning plate 2357) to release the clamping force and protect the workpiece and equipment.

[0178] V. Advantages of versatility and scalability

[0179] Multi-mode adaptation: By rotating the multi-functional switching head 23 and the switching adsorption head 34, it can adapt to the friction / magnetic / negative pressure clamping of the external side wall, top, and inner wall of hollow parts, covering workpieces of various materials such as metal, plastic, and glass.

[0180] Displacement optimization of L-shaped rod 221: The structural design of L-shaped rod 221 expands the lateral displacement range of multi-functional switching head 23, which can clamp workpieces with greater size differences (such as from micro connectors to large housings).

[0181] Flexible damping and force control integration: The synergistic effect of the elastic anti-slip pad 2351, damper 2354, and telescopic spring 2355, combined with real-time force feedback, achieves a "rigid and flexible" gripping, reducing the breakage rate to below 0.3%.

[0182] 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 process, method, article, or apparatus.

[0183] 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 with force feedback, characterized in that, include: The fixed base (1) has a quick-connect interface (11) for connecting the robotic arm at its upper end. Side grippers (2) are arranged symmetrically on both sides of the lower end of the fixed base (1) to grip the workpiece from both sides. Each side gripper (2) includes: The first sliding rod (21) is horizontally movable at the lower end of the fixed seat (1) through the sliding mechanism (4); The second sliding rod (22) is L-shaped, and its upper end is movably mounted on the end of the first sliding rod (21); A multi-functional switching head (23) is movably disposed at the end of the second sliding rod (22). The multi-functional switching head (23) has multiple switchable working surfaces, and at least one working surface integrates a force sensor. A miniature laser profilometer (24) is fixedly mounted on the second sliding rod (22) and is used to scan the profile data of the side of the workpiece; A central clamping hand (3), located at the lower center of the fixed base (1), is used to fix the workpiece from the top, and includes: The central electric telescopic rod (31) is fixedly installed at the lower center of the fixed base (1); The extension seat (32) is fixedly installed at the telescopic end of the central electric telescopic rod (31); A central camera (33) is fixedly installed in the center of the extension base (32) to capture images of the top of the workpiece; The adsorption head (34) is switched and arranged in a mirror symmetrical manner on both sides of the extension seat (32); The control system is electrically connected to the sliding mechanism (4), the second sliding rod (22), the multi-functional switching head (23), the miniature laser profilometer (24), the central electric telescopic rod (31), the switching adsorption head (34), and the central camera (33), respectively. The control system is configured to control the side gripper (2) and the central gripper (3) to move sequentially or synchronously according to the detection signals of the micro laser profilometer (24) and the central camera (33), and adjust the clamping force according to the feedback signal of the force sensor to achieve flexible assembly of the workpiece.

2. The flexible assembly gripper device with force feedback according to claim 1, characterized in that, The sliding mechanism (4) includes: The first servo motor (41) is fixedly installed in one end of the sliding groove (12) at the lower end of the fixed base (1); The threaded rod (42) is fixedly installed at the output end of the first servo motor (41); The sliding block (43) is movably installed in the sliding groove (12), the threaded rod (42) is threadedly connected in the sliding block (43), and the first sliding rod (21) is fixedly installed at the lower end of the sliding block (43).

3. The flexible assembly gripper device with force feedback according to claim 2, characterized in that, The second sliding rod (22) includes: An L-shaped rod (221) has a fixedly installed collar (222) at one end, which is movably sleeved on the connector (211) at the end of the first sliding rod (21); The second servo motor (223) is fixedly installed in the embedded groove on the side wall of the connector (211); The first gear (224) is fixedly installed at the output end of the second servo motor (223); The rack (225) is embedded in the inner wall of the sleeve ring (222) and meshes with the first gear (224).

4. The flexible assembly gripper device with force feedback according to claim 3, characterized in that, The multi-functional switch head (23) includes: The central rotating disk (231) is movably mounted at the other end of the L-shaped rod (221) via the first rotating shaft (232); The first negative pressure adsorption head (233) is disposed on the side wall of the central rotating disk (231) and consists of a first central adsorption disk (2331) and a first edge adsorption disk (2332) circumferentially disposed around the first central adsorption disk (2331). A first pressure sensor (2333) and a second pressure sensor (2334) are respectively disposed on the first central adsorption disk (2331) and the first edge adsorption disk (2332). The first magnetic adsorption head (234) is located on the side wall of the central rotating disk (231) and is composed of a first permanent magnet (2341) evenly distributed around the circumference. A first pressure sensor (2342) is located in the center. Anti-slip gripping head (235) is provided on the side wall of the central rotating disk (231); Among them, the first negative pressure adsorption head (233), the first magnetic adsorption head (234) and the anti-slip clamping head (235) are evenly distributed along the circumference on the side wall of the central rotating disk (231).

5. A flexible assembly gripper device with force feedback according to claim 4, characterized in that, The multi-functional switching head (23) also includes a circumferential drive assembly for controlling the angle of the central rotating disk (231), the circumferential drive assembly comprising: The third servo motor (236) is fixedly installed on the side wall of the L-shaped rod (221); The second gear (237) is fixedly installed at the output end of the third servo motor (236); The third gear (238) is fixedly sleeved on the first rotating shaft (232) and meshes with the second gear (237).

6. A flexible assembly gripper device with force feedback according to claim 5, characterized in that, The second sliding rod (22) also includes: The first reinforcing rod (226) is fixed at both ends to the two sides of the L-shaped rod (221) which are vertically arranged; The second reinforcing rod (227) is fixedly installed at one end of the L-shaped rod (221), and the other end is movably sleeved on the first sliding rod (21).

7. A flexible assembly gripper device with force feedback according to claim 6, characterized in that, The switching adsorption head (34) includes: The edge rotating disk (341) is movably mounted at both ends of the extension seat (32) via the second rotating shaft (342); The second negative pressure adsorption head (343) is disposed on the side wall of the edge rotating disk (341), and is composed of a second central adsorption disk (3431) and a second edge adsorption disk (3432) circumferentially disposed around the second central adsorption disk (3431). A third pressure sensor (3433) and a fourth pressure sensor (3434) are respectively disposed on the second central adsorption disk (3431) and the second edge adsorption disk (3432). The second magnetic adsorption head (344) is located on the side wall of the edge rotating disk (341) and is composed of a second permanent magnet (3441) evenly distributed around the circumference. A third pressure sensor (3442) is located in the center. The second negative pressure adsorption head (343) and the second magnetic adsorption head (344) are respectively symmetrically arranged on the side wall of the edge rotating disk (341).

8. A flexible assembly gripper device with force feedback according to claim 7, characterized in that, The switching adsorption head (34) also includes: The fourth servo motor (345) is fixedly mounted on the side wall of the extension base (32); The first pulley (346) is fixedly installed at the output end of the fourth servo motor (345); The second pulley (347) is fixedly installed at the end of the second rotating shaft (342); A belt (348) is engaged with a first pulley (346) and a second pulley (347). An increasing angle pulley (349) is disposed between the first pulley (346) and the second pulley (347).

9. A flexible assembly gripper device with force feedback according to claim 8, characterized in that, The anti-slip gripper (235) includes: A circumferential fixing seat (2352) is fixedly installed on the side wall of the central rotating disk (231); The flexible movable block (2353) is movably installed on one side of the circumferential fixed seat (2352); An elastic anti-slip pad (2351) is fixedly installed on the outer wall surface of the flexible movable block (2353); A flexible damping component, disposed between the flexible movable block (2353) and the circumferential fixed seat (2352), is used to provide a buffer stroke and generate a damping force when clamping the workpiece.

10. A flexible assembly gripper device with force feedback according to claim 9, characterized in that, The flexible damping component includes: The damper (2354) is fixedly installed at one end on the side wall of the flexible movable block (2353) and at the other end in the circumferential fixed seat (2352); A telescopic spring (2355) is connected between a flexible movable block (2353) and a circumferential fixed seat (2352), and is arranged in parallel with a damper (2354); The guide limiting mechanism includes a first arc-shaped positioning plate (2356) and a second arc-shaped positioning plate (2357). One end of the first arc-shaped positioning plate (2356) is fixedly installed on the side wall of the flexible movable block (2353), and the other end is slidably sleeved in the second arc-shaped positioning plate (2357). The end of the second arc-shaped positioning plate (2357) is fixedly installed in the circumferential fixed seat (2352).

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