A method of grasp control, a grasp control system and a centering gripper device

Abstract

The application discloses a kind of grabbing control method, grabbing control system and centring gripper equipment, grabbing control method is realized based on centring gripper equipment, centring gripper equipment includes drive assembly, upper auxiliary support assembly, lower support horizontal moving mechanism, symmetrically arranged lower support arm assembly and replaceable contact die, replaceable contact die is set on upper auxiliary support assembly and lower support arm assembly;Grabbing control method includes: obtaining the diameter information of the object to be grabbed and identifying the specification type;Query the first and second drive stroke matched;Execute the first control instruction to drive the lower support arm assembly to open or close;Execute the second control instruction, according to the preset centring function relationship, convert the vertical movement of the upper auxiliary support assembly into the horizontal centring movement of the lower support arm assembly until the object is contacted simultaneously.By automatically matching the stroke and combining the centring function, the centring grabbing is achieved, the problem of multi-specification mixed-line production is solved, the labor cost is reduced, and the automation demand is met.

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