A mechanical arm gripper based on gaseous controllable stable clamping and a control process thereof

Abstract

This invention relates to the technical field of robotic arm grippers, specifically to a pneumatically controlled, stable gripper based on gaseous pressure control and its control process. The gripper includes a pneumatically controlled gripper mounted on a robotic arm. The pneumatically controlled gripper comprises a retractable gripping device, an adaptive gripping frame, pneumatic buffer abutments, a basic air pressure regulating mechanism, a pneumatic pressure compensation device, and a ventilation connector. The retractable gripping device is mounted on the robotic arm. Two adaptive gripping frames are provided, each mounted on the gripping end of the retractable gripping device. Multiple pneumatic buffer abutments are provided and evenly distributed on the adaptive gripping frame. The basic air pressure regulating mechanism is fixedly mounted on the robotic arm. The pneumatic pressure compensation device is fixedly mounted on the robotic arm. The ventilation connector is fixedly mounted on the retractable gripping device. The ventilation connector has an internal air pressure detector and multiple connecting air pipes. This invention can effectively improve gripping stability and enhance equipment operational compatibility.

Description

Technical Field

[0001] This invention relates to the technical field of robotic arm grippers, specifically to a robotic arm gripper based on gas-controlled stable clamping and its control process. Background Technology

[0002] Automated sorting equipment generally uses mechanical grippers to pick up and transfer bottled and cup-packaged goods. Compared with the traditional way of sliding goods out of the conveyor belt, the robotic gripper can avoid the goods from falling from a height and breakage, and is more suitable for fragile goods such as glass bottles and beverages.

[0003] Currently, the mainstream precision force control robotic arm structure in the industry can be referenced by patent CN209078776U, which discloses a robotic arm that accurately controls gripping force. This solution mainly consists of a drive mechanism, a gear meshing transmission mechanism, and an arc-shaped rigid robotic arm claw assembly. By arranging pressure sensors inside the robotic arm to collect the gripping force in real time, and using dual microswitches to achieve the maximum opening stroke limit of the claw, and attaching anti-slip pads to the gripping contact surface of the robotic arm to increase the gripping friction, the problem of traditional robotic arms having no force feedback, missing grips, and excessive gripping force that squeezes and deforms goods can be solved.

[0004] The existing rigid robotic arms rely on the metal robotic arm to directly press against the product to complete the gripping, and rely on pressure sensors to collect the gripping pressure to adjust the force. Although this can alleviate the problem of uncontrolled gripping force to a certain extent, there are still defects that are difficult to eradicate when actually gripping fragile or thin-walled goods.

[0005] 1. The rigid robotic arm base is in direct, rigid contact with the product, which can easily cause damage to fragile items. Current technology relies solely on thin anti-slip pads and rear-mounted pressure sensor feedback for protection. The anti-slip pads only provide anti-slip functionality and do not offer cushioning, energy absorption, or stress distribution. The pressure sensor provides delayed feedback control after contact force is applied, resulting in a rigid impact at the moment the gripper closes. This instantaneous impact force cannot be buffered or dissipated, making it highly susceptible to localized stress concentration, cracking, and denting of fragile items such as glass, ceramics, and thin-walled soft plastics, thus failing to achieve non-destructive gripping.

[0006] 2. The fixed opening and closing stroke of the grippers makes it difficult to adapt to products of various sizes, limiting its applicability. This existing robotic arm relies on two sets of limiting grooves on the gripper positioning component to achieve two fixed opening control stages, which can only match a single standard-sized cylindrical container and cannot steplessly adaptively adjust the gripping opening. At the same time, the two robotic arms have a fixed arc shape, and the outline of the gripping cavity cannot be changed. When dealing with products with large diameter differences, square or irregularly shaped products, the fit is poor. Smaller products are prone to slipping and falling, while larger products cannot enter the gripping cavity to be gripped. The equipment has limited compatibility with a single product category and cannot meet the needs of sorting products of various sizes. Summary of the Invention

[0007] To address the aforementioned issues, a pneumatically controlled and stable gripper for robotic arms and its control process are provided. The pneumatically controlled gripper can effectively improve gripping stability and enhance the compatibility of equipment operations.

[0008] To address the problems of existing technologies, this invention provides a pneumatically controlled gripper for a robotic arm, comprising a pneumatically controlled gripper mounted on the robotic arm. The pneumatically controlled gripper includes a retractable gripping device, an adaptive gripping frame, pneumatically cushioned contact elements, a basic air pressure regulating mechanism, a pneumatic pressure compensation device, and a venting connector. The retractable gripping device is mounted on the robotic arm. Two adaptive gripping frames are provided, each mounted on the gripping end of the retractable gripping device. Multiple pneumatically cushioned contact elements are provided and evenly distributed on the adaptive gripping frame. The basic air pressure regulating mechanism is fixedly mounted on the robotic arm. The pneumatic pressure compensation device is fixedly mounted on the robotic arm. The venting connector is fixedly mounted on the retractable gripping device. The venting connector has an internal air pressure detector and multiple connecting air pipes, which are respectively connected to the pneumatically cushioned contact elements, the basic air pressure regulating mechanism, and the pneumatic pressure compensation device.

[0009] Preferably, the adaptive clamping frame includes a fixed connecting frame, adjusting guide posts, a movable connecting frame, and a distribution mounting frame; the fixed connecting frame is fixedly connected to the clamping end of the retractable clamping device; two adjusting guide posts are provided and fixedly installed on the side of the fixed connecting frame, and a plurality of equally spaced first limiting slots are provided on the outer side of the adjusting guide posts; the movable connecting frame is slidably installed on the adjusting guide posts, and two movable blocks are slidably installed inside the movable connecting frame, a first spring is installed between the movable blocks and the movable connecting frame, and the engaging end of the movable blocks extends toward the first limiting slots; the distribution mounting frame is fixedly installed on the fixed connecting frame.

[0010] Preferably, the distribution mounting frame consists of a first distribution frame and a second distribution frame, which are rotatably connected. Both the first and second distribution frames are provided with multiple mounting slide rails. The sides of the mounting slide rails are provided with several equally spaced second limiting slots. The connection between the first and second distribution frames is provided with multiple through-holes, and bending locking components are installed on the through-holes.

[0011] Preferably, the bending locking assembly includes an insert connecting rod, a second spring, and a snap-fit ​​component; the insert connecting rod is slidably installed between the first distribution frame and the second distribution frame; the second spring is disposed between the insert connecting rod and the first distribution frame; the snap-fit ​​component is slidably fixedly installed at the telescopic end of the insert connecting rod, and the snap-fit ​​component is inserted into the inserting hole of the first distribution frame and the second distribution frame.

[0012] Preferably, the pneumatic buffer abutment includes a movable snap-fit ​​assembly, an air duct, a movable frame, and a rubber abutment sleeve; the movable snap-fit ​​assembly is snap-fitted onto the mounting slide rail; the rubber abutment sleeve is mounted on the movable snap-fit ​​assembly, and the rubber abutment sleeve is provided with an anti-slip abutment layer; the movable frame is slidably mounted on the movable snap-fit ​​assembly, and the movable snap-fit ​​assembly supports the inner wall of the rubber abutment sleeve; the air duct is fixedly mounted at the axial position of the movable snap-fit ​​assembly.

[0013] Preferably, the movable snap-fit ​​assembly includes a snap-fit ​​mounting base, a third spring, and a pull-out snap-fit ​​rod; a vent hole is provided at the axial position of the snap-fit ​​mounting base; the pull-out snap-fit ​​rod is slidably mounted on the snap-fit ​​mounting base; and the third spring is disposed between the pull-out snap-fit ​​rod and the snap-fit ​​mounting base.

[0014] Preferably, the movable frame includes a fourth spring, a telescopic movable shaft, a support frame, and a movable abutment block; the telescopic movable shaft is slidably mounted on the snap-fit ​​mounting base; the support frame is slidably mounted on the telescopic movable shaft; the inner side of the fourth spring is connected to the support frame, and the outer side of the fourth spring abuts against the inner wall of the rubber abutment sleeve; the movable abutment block is hinged to the telescopic end of the telescopic movable shaft, and the abutment end of the movable abutment block contacts the anti-slip abutment layer.

[0015] Preferably, the basic air pressure regulating mechanism includes a first mounting sleeve, a first compression airbag, a first push plate, an adjusting screw, and an anti-rotation clamping bracket; the first mounting sleeve is fixedly mounted on the side of the robotic arm; the first compression airbag is disposed inside the first mounting sleeve; the first push plate is slidably mounted inside the first mounting sleeve; the adjusting screw is rotatably mounted on the first mounting sleeve, and the adjusting screw is threadedly connected to the first push plate; the anti-rotation clamping bracket is rotatably mounted on the first mounting sleeve, and the anti-rotation clamping bracket is provided with a docking hole.

[0016] Preferably, the pneumatic pressure compensation device includes a second mounting sleeve, a second compression air bladder, and a linear actuator; the second mounting sleeve is fixedly mounted on the robotic arm; the second compression air bladder is installed inside the second mounting sleeve; the linear actuator is fixedly mounted on the second mounting sleeve, and the output end of the linear actuator abuts against the second compression air bladder.

[0017] A control process for a robotic arm gripper based on gas-controlled stable gripping includes the following steps; S1. Before operation, the equipment is pre-processed and debugged. The initial air pressure of each pneumatic buffer contact component is calibrated through the basic air pressure regulating mechanism. The air pressure in the air path is stabilized to the preset standard range, and the initial buffer performance and reference clamping force of all contact components are unified. Combined with the shape, structure and size of the goods to be clamped, the adaptive clamping frame is used to complete the adaptive adjustment of the spatial position and clamping posture of multiple sets of contact components, ensuring that the contact components can fully conform to the outer surface of the goods, forming a uniform clamping force surface, and adapting to different goods clamping conditions. S2. Alignment and flexible fit start the clamping operation. The robotic arm drives the clamping device to translate and position it to the work station of the goods. It controls the adaptive clamping frames on both sides to retract towards each other, driving the pneumatic buffer contact parts to gradually approach and fit against the surface of the goods. Relying on the compressible characteristics of the sealed gas to form a flexible buffer structure, it effectively eliminates the instantaneous impact stress generated by traditional rigid clamping, disperses the contact pressure of the goods, and avoids the problem of damage and deformation of fragile goods from the source. S3. Real-time air pressure monitoring threshold determination During the clamping and bonding process, the air pressure detector built into the air connector collects air pressure data in real time throughout the entire process, dynamically feedbacks the real-time clamping resistance status, continuously monitors the clamping stability of the goods, compares the air pressure in the air circuit with the system preset threshold in real time, accurately determines the clamping force status, identifies potential operational risks such as goods slipping or missing grip, and provides data support for dynamic pressure adjustment compensation. S4. Dynamic Pressure Supplementation and Adaptive Pressure Stabilization: When the air pressure in the detection air path is lower than the preset threshold, the pneumatic pressure supplementation device automatically starts precise pressure boosting to compensate for the clamping resistance force in real time and maintain the stability of the contact between the contacting part and the surface of the goods. At the same time, the system adaptively matches the air pressure control parameters according to the material, rigidity and specifications of the goods, dynamically adjusts the working air pressure of the air path, and adapts to the buffering force and locking force requirements of different goods. Through the closed-loop control of the whole process, the clamping parameters are adaptively controlled to complete the precise and non-destructive sorting and clamping of fragile goods of various specifications.

[0018] The advantages of this invention compared to the prior art are: 1. This invention achieves flexible, buffered, and non-destructive clamping, completely solving the problem of breakage when clamping fragile goods. This invention abandons the rigid contact clamping structure of traditional robotic arms, relying on evenly distributed pneumatic buffer abutments and utilizing the compressibility of sealed gas to construct a fully flexible clamping structure, eliminating the defects of rigid grippers at the source. Before operation, the initial air pressure is calibrated through a basic air pressure regulating mechanism, unifying the buffering performance and reference clamping force of all pneumatic buffer abutments, ensuring consistency and stability of clamping operations. At the moment of contact when clamping goods, the pneumatic buffer abutments completely dissipate the instantaneous rigid impact force generated by the closing of traditional rigid grippers, replacing the single function of traditional anti-slip pads that only provide anti-slip without buffering, effectively dispersing the contact stress on the surface of the goods, and preventing problems such as cracking, denting, and breakage of fragile goods such as glass, ceramics, and thin-walled soft plastics due to localized stress concentration. Meanwhile, the equipment is equipped with a real-time air pressure detection and dynamic pressure replenishment closed-loop control system. The air pressure parameters of the air circuit are collected throughout the process through the air pressure detector built into the air connector, and the clamping resistance status is fed back in real time. When the clamping force is insufficient, the pneumatic pressure replenishment device can automatically and accurately increase the pressure to compensate, continuously maintain the stability of the clamping force, avoid the problem of goods being missed or slipping, and realize the non-destructive and precise clamping operation of fragile and thin-walled goods in all aspects.

[0019] 2. This invention achieves multi-category adaptive adaptation, significantly expanding the scope of application for equipment sorting. The invention innovatively sets up two sets of adaptively adjustable grippers, breaking through the technical limitations of traditional robotic arms with fixed opening and fixed gripping contours. It abandons the two-stage limiting groove fixed opening control mode, and can steplessly adaptively adjust the spatial position and gripping posture of the pneumatic buffer contact parts according to the shape, structure, and size specifications of the goods to be gripped. It can precisely fit the outer surface of various goods, such as irregular shapes, large size differences, squares, and circles, constructing a uniform and stable gripping force surface. This solves the technical pain points of traditional equipment, such as poor fit, easy detachment of small-sized goods, and inability to grip large-sized goods. Simultaneously, combined with the dynamic pressure adjustment function of the pneumatic pressure compensation device, it can adaptively match the working air pressure of the air circuit according to the material rigidity and structural characteristics of different goods, precisely controlling the buffering force and gripping locking force. It takes into account both the flexible protection needs of fragile goods and the rigid gripping stability needs of conventional goods, effectively solving the problems of low category compatibility and poor specification adaptability of traditional sorting equipment. Through the coordinated action of adaptive posture adjustment and dynamic air pressure control, the equipment can be adapted to sorting operations of various materials, specifications, and irregular shapes of goods, significantly improving the universal adaptability and operational compatibility of automated sorting equipment. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of a robotic arm gripper based on gas-state controllable stable clamping according to the present invention.

[0021] Figure 2 This is a top view of a robotic arm gripper based on gas-controlled stable clamping according to the present invention.

[0022] Figure 3 This is a three-dimensional schematic diagram of an adaptive gripper in a robotic arm gripper based on gas-controlled stable gripping according to the present invention. Figure 1 .

[0023] Figure 4 This is a three-dimensional schematic diagram of an adaptive gripper in a robotic arm gripper based on gas-controlled stable gripping according to the present invention. Figure 2 .

[0024] Figure 5 This is a front view of an adaptive gripper in a robotic arm gripper based on gas-controlled stable gripping according to the present invention.

[0025] Figure 6 yes Figure 5 Planar sectional view at section AA.

[0026] Figure 7 This is a front view of a pneumatic buffer contact component in a robotic arm gripper based on a gas-controlled stable clamping mechanism according to the present invention.

[0027] Figure 8 yes Figure 7 Planar sectional view at section BB.

[0028] Figure 9 yes Figure 7 A three-dimensional planar sectional view of the BB section.

[0029] Figure 10 This is a three-dimensional schematic diagram of the basic air pressure regulation mechanism in the gripper of a robotic arm based on gas-controlled stable clamping according to the present invention.

[0030] Figure 11 This is a three-dimensional schematic diagram of a pneumatic pressure compensation device in the gripper of a robotic arm based on a gas-controlled and stable clamping mechanism according to the present invention.

[0031] The numbers on the map are: 1. Retractable clamping device; 2. Adaptive clamping frame; 21. Fixed connecting frame; 22. Adjustable guide post; 221. First limit slot; 23. Movable connecting frame; 231. First spring; 232. Movable locking block; 24. Distribution mounting frame; 241. First distribution frame; 242. Second distribution frame; 243. Mounting slide rail; 244. Second limit slot; 245. Through-hole; 246. Bending locking assembly; 247. Through-connecting rod; 248. Second spring; 249. Snap-fit ​​component; 3. Pneumatic buffer contact component; 31. Movable snap-fit ​​assembly; 311. Snap-fit ​​mounting base; 312. Third spring; 313. 1. Pull-out lever; 32. Ventilation pipe; 33. Movable frame; 331. Fourth spring; 332. Telescopic movable shaft; 333. Support frame; 334. Movable contact block; 34. Rubber contact sleeve; 341. Anti-slip contact layer; 4. Basic air pressure regulating mechanism; 41. First mounting sleeve; 42. First compression airbag; 43. First push plate; 44. Adjusting screw; 45. Anti-rotation clamping frame; 451. Docking hole; 5. Pneumatic pressure compensation device; 51. Second mounting sleeve; 52. Second compression airbag; 53. Linear actuator; 6. Ventilation connector; 61. Air pressure detector; 62. Connecting air pipe; 7. Robotic arm. Detailed Implementation

[0032] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0033] See Figures 1 to 11As shown, a pneumatically controlled stable gripper for a robotic arm includes a pneumatically controlled gripper mounted on a robotic arm 7. The pneumatically controlled gripper includes a retractable gripping device 1, an adaptive gripping frame 2, a pneumatically cushioned contact element 3, a basic air pressure regulating mechanism 4, a pneumatically pressurized device 5, and a venting connector 6. The retractable gripping device 1 is mounted on the robotic arm 7. Two adaptive gripping frames 2 are provided, each mounted on the gripping end of the retractable gripping device 1. Multiple pneumatically cushioned contact elements 3 are provided and evenly distributed on the adaptive gripping frame 2. The basic air pressure regulating mechanism 4 is fixedly mounted on the robotic arm 7. The pneumatically pressurized device 5 is fixedly mounted on the robotic arm 7. The venting connector 6 is fixedly mounted on the retractable gripping device 1. The venting connector 6 has an internal air pressure detector 61 and multiple connecting air pipes 62 connected to the pneumatically cushioned contact element 3, the basic air pressure regulating mechanism 4, and the pneumatically pressurized device 5, respectively.

[0034] Before operation, the initial air pressure of the pneumatic buffer contact 3 is calibrated by the basic air pressure regulating mechanism 4. The internal air pressure of each pneumatic buffer contact 3 is adjusted to the preset standard range to ensure that the initial buffering performance of all contact parts is consistent with the clamping reference force. At the same time, the spatial position of multiple pneumatic buffer contact parts 3 is adaptively adjusted by two sets of adaptive clamping frames 2. According to the shape and size of the product to be clamped, the placement position and clamping posture of each contact part are adjusted to ensure that all pneumatic buffer contact parts 3 can accurately fit the outer surface of the product during clamping operations, to build a uniform clamping force surface throughout the entire area, and to adapt to the clamping needs of various goods with different shapes and sizes.

[0035] During the product clamping operation, the robotic arm 7 drives the retractable clamping device 1 to move and position itself to the side of the product to be sorted. The retractable clamping device 1, using existing technology, drives the adaptive clamping frames 2 on both sides to retract towards each other, causing multiple sets of pneumatic buffer contact elements 3 deployed on them to simultaneously approach and contact the product surface. At the moment of clamping contact, the pneumatic buffer contact elements 3 rely on the compressibility of the internal sealed gas to form a flexible buffer structure, which can completely eliminate the instantaneous rigid impact force generated during the closing process of traditional rigid grippers, realize the dispersion and buffering of contact stress, avoid local stress concentration on the product, and fundamentally eliminate the problems of cracking, crushing, and breakage of fragile products such as glass, ceramics, and thin-walled soft plastics.

[0036] During the clamping process, the reverse squeezing force of the goods on the pneumatic buffer contact 3 compresses the gas inside the contact 3, causing real-time changes in the internal air pressure parameters of the air circuit. The air pressure detector 61 built into the ventilation connector 6 collects the internal air pressure data of the air circuit system in real time throughout the process, dynamically providing feedback on the real-time status of the clamping contact force. When the air pressure in the air circuit is detected to be lower than a preset threshold, it is determined that the clamping contact force of the pneumatic buffer contact 3 is insufficient, posing a risk of goods slipping or being missed. At this time, the pneumatic pressure replenishing device 5 automatically starts the pressure replenishing operation, precisely increasing the pressure in the air circuit system, raising the internal air pressure of the pneumatic buffer contact 3, compensating for the clamping contact force in real time, and ensuring that each contact 3 and the surface of the goods always maintain a stable clamping state.

[0037] For products of different materials, specifications, and rigidities to be clamped, the pneumatic pressure replenishment device 5 can dynamically match the air pressure control parameters according to the characteristics of the goods, adaptively adjust the overall working air pressure of the air circuit, and accurately adapt to the buffering force and clamping locking force required by different goods. This ensures flexible and damage-free clamping of fragile, thin-walled goods, while avoiding the problems of loose clamping of small-sized goods and clamping failure of large-sized goods. Through a closed-loop control logic of pre-base air pressure calibration, instantaneous flexible buffering upon contact, real-time air pressure detection and feedback, and dynamic pressure replenishment and adjustment, the device achieves adaptive control of clamping force, clamping posture, and buffering performance, effectively broadening the types of goods that the equipment can adapt to, and realizing accurate and damage-free sorting and clamping operations for fragile goods of various specifications.

[0038] See Figures 1 to 3 As shown, the adaptive clamping frame 2 includes a fixed connecting frame 21, an adjusting guide post 22, a movable connecting frame 23, and a distribution mounting frame 24. The fixed connecting frame 21 is fixedly connected to the clamping end of the retractable clamping device 1. Two adjusting guide posts 22 are provided and fixedly installed on the side of the fixed connecting frame 21. Several equally spaced first limiting slots 221 are provided on the outer side of the adjusting guide post 22. The movable connecting frame 23 is slidably installed on the adjusting guide post 22. Two movable blocks 232 are slidably installed inside the movable connecting frame 23. A first spring 231 is installed between the movable blocks 232 and the movable connecting frame 23. The locking end of the movable blocks 232 extends toward the first limiting slots 221. The distribution mounting frame 24 is fixedly installed on the fixed connecting frame 21.

[0039] The adaptive clamping frame 2 uses the fixed connecting frame 21 as the reference bearing base. The fixed connecting frame 21 is rigidly fixed to the clamping end of the retractable clamping device 1 to realize the reception and transmission of the overall clamping power. Two adjusting guide posts 22 are fixedly mounted in parallel on the side of the fixed connecting frame 21, serving as the linear sliding guide structure for the movable connecting frame 23. Multiple sets of first limit slots 221 are evenly distributed along the length direction on the outer side of the adjusting guide posts 22 to provide a locking reference for the limit locking after position adjustment. The movable connecting frame 23 is slidably sleeved on the outside of the adjusting guide post 22, and can be linearly adjusted along the axial direction of the adjusting guide post 22. The movable connecting frame 23 integrates two sets of movable locking blocks 232 and a first spring 231 elastic limiting component. The movable locking blocks 232 can slide and extend inside the movable connecting frame 23. Under normal conditions, through the elastic pushing action of the first spring 231, the locking end of the movable locking block 232 always elastically abuts against and locks into the first limiting slot 221 of the adjusting guide post 22, thereby locking the relative position of the movable connecting frame 23 and the adjusting guide post 22 and ensuring the overall stability of the structure during the clamping operation.

[0040] During the initial adaptation and adjustment phase of equipment operation, the clamping spacing and the placement of the contact elements are adaptively adjusted for goods of different sizes and shapes to be sorted. By simultaneously pressing two sets of movable blocks 232 with external force, the elastic force of the first spring 231 is overcome, causing the movable blocks 232 to retract and disengage from the first limiting slot 221, thus releasing the limiting lock state between the movable connecting frame 23 and the adjusting guide post 22. At this time, the movable connecting frame 23 can slide freely along the axial direction of the adjusting guide post 22, driving the distribution mounting frame 24 fixed to it to simultaneously complete the position displacement adjustment. This precisely adjusts the relative installation position and clamping span of the distribution mounting frame 24 and the array of pneumatic buffer contact elements 3, adapting to the shape contours of goods with large size differences, irregular shapes, square shapes, etc., ensuring that multiple sets of pneumatic buffer contact elements 3 can fully conform to the surface of the goods.

[0041] Once the position is adjusted to the preset workstation that matches the product specifications, the pressing force on the movable locking block 232 is removed. The first spring 231 releases its elastic potential energy and pushes the movable locking block 232 back to its original position, causing the locking end of the movable locking block 232 to re-engage into the corresponding first limiting slot 221. This completes the position locking of the movable connecting frame 23, preventing structural slippage and positional deviation during clamping operations, and ensuring adjustment accuracy and structural stability.

[0042] See Figures 3 to 6As shown, the distribution mounting frame 24 is composed of a first distribution frame 241 and a second distribution frame 242. The first distribution frame 241 and the second distribution frame 242 are rotatably connected. Both the first distribution frame 241 and the second distribution frame 242 are provided with multiple mounting slide rails 243. The sides of the mounting slide rails 243 are provided with several equally spaced second limiting slots 244. The connection between the first distribution frame 241 and the second distribution frame 242 is provided with multiple through-holes 245. A bending locking component 246 is installed on the through-holes 245.

[0043] The distributed mounting frame 24 is composed of a first distributed frame 241 and a second distributed frame 242, which are rotatably hinged together to form a foldable and angle-adjustable split-type load-bearing base. Compared with an integral fixed mounting structure, it can adaptively adjust the clamping posture according to the irregular contour, curved surface structure, and polygonal shape of the goods to be clamped, changing the overall clamping and covering contour to adapt to the clamping needs of various goods such as round, square, and irregular shapes. The joint between the first distributed frame 241 and the second distributed frame 242 is provided with multiple sets of interlocking holes 245, which can be used with the bending locking component 246 to complete the rigid locking positioning after the hinge adjustment, ensuring the forming stability of the overall structure after the angle adjustment and avoiding problems such as angle deviation and contour deformation during the clamping operation.

[0044] Multiple sets of mounting slide rails 243 are evenly distributed on the surface of the first distribution frame 241 and the second distribution frame 242. Each mounting slide rail 243 has several second limiting slots 244 evenly spaced along its length on its sidewall, forming a modular and adjustable installation and positioning structure for the pneumatic buffer contact element 3. The second limiting slots 244 can engage and fix the pneumatic buffer contact element 3, achieving precise placement and installation of the contact element on the frame. Simultaneously, relying on the evenly spaced slot structure, the installation spacing and placement position of each pneumatic buffer contact element 3 can be flexibly adjusted according to the size and curvature of the goods, achieving a distributed and adaptable arrangement of the contact element array. This ensures that multiple pneumatic buffer contact elements 3 can uniformly adhere to the outer surface of the goods, forming a uniform clamping force system throughout the entire area.

[0045] During the equipment adaptation and adjustment process, the operator can release the locking limit state of the bending and locking component 246 according to the shape characteristics of the goods to be clamped, so that the first distribution frame 241 and the second distribution frame 242 are in a relatively rotatable state. By rotating the two sets of distribution frames, the opening and closing angles and the covering contours of the two sets of distribution frames can be adjusted to match the external structural shape of irregularly shaped goods, eliminating clamping dead angles and fitting gaps. After the frame angle is adjusted to the optimal clamping adaptation posture, the bending and locking component 246 is inserted into the corresponding insertion hole 245 at the connection point. The relative position of the first distribution frame 241 and the second distribution frame 242 is locked by mechanical insertion and locking, fixing the overall clamping contour and ensuring that the split frame does not rotate relative to each other during the clamping operation, maintaining a stable clamping and covering shape.

[0046] See Figures 3 to 6 As shown, the bending and locking assembly 246 includes an insert connecting rod 247, a second spring 248, and a snap-fit ​​member 249; the insert connecting rod 247 is slidably installed between the first distribution frame 241 and the second distribution frame 242; the second spring 248 is disposed between the insert connecting rod 247 and the first distribution frame 241; the snap-fit ​​member 249 is slidably fixedly installed at the telescopic end of the insert connecting rod 247, and the snap-fit ​​member 249 is inserted into the inserting hole 245 of the first distribution frame 241 and the second distribution frame 242.

[0047] Under normal operating conditions, the second spring 248 is in an elastically released state, relying on its own elastic thrust to push the interlocking connecting rod 247 and the end locking piece 249 to remain extended, so that the locking end of the locking piece 249 is stably inserted into the interlocking holes 245 of the first distribution frame 241 and the second distribution frame 242. Through the limiting cooperation between the locking piece 249 and the interlocking holes 245, the relative rotational freedom of the first distribution frame 241 and the second distribution frame 242 is restricted, realizing the rigid locking of the hinge position of the two sets of distribution frames, fixing the overall clamping and covering contour of the distribution mounting frame 24, ensuring the stability of the frame structure during the clamping operation, and avoiding faults such as stress deformation and angular displacement.

[0048] When it is necessary to adjust the clamping posture of the distribution mounting frame 24 or change the frame's covering angle according to the shape of irregularly shaped goods, an axial compressive force is applied to the through-connecting rod 247, causing it to slide inward. During the sliding process, the through-connecting rod 247 compresses the second spring 248, causing the second spring 248 to undergo compression deformation and store elastic potential energy. Simultaneously, it drives the end locking piece 249 to retract synchronously, causing the locking end of the locking piece 249 to exit the through-hole 245 and release the locking limit engagement. At this time, the hinge rotation restriction between the first distribution frame 241 and the second distribution frame 242 is completely released, and the two sets of distribution frames can rotate freely relative to each other. The operator can adjust the opening and closing angle of the frame and the clamping contour as needed to complete the adaptation posture adjustment of irregularly shaped goods.

[0049] After the angle of the distribution mounting frame 24 is adjusted to the preset suitable posture, the axial compressive force acting on the through-connecting clamp 247 is removed. The second spring 248 releases the compressive elastic potential energy and pushes the through-connecting clamp 247 back to reset, driving the clamping part 249 to be re-inserted into the corresponding through-hole 245, thereby realizing the locking and positioning of the two sets of distribution frames again, completing the closed-loop operation of posture adjustment and structural locking, and ensuring the continuous and stable clamping of the equipment.

[0050] See Figures 3 to 8As shown, the pneumatic buffer abutment 3 includes a movable snap-fit ​​assembly 31, an air duct 32, a movable frame 33, and a rubber abutment sleeve 34; the movable snap-fit ​​assembly 31 is snap-fitted onto the mounting slide rail 243; the rubber abutment sleeve 34 is mounted on the movable snap-fit ​​assembly 31, and the rubber abutment sleeve 34 is provided with an anti-slip abutment layer 341; the movable frame 33 is slidably mounted on the movable snap-fit ​​assembly 31, and the movable snap-fit ​​assembly 31 supports the inner wall of the rubber abutment sleeve 34; the air duct 32 is fixedly installed at the axial position of the movable snap-fit ​​assembly 31.

[0051] The movable snap-fit ​​component 31 serves as the mounting base for the overall component. It can be snap-fitted into the second limiting slot 244 of the mounting slide rail 243 of the distributed mounting frame 24. Relying on the equidistant arrangement structure of the second limiting slot 244, the lateral installation position can be adaptively adjusted according to the size and curved contour of the goods to be clamped. This enables the distributed and precise arrangement of multiple sets of pneumatic buffer contact parts 3, ensuring that each contact part can independently adhere to the outer surface of the goods and construct a uniform clamping force structure throughout the entire area.

[0052] A ventilation pipe 32 is fixed at the axial position of the movable snap-fit ​​assembly 31. The ventilation pipe 32 is connected to the connecting air pipe 62, which enables the introduction and stable storage of air pressure medium from the basic air pressure regulating mechanism 4 and the pneumatic pressure compensation device 5. A rubber contact sleeve 34 is fixedly assembled on the outside of the movable snap-fit ​​assembly 31, forming a sealed air storage cavity inside. The overall contact rigidity and cushioning performance of the rubber contact sleeve 34 can be changed by dynamically adjusting the air pressure value inside the cavity. When the air pressure inside the cavity increases, the overall support rigidity of the rubber contact sleeve 34 increases, which can increase the clamping and bearing capacity; when the air pressure inside the cavity decreases, the flexible cushioning performance of the rubber contact sleeve 34 increases, which can further dissipate the instantaneous impact load of clamping, and achieve adaptive rigidity matching according to the material and structural strength of the goods. An anti-slip contact layer 341 is provided on the outer surface of the rubber contact sleeve 34, which can increase the contact friction coefficient with the surface of the goods, effectively avoid the problems of goods slipping, loosening, and missing grip during clamping, and improve clamping stability.

[0053] The movable frame 33 is slidably assembled on the outside of the movable snap-fit ​​assembly 31 and fits against the inner wall of the rubber abutment sleeve 34, providing continuous radial support constraint for the rubber abutment sleeve 34. Under the conditions of clamping contact force and internal air pressure inflation and deflation, the movable frame 33 can effectively limit the excessive expansion, local collapse and irregular deformation of the rubber abutment sleeve 34, stabilize the overall contour structure of the rubber abutment sleeve 34, ensure that the abutment and the goods always maintain a surface-fitting contact state, avoid problems such as local stress concentration and clamping displacement caused by uneven soft deformation, and take into account both flexible buffer characteristics and clamping structure stability.

[0054] During the clamping operation, multiple sets of pneumatic buffer contact parts 3 are fed synchronously with the distributed mounting frame 24 and fit against the surface of the goods. Relying on the compressibility of the sealed air chamber of the rubber contact sleeve 34, flexible buffering is achieved at the moment of contact, eliminating the impact of rigid clamping. At the same time, combined with the real-time air pressure detection and dynamic pressure adjustment of the air circuit system, and with the adaptive adjustment of the position of the movable locking component 31 and the shaping support of the movable frame 33, high-precision, highly adaptable non-destructive flexible clamping is achieved, which meets the sorting and clamping requirements of various fragile and irregularly shaped goods such as glass, ceramics, and thin-walled soft plastics.

[0055] See Figure 8 and Figure 9 As shown, the movable snap-fit ​​assembly 31 includes a snap-fit ​​mounting base 311, a third spring 312, and a pull-out snap-fit ​​rod 313; a vent hole is provided at the axial position of the snap-fit ​​mounting base 311; the pull-out snap-fit ​​rod 313 is slidably mounted on the snap-fit ​​mounting base 311; the third spring 312 is disposed between the pull-out snap-fit ​​rod 313 and the snap-fit ​​mounting base 311.

[0056] The snap-fit ​​mounting base 311 serves as the core load-bearing structure, with a vent hole at its axial position. This vent hole precisely connects to the vent pipe 32 of the pneumatic buffer contact element 3, enabling stable delivery of the air medium and ensuring the normal operation of the internal air pressure regulation and buffering functions of the rubber contact sleeve 34. The pull-out latch 313 is slidably mounted inside the snap-fit ​​mounting base 311, and a third spring 312 is fitted between the pull-out latch 313 and the snap-fit ​​mounting base 311, forming an elastic sliding locking structure that enables adaptive holding and adjustment switching of the component's snap-fit ​​state.

[0057] In normal assembly and operation, the snap-fit ​​mounting base 311 is snapped into the second limiting slot 244 of the mounting slide rail 243 of the distribution mounting frame 24, completing the axial positioning of the pneumatic buffer contact 3; under the elastic pushing action of the third spring 312, the end of the pull-out lever 313 continuously elastically abuts against the back end face of the distribution mounting frame 24, and the snap-fit ​​mounting base 311 is locked and fixed through the front and rear bidirectional limiting cooperation, which restricts the sliding and loosening of the snap-fit ​​mounting base 311, ensures that the installation position of the pneumatic buffer contact 3 is constant during the clamping operation, avoids problems such as force deviation and loosening, and ensures the stability and fitting accuracy of the overall clamping structure.

[0058] When the spacing and installation position of the pneumatic buffer contact elements 3 need to be adjusted according to the specifications of the goods to be clamped, an outer pulling force is applied to the snap-fit ​​mounting base 311, causing the snap-fit ​​mounting base 311 to slide relative to the pull-out lever 313, simultaneously compressing the third spring 312. At this time, the snap-fit ​​mounting base 311 disengages from the snap-fit ​​limiting constraint of the second limiting slot 244, releasing the fixed state; the pull-out lever 313 maintains a contacting and fitting state with the back side of the distribution mounting frame 24 during the sliding process, maintaining the overall assembly limiting relationship of the components and preventing the components from falling off. In this state, the placement position of the snap-fit ​​mounting base 311 on the mounting slide rail 243 can be freely slidable and adjusted to complete the distributed position adaptation adjustment of multiple sets of pneumatic buffer contact elements 3.

[0059] After the pneumatic buffer contact 3 is adjusted to the preset fitting position, the external tension is removed, the third spring 312 releases its elastic potential energy and pushes the locking mounting base 311 back to its original position, causing the locking mounting base 311 to re-engage into the corresponding second limit slot 244, thus forming a bidirectional locking positioning structure again. Through the closed-loop working logic of elastic sliding unlocking, sliding adjustment, and elastic reset locking, the position of the pneumatic buffer contact 3 can be quickly, accurately, and steplessly adjusted. Combined with the multi-angle and multi-dimensional adaptive adjustment structure of the whole machine, a flexible clamping system with full-range fit and uniform force is constructed to meet the non-destructive sorting and clamping requirements of various specifications of irregularly shaped and fragile goods.

[0060] See Figure 3 and Figure 9 As shown, the movable frame 33 includes a fourth spring 331, a telescopic movable shaft 332, a support frame 333, and a movable abutment block 334; the telescopic movable shaft 332 is slidably mounted on the snap-fit ​​mounting base 311; the support frame 333 is slidably mounted on the telescopic movable shaft 332; the inner side of the fourth spring 331 is connected to the support frame 333, and the outer side of the fourth spring 331 abuts against the inner wall of the rubber abutment sleeve 34; the movable abutment block 334 is hingedly mounted on the telescopic end of the telescopic movable shaft 332, and the abutment end of the movable abutment block 334 contacts the anti-slip abutment layer 341.

[0061] The telescopic movable shaft 332 is slidably mounted on the snap-fit ​​mounting base 311, providing an axial telescopic motion reference and structural support foundation for the entire movable frame 33. It can adaptively slide slightly according to the air pressure deformation of the rubber contact sleeve 34 and the clamping contact force, avoiding interference of rigid support on the flexible buffer stroke. The support frame 333 is slidably sleeved on the outside of the telescopic movable shaft 332, and can slide freely along the axial direction of the telescopic movable shaft 332 to adapt to the deformation stroke of the fourth spring 331, ensuring that the support structure adapts to the displacement synchronously with the buffer action.

[0062] The inner end of the fourth spring 331 is connected to the support frame 333, and the outer wall of the fourth spring 331 is in close contact with the inner wall of the rubber abutment sleeve 34. The elastic preload provides uniform support to the entire inner wall of the rubber abutment sleeve 34, effectively enhancing the overall contour strength of the outer wall of the rubber abutment sleeve 34 and suppressing local collapse, abnormal bulging, and irregular deformation that occur during air pressure inflation and deflation and clamping pressure. At the same time, the support frame 333 can slide and adjust synchronously with the compression and rebound of the fourth spring 331, dynamically adapting to the flexible buffer deformation stroke of the rubber abutment sleeve 34, avoiding rigid support limiting buffer displacement, and ensuring that the skeleton support structure does not interfere with the non-destructive buffering core performance of the pneumatic buffer abutment component 3.

[0063] The movable contact block 334 is hinged to the telescopic end of the telescopic movable shaft 332. Its outer contact end directly abuts against the inner side of the anti-slip contact layer 341 of the supporting rubber contact sleeve 34, forming an end-adaptive support structure. During the clamping operation, the movable contact block 334 can adaptively complete the hinge angle deflection according to the curvature and irregular contour of the object to be clamped, and match the contact posture of the object surface in real time, so that the anti-slip contact layer 341 and the object surface maintain a full-area contact state, realizing the adaptive distribution adjustment of the clamping force point, effectively improving the problem of local stress concentration of irregular objects, and improving the fitting accuracy and force uniformity of flexible clamping.

[0064] During the overall operation, the movable frame 33 forms a flexible and adaptable shaping support system through the axial sliding adaptation of the telescopic movable shaft 332, the follow-up displacement adjustment of the support frame 333, the elastic pressure equalization support of the fourth spring 331, and the adaptive adjustment of the hinge angle of the movable contact block 334. This system retains the flexible buffering performance of the rubber contact sleeve 34 with adjustable air pressure, and achieves stable shaping of the clamping contour and multi-dimensional adaptive adaptation of the contact posture. Together with the overall pneumatic pressure regulating structure and multi-dimensional mechanical adjustment structure, it further enhances the equipment's ability to non-destructively clamp and adapt to thin-walled, curved, and irregularly shaped fragile goods, as well as its operational stability.

[0065] See Figure 1 and Figure 10 As shown, the basic air pressure regulating mechanism 4 includes a first mounting sleeve 41, a first compression airbag 42, a first push plate 43, an adjusting screw 44, and an anti-rotation clamping bracket 45; the first mounting sleeve 41 is fixedly mounted on the side of the robotic arm 7; the first compression airbag 42 is disposed inside the first mounting sleeve 41; the first push plate 43 is slidably mounted inside the first mounting sleeve 41; the adjusting screw 44 is rotatably mounted on the first mounting sleeve 41, and the adjusting screw 44 is threadedly connected to the first push plate 43; the anti-rotation clamping bracket 45 is rotatably mounted on the first mounting sleeve 41, and the anti-rotation clamping bracket 45 is provided with a docking hole 451.

[0066] Under the pre-operation calibration conditions, when it is necessary to increase the basic air pressure of the air circuit and increase the initial support stiffness of the pneumatic buffer contact 3, the adjusting screw 44 is rotated. Utilizing the threaded engagement between the adjusting screw 44 and the first push plate 43, the first push plate 43 is driven to move axially along the inside of the first mounting sleeve 41. During the sliding process, the first push plate 43 continuously compresses the inner first compression airbag 42, causing the first compression airbag 42 to undergo compression deformation. The gas stored inside is introduced into the ventilation connector 6 through the pipeline, thereby increasing the overall air pressure of the air circuit system. Simultaneously, this increases the initial air pressure inside the pneumatic buffer contact 3, increasing the structural rigidity and basic clamping load-bearing capacity of the rubber contact sleeve 34, adapting to the clamping requirements of high-rigidity goods.

[0067] Once the base air pressure is adjusted to the preset standard range and meets the requirements of the goods clamping reference parameters, rotate the outer anti-rotation clamping bracket 45 so that the docking hole 451 of the anti-rotation clamping bracket 45 is engaged and limited to the outside of the adjusting screw 44. The free rotation degree of the adjusting screw 44 is restricted by the mechanical clamping constraint, eliminating the screw rotation deviation caused by equipment vibration, clamping force and other working conditions. The feed position of the first push plate 43 and the compression state of the first extrusion airbag 42 are locked, realizing the long-term solidification of the base air pressure parameters and ensuring that the initial air pressure reference is stable and consistent during the continuous operation of the equipment.

[0068] See Figure 1 and Figure 11 As shown, the pneumatic pressure compensation device 5 includes a second mounting sleeve 51, a second compression air bladder 52, and a linear actuator 53; the second mounting sleeve 51 is fixedly mounted on the robotic arm 7; the second compression air bladder 52 is installed inside the second mounting sleeve 51; the linear actuator 53 is fixedly mounted on the second mounting sleeve 51, and the output end of the linear actuator 53 abuts against the second compression air bladder 52.

[0069] The pneumatic pressure compensation device 5 is the core component of the dynamic pressure compensation of the pneumatic control system of this device. Relying on the linear drive extrusion air supply structure and the real-time air pressure detection and feedback mechanism, it realizes dynamic adaptive compensation of air pressure in the air path during the clamping process. It solves the technical problems of air cavity pressure decay, insufficient clamping force, and poor fit stability after the goods are clamped. Together with the basic air pressure adjustment mechanism 4, it forms a two-layer closed-loop air pressure control system of "baseline pressure stabilization + dynamic pressure compensation", ensuring constant force and stable posture during the clamping process of fragile goods of different specifications and materials.

[0070] During the clamping operation, the pneumatic buffer contact component 3 is pressed against the surface of the goods. The reverse force of the goods compresses the internal air cavity of the rubber contact sleeve 34, which can easily cause the air pressure in the air circuit system to decrease and the clamping force to drop, thus creating the risk of goods slipping, loosening, or being missed. The air pressure detector 61 inside the ventilation connector 6 collects the air pressure parameters inside the air circuit in real time throughout the process, dynamically monitors the air pressure loss and pressure deviation under clamping conditions, and provides real-time feedback on the air pressure loss and pressure threshold deviation signals, providing data basis for dynamic pressure replenishment operations.

[0071] When the air pressure detector 61 detects that the air pressure in the airway is lower than the system's preset working threshold, it determines that the current clamping force is insufficient to maintain a stable and close clamping state. The linear actuator 53 immediately responds to the detection signal and outputs a precise linear driving force. Through the output end, it continuously pushes and abuts against the second compression airbag 52, causing the second compression airbag 52 to undergo controllable compression deformation. The gas stored inside the airbag is quantitatively squeezed out and introduced into the airway system of the ventilation connector 6, accurately compensating for the air pressure loss in the airway, dynamically raising the internal working air pressure of the pneumatic buffer contact 3, and compensating for the clamping resistance force in real time, so that each pneumatic buffer contact 3 and the surface of the goods always maintain a uniform and stable close clamping state.

[0072] Based on the varying air pressure losses caused by differences in the hardness, shape, and clamping deformation of different goods, the linear actuator 53 can adaptively match its drive stroke and squeezing force to achieve differentiated, intelligent, and precise air replenishment and pressure regulation, adapting to the non-destructive clamping needs of various types of goods. Through a closed-loop working logic of real-time air pressure monitoring, signal feedback, linear drive squeezing, and dynamic air pressure compensation, it corrects air pressure fluctuations during the clamping process in real time, stabilizing the overall machine's flexible clamping rigidity and buffering performance. This effectively avoids sorting failures and goods damage caused by clamping force attenuation, further improving the stability and accuracy of clamping operations for various sizes of irregularly shaped and fragile goods.

[0073] A control process for a robotic arm gripper based on gas-controlled stable gripping includes the following steps; S1. Before operation, the equipment is pre-processed and debugged. The initial air pressure of each pneumatic buffer contact component 3 is calibrated by the basic air pressure regulating mechanism 4. The air pressure in the air path is stabilized to the preset standard range, and the initial buffer performance and reference clamping force of all contact components are unified. Combined with the shape structure and size specifications of the goods to be clamped, the adaptive clamping frame 2 is used to complete the adaptive adjustment of the spatial position and clamping posture of multiple sets of contact components, ensuring that the contact components can fully conform to the outer surface of the goods, forming a uniform clamping force surface, and adapting to different goods clamping conditions. S2. Positioning and flexible fitting start the clamping operation. The robotic arm 7 drives the clamping device to translate and position to the work station of the goods. It controls the adaptive clamping frames 2 on both sides to retract towards each other, driving the pneumatic buffer contact parts 3 to gradually approach and fit against the surface of the goods. Relying on the compressible characteristics of the sealed gas to form a flexible buffer structure, it effectively eliminates the instantaneous impact stress generated by traditional rigid clamping, disperses the contact pressure of the goods, and avoids the problem of damage and deformation of fragile goods from the source. S3. Real-time air pressure monitoring threshold determination During the clamping and bonding process, the air pressure detector 61 built into the air connector 6 collects air pressure data in real time throughout the entire process, dynamically feedbacks the real-time clamping resistance status, continuously monitors the clamping stability of the goods, compares the air pressure in the air path with the system preset threshold in real time, accurately determines the clamping force status, identifies potential operational risks such as goods slipping or missing grip, and provides data support for dynamic pressure adjustment compensation. S4. Dynamic Pressure Supplementation and Adaptive Pressure Stabilization: When the air pressure in the detection air path is lower than the preset threshold, the pneumatic pressure supplementation device 5 automatically starts precise pressure boosting to compensate for the clamping resistance force in real time and maintain the stability of the contact between the contacting part and the surface of the goods. At the same time, the system adaptively matches the air pressure control parameters according to the material, rigidity and specifications of the goods, dynamically adjusts the working air pressure of the air path, and adapts to the buffering force and locking force requirements of different goods. Through the closed-loop control of the whole process, the clamping parameters are adaptively controlled to complete the precise and non-destructive sorting and clamping of fragile goods of various specifications.

[0074] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of protection of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A pneumatically controlled gripper for robotic arms, comprising a pneumatically controlled gripper mounted on a robotic arm (7), characterized in that, The pneumatic gripper includes a retractable gripping device (1), an adaptive gripping frame (2), a pneumatic buffer contact element (3), a basic air pressure regulating mechanism (4), a pneumatic pressure compensation device (5), and a ventilation connector (6). The retractable clamping device (1) is mounted on the robotic arm (7); Two adaptive clamps (2) are provided, which are respectively installed at the clamping end of the retractable clamping device (1); Multiple pneumatic buffer abutment members (3) are provided and evenly distributed on the adaptive clamping frame (2); The basic air pressure regulating mechanism (4) is fixedly installed on the robotic arm (7); The pneumatic pressure compensation device (5) is fixedly installed on the robotic arm (7); The ventilation connector (6) is fixedly installed on the shrink clamping device (1). The ventilation connector (6) is equipped with a pressure detector (61) inside. The ventilation connector (6) is equipped with multiple connecting air pipes (62). The connecting air pipes (62) are respectively connected to the pneumatic buffer contact (3), the basic air pressure regulating mechanism (4) and the pneumatic pressure replenishing device (5).

2. The robotic arm gripper based on gas-controlled stable clamping according to claim 1, characterized in that, The adaptive clamping frame (2) includes a fixed connecting frame (21), an adjusting guide post (22), a movable connecting frame (23), and a distributed mounting frame (24); The fixed connecting frame (21) is fixedly connected to the clamping end of the shrink clamping device (1); Two adjusting guide posts (22) are provided and fixedly installed on the side of the fixed connecting frame (21). Several first limiting slots (221) are provided on the outer side of the adjusting guide posts (22). The movable connecting frame (23) is slidably mounted on the adjusting guide post (22). Two movable blocks (232) are slidably mounted inside the movable connecting frame (23). A first spring (231) is installed between the movable blocks (232) and the movable connecting frame (23). The locking end of the movable blocks (232) extends toward the first limiting slot (221). The distribution mounting bracket (24) is fixedly mounted on the fixed connecting bracket (21).

3. A robotic arm gripper based on gas-controlled stable clamping according to claim 2, characterized in that, The distribution mounting frame (24) consists of a first distribution frame (241) and a second distribution frame (242). The first distribution frame (241) and the second distribution frame (242) are rotatably connected. Both the first distribution frame (241) and the second distribution frame (242) are provided with multiple mounting slide rails (243). The sides of the mounting slide rails (243) are provided with several equally spaced second limiting slots (244). The connection between the first distribution frame (241) and the second distribution frame (242) is provided with multiple through-holes (245). A bending locking component (246) is installed on the through-holes (245).

4. A robotic arm gripper based on gas-controlled stable clamping according to claim 3, characterized in that, The bending locking assembly (246) includes an insert connecting rod (247), a second spring (248), and a snap-fit ​​element (249). The interlocking connecting rod (247) is slidably installed between the first distribution frame (241) and the second distribution frame (242); The second spring (248) is disposed between the interlocking connecting rod (247) and the first distribution frame (241); The snap-fit ​​component (249) is slidably and fixedly installed on the telescopic end of the interlocking connecting rod (247), and the snap-fit ​​component (249) is inserted into the interlocking snap-fit ​​hole (245) of the first distribution frame (241) and the second distribution frame (242).

5. A robotic arm gripper based on gas-controlled stable clamping according to claim 3, characterized in that, The pneumatic buffer abutment (3) includes a movable snap-fit ​​assembly (31), an air duct (32), a movable frame (33), and a rubber abutment sleeve (34). The active snap-fit ​​assembly (31) snaps onto the mounting slide rail (243); A rubber contact sleeve (34) is installed on the movable snap-fit ​​assembly (31), and an anti-slip contact layer (341) is provided on the rubber contact sleeve (34). The movable frame (33) is slidably mounted on the movable snap-fit ​​assembly (31), and the movable snap-fit ​​assembly (31) supports the inner wall of the rubber contact sleeve (34); The ventilation duct (32) is fixedly installed at the axial position of the movable snap-fit ​​assembly (31).

6. A robotic arm gripper based on gas-controlled stable clamping according to claim 5, characterized in that, The active snap-fit ​​assembly (31) includes a snap-fit ​​mounting base (311), a third spring (312), and a pull-out latch (313). A vent hole is provided at the axial position of the snap-fit ​​mounting base (311); The pull-out lever (313) is slidably mounted on the snap-fit ​​mounting base (311); The third spring (312) is disposed between the pull-out lever (313) and the snap-fit ​​mounting base (311).

7. A robotic arm gripper based on gas-controlled stable clamping according to claim 6, characterized in that, The movable frame (33) includes a fourth spring (331), a telescopic movable shaft (332), a support frame (333), and a movable abutment block (334). The telescopic movable shaft (332) is slidably mounted on the snap-fit ​​mounting base (311); The support frame (333) is slidably mounted on the telescopic movable shaft (332); The inner side of the fourth spring (331) is connected to the support frame (333), and the outer side of the fourth spring (331) is in contact with the inner wall of the rubber contact sleeve (34); The movable abutment block (334) is hinged to the telescopic end of the telescopic movable shaft (332), and the abutment end of the movable abutment block (334) contacts the anti-slip abutment layer (341).

8. A robotic arm gripper based on gas-controlled stable clamping according to claim 1, characterized in that, The basic air pressure regulating mechanism (4) includes a first mounting sleeve (41), a first compression airbag (42), a first push plate (43), an adjusting screw (44), and an anti-rotation clamping bracket (45). The first mounting sleeve (41) is fixedly mounted on the side of the robotic arm (7); The first compression airbag (42) is disposed inside the first mounting sleeve (41); The first push plate (43) is slidably installed inside the first mounting sleeve (41); The adjusting screw (44) is rotatably mounted on the first mounting sleeve (41), and the adjusting screw (44) is threadedly connected to the first push plate (43); The anti-rotation clip (45) is rotatably mounted on the first mounting sleeve (41), and the anti-rotation clip (45) is provided with a docking clip hole (451).

9. A robotic arm gripper based on gas-controlled stable clamping according to claim 1, characterized in that, The pneumatic pressure compensation device (5) includes a second mounting sleeve (51), a second compression air bladder (52), and a linear actuator (53); The second mounting sleeve (51) is fixedly mounted on the robotic arm (7); The second compression airbag (52) is installed inside the second mounting sleeve (51); The linear actuator (53) is fixedly mounted on the second mounting sleeve (51), and the output end of the linear actuator (53) abuts against the second compression airbag (52).

10. A control process for a robotic arm gripper based on gas-controlled stable clamping, employing the robotic arm gripper based on gas-controlled stable clamping as described in any one of claims 1-9, characterized in that, Includes the following steps; S1. Before operation, the equipment pre-processing and debugging are completed. The initial air pressure of each pneumatic buffer contact part (3) is calibrated by the basic air pressure adjustment mechanism (4). The air pressure of the air path is stabilized to the preset standard range. The initial buffer performance and reference clamping force of all contact parts are unified. Combined with the shape structure and size specifications of the goods to be clamped, the adaptive clamping frame (2) is used to complete the adaptive adjustment of the spatial position and clamping posture of multiple sets of contact parts. This ensures that the contact parts can fit the outer surface of the goods in the whole area, forming a uniform clamping force surface, and adapting to the different goods clamping conditions. S2. Positioning and flexible fitting start the clamping operation. The robotic arm (7) drives the clamping device to move and position to the work station of the goods. It controls the adaptive clamping frames (2) on both sides to close towards each other, and drives the pneumatic buffer contact parts (3) to gradually approach and fit against the surface of the goods. Relying on the compressible characteristics of the sealed gas to form a flexible buffer structure, it effectively eliminates the instantaneous impact stress generated by traditional rigid clamping, disperses the contact pressure of the goods, and avoids the problem of damage and deformation of fragile goods from the source. S3. Real-time air pressure monitoring threshold determination During the clamping and bonding process, the air pressure detector (61) built into the ventilation connector (6) collects air pressure data in real time throughout the process, dynamically feeds back the real-time clamping resistance status, continuously monitors the clamping stability of the goods, compares the air pressure in the air path with the system preset threshold in real time, accurately determines the clamping force status, identifies potential operational risks such as goods slipping and missing grip, and provides data support for dynamic pressure adjustment compensation. S4. Dynamic pressure replenishment and adaptive pressure stabilization: When the air pressure in the detection air path is lower than the preset threshold, the pneumatic pressure replenishment device (5) automatically starts the precise pressure boosting operation to compensate for the clamping resistance force in real time and maintain the contact stability between the contacting part and the surface of the goods. At the same time, the system adaptively matches the air pressure control parameters according to the material, rigidity and specifications of the goods, dynamically adjusts the working air pressure of the air path, adapts to the buffering force and locking force requirements of different goods, and realizes the adaptive control of clamping parameters through the whole process closed loop control, and completes the precise and non-destructive sorting and clamping of multiple specifications of fragile goods.

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