An adaptive multifunction gripper device for an automated cleaning station

Abstract

The present application relates to the technical field of automatic cleaning equipment, and discloses a self-adaptive multifunctional gripper device for an automatic cleaning station, which comprises a gripper module comprising a gripper, a pressure detection module arranged on the gripper and used for detecting the contact pressure between the gripper and a vessel in real time, and a control module used for recording the current opening and closing size of the gripper when the contact pressure reaches a preset pressure threshold, and obtaining the outer diameter of the gripping section of the vessel according to a preset corresponding relationship between the opening and closing size and the outer diameter of the gripping section of the vessel. The contact pressure is adjusted to a target clamping force matched with the vessel according to the outer diameter of the gripping section of the vessel. The pressure signal is monitored in real time during the movement of the gripper in the process of gripping the vessel, and the clamping force of the gripper is increased when the fluctuation feature representing the sliding of the vessel is detected in the pressure signal. The size of the vessel is automatically identified when the gripper is closed, the pressure signal is monitored in real time during the movement, and the force is dynamically increased to prevent sliding, so that the adaptive gripping and anti-falling problems of vessels of different sizes are solved.

Description

Technical Field

[0001] This invention relates to the field of automated cleaning equipment technology, and more specifically, to an adaptive multi-functional gripper device for automated cleaning stations. Background Technology

[0002] In laboratories and industrial production fields such as biopharmaceuticals, chemical analysis, and food testing, various glassware (such as beakers, conical flasks, volumetric flasks, and petri dishes) and plasticware require standardized cleaning and disinfection after use. With the development of automation technology, automated cleaning workstations are gradually replacing manual cleaning methods. By integrating cleaning machines, transfer equipment, and robotic arms, the cleaning process is automated. During automated cleaning, multiple spray pipes are installed on the cleaning rack, and the glassware must be placed upside down on the corresponding diameter spray pipes. The high-pressure water jets sprayed from inside the cleaning machine rinse the inner walls of the glassware.

[0003] However, the types of glassware used in laboratories and industrial production vary greatly in size, and multiple sizes of glassware often need to be mixed and processed in the same batch of cleaning tasks. Existing technologies have solutions that use robotic arms to replace manual labor in placing glassware on cleaning racks and that use interchangeable grippers to accommodate glassware of different sizes, but these solutions have the following shortcomings: In existing technologies, grippers cannot automatically identify the actual size of the vessel and adaptively adjust the gripping parameters during the gripping process. They lack flexibility and have a low degree of automation when faced with cleaning tasks involving a mix of vessels of various sizes.

[0004] Existing technologies lack solutions for real-time monitoring and dynamic adjustment of clamping force during handling. Traditional gripper control typically sets a fixed clamping force only during the grasping phase and does not adjust it after entering the handling phase. However, during handling, the vessel is affected by factors such as motion inertia and reduced friction due to residual cleaning fluid on the surface. The actual force state is significantly different from that during the static grasping phase, which can easily lead to slippage or even detachment, causing damage to the vessel and equipment failure. For example, Chinese invention patent application number 201811144581.0 discloses a multi-functional gripper device. This device controls the movement of the grippers through left-right moving components, front-back moving components, and up-down driving components. When gripping an item, the force of each gripper can be individually controlled by the corresponding driving mechanism, and multiple grippers can be arbitrarily disassembled and added to achieve different numbers of grippers and gripping modes. However, this device is mainly aimed at consumer gripping experience scenarios, and only involves the mechanical structure and multi-form switching of the grippers. It does not involve the function of automatically recognizing the size of the item during the gripping process, nor does it involve a solution for real-time monitoring of the gripping status and dynamic adjustment of the gripping force during the handling process. Chinese invention patent application number 201911241567.7 discloses a mechanical gripper with adjustable gripping size and gripping force, including a base, a connecting device, a driving device, a gripping device, and a sensor group. The sensor group includes a distance sensor and a torque sensor, which can adjust the gripping size and gripping force during the gripping process, and determine whether the gripping is successful by measuring the distance between the gripper and the target. However, this solution relies on the host computer to pre-measure the size and position of the target to be gripped through an industrial camera. It belongs to the preset control of "knowing the size first and adjusting the gripping later" and fails to realize the automatic identification of the target size through the contact feedback of the gripper itself during the gripping process. At the same time, its gripping force control is only realized through the torque sensor in the static gripping stage, and does not involve the technical solution of real-time monitoring and dynamic anti-slip adjustment of the gripping state during the handling and movement process.

[0005] Therefore, it is necessary to propose an adaptive multi-functional gripper device for automated cleaning stations to at least partially solve the problems existing in the prior art. Summary of the Invention

[0006] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0007] To at least partially solve the above problems, the present invention provides an adaptive multi-functional gripper device for automated cleaning stations, comprising: The gripper module includes grippers that can adjust the opening and closing size for gripping containers of different sizes; The pressure detection module is set on the gripping surface of the gripper and is used to detect the contact pressure between the gripper and the vessel in real time during the gripper closing process. The control module, which communicates with the pressure detection module, is configured as follows: When the contact pressure reaches a preset pressure threshold, the current opening and closing size of the gripper is recorded, and the outer diameter of the gripper section of the vessel is calculated based on the preset correspondence between the opening and closing size and the outer diameter of the vessel gripping section. Based on the calculated outer diameter of the gripping section of the vessel, the control gripper module adjusts the contact pressure to a target clamping force that matches the vessel. The pressure signal from the pressure detection module is monitored in real time during the movement of the gripper gripping the vessel. When the pressure signal shows a fluctuation characteristic that indicates the vessel is sliding down, the gripper module is controlled to increase the gripping force of the gripper.

[0008] Preferably, the wave characteristics characterizing the downward movement of the vessel include at least one of the following: The instantaneous drop slope of the pressure signal exceeds the set slope threshold; The pressure signal difference between adjacent sampling times exceeds the set amplitude threshold. The proportion of signal energy in a specific frequency band to the total signal energy exceeds a set energy ratio threshold.

[0009] Preferably, the control module stores a table showing the correspondence between the maximum outer diameter range of different vessels and the target clamping force. The control module queries the table based on the calculated maximum outer diameter of the vessel to determine the target clamping force that matches the vessel.

[0010] Preferably, the gripping surface of the gripper is further provided with a flexible layer, and the pressure detection module is disposed between the flexible layer and the gripper, or embedded in the flexible layer.

[0011] Preferably, the gripper module further includes: a robotic arm mounted on the worktable, the gripper being located at the end of the robotic arm, and the robotic arm being used to control the movement of the gripper.

[0012] Preferably, the gripper is connected to the end effector of the robotic arm via a gripper shaft, and the gripper shaft is connected to the power output end of the drive mechanism.

[0013] Preferably, the drive mechanism is a servo motor or a stepper motor, and the drive mechanism is equipped with an encoder for real-time detection of the rotation angle of the drive mechanism. The control module calculates the opening and closing dimensions of the gripper based on the rotation angle fed back by the encoder.

[0014] Preferably, the opening and closing dimensions of the grippers are any of the following: For a rotary opening and closing gripper, the rotation angle of the gripping finger relative to the hinge axis of the gripper body is the angle of rotation. For a translational opening and closing gripper, it is the displacement of the gripping finger from the fully closed position to the current position along a straight line.

[0015] Preferably, the preset correspondence between the opening and closing dimensions of the grippers and the outer diameter of the gripping section of the vessel is established through a calibration method: using multiple standard cylinders with known outer diameters, the grippers are controlled to clamp each standard cylinder until the contact pressure reaches a preset pressure threshold, the opening and closing dimensions of the corresponding grippers are recorded, a calibration comparison table or fitting formula between the opening and closing dimensions and the standard cylinders is established, and the data is stored in the control module.

[0016] Preferably, the control module is further configured to: when a fluctuation characteristic of the characterizing vessel sliding down is detected, the control module continuously monitors the pressure signal of the pressure detection module within a preset time. If the pressure signal returns to the normal range, the control module controls the gripper module to maintain the current clamping force. If the pressure signal continues to be abnormal, the control module controls the gripper module to continue to increase the clamping force until the pressure signal stabilizes.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects: The adaptive multifunctional gripper device for automated cleaning stations described in this invention achieves automatic identification of vessel size without prior knowledge of vessel specifications by triggering and recording the opening and closing dimensions during the gripper closure process using a preset pressure threshold and converting this information into the maximum outer diameter of the vessel. This allows the gripper device to adapt to vessels of different sizes. Simultaneously, by monitoring the pressure signal in real time during movement and identifying downward fluctuation characteristics, the device dynamically increases the gripping force, achieving a closed-loop control process from gripping to movement. This effectively solves the problem of adaptive gripping and preventing drop when mixing vessels of different sizes in automated cleaning stations, and significantly reduces the risk of vessels falling and breaking due to insufficient gripping force during movement.

[0018] The adaptive multifunctional gripper device for automated cleaning stations described in this invention, along with other advantages, objectives, and features of the invention, will be partly apparent from the following description and partly understood by those skilled in the art through study and practice of the invention. Attached Figure Description

[0019] 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: Figure 1 This is a schematic diagram of the adaptive multi-functional gripper device for automated cleaning stations according to the present invention. Figure 2 This is a schematic diagram of the gripper structure in the adaptive multifunctional gripper device for automated cleaning stations described in this invention. Figure 3 This is a schematic diagram of the cleaning frame in the adaptive multi-functional gripper device for automated cleaning stations described in this invention.

[0020] In the attached diagram, 1 is a gripper, 2 is a pressure detection module, 3 is a vessel, 4 is a flexible layer, 5 is a robotic arm, 6 is a gripper shaft, 7 is a worktable, 8 is a cleaning rack, 9 is a first vessel holder, 10 is a second vessel holder, 11 is a first spray pipe, 12 is a second spray pipe, and 13 is a vision camera. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, so that those skilled in the art can implement it based on the description.

[0022] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0023] Example 1: As Figures 1-2 As shown, the present invention provides an adaptive multi-functional gripper device for automated cleaning stations, comprising: The gripper module includes grippers 1 that can adjust the opening and closing size for gripping containers 3 of different sizes; The pressure detection module 2 is set on the gripping surface of the gripper 1 and is used to detect the contact pressure between the gripper 1 and the container 3 in real time during the closing process of the gripper 1. The control module, which communicates with pressure detection module 2, is configured as follows: When the contact pressure reaches a preset pressure threshold, the current opening and closing size of the gripper 1 is recorded, and the outer diameter of the gripping section of the container 3 is calculated based on the preset correspondence between the opening and closing size and the outer diameter of the gripping section of the container 3. Based on the calculated outer diameter of the gripping section of the vessel 3, the control gripper module adjusts the contact pressure to a target clamping force that matches the vessel 3. During the movement of the container 3 by the gripper 1, the pressure signal of the pressure detection module 2 is monitored in real time. When the pressure signal shows a fluctuation characteristic that indicates the downward movement of the container 3, the gripper module is controlled to increase the gripping force of the gripper 1.

[0024] The pressure detection module 2 is a piezoresistive electronic sensor.

[0025] Among them, the preset pressure threshold is set to a minimum pressure value that can reliably characterize the inner wall of the gripper 1 to form a stable contact with the outer wall of the vessel 3, and the preset pressure threshold is less than the target clamping force. Preferably, the preset pressure threshold is set to 0.5N to 2.0N. Within this pressure range, the inner wall of the gripper 1 has made sufficient contact with the outer wall of the vessel 3. As a specific embodiment, for commonly used laboratory glassware (such as beakers, conical flasks, etc.), the preset pressure threshold is preferably set to 1.0N. For more fragile glassware (such as quartz glassware, thin-walled glassware), the preset pressure threshold can be appropriately reduced to 0.5N. For metal or thick-walled glassware, the preset pressure threshold can be increased to 1.5N to 2.0N.

[0026] Among them, the target clamping force needs to be determined experimentally for different outer diameter ranges of the vessel 3. The minimum clamping force that can reliably grasp the vessel 3 (i.e., without slipping during movement) and without causing damage to the vessel 3 is used as the target clamping force threshold for this type of vessel 3. Specifically, for each type of vessel 3 with a different outer diameter range, the gripping effect under different clamping forces was tested: When the clamping force is too low, the vessel 3 will slide or fall during the movement. Record this critical value as the minimum clamping force to prevent slippage. When the clamping force is too high, indentations or cracks appear on the surface of the vessel 3. This critical value is recorded as the maximum clamping force to prevent damage. The threshold of the target clamping force is set between the minimum clamping force to prevent slippage and the maximum clamping force to prevent damage, preferably the middle value between the two or a value biased towards the side of preventing slippage (such as taking 1.2 to 1.5 times the minimum clamping force to prevent slippage, but not exceeding the maximum clamping force to prevent damage).

[0027] Based on the target clamping force setting, when the pressure signal shows a fluctuation characteristic indicating that the vessel 3 is sliding down, the control gripper module increases the clamping force of the gripper 1. At this time, the increased clamping force needs to be greater than or equal to the target clamping force and less than the maximum clamping force to prevent damage.

[0028] During operation, the gripper module controls the gripper 1 to move to the container 3 to be cleaned. The gripper 1 opens to its maximum opening size and then gradually closes from the maximum opening size. When the inner wall of the gripper 1 is completely in contact with the outer wall of the container 3, the pressure detection module 2 will detect a non-zero contact pressure signal. When the contact pressure reaches the preset pressure threshold, the control module determines that the gripper 1 has stably adhered to the outer wall of the container 3 and records the opening size of the gripper 1 at this moment. Since there is a preset correspondence between the opening size and the outer diameter of the container 3 at the gripping position of the gripper 1, the control module can calculate the outer diameter of the container 3 at the gripping section. It should be noted that for a vessel 3 with a constant cross-sectional dimension along the axial direction (such as a cylindrical beaker), the outer diameter of the gripping section is equal to the maximum outer diameter of the vessel 3; for a vessel 3 with a cross-sectional dimension that varies along the axial direction (such as a conical flask or a volumetric flask), the outer diameter of the section at the gripping position of the clamp 1 is the local outer diameter at that height. In the practical application of automated cleaning stations, the robotic arm 5 performs the gripping operation according to the preset gripping height program. The preset gripping height is determined by calibration so that the outer diameter at the gripping section can represent the characteristic size of this type of container 3, which is used for the matching of subsequent target clamping force and the selection of spray pipe adaptation. Alternatively, for a vessel 3 whose cross-sectional dimensions vary along the axial direction, the following method can be used to improve the accuracy of the measurement of the maximum outer diameter: control the gripper 1 to perform multi-point measurements along the height direction of the vessel 3 (i.e., close the gripper 1 sequentially at multiple different height positions and record the cross-sectional outer diameter at each height), and take the maximum value among the multi-point measurement results as the maximum outer diameter of the vessel 3.

[0029] Then, the control module matches the target clamping force to the container 3 according to the calculated outer diameter of the gripping section, and controls the gripper module to adjust the contact pressure to the target clamping force so that the gripper 1 can hold the container 3 stably with appropriate force. The gripper module drives the gripper 1 and the container 3 to the corresponding cleaning station for placement. During the movement, the control module continuously reads the pressure signal from the pressure detection module 2 and monitors the contact state between the gripper 1 and the vessel 3 in real time. If the vessel 3 slides relative to the gripper 1 due to inertia, gravity, or slippery surface during the movement, the pressure signal will fluctuate abnormally. After the control module recognizes this fluctuation feature, it immediately controls the gripper module to increase the clamping force of the gripper 1, so that the vessel 3 can be stabilized again, thereby preventing the vessel 3 from falling off the gripper 1.

[0030] The above design achieves the function of automatically identifying the size of the vessel 3 without prior knowledge of its specifications by using a preset pressure threshold to trigger and record the opening and closing dimensions during the closing process of the gripper 1 and converting them into the maximum outer diameter of the vessel 3. This allows the gripper device to adapt to vessels 3 of different sizes. At the same time, by monitoring the pressure signal in real time during the movement and identifying the downward fluctuation characteristics and dynamically increasing the clamping force, a closed-loop control process is achieved from gripping to moving. This effectively solves the problem of adaptive gripping and preventing drop when vessels 3 of different sizes are mixed in the automated cleaning station, and significantly reduces the risk of the vessel 3 falling and breaking due to insufficient clamping force during the movement.

[0031] Example 2: The wave characteristics of the downward sliding of vessel 3 include at least one of the following: The instantaneous drop slope of the pressure signal exceeds the set slope threshold; The pressure signal difference between adjacent sampling times exceeds the set amplitude threshold. The energy of the pressure signal in a specific frequency band exceeds the set energy threshold.

[0032] During the process of the vessel 3 being held and moved by the gripper 1, if it undergoes a downward sliding motion relative to the gripping surface of the gripper 1, its mechanical state will change, thus manifesting as three identifiable characteristic patterns in the output signal of the piezoresistive electronic sensor, as follows: The first mode is when the instantaneous drop slope of the pressure signal exceeds the set slope threshold. At the instant when the vessel 3 begins to slide down, the contact pressure between the outer wall of the vessel 3 and the gripping surface of the claw 1 suddenly decreases, causing the pressure signal to drop rapidly in a very short time. The control module calculates the derivative of the pressure signal with respect to time (i.e., the slope) in real time. When the absolute value of the derivative exceeds the preset slope threshold (i.e., the set slope threshold), it is determined that the vessel 3 has slid down. The second mode is when the pressure signal difference between adjacent sampling times exceeds the set amplitude threshold; during the downward movement of the vessel 3, the contact between the outer wall of the vessel 3 and the gripping surface of the claw 1 is unstable, and the amplitude of the pressure signal may jump between adjacent sampling times. The control module compares the pressure difference between adjacent sampling points, and when the difference exceeds the set amplitude threshold, it determines that the vessel 3 has slid down. The third mode is when the proportion of signal energy in a specific frequency band to the total signal energy exceeds a set energy ratio threshold. When the vessel 3 slides down, continuous frictional vibration is generated between the outer wall of the vessel 3 and the gripping surface of the claw 1. This vibration superimposes a specific frequency AC component on the pressure signal. The control module analyzes the pressure signal (such as fast Fourier transform or wavelet transform) and extracts the signal energy in a specific frequency band. When the proportion of signal energy in this frequency band to the total signal energy exceeds the set energy ratio threshold, it is determined that the vessel 3 has slid down.

[0033] The above three modes can be used individually or in combination to improve the accuracy of the glide detection. Preferably, the control module adopts a combination of the second and third modes, that is, firstly, the starting moment of the glide is detected by the amplitude change, and then the continuity of the glide is verified by the fluctuation frequency, thereby reducing misjudgment.

[0034] It should be noted that the specific values ​​of the above-mentioned judgment thresholds need to be determined by calibration based on the sensitivity of the actual pressure detection module 2, the mechanical characteristics of the gripper 1, and the typical working conditions of the vessel 3. The following are a set of reference parameters in the preferred embodiment: the preset slope threshold is 15% to 25% of the steady-state pressure value / sampling period; the set amplitude threshold is 10% to 20% of the steady-state pressure value; the set energy ratio threshold is the ratio of energy in a specific frequency band to total energy of 0.1 to 0.3; the preset time window is 200ms to 500ms; the above parameters are the calibration results of a specific embodiment and need to be recalibrated in different application scenarios.

[0035] Example 3: The control module stores a table showing the correspondence between the maximum outer diameter range of different containers 3 and the target clamping force. The control module queries the table based on the calculated maximum outer diameter of the container 3 to determine the target clamping force that matches the container 3.

[0036] During the debugging phase, for different sizes of vessels 3, the range of clamping forces that can reliably grasp them without causing damage to the vessels 3 were determined through experiments. For each type of vessel 3 with a different outer diameter, the grasping effect under different clamping forces was tested: the minimum clamping force that prevents the vessel 3 from slipping during movement was recorded as the minimum clamping force to prevent slipping; the clamping force at which indentations or cracks begin to appear on the surface of the vessel 3 was recorded as the maximum clamping force to prevent damage; the target clamping force value is between the above two critical values, preferably 1.2 to 1.5 times the minimum clamping force to prevent slipping and not exceeding the maximum clamping force to prevent damage.

[0037] Different outer diameter ranges and their corresponding target clamping forces are stored in the memory of the control module in the form of a lookup table. For example, the outer diameter range of the vessel (mm) is 10-30, 30-60, 60-100, and 100-150, which correspond to the target clamping forces (N) of 2-5 (preferably 5), 5-12 (preferably 12), 12-25 (preferably 25), and 25-45 (preferably 45). In actual use, the control module calculates the maximum outer diameter of the vessel 3, looks up the range of the outer diameter in the above correspondence table, reads the corresponding target clamping force value, and sends a command to the drive mechanism of the gripper module to adjust the clamping force to the target value.

[0038] It should be noted that the calibration of the target clamping force mentioned above should cover the material range of the actual processed dish 3 in the automated cleaning station; for fragile dishes 3 (such as thin-walled glassware), the maximum clamping force against damage during calibration is lower, and the corresponding target clamping force is also lower; for sturdy dishes 3 (such as thick-walled metalware), the maximum clamping force against damage during calibration is higher, and the corresponding target clamping force is also higher; the force value difference of dishes 3 of different materials has been determined by experiments during the calibration stage and solidified in the corresponding relationship table.

[0039] Example 4: Figure 2 As shown, a flexible layer 4 is also provided on the gripping surface of the gripper 1, and the pressure detection module 2 is disposed between the flexible layer 4 and the gripper 1, or embedded in the interior of the flexible layer 4.

[0040] The flexible layer 4 is made of flexible silicone and has anti-slip texture on its surface.

[0041] The flexible layer 4 has a certain elastic deformation capability. When the gripper 1 closes to grasp the container 3, the flexible layer 4 undergoes elastic deformation under the action of the gripping force, increasing the contact area with the outer wall of the container 3, thereby dispersing the contact stress and increasing the friction. The anti-slip texture on the surface of the flexible layer 4 further increases the coefficient of friction between the gripping surface and the container 3, effectively preventing the container 3 from slipping during movement. When the pressure detection module 2 is placed between the flexible layer 4 and the gripper 1, the flexible layer 4 evenly transmits the pressure applied by the vessel 3 to the surface of the pressure detection module 2, so that the pressure detection module 2 outputs a stable and reliable pressure signal. When the pressure detection module 2 is embedded inside the flexible layer 4, there is only a thin silicone layer between the pressure detection module 2 and the vessel 3, which can more sensitively detect the pressure changes caused by contact and sliding with the vessel 3. The buffering effect of the flexible layer 4 is used to prevent the pressure detection module 2 from being damaged by impact.

[0042] Example 5: Figure 1 As shown, the gripper module further includes a robotic arm 5 mounted on the worktable 7, with the gripper 1 located at the end of the robotic arm 5, and the robotic arm 5 used to control the movement of the gripper 1.

[0043] The robotic arm 5 is fixedly installed on the workbench 7. Its base is fixed to the workbench 7 by a rigid connector. The robotic arm 5 has a multi-joint structure with multiple degrees of freedom. It can move in the space above the workbench 7 and control its execution end to reach various working positions on the workbench 7. The gripper 1 is installed at the execution end of the robotic arm 5 and moves with the movement of the robotic arm 5 to realize the grasping, handling and placement of the container 3. The control module communicates with the drive controller of the robotic arm 5, sends motion commands to the robotic arm 5, and controls it to perform the gripping, transporting and placing operations of the container 3 according to the preset path and speed. The opening and closing action of the gripper 1 and the movement action of the robotic arm 5 are coordinated and controlled by the control module.

[0044] Example 6: As Figure 2 As shown, the gripper 1 is connected to the execution end of the robotic arm 5 via the gripper shaft 6, and the gripper shaft 6 is connected to the power output end of the drive mechanism.

[0045] The drive mechanism can be a servo motor, a stepper motor, or a pneumatic drive mechanism, etc.

[0046] The gripper 1 is connected to the end effector of the robotic arm 5 via the gripper shaft 6. One end of the gripper shaft 6 is connected to the gripper 1, and the other end is connected to the power output end of the drive mechanism through gear transmission, synchronous belt transmission, or worm gear transmission, etc. (The transmission of the gripper 1 can adopt any transmission mechanism in the existing technology to realize the opening and closing of the gripper 1, which will not be elaborated here). The motion output by the drive mechanism is converted into the synchronous radial opening and closing motion of each gripping finger of the gripper 1 through the transmission mechanism, thereby realizing the gripping and releasing of the vessel 3 by the gripper 1.

[0047] Example 7: As Figure 1 and Figure 3 As shown, the workbench 7 is provided with a cleaning rack 8, and the cleaning rack 8 is provided with at least two kinds of container trays, each of which is provided with a corresponding spray pipe; At least two types of vessel holders include: a first vessel holder 9 and a second vessel holder 10, wherein the first vessel holder 9 is provided with a first spray pipe 11 and the second vessel holder 10 is provided with a second spray pipe 12. The top of the workbench 7 is also equipped with a vision camera 13, which is connected to the control module and is used to identify the layout information of the spray pipes on the cleaning rack 8; wherein, the layout information includes position, spacing and quantity information. After the vision camera 13 scans and identifies the spray pipes, it establishes a coordinate system with the reference spray pipe position on the cleaning rack 8 as the origin, and calculates and stores the coordinates, adjacent spacing and total number of each spray pipe in batches. The control module automatically selects the placement position of the container on the cleaning rack 8 based on the spray pipe layout information identified by the vision camera 13 and the calculated maximum outer diameter of the container.

[0048] The washing rack 8 is equipped with various dish holders to accommodate dishes 3 of different diameters; specifically, the first dish holder 9 is adapted to larger dishes 3, and the first spray pipe 11 installed on it has a larger diameter and spacing; the second dish holder 10 is adapted to smaller dishes 3, and the second spray pipe 12 installed on it has a smaller diameter and spacing. During cleaning, the container 3 is moved to the corresponding cleaning station (the corresponding spray pipe) by the gripper module. The container 3 needs to be placed upside down on the corresponding spray pipe, and the cleaning liquid is sprayed out by the water jet from the spray pipe to rinse the inner wall of the container 3. The vision camera 13 mounted on the top of the workbench 7 can automatically scan and capture the entire area of ​​the cleaning rack 8. The vision camera 13 uses image processing algorithms to identify the contours of the spray pipes in the captured images, extract the circular contours of the top of each spray pipe, eliminate interference from structural components of the cleaning rack 8, dish holders, and other objects, and mark and identify each spray pipe one by one. During the identification process, the vision camera 13 can simultaneously calculate the actual outer diameter of the top contour of each spray pipe by pixel scale calibration (using known reference dimensions or calibration plates on the cleaning rack 8 to establish the conversion relationship between pixels and actual dimensions). Then, the vision camera 13 establishes a unified two-dimensional coordinate system with the pre-set reference spray pipe position on the cleaning rack 8 (such as the first spray pipe in the upper right corner of the cleaning rack 8) as the origin, and calculates the coordinate values ​​of the center point of each spray pipe, the outer diameter of each spray pipe, and the center distance between adjacent spray pipes in batches, and counts the total number of spray pipes. After the scan is completed, the vision camera 13 uploads the layout information such as the serial number, coordinates, outer diameter, spacing, number of digits, and total number of each spray pipe to the control module through the communication interface. After the control module calculates the outer diameter of the gripping section of the current container 3 by converting the opening and closing dimensions of the gripper 1, it matches the preset parameters of the category to which the container 3 belongs (including the inner diameter of the opening of the container 3 or the range of compatible spray pipe outer diameters) with the outer diameter and spacing information of each spray pipe obtained by the vision camera 13, and automatically selects the position of the compatible spray pipe as the placement target. The correspondence between the category of the container 3 and the range of compatible spray pipe outer diameters is established according to the actual container specifications used during the system debugging phase and is pre-stored in the control module. At the same time, the control module records the number and position of the placed containers 3 in real time, realizing automatic counting and placement planning until all the positions of the compatible spray pipes on the cleaning rack 8 are filled by containers 3. Each time a container 3 is placed at the target spray pipe position, the vision camera 13 or the pressure detection module 2 confirms the placement result: if the vision camera 13 detects the outline of the container 3 at the target position, or the pressure signal returns to zero after the gripper 1 is released and the robotic arm 5 does not provide any abnormal feedback, then the placement is considered successful, and the control module marks the spray pipe position as "occupied"; if an abnormality occurs during the placement process (such as the container 3 failing to successfully detach from the gripper 1 or failing to accurately fit into the spray pipe), the control module marks the position as "abnormal" and issues a prompt, requiring the operator to intervene; before the next placement, the control module excludes all "occupied" and "abnormal" positions from the candidate placement positions, selecting only "idle" positions as placement targets; when all suitable spray pipe positions are marked as "occupied" or "abnormal", or when all containers 3 to be cleaned have been placed, the control module determines that the current loading cycle has ended.

[0049] Example 8: The driving mechanism is a servo motor or a stepper motor. The driving mechanism is equipped with an encoder for real-time detection of the rotation angle of the driving mechanism. The control module calculates the opening and closing size of the gripper 1 based on the rotation angle fed back by the encoder.

[0050] The drive mechanism uses a servo motor or a stepper motor. The output shaft of the motor is connected to the gripper shaft 6 through a transmission mechanism, driving each gripping finger of the gripper 1 to perform radial opening and closing motion. A rotary encoder is installed on the output shaft of the motor or on a certain transmission shaft of the transmission mechanism. When the motor is running, the encoder rotates synchronously with the shaft and outputs pulse signals in real time. The encoder's zero position (i.e., zero pulse position) corresponds to the state where gripper 1 is fully closed, that is, the position where the gripping surfaces of each gripping finger reach the minimum spacing. After the system is powered on, a zero-return operation is performed, controlling gripper 1 to close to the fully closed position, clearing the encoder count value to zero. After that, the cumulative pulse count of the encoder starts from zero and increases positively, corresponding to the process of gripper 1 gradually opening from fully closed.

[0051] For stepper motor driven solutions, the control module calculates the cumulative rotation angle of the motor output shaft by accumulating the number of drive pulses sent to the stepper motor, combined with the step angle of the stepper motor and the transmission ratio of the transmission mechanism, and then converts it into the opening and closing dimensions of gripper 1. Alternatively, it calculates the rotation angle or translational displacement of the gripping fingers relative to the gripper body. For servo motor driven solutions, the encoder feeds back the actual rotation angle of the motor to the control module in the form of pulse signals or digital signals. The control module directly reads the feedback value from the encoder and obtains the opening and closing dimensions of gripper 1 after conversion by the transmission ratio. Specifically, let the encoder resolution be R (pulses / revolution), the transmission ratio of the transmission mechanism be i (the ratio of the motor rotation angle to the opening / closing dimension of gripper 1), and the total number of encoder pulses corresponding to gripper 1 from fully closed to fully open be N. total When the control module detects that the contact pressure reaches the preset pressure threshold during the closing process of gripper 1, it reads the cumulative pulse count N of the encoder at this moment. hit The rotation angle θ of the gripping finger of the rotating opening and closing type gripper 1 can be calculated using the following formula: θ = (N hit / N total )× θ max , where θ max The maximum opening and closing angle of gripper 1 (i.e., the maximum value of the rotation angle θ of the gripping finger); the displacement d of the gripping finger of the translational opening and closing gripper 1 can be calculated by the following formula: d = (N hit / N total )×d max , where d max The maximum displacement of the gripping finger of the gripper 1 is given. Then, based on the mechanical geometric parameters of the gripper 1, or based on a pre-established calibration reference table or fitting formula, the opening and closing dimensions of the gripper 1 are converted into the corresponding outer diameter of the gripping section of the vessel 3. The calibration reference table has already taken into account practical factors such as the clearance of the transmission mechanism and the installation deviation, so no additional theoretical geometric calculation is required.

[0052] The opening and closing dimensions of the gripper 1 are any of the following: For a rotary opening and closing type gripper 1, the rotation angle of the gripping finger relative to the hinge axis of the gripper body is; For a translational opening and closing type gripper 1, it is the displacement of the gripping finger moving in a straight line from the fully closed position to the current position.

[0053] This embodiment provides two definitions and measurement methods for the opening and closing dimensions of the gripper 1 to meet the needs of different types of grippers 1; The first measurement method applies to the rotary opening and closing type gripper 1. In this type of gripper 1, each gripping finger rotates around the hinge axis on the gripper body. The opening and closing dimension is expressed by the rotation angle of the gripping finger relative to the gripper body. This angle is independent of the overall posture of the robotic arm. When the gripper 1 is fully closed, the rotation angle is 0°, and when it is fully open, the rotation angle is the maximum opening and closing angle θ. max During the rotation of the gripping fingers, the radial distance between the fingertips and the central axis of the gripper 1 increases with the increase of the rotation angle, thereby accommodating vessels 3 with larger outer diameters; the control module detects the rotation angle of the drive mechanism, combines it with the transmission ratio of the transmission mechanism, calculates the rotation angle of the gripping fingers, and converts the rotation angle into the outer diameter of the gripping section of the vessel 3 through preset geometric relationships (such as the trigonometric function relationship between the rotation angle and the diameter of the inscribed circle) or calibration relationships. The second measurement method applies to the translational opening and closing type gripper 1. In this type of gripper 1, each gripping finger makes a linear translational movement along the guide rail on the gripper body. The opening and closing dimension is represented by the displacement d of the gripping finger moving along the guide rail from the fully closed position (i.e., the position where the gripping surfaces of each gripping finger are in contact with each other or reach the minimum spacing) to the current gripping position. When the gripper 1 is fully closed, d=0; when it is fully open, d=d max The spacing between each gripping finger of the gripper 1 is 2d (for the two-finger symmetrical opening and closing type). The maximum outer diameter of the container 3 that it can accommodate is 2d minus the wall thickness correction value of the gripping finger. The control module detects the rotation angle of the drive mechanism and calculates the displacement of the gripping finger by combining the transmission ratio, or directly detects the displacement of the gripping finger by the linear displacement sensor, obtains the displacement d value, and calculates the outer diameter of the gripping section of the container 3 accordingly.

[0054] Example 9: The preset correspondence between the opening and closing dimensions of the gripper 1 and the outer diameter of the gripping section of the vessel 3 is established through calibration: using multiple standard cylinders with known outer diameters, the gripper 1 is controlled to clamp each standard cylinder until the contact pressure reaches a preset pressure threshold. The opening and closing dimensions of the corresponding gripper 1 are recorded, and a calibration comparison table or fitting formula between the opening and closing dimensions and the outer diameter of the standard cylinder is established and stored in the control module.

[0055] The specific calibration process is as follows: Prepare multiple known outer diameters D i Standard cylinders (i=1, 2, 3, ..., n) with outer diameters of 10mm, 20mm, 30mm, 40mm, 50mm, 60mm, 80mm, 100mm, and 120mm respectively are placed sequentially into the gripping positions of clamp 1. The clamp 1 is then controlled to close and grip the standard cylinder. When the contact pressure detected by the pressure detection module 2 reaches a preset pressure threshold, the control module records the encoder feedback value and calculates the corresponding opening / closing dimension S. i (e.g., rotation angle θ) ior displacement d i ); After completing the measurements of all standard cylinders, a set of data (D) was obtained. i S i The control module can establish the correspondence in the following way: the above data is stored directly in the memory of the control module in the form of a lookup table. In actual use, the control module estimates between adjacent calibration points by interpolation method (linear interpolation or spline interpolation) to obtain the outer diameter of the vessel 3 (outer diameter at the grab section) corresponding to any opening and closing size.

[0056] The above calibration relationship applies to vessels 3 with a constant cross-sectional dimension along the axial direction (such as cylindrical beakers, petri dishes, etc.), or vessels 3 whose outer diameter at the gripping section can represent the characteristic dimension of the vessel by preset fixed gripping height; for the same type of vessel 3 (such as conical flasks, volumetric flasks), the gripping height is determined and solidified as the motion parameter of the robotic arm 5 during the calibration stage, ensuring that the gripper 1 acts on the same cross-sectional position of the vessel 3 each time it is gripped, thereby ensuring that the correspondence between the opening and closing dimensions and the characteristic outer diameter of the vessel is stable and repeatable.

[0057] The fitting formula can be in the form of a polynomial, such as a quadratic polynomial: D = a × S 2 +b×S+c, where D is the outer diameter of the gripping section of container 3, S is the opening and closing dimension of gripper 1, and a, b, and c are coefficients obtained by least squares fitting, the specific values ​​of which are determined by calibration data; piecewise linear interpolation can also be used: for adjacent calibration points (D i S i ) and (D i+1 ,S i+1 The opening and closing dimension S between the two sides is calculated using linear interpolation, and the corresponding outer diameter D = D i + (SS i ) × (D i+1 -D i ) / (S i+1 - S i ).

[0058] Example 10: The control module is further configured to: when the fluctuation characteristics of the characterizing vessel 3 sliding down are detected, the control module continuously monitors the pressure signal of the pressure detection module 2 within a preset time. If the pressure signal returns to the normal range, the control module controls the gripper module to maintain the current clamping force. If the pressure signal continues to be abnormal, the control module controls the gripper module to continue to increase the clamping force until the pressure signal stabilizes.

[0059] Among them, the pressure signal returning to the normal range means that after increasing the clamping force, the contact pressure between the gripper 1 and the vessel 3 meets the target clamping force. Continuing to increase the clamping force until the pressure signal stabilizes means that after continuing to increase the clamping force, the contact pressure between the gripper 1 and the vessel 3 is stabilized at a level greater than or equal to the target clamping force and less than the maximum clamping force to prevent damage.

[0060] When the control module determines that the vessel 3 has slipped based on the characteristics of the pressure signal, such as the downward slope, abrupt change in amplitude, or fluctuation frequency, it immediately initiates the anti-slip compensation control process. The control module first sends a force-increasing command to the drive mechanism of the gripper 1 to increase the clamping force of the gripper 1, and at the same time starts the timer to continuously monitor the pressure signal of the pressure detection module 2 within a preset time window (such as 200ms to 500ms). During the pressure boosting process, the control module determines the state of the pressure signal: If the pressure signal recovers to the target clamping force range after the force is increased (that is, the actual contact pressure between the gripper 1 and the vessel 3 reaches the set target clamping force), it means that the force increase operation has effectively suppressed the slippage. The control module will maintain the current clamping force at this value, and the anti-slip control process will end. If the pressure signal remains abnormal within the preset time window (i.e., the actual contact pressure cannot reach or maintain near the target clamping force), it indicates that the current force increase is insufficient to overcome the factors causing the slippage (such as the container being too heavy, insufficient friction, or excessive acceleration of the robotic arm). The control module continues to increase the clamping force step by step (for example, by increasing it in increments of 0.5N to 2N), and re-monitors the pressure signal after each force increase until the pressure signal recovers and stabilizes and reaches the target clamping force, or stabilizes between the target clamping force and the maximum clamping force to prevent damage. If the pressure signal is still unstable after the clamping force increases to the preset safety limit (i.e. the maximum clamping force to prevent damage), the control module determines that the vessel 3 cannot be safely gripped under the current working conditions, issues an alarm signal and stops the operation, prompting the operator to intervene manually.

[0061] Example 11: The present invention also provides a complete control flow for an adaptive multi-functional gripper device for an automated cleaning station, including: Step 1: System Initialization and Calibration. After the system is powered on, the encoder performs a zero-return operation, gripper 1 closes to the fully closed position, and the encoder count value is cleared to zero; the control module loads the pre-stored opening and closing dimensions - gripping section outer diameter calibration reference table and the outer diameter - target clamping force correspondence table; Step Two: Gripping and Size Recognition of Vessel 3. The robotic arm 5 moves the gripper 1 above the vessel 3 to be cleaned. The gripper 1 gradually opens and closes from a fully closed position. During the closing process, the pressure detection module 2 outputs a contact pressure signal in real time. When the contact pressure first reaches the preset pressure threshold (e.g., 1.0N), the control module records the current cumulative number of encoder pulses Nhit, and calculates the value using the formula θ = (N... hit / Ntotal )× θ max (Rotational type) or d = (N) hit / N total )×d max (Translation type) Calculate the opening and closing dimensions of gripper 1, then consult the calibration reference table and obtain the outer diameter of the gripping section of vessel 3 by interpolation.

[0062] Step 3: Target clamping force matching. Based on the outer diameter of the gripping section obtained in Step 2, the control module queries the target clamping force value in the outer diameter-target clamping force correspondence table (when the outer diameter is at the boundary of the interval, a definite value is obtained through linear interpolation); the control module controls the drive mechanism of the gripper 1 to increase the clamping force to the target clamping force value, so that the gripper 1 can stably clamp the container 3 with appropriate force; Step 4: Anti-slip control during handling. The robotic arm 5 moves the gripper 1 and the container 3 towards the cleaning rack 8. During this movement, the control module continuously reads the pressure signal from the pressure detection module 2. If the control module detects at least one of the following slippage fluctuation characteristics: the pressure difference between adjacent sampling times exceeds the set amplitude threshold, or the energy in a specific frequency band exceeds the set energy threshold, then the anti-slip compensation control process is immediately initiated: the control module sends a force-increasing command to the drive mechanism of the gripper 1 to increase the gripping force of the gripper 1, while continuously monitoring the pressure signal within a preset time window (e.g., 200ms to 500ms); if the pressure signal recovers to the target gripping force range within the time window, the control module... The current clamping force remains unchanged. If the pressure signal remains abnormal, the control module gradually increases the clamping force in increments of 0.5N to 2N, monitoring is repeated after each increase until the pressure signal stabilizes and reaches the target clamping force. During the gradual increase of force, the control module verifies in real time whether the current clamping force has reached the maximum clamping force to prevent damage (i.e., the critical value for vessel damage determined by calibration). If the pressure signal is still unstable after the clamping force reaches the maximum clamping force to prevent damage, the control module determines that the vessel 3 cannot be safely gripped, controls the robotic arm 5 to move to the safe release position at the lowest speed, gradually releases the gripper 1 to release the vessel 3, and issues an alarm signal. Step 5: Placement of Container 3. After the gripper 1 carries the container 3 to the position of the matching spray pipe above the washing rack 8, the gripper 1 opens and releases the container 3, which is then placed upside down on the spray pipe; the control module records that the position has been occupied and updates the placement count; Step Six: Repeat the cycle. The robotic arm 5 returns to the position to be gripped and repeats steps two through five until all the positions of the matching spray pipes on the cleaning rack 8 are occupied, or all the containers 3 to be cleaned have been placed. The control module then ends the current loading cycle.

[0063] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0064] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0065] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the present invention, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An adaptive multi-functional gripper device for automated cleaning stations, characterized in that, include: The gripper module includes grippers (1) that can adjust the opening and closing size for gripping containers (3) of different sizes. The pressure detection module (2) is set on the gripping surface of the gripper (1) and is used to detect the contact pressure between the gripper (1) and the vessel (3) in real time during the closing process of the gripper (1); The control module, which is connected in communication with the pressure detection module (2), is configured as follows: When the contact pressure reaches the preset pressure threshold, the current opening and closing size of the gripper (1) is recorded, and the outer diameter of the gripping section of the vessel (3) is calculated according to the preset correspondence between the opening and closing size and the outer diameter of the gripping section of the vessel (3). Based on the calculated outer diameter of the gripping section of the vessel (3), the control gripper module adjusts the contact pressure to a target clamping force that matches the vessel (3); During the movement of the gripper (1) gripping the vessel (3), the pressure signal of the pressure detection module (2) is monitored in real time. When the pressure signal is detected to show a fluctuation characteristic that indicates the vessel (3) is sliding down, the gripper module is controlled to increase the clamping force of the gripper (1).

2. The adaptive multi-functional gripper device for an automated cleaning station according to claim 1, characterized in that, The wave characteristics of the downward movement of the vessel (3) include at least one of the following: The instantaneous drop slope of the pressure signal exceeds the set slope threshold; The pressure signal difference between adjacent sampling times exceeds the set amplitude threshold. The proportion of the pressure signal energy in a specific frequency band to the total signal energy exceeds the set energy ratio threshold.

3. The adaptive multi-functional gripper device for an automated cleaning station according to claim 1, characterized in that, The control module stores a table of correspondences between the maximum outer diameter range of different vessels (3) and the target clamping force. The control module queries the table of correspondences based on the calculated maximum outer diameter of the vessel (3) to determine the target clamping force that matches the vessel (3).

4. The adaptive multi-functional gripper device for an automated cleaning station according to claim 1, characterized in that, The gripper (1) is provided with a flexible layer (4) on its gripping surface. The pressure detection module (2) is located between the flexible layer (4) and the gripper (1), or is embedded in the flexible layer (4).

5. The adaptive multi-functional gripper device for an automated cleaning station according to claim 1, characterized in that, The gripper module further includes a robotic arm (5) mounted on a workbench (7), wherein the gripper (1) is located at the end of the robotic arm (5), and the robotic arm (5) is used to control the movement of the gripper (1).

6. The adaptive multi-functional gripper device for an automated cleaning station according to claim 5, characterized in that, The gripper (1) is connected to the execution end of the robotic arm (5) via the gripper shaft (6), and the gripper shaft (6) is connected to the power output end of the drive mechanism.

7. The adaptive multi-functional gripper device for an automated cleaning station according to claim 6, characterized in that, The driving mechanism is a servo motor or a stepper motor. The driving mechanism is equipped with an encoder for real-time detection of the rotation angle of the driving mechanism. The control module calculates the opening and closing dimensions of the gripper (1) based on the rotation angle fed back by the encoder.

8. The adaptive multi-functional gripper device for an automated cleaning station according to claim 1, characterized in that, The opening and closing dimensions of the gripper (1) are any of the following: For a rotary opening and closing type gripper (1), the rotation angle of the gripping finger relative to the hinge axis of the gripper body is; For a translational opening and closing type gripper (1), the displacement of the gripping finger is the amount of displacement by which it moves from the fully closed position to the current position along a straight line.

9. The adaptive multi-functional gripper device for an automated cleaning station according to claim 1, characterized in that, The preset correspondence between the opening and closing dimensions of the gripper (1) and the outer diameter of the gripping section of the vessel (3) is established by calibration: using multiple standard cylinders with known outer diameters, the gripper (1) is controlled to clamp each standard cylinder until the contact pressure reaches the preset pressure threshold. The opening and closing dimensions of the corresponding gripper (1) are recorded, and a calibration comparison table or fitting formula between the opening and closing dimensions and the outer diameter of the standard cylinder is established and stored in the control module.

10. The adaptive multi-functional gripper device for an automated cleaning station according to claim 1, characterized in that, The control module is also configured to: when the fluctuation characteristics of the characterizing vessel (3) sliding down are detected, the control module continuously monitors the pressure signal of the pressure detection module (2) within a preset time. If the pressure signal returns to the normal range, the control module controls the gripper module to maintain the current clamping force. If the pressure signal continues to be abnormal, the control module controls the gripper module to continue to increase the clamping force until the pressure signal stabilizes.

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