A flexible gripper and its control system

Abstract

The utility model discloses a flexible gripper and its control system, belonging to the technical field of robot grippers. A flexible gripper includes a frame, a connector and a plurality of gripper modules; the frame is constructed by a plurality of upper linear actuators, and a connector is provided on the frame, which can be used to connect with the robot, and the upper linear actuators can be connected to each other and arranged and extended along the X-axis and / or Y-axis direction; each gripper module includes one or more levels of lower linear actuators, a clamping device and a plurality of switching structures. The control system includes a flexible gripper controller, an on-site teaching management terminal and a servo positioning module, and the flexible gripper controller includes a logic controller module, a servo bus communication module, a bus adapter scanner module and a bus server module. The utility model solves the technical problems that the traditional flexible gripper's gripping unit has a complex structure, resulting in heavy equipment weight and complex control technology, and the frame and gripping unit are not easy to expand.

Description

Technical Field

[0001] The utility model relates to the technical field of robot grippers, in particular to a flexible gripper and a control system thereof. Background Art

[0002] Robots have been widely used in the industrial field. Robot grippers are devices used by robots to grab materials. At present, traditional grippers in most automobile factory welding workshops are basically based on fixed legs and clamping points. The disadvantage of traditional grippers is that one model of fixture cannot be compatible with multiple clamping parts. Each time the model is changed, the gripper needs to be switched or the legs need to be manually switched. After the part is discontinued, the gripper cannot be disassembled and scrapped due to the need for possible resumption of production. It needs to be specially stored and regularly maintained and inspected, so that the management is complicated, the warehouse is occupied, and the cost remains high. Due to the high cost of robots, how to use a robot for grabbing different materials has become an urgent problem to be solved. The utility model with application number 202111225232.3 provides a flexible gripping device, including a frame, and a plurality of gripping units arranged on the frame, and the plurality of gripping units are arranged in a rectangular array. The gripping unit includes a first base, a shifting mechanism, a first rotating drive mechanism, a large arm, a small arm, a second base, an extension drive mechanism, and a gripping mechanism. By integrating multiple grabbing units on the frame and using a PLC control system to control each grabbing unit, each grabbing unit can complete different grabbing postures, thereby adapting to injection molded parts of different specifications, and improving the application range of the flexible grabbing device. Although this solution has a certain degree of flexibility, its grabbing unit structure is complex, resulting in a large weight of the equipment, increasing the load of the robot, resulting in a large initial load and a compressed available load; in addition, its grabbing unit structure includes a linear displacement mechanism, a first rotary drive mechanism for rotary motion, and an extension drive of the upper arm and the lower arm, and its control technology is complex; in addition, the frame is a fixed structure, which is not easy to expand, and the applicable workpiece range cannot be further improved. Summary of the invention

[0003] The purpose of the invention of the utility model is to provide a flexible gripper and its control system in view of the above problems, so as to solve the technical problems that the grasping unit of the traditional flexible gripper has a complex structure, resulting in heavy equipment weight and complex control technology, and the frame and grasping unit are not easy to expand.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is:

[0005] A flexible gripper comprises a frame, a connector and a plurality of gripper modules; the frame is constructed by a plurality of upper linear actuators, a connector is arranged on the frame, the connector can be used to connect with a robot, the upper linear actuators can be connected to each other and arranged and extended along the X-axis and / or Y-axis direction; each of the gripper modules comprises one or more levels of lower linear actuators, a clamping device and a plurality of switching structures, the upper linear actuator of the first level is connected to the robot through a connector, the upper linear actuator of the next level is installed on the upper linear actuator of the previous level through a switching structure, and the upper linear actuator of the last level is installed with the gripper module; the lower linear actuator of the highest level is arranged along the Z-axis direction and connected to an upper linear actuator; the lower linear actuator at the next level is arranged and extended along the X-axis, Y-axis or Z-axis direction through the separately arranged switching structure, and the lower linear actuator of the last level is provided with the clamping device.

[0006] Furthermore, the upper linear actuator and the lower linear actuator both include a structural beam and a linear actuator module, the structural beam includes a beam body, a mounting cavity is provided in the middle of the beam body along the length direction of the beam body, and a plurality of mounting holes are provided alternately along the length direction on the outer periphery of the beam body; a sliding window is provided on one side of the structural beam, the linear actuator module is arranged in the mounting cavity, a linear output block is provided on the linear actuator module, a mounting surface is provided at one end of the linear output block and extends from the sliding window to be located outside the mounting cavity.

[0007] Furthermore, the upper linear actuator and the lower linear actuator may each include one or two linear actuator modules.

[0008] Furthermore, the gripper module includes a gripper connector, a gripper mounting seat, a driver, a first clamp and a second clamp, one end of the gripper connector is connected to the last-stage lower linear actuator, and the other end is equipped with the gripper mounting seat, the first clamp is fixedly connected to the gripper mounting seat, and the driver is installed on the gripper mounting seat and drives the second clamp to approach the first clamp.

[0009] Furthermore, the first clamping grip and the second clamping grip both form a clamping surface near each other, and the clamping surface is an arc-shaped convex surface.

[0010] Furthermore, it also includes a positioning column, the upper end of which is detachably connected to the frame, and the lower end of which is provided with a positioning finger.

[0011] A flexible gripper control system includes a flexible gripper controller, an on-site teaching management terminal and a servo positioning module. The flexible gripper controller includes a logic controller module, a servo bus communication module, a bus adapter scanner module and a bus server module; the logic controller module is used to process the gripper action control logic, the servo bus communication module is used to monitor the servo positioning module, the servo positioning module is used to ultimately control the movement of the gripper mechanical structure, the on-site teaching management terminal is used for human-computer interaction to monitor the overall operation of the flexible gripper, the bus adapter scanning module is used to set the flexible gripper controller as a communication slave station for the convenience of upper device control, and the bus server module is used to set the flexible gripper controller as a data server for group control of the flexible gripper management system.

[0012] Furthermore, the teaching management terminal commands the logic controller to drive the servo positioning module through the servo bus communication module, and after all flexible grippers are positioned to the positions required by the process, each position is recorded, packaged into a process object, and stored in the flexible gripper controller.

[0013] Furthermore, it also includes a robot controller, which sends control commands through the bus adapter scanner module to control the flexible gripper controller to execute to an initial state or a clamping state within a process object according to the production steps.

[0014] Furthermore, it also includes a gripper management system, which collects the clamping posture and production count information of a single flexible gripper controller in real time through a bus server module.

[0015] Due to the adoption of the above technical solution, the utility model has the following beneficial effects:

[0016] 1. The flexible gripper of the utility model is configured to be expandable along the X-axis and / or the Y-axis to form an expandable installation frame. With the gripper module that can be modularly expandable and installed along the X-axis, the Y-axis and the Z-axis, the modular installation can be configured according to the position and number of the gripping points required by the workpiece. The frame device is directly formed by a linear structure, which reduces the additional settings of the fixed frame and reduces the weight. In the control, only the linear movement of the linear actuator and the gripping action of the gripping device need to be controlled, and the control technology is simple. The technical problems that the complex structure of the gripping unit of the traditional flexible gripper causes the heavy weight of the equipment and the complex control technology, and the frame and the gripping unit are not easy to expand are solved.

[0017] 2. The utility model is provided with a clamping surface with an arc-shaped convex surface, so that the contact between the clamping surface and the workpiece is point contact, which can cope with the clamping of non-planar workpieces such as inclined surfaces and curved surfaces. In addition, for thin-edge workpieces, the thin edge of the workpiece can be directly clamped between the clamping surfaces by moving the clamping device, reducing the control of the clamping device, reducing actions and control, and improving efficiency.

[0018] 3. The linear actuator drive mechanism of the control system of the utility model only has a drive-control integrated servo motor, which reduces the cost of digital IO modules and servo drivers and achieves lower weight; the wiring harness is simplified and integrated, and each linear actuator only needs to provide 1 8-pin standard power control quick connector and 2 4-pin standard bus connectors; the controller directly communicates with the servo through the bus to obtain the servo operation status code and real-time position in real time. The control logic and safety protection logic are fully built into the gripper controller, and the upper device does not need to be programmed too much. It only needs to send the current working vehicle model and current working sequence according to the configured process package to interact. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional diagram of the flexible gripper of Example 1 of the utility model.

[0020] Figure 2 This is a three-dimensional diagram of the connection status between the flexible gripper and the robot in Example 1 of the utility model.

[0021] Figure 3 This is a three-dimensional diagram of the structural beam of Example 1 of the utility model;

[0022] Figure 4 This is a cross-sectional view of a structural beam of Embodiment 1 of the utility model;

[0023] Figure 5 This is a three-dimensional diagram of the linear actuator of Example 1 of the utility model;

[0024] Figure 6 This is a three-dimensional diagram of a structural beam used for a linear actuator in Example 1 of the utility model;

[0025] Figure 7 This is a three-dimensional diagram of the cross-sectional structure of the linear actuator of Example 1 of the utility model.

[0026] Figure 8 This is a three-dimensional diagram of two linear actuators with direct execution modules according to Example 1 of the utility model.

[0027] Fig. 9 This is a three-dimensional diagram of the clamping device of Example 1 of the utility model.

[0028] Fig.10 It is a structural block diagram of the control system of Example 1 of the utility model.

[0029] Fig.11 It is a schematic diagram of a control system of Example 1 of the utility model.

[0030] Fig.12 This is an example of framework expansion of Embodiment 2 of the present utility model.

[0031] Fig.13This is an extended example of the clamping device of Embodiment 3 of the present utility model.

[0032] In the accompanying drawings, a1-frame, a2-connector, a3-gripper module, a4-positioning column, a5-robot, a11-upper linear actuator, a21-lower linear actuator, a22-gripping device, a23-adapting structure, a31-gripper connector, a32-gripper mounting seat, a33-driver, a34-first gripper, a35-second gripper, a36-arc convex surface, a41-positioning finger, a111-first-level upper linear actuator, a112-second-level upper linear actuator, a113-third-level upper linear actuator, a211-first-level lower linear actuator, a212-second-level lower linear actuator, a213-third-level lower linear actuator.

[0033] b1-structural beam, b2-linear execution module, b3-dust shielding belt device, b101-mounting cavity, b102-mounting hole, b103-guide rail groove, b104-inner layer, b105-outer layer, b106-connecting rib plate, b107-sliding window, b201-linear output block, b202-first mounting seat, b203-second mounting seat, b204-driving device, b205-screw, b206-linear guide rail, b207-slider, b208-coupling, b209-anti-collision block, b210-sealing plate.

[0034] c1-flexible gripper controller, c2-on-site teaching management terminal, c3-servo positioning module, c4-robot controller, c5-gripper management system, c11-logic controller module, c12-servo bus communication module, c13-bus adapter scanner module, c14-bus server module. DETAILED DESCRIPTION

[0035] The specific implementation of the invention is further described below with reference to the accompanying drawings.

[0036] In the description of the present invention, it should be understood that the terms "center", "length", "width", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0037] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0039] See also Figure 1 and Figure 2 A flexible gripper comprises a frame a1, a connector a2 and a plurality of gripper modules a3; the frame a1 is constructed by a plurality of upper linear actuators a11, a connector a2 is arranged on the frame a1, the connector a2 can be used to connect with a robot a5, and the upper linear actuators a11 can be connected to each other and arranged and extended along the X-axis and / or Y-axis direction; specifically, the frame a1 of this embodiment is in the shape of an "I", comprising a first-level upper linear actuator a111 arranged along the X-axis direction and two second-level upper linear actuators a111 arranged along the Y-axis. Line actuator a112, wherein the first-level upper linear actuator a111 and the second-level upper linear actuator a112 arranged in the X-axis direction each have two linear actuator modules b2; a connector a2 is arranged in the middle of the first-level upper linear actuator a111; the middle of a second-level upper linear actuator a112 is fixedly connected to the middle of the end of the first-level upper linear actuator a111, and the middle of another second-level upper linear actuator a112 is connected to the output end of a linear actuator module b2 of the first-level upper linear actuator.

[0040] Each gripper module a3 includes one or more levels of lower linear actuators a21, clamping devices a22 and a plurality of transfer structures a23, a plurality of lower linear actuators a21, a first-level linear actuator module is connected to the robot a5 through a connector a2, a lower-level linear actuator module is installed on the upper-level linear actuator module through a transfer structure a23, and a last-level linear actuator module is equipped with a clamping device a22; the uppermost lower linear actuator a21 is arranged along the Z-axis direction and connected to an upper linear actuator a11; the lower linear actuator a21 at the lower level is arranged and extended along the X-axis, Y-axis or Z-axis direction through a separately arranged transfer structure a23. Specifically, the lower linear actuator a21 of the present embodiment is a first-level vertically arranged linear actuator arranged along the Z-axis direction and having only one linear actuator module b2. The linear output end of the linear actuator module b2 of the lower linear actuator a21 is connected to the output end of the linear actuator module b2 of the second-level upper linear actuator a112 through a transfer structure a23, and the lower end of the lower linear actuator a21 is fixedly connected to the clamping device a22.

[0041] In this embodiment, a positioning column a4 is also included, the upper end of which is detachably connected to the frame a1, and a positioning finger a41 is provided at the lower end of the positioning column a4. Specifically, the positioning column a4 is a rectangular columnar structure, and a mounting hole b102 is provided around it. The upper end of the positioning column a4 is connected to the output end of another linear actuator module b2 of the first-level upper linear actuator a111 through a transfer structure a23, and the positioning finger a41 is fixedly connected to the lower end of the positioning column a4 through the mounting hole b102. When in use, a positioning hole can be provided on the workpiece, and the positioning finger a41 can be inserted into the positioning hole to position relative to the workpiece.

[0042] See also Figures 3 to 8A linear actuator includes a structural beam b1, a linear actuator module b2 and a dust shielding belt device b3. The structural beam b1 includes a beam body. A mounting cavity b101 is provided in the middle of the beam body along the length direction of the beam body. A plurality of mounting holes b102 are provided alternately along the length direction on the periphery of the beam body. A plurality of guide rail grooves b103 are provided along the length direction on both sides of the mounting cavity b101. Specifically, the guide rail grooves b103 are provided in pairs, and the openings of the paired guide rail grooves b103 are arranged oppositely. The guide rail grooves b103 have a processing allowance of 0.5 mm. The outer peripheral wall of the beam body includes an inner layer b104 and an outer layer b105 forming a double-layer structure. The outer layer b105 and the inner layer b104 are connected by a plurality of connecting ribs b106, and the plurality of connecting ribs b106 are arranged alternately. Specifically, a C-shaped structure is formed at the double-layer structure, and the opening of the C-shaped structure is a single-layer structure, which is convenient for processing a sliding window b107. A sliding window b107 is provided on one side of the structural beam b1, and the linear actuator module b2 is installed in the installation cavity b101. A linear output block b201 is provided on the linear actuator module b2, and a mounting surface is provided on one end of the linear output block b201 and extends from the sliding window b107 and is located outside the installation cavity b101. The dustproof shielding belt device b3 covers the sliding window b107. The linear actuator is provided with a dustproof shielding belt device b3 to prevent dust from contaminating the linear actuator module b2 from the sliding window b107. Directly using the structural beam b1 as a linear actuator facilitates flexible connection of multiple linear actuators. Multiple linear actuators are directly connected through adapters, which reduces the construction of the frame a1 structure. Installing the linear actuator module b2 on the structural beam b1 can save space. The linear execution module b2 also includes a first mounting seat b202, a second mounting seat b203, a driving device b204, a screw rod b205, a linear guide rail b206 and a slider b207. The first mounting seat b203 and the second mounting seat b203 are alternately arranged in the mounting cavity b101, and the sliding window b107 is located between the first mounting seat b202 and the second mounting seat b203. One end of the screw rod b205 is rotatably connected to the first mounting seat b202, and the other end is rotatably connected to the second mounting seat b203. The driving device b204 is installed in the mounting cavity b101 and can drive the screw rod b205 to rotate. The linear guide rail b206 is installed on the inner wall of the mounting cavity b101. The middle part of the slider b207 is screwed with the screw rod b205. The side of the slider b207 can slide on the linear guide rail b206, and the linear output block b201 is fixedly connected to the slider b207. Specifically, the driving device b204 is driven by a servo motor. The outer contour of the first mounting seat b202 and the outer contour of the second mounting seat b203 are both set according to the outer contour of the cross section of the mounting cavity b101.By providing the first and second mounting seats b203 with an outer contour similar to the outer contour of the cross section of the mounting cavity b101, the circumferential positioning of the first and second mounting seats b203 after installation is facilitated, and installation and fixation are facilitated; specifically, the drive device b204 is installed on the first mounting seat b202, and the drive device b204 is connected to one end of the screw rod b205 through a coupling b208. Anti-collision blocks b209 are provided at both ends of the slider b207. The anti-collision blocks b209 can prevent the slider b207 from directly colliding with the first and second mounting seats b203 to prevent damage. Sealing plates b210 are provided at both ends of the beam body. Specifically, the upper linear actuator a11 and the lower linear actuator a21 can each include one or two linear actuator modules b2.

[0043] See also Fig. 9 The gripper module a3 includes a gripper connector a31, a gripper mounting seat a32, a driver a33, a first gripper a34 and a second gripper a35. One end of the gripper connector a31 is connected to the last lower linear actuator a21, and the other end is equipped with a gripper mounting seat a32. The first gripper a34 is fixedly connected to the gripper mounting seat a32. The driver a33 is installed on the gripper mounting seat a32 and drives the second gripper a35 to approach the first gripper a34. The first gripper a34 and the second gripper a35 both form a clamping surface at their proximity, and the clamping surface is an arc-shaped convex surface a36.

[0044] See also Fig.10 and Fig.11 A flexible gripper control system includes a flexible gripper controller c1, an on-site teaching management terminal c2 and a servo positioning module c3. The flexible gripper controller c1 includes a logic controller module c11, a servo bus communication module c12, a bus adapter scanner module c13 and a bus server module c14. The logic controller module c11 is used to process the gripper action control logic, the servo bus communication module c12 is used to monitor the servo positioning module c3, and the servo positioning module c3 is used to finally control the movement of the gripper mechanical structure. The on-site teaching management terminal c2 is used for human-machine interaction to monitor the overall operation of the flexible gripper. The bus adapter scanning module is used to set the flexible gripper controller c1 as a communication slave station for the convenience of upper device control, and the bus server module c14 is used to set the flexible gripper controller c1 as a data server for group control of the flexible gripper management system c5. The teaching management terminal commands the logic controller to drive the servo positioning module c3 through the servo bus communication module c12, and after all flexible grippers are positioned to the required positions of the process, each position is recorded, packaged into a process object and stored in the flexible gripper controller c1.

[0045] In this embodiment, the robot a5 controller and gripper management system c5 are also included. The robot a5 controller sends control commands through the bus adapter scanner module c13 to control the flexible gripper controller c1 to execute to the initial state or the clamping state within the process object according to the production steps. The flexible gripper management system c5 collects the clamping posture and production count information of a single flexible gripper controller c1 in real time through the bus server module c14.

[0046] Specifically, the logic controller module c11 uses a controller developed based on CODESYS, supports the IEC61131-3 standard programming language, supports the standard EtherCAT / CANOpen / Modbus TCP / Modbus RTU / OPC UA protocol, and supports the Scanner and Adapter functions of the Ethernet / IP protocol. The servo bus communication module c12 obtains the current state of the servo in real time and controls the precise positioning of the servo through the Can protocol based on the serial communication protocol bus. The servo positioning module c3 has high positioning accuracy and is equipped with an absolute encoder, large starting torque, and fast positioning speed. The screw b205 in the positioning module quickly executes to position the gripper to the process position. The on-site teaching management terminal c2 supports the control of the flexible gripper in the form of a touch screen, and uses the screen to display the operating status of the equipment. The touch screen size is 10.1 inches, the resolution is 1024*600, LED backlight, and supports Ethernet-based communication protocols. The bus adapter scanner module c13 encapsulates the flexible gripper controller c1 as an Ethernet / IP device, which can be used as an adapter to be mounted under other devices, or as a scanner main controller to control other devices. The bus server module c14 encapsulates the flexible gripper controller c1 as a standard Ethernet device, and is used as a Modbus TCP protocol server for group control by the gripper management system c5.

[0047] Example 2

[0048] See also Fig.12, the difference between this embodiment and the embodiment 1 is that the expansion structure of the frame a1 is different. Specifically, the frame a1 of this embodiment is in the shape of an "I", including a first-level upper linear actuator a111 arranged along the X-axis direction, two second-level upper linear actuators a112 arranged along the Y-axis, and four third-level upper linear actuators a113 extending along the X-axis direction, wherein the first-level upper linear actuator a111 and the second-level upper linear actuator a112 arranged in the X-axis direction each have two linear actuator modules b2; a connector a2 is arranged in the middle of the first-level upper linear actuator a111; the middle of one second-level upper linear actuator a112 is fixedly connected to the middle of the end of the first-level upper linear actuator a111, and the middle of another second-level upper linear actuator a112 is connected to the output end of a linear actuator module b2 of the first-level upper linear actuator; one end of each third-level upper linear actuator a113 is connected to the output end of the linear actuator module b2 of the second-level upper linear actuator a112.

[0049] Example 3

[0050] See also Fig.13 , the difference between this embodiment and embodiment 1 is that the extended structure of the gripper module a3 is different. Specifically, the lower linear actuator a21 of this embodiment is set in three levels, wherein the first-level lower linear actuator a211 is set along the Z-axis direction, the second-level lower linear actuator a212 is set along the Y-axis direction, and the third-level lower linear actuator a213 is set along the Z-axis direction; the lower end of the linear actuator module b2 of the first-level lower linear actuator a211 is connected to one end of the second-level lower linear actuator a212 through a transfer structure a23, and the output end of the linear actuator module b2 of the second-level lower linear actuator a212 is connected to one end of the second-level lower linear actuator a212 through a transfer structure a23, and the lower end of the third-level lower linear actuator a213 is fixedly connected to the clamping device a22.

[0051] The above description is a detailed description of the preferred feasible embodiment of the utility model, but the embodiment is not used to limit the scope of the patent application of the utility model. All equivalent changes or modified changes completed under the technical spirit suggested by the utility model should fall within the patent scope covered by the utility model.

Claims

1. A flexible gripper, characterized in that: It includes a frame, a connector and a plurality of gripper modules; the frame is constructed by a plurality of upper linear actuators, the frame is provided with a connector, the connector can be used to connect with the robot, and the upper linear actuators can be connected to each other and arranged and extended along the X-axis and / or Y-axis direction; Each of the gripper modules includes one or more levels of lower linear actuators, clamping devices and several transfer structures. The upper linear actuator of the first level is connected to the robot through a connector, the upper linear actuator of the next level is installed on the upper linear actuator of the previous level through a transfer structure, and the upper linear actuator of the last level is equipped with the gripper module; the lower linear actuator of the highest level is arranged along the Z-axis direction and connected to an upper linear actuator; the lower linear actuator at the next level is arranged and extended along the X-axis, Y-axis or Z-axis direction through the separately arranged transfer structure, and the clamping device is provided on the lower linear actuator of the last level.

2. A flexible gripper according to claim 1, characterized in that: The upper linear actuator and the lower linear actuator both include a structural beam and a linear actuator module, the structural beam includes a beam body, a mounting cavity arranged along the length direction of the beam body is arranged in the middle of the beam body, and a plurality of mounting holes are arranged alternately along the length direction on the outer periphery of the beam body; a sliding window is arranged on one side of the structural beam, the linear actuator module is arranged in the mounting cavity, a linear output block is arranged on the linear actuator module, a mounting surface is arranged at one end of the linear output block and extends from the sliding window to be located outside the mounting cavity.

3. A flexible gripper according to claim 2, characterized in that: The upper linear actuator and the lower linear actuator may each include one or two linear actuator modules.

4. A flexible gripper according to claim 1, characterized in that: The gripper module includes a gripper connector, a gripper mounting seat, a driver, a first clamp and a second clamp. One end of the gripper connector is connected to the lower linear actuator of the last stage, and the other end is equipped with the gripper mounting seat. The first clamp is fixedly connected to the gripper mounting seat. The driver is installed on the gripper mounting seat and drives the second clamp to approach the first clamp.

5. A flexible gripper according to claim 4, characterized in that: The first clamping grip and the second clamping grip both form a clamping surface at their adjacent locations, and the clamping surface is an arc-shaped convex surface.

6. A flexible gripper according to claim 1, characterized in that: It also includes a positioning column, the upper end of which is detachably connected to the frame, and the lower end of which is provided with a positioning finger.

7. A flexible gripper control system, characterized in that: It includes a flexible gripper controller, an on-site teaching management terminal and a servo positioning module. The flexible gripper controller includes a logic controller module, a servo bus communication module, a bus adapter scanner module and a bus server module; the logic controller module is used to process the gripper action control logic, the servo bus communication module is used to monitor the servo positioning module, the servo positioning module is used to ultimately control the movement of the gripper mechanical structure, the on-site teaching management terminal is used for human-computer interaction to monitor the overall operation of the flexible gripper, the bus adapter scanning module is used to set the flexible gripper controller as a communication slave station for the convenience of upper device control, and the bus server module is used to set the flexible gripper controller as a data server for group control of the flexible gripper management system.

8. A flexible gripper control system according to claim 7, characterized in that: The teaching management terminal commands the logic controller to drive the servo positioning module through the servo bus communication module, and after all flexible grippers are positioned to the required positions for the process, each position is recorded, packaged into a process object and stored in the flexible gripper controller.

9. A flexible gripper control system according to claim 8, characterized in that: It also includes a robot controller, which sends control commands through the bus adapter scanner module to control the flexible gripper controller to execute to an initial state or a clamping state within a process object according to the production steps.

10. A flexible gripper control system according to claim 9, characterized in that: It also includes a gripper management system, which collects the clamping posture and production count information of a single flexible gripper controller in real time through a bus server module.

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