Sucker gripper with self-monitoring function

Abstract

The sucker gripper with the self-monitoring function comprises a sucker, the sucker sucks a workpiece through negative pressure under the action of a vacuum source, a first piezoresistive fiber array and a second piezoresistive fiber array which are arranged at intervals from top to bottom are arranged in the sucker, and the first piezoresistive fiber array and the second piezoresistive fiber array are arranged at intervals from top to bottom. The resistance value of the first piezoresistive fiber array and the resistance value of the second piezoresistive fiber array change along with the change of an external force; when the suction cup sucks a workpiece, external force is applied to the first piezoresistive fiber array and the second piezoresistive fiber array, and the working state of the suction cup is fed back by monitoring the resistance value of the first piezoresistive fiber array and the resistance value of the second piezoresistive fiber array. The piezoresistive fiber is implanted around the suction nozzle in the silica gel suction cup, so that the adsorption state of the suction nozzle can be monitored one by one through the impedance change of the piezoresistive fiber, and the monitoring accuracy is high.

Description

Technical Field

[0001] The utility model relates to the technical field of suction cup grippers, in particular to a suction cup gripper with a self-monitoring function. Background Art

[0002] Suction cups, as end effectors that can effectively grasp objects, have extensive and numerous practical applications in the engineering field. Improving the strength and stability of suction cup adsorption has always been the focus of suction cup product design iterations. Suction cups are divided into single-disc vacuum cups and multi-hole vacuum cups. Among them, single-disc vacuum cups are mostly used to adsorb targets with relatively flat surfaces. They have a compact structure and are suitable for portable applications. They are usually equipped with a pressure gauge to monitor the vacuum level. However, for targets with rough surfaces or complex shapes, multi-hole vacuum cups are often used for adsorption. In addition, in order to ensure the stability of the fixture and the safety of personnel and equipment during cutting, multi-hole vacuum cups need to be continuously vacuumed to ensure the adsorption strength during operation.

[0003] In existing technologies, multi-hole vacuum chucks only monitor the vacuum level of each hole indirectly by monitoring the vacuum level of the negative pressure source. However, this monitoring method is difficult to independently and effectively monitor the vacuum level changes of each hole, and the monitoring accuracy is poor. Furthermore, because multiple holes may share a single negative pressure source, this monitoring method cannot provide timely and accurate feedback on the blockage status of each hole. Utility Model Content

[0004] In response to the shortcomings of the above-mentioned existing production technology, the applicant provides a suction cup gripper with a self-monitoring function. By implanting piezoresistive fibers around the suction nozzle in the silicone suction cup, the adsorption state of the suction nozzle can be monitored one by one through the impedance changes of the piezoresistive fibers, and the monitoring accuracy is high.

[0005] The technical solutions adopted in this utility model are as follows:

[0006] A suction cup gripper with a self-monitoring function includes a suction cup that sucks a workpiece by applying negative pressure under the action of a vacuum source. A first piezoresistive fiber array and a second piezoresistive fiber array are disposed within the suction cup, spaced apart from each other from top to bottom. The resistance values ​​of the first piezoresistive fiber array and the second piezoresistive fiber array both vary with changes in the external force applied thereto.

[0007] When the suction cup sucks the workpiece, external forces are applied to the first piezoresistive fiber array and the second piezoresistive fiber array respectively, and the working status of the suction cup is fed back by monitoring the resistance values ​​of the first piezoresistive fiber array and the second piezoresistive fiber array respectively.

[0008] As a further improvement of the above technical solution:

[0009] The structure of the suction cup is as follows: it includes a disc body, and a plurality of slots arranged in an array are opened on the end surface of the disc body, each slot is conical, so that the bottom end surface of the disc body forms a protrusion arranged in an array, and a suction nozzle is formed at a single slot.

[0010] The first piezoresistive fiber array includes several first transverse piezoresistive fibers arranged in parallel at equal intervals, and several first longitudinal piezoresistive fibers arranged in parallel at equal intervals. A single first transverse piezoresistive fiber is perpendicular to a single first longitudinal piezoresistive fiber, so that a first intersection arranged in an array is formed between the first transverse piezoresistive fibers and the first longitudinal piezoresistive fibers. The first intersection corresponds one-to-one with the center of the slot on the disk body, so that the first piezoresistive fiber array is used to feedback the deformation of the corresponding suction nozzle under the action of negative pressure.

[0011] The second piezoresistive fiber array includes several second transverse piezoresistive fibers arranged in parallel at equal intervals, and several second longitudinal piezoresistive fibers arranged in parallel at equal intervals. A single second transverse piezoresistive fiber is perpendicular to a single second longitudinal piezoresistive fiber, so that second intersections arranged in an array are formed between the second transverse piezoresistive fibers and the second longitudinal piezoresistive fibers. The second intersections correspond one-to-one with the centers of the protrusions, so that the second piezoresistive fiber array is used to feedback the deformation balance between the four adjacent suction nozzles.

[0012] The disk body is further provided with a plurality of conductive slot groups, wherein a single conductive slot group includes two conductive slots, and the conductive slots are used to supply power to the first piezoresistive fiber array and the second piezoresistive fiber array.

[0013] The disc body is made of silicone rubber.

[0014] The vacuum source is a diaphragm pump.

[0015] A connecting shell is mounted on the top of the suction cup. The connecting shell comprises a hollow shell, wherein the interior space of the shell is divided into a first chamber, a second chamber, and a third chamber by a plurality of partitions. A first connector is mounted on the partition separating the first chamber from the second chamber, and a second connector is mounted on the partition separating the second chamber from the third chamber.

[0016] A pressure relief port is provided on the shell wall surface corresponding to the third chamber, and a pressure relief valve is installed at the pressure relief port.

[0017] An electric control system is installed in the first chamber, and an exhaust pipe group is installed in the third chamber;

[0018] The electric control system is electrically connected to the vacuum source arranged in the second chamber through the first connector, and the electric control system is electrically connected to the first piezoresistive fiber array and the second piezoresistive fiber array respectively through the second connector.

[0019] The structure of the exhaust pipe group is as follows: it includes a first diversion main pipe connected to the output end of the vacuum source, several first branch pipes are installed on the first diversion main pipe, a second branch pipe is installed on a single first branch pipe, the end of the second branch pipe is also connected to the second diversion main pipe, and a one-way valve is installed inside each first branch pipe and each second branch pipe.

[0020] The beneficial effects of the utility model are as follows:

[0021] The utility model has a compact and reasonable structure and is easy to operate. By setting a first piezoresistive fiber array and a second piezoresistive fiber array, the compressive deformation of each hole on the disc body can be reflected in the impedance value change of the corresponding piezoresistive fiber. Therefore, by monitoring the impedance value at the intersection of the piezoresistive fibers, the vacuum degree of each suction nozzle can be accurately monitored, ensuring that the adsorption state of the suction cup gripper is perceptible, stable and controllable, and intelligent and portable.

[0022] The utility model can realize a loose coupling combination among the electric control system, the vacuum source, the one-way valve and the suction cup by arranging the first plug connector and the second plug connector, so as to facilitate quick replacement and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural diagram of the present utility model.

[0024] Figure 2 This is a diagram of the working principle between the first piezoresistive fiber array and the nozzle assembly in the present invention.

[0025] Figure 3 This is a diagram of the working principle between the second piezoresistive fiber array and the suction nozzle assembly in the present invention.

[0026] Figure 4 It is a structural schematic diagram of the shell in the utility model.

[0027] Figure 5 It is a bottom view of the suction cup in the present invention.

[0028] Figure 6 It is a top view of the suction cup in the present invention.

[0029] Wherein: 1. First piezoresistive fiber array; 2. Second piezoresistive fiber array; 3. Vacuum source; 4. Battery pack; 5. Connecting shell; 6. Suction cup; 7. Connecting pipe group; 8. Electronic control system; 9. Exhaust pipe group;

[0030] 101. First transverse piezoresistive fiber; 102. First longitudinal piezoresistive fiber; 103. First intersection;

[0031] 201, second transverse piezoresistive fiber; 202, second longitudinal piezoresistive fiber; 203, second intersection;

[0032] 501, housing; 502, first connector; 503, second connector; 504, first chamber; 505, second chamber; 506, third chamber; 507, pressure relief port; 508, pressure relief valve;

[0033] 601, tray body; 602, nozzle; 603, bump; 604, conductive slot;

[0034] 801, main control chip; 802, connection terminal;

[0035] 901, first branch pipe; 902, second branch pipe; 903, first branch pipe; 904, second branch pipe; 905, third branch pipe; 906, one-way valve. DETAILED DESCRIPTION

[0036] The specific implementation of the present utility model will be described below with reference to the accompanying drawings.

[0037] The structure and functions of this utility model are as follows:

[0038] like Figures 1-6 As shown, a suction cup gripper with a self-monitoring function includes a suction cup 6. The suction cup 6 sucks the workpiece through negative pressure under the action of a vacuum source 3. The interior of the suction cup 6 is provided with a first piezoresistive fiber array 1 and a second piezoresistive fiber array 2 spaced apart from top to bottom. The resistance value of the first piezoresistive fiber array 1 and the resistance value of the second piezoresistive fiber array 2 both change with the change of the external force applied thereto. When the suction cup 6 sucks the workpiece, external forces are applied to the first piezoresistive fiber array 1 and the second piezoresistive fiber array 2 respectively, and the working status of the suction cup 6 is fed back by monitoring the resistance values ​​of the first piezoresistive fiber array 1 and the second piezoresistive fiber array 2 respectively.

[0039] The suction cup gripper based on piezoresistive fiber array monitoring of the present invention comprises a first piezoresistive fiber array 1, a second piezoresistive fiber array 2, a vacuum source 3, and a suction cup 6; wherein,

[0040] like Figure 1 、 Figure 5-Figure 6 As shown, the structure of the suction cup 6 is as follows: it includes a disc body 601, and a plurality of slots arranged in an array are provided on the end face of the disc body 601, each slot is conical, so that the bottom end face of the disc body 601 forms a protrusion 603 arranged in an array, and a suction nozzle 602 is formed corresponding to a single slot.

[0041] The disk body 601 is further provided with a plurality of conductive slot groups. A single conductive slot group includes two conductive slots 604 . The conductive slots 604 are used to supply power to the first piezoresistive fiber array 1 and the second piezoresistive fiber array 2 .

[0042] The first piezoresistive fiber array 1 includes several first transverse piezoresistive fibers 101 arranged in parallel at equal intervals, and several first longitudinal piezoresistive fibers 102 arranged in parallel at equal intervals. A single first transverse piezoresistive fiber 101 and a single first longitudinal piezoresistive fiber 102 are perpendicular to each other, so that a first intersection 103 arranged in an array is formed between the first transverse piezoresistive fibers 101 and the first longitudinal piezoresistive fibers 102. The first intersection 103 corresponds one-to-one to the center of the slot on the disk body 601, so that the first piezoresistive fiber array 1 is used to feedback the deformation of the corresponding suction nozzle 602 under the action of negative pressure.

[0043] The second piezoresistive fiber array 2 includes several second transverse piezoresistive fibers 201 arranged in parallel at equal intervals, and several second longitudinal piezoresistive fibers 202 arranged in parallel at equal intervals. A single second transverse piezoresistive fiber 201 and a single second longitudinal piezoresistive fiber 202 are perpendicular to each other, so that a second intersection 203 arranged in an array is formed between the second transverse piezoresistive fibers 201 and the second longitudinal piezoresistive fibers 202. The second intersection 203 corresponds one-to-one to the center of the protrusion 603, so that the second piezoresistive fiber array 2 is used to feedback the deformation balance between the four adjacent suction nozzles 602.

[0044] The disc body 601 is made of silicone rubber.

[0045] Since the silicone rubber disc 601 deforms when sucking or releasing the workpiece, a pulling force is generated, which in turn pulls the first piezoresistive fiber array 1 and the second piezoresistive fiber array 2 inside it to change the impedance value of the corresponding piezoresistive fibers; therefore,

[0046] The first intersection 103 formed by the first piezoresistive fiber array 1 is located directly above the corresponding suction nozzle 602 to monitor the deformation of the corresponding suction nozzle 602 under the action of negative pressure;

[0047] If one or some of the nozzles 602 leak, the force applied to the disk 601 made of silicone rubber will be changed, thereby changing the impedance of the corresponding piezoresistive fibers inside the disk 601.

[0048] The second piezoresistive fiber array 2 is interwoven beside the corresponding suction nozzle 602 to monitor the deformation balance between the four adjacent suction nozzles 602 .

[0049] In the present utility model, Figure 2-Figure 3 、 Figure 5As shown, the nozzle assembly adopts a 7×7 square array, that is, it includes 49 nozzles 602; correspondingly, the slots adopt a 7×7 square array, forming a 6×6 square array of protrusions 603;

[0050] Seven first transverse piezoresistive fibers 101 and seven first longitudinal piezoresistive fibers 102 are arranged to form 49 first intersections 103; six second transverse piezoresistive fibers 201 and six second longitudinal piezoresistive fibers 202 are arranged to form 36 second intersections 603;

[0051] In addition, 26 conductive slot groups are arranged, corresponding to 52 conductive slots 604 .

[0052] The top of the suction cup 6 is equipped with a connecting shell 5. Figure 4 As shown, the structure of the connecting shell 5 is as follows: it includes an internal hollow shell 501, the internal space of the shell 501 is divided into a first chamber 504, a second chamber 505, and a third chamber 506 in sequence by several partitions, the partition for separating the first chamber 504 and the second chamber 505 is cooperated with installed with a first connector 502, and the partition for separating the second chamber 505 and the third chamber 506 is cooperated with installed with a second connector 503; a pressure relief port 507 is provided on the wall of the shell 501 corresponding to the third chamber 506, and a pressure relief valve 508 is cooperated with installed at the pressure relief port 507; the pressure relief valve 508 is used to control the opening and closing of the pressure relief port 507. When the pressure relief valve 508 is opened, the vacuum of the nozzle assembly can be broken, so that the nozzle assembly releases the workpiece.

[0053] An electrical control system 8 is installed in the first chamber 504, and an exhaust pipe group 9 is installed in the third chamber 506; the electrical control system 8 is electrically connected to the vacuum source 3 arranged in the second chamber 505 through the first connector 502, and the electrical control system 8 is electrically connected to the first piezoresistive fiber array 1 and the second piezoresistive fiber array 2 through the second connector 503.

[0054] The outer wall of the housing 501 is provided with a handle for the operator to use it easily; a quick-release connector is also provided for connecting to the output end of other actuators.

[0055] The electronic control system 8 includes a circuit board with a main control chip 801 and terminals 802 soldered onto it. The electronic control system 8 is electrically connected to the battery pack 4 via the terminals 802. Under the control of the electronic control system 8, the battery pack 4 supplies power to the vacuum source 3 via the first connector 502 and to the first and second piezoresistive fiber arrays 1 and 2 via the first and second connectors 502 and 503. An acquisition circuit is mounted on the circuit board, which measures the impedance values ​​of the first and second piezoresistive fiber arrays 1 and 2 step by step through the terminals 802. The main control chip 801 analyzes and calculates the vacuum level of the nozzle assembly corresponding to the impedance values ​​of the first and second piezoresistive fiber arrays 1 and 2, thereby controlling the vacuum source 3 to start and stop vacuuming, thereby maintaining the nozzle assembly's adhesion to the target object.

[0056] In addition, the electronic control system 8 also includes a start / stop button, which facilitates the operator to manually control the start / stop of the vacuum source 3, and thus control the nozzle assembly to work or stop;

[0057] The electronic control system 8 includes a display screen and a wireless communication device (such as Bluetooth), which can realize human-machine interactive functions such as vacuum degree, battery remaining capacity and working status.

[0058] When the working status of the suction cup 6 is fed back through the first piezoresistive fiber array 1 and the second piezoresistive fiber array 2, the specific process is as follows:

[0059] S1 pre-set in the electronic control system 8 the first impedance threshold lower limit N1, the second impedance threshold lower limit N2, the first impedance impedance threshold upper limit M1, the second impedance impedance threshold upper limit M2;

[0060] S1.1. The first impedance lower threshold N1 and the first impedance upper threshold M1 are both 7×7 matrices, each containing 49 impedance values, which are compared with the impedance values ​​at the 49 first intersections 103 in the first piezoresistive fiber array 1;

[0061] The second impedance threshold lower limit N2 and the second impedance threshold upper limit M2 are both 6×6 matrices, each containing 36 impedance values, which are respectively compared with the impedance values ​​at the 36 second intersections 603 in the second piezoresistive fiber array 2;

[0062] S2. The impedance of the first piezoresistive fiber array 1 and the second piezoresistive fiber array 2 are monitored in real time by the electronic control system 8, thereby obtaining an impedance data set A of the first piezoresistive fiber array 1 and an impedance data set B of the second piezoresistive fiber array 2, respectively;

[0063] S2.1. Impedance dataset A is a 7×7 matrix containing 49 impedance values, corresponding to the impedance values ​​at the 49 first intersections 103 in first piezoresistive fiber array 1. Impedance dataset B is a 6×6 matrix containing 36 impedance values, corresponding to the impedance values ​​at the 36 second intersections 603 in second piezoresistive fiber array 2.

[0064] S3. When in the startup or standby state, the impedance values ​​in impedance data set A are compared one by one with the impedance values ​​within the first impedance lower threshold N1, and the impedance values ​​in impedance data set B are compared one by one with the impedance values ​​within the second impedance lower threshold N2. If the impedance values ​​in impedance data set A are all greater than the impedance values ​​within the first impedance lower threshold N1 and the impedance values ​​in impedance data set B are all greater than the impedance values ​​within the second impedance lower threshold N2, the electronic control system 8 controls the vacuum source 3 to start vacuuming; otherwise, the system remains in standby mode and continues monitoring.

[0065] S3.1. In addition, a time interval can be set to continuously record impedance dataset A and impedance dataset B, respectively, and the rate of change of impedance dataset A and impedance dataset B over time can be calculated. The time when the first impedance lower threshold N1 and the second impedance lower threshold N2 corresponding to the lower limit of the adsorption force is continuously determined and updated. This time is the effective adsorption time.

[0066] S4. When in a stable working state, the impedance values ​​in the impedance data set A are compared one by one with the impedance values ​​within the first impedance threshold upper limit M1, and the impedance values ​​in the impedance data set B are compared one by one with the impedance values ​​within the second impedance threshold upper limit M2. If the impedance values ​​in the impedance data set A are all greater than the impedance values ​​within the first impedance threshold upper limit M1 and the impedance values ​​in the impedance data set B are all greater than the impedance values ​​within the second impedance threshold upper limit M2, the vacuum source 3 is controlled to stop working through the electronic control system 8; otherwise, it continues to work and maintains continuous monitoring.

[0067] S4.1. Furthermore, if the first upper impedance threshold M1 and the second upper impedance threshold M2 are not pre-set, or if a timeout protection mechanism is pre-set within the electronic control system 8 , the suction cup gripper may be deactivated after continuous vacuuming for a predetermined time or a pre-set time. The impedance dataset corresponding to the first piezoresistive fiber array and the impedance dataset corresponding to the second piezoresistive limit array are recorded and denoted as the first upper impedance threshold M1 and the second upper impedance threshold M2, respectively.

[0068] S5. A Hamiltonian operator is introduced to perform gradient transformation on impedance datasets A and B, thereby determining the force distribution on suction cup 6 at this time and, in turn, the roughness of the workpiece suction surface at this time. If the workpiece suction surface is determined to be flat, the force distribution can be used to determine whether leakage occurs within suction cup 6 at this time.

[0069] In the present invention, the suction surface of the workpiece refers to the surface of the workpiece that contacts the suction nozzle 602 when the suction cup gripper sucks the workpiece.

[0070] The structure of the exhaust pipe group 9 is as follows: it includes a first branch pipe 901 connected to the output end of the vacuum source 3, several first branch pipes 903 are installed on the first branch pipe 901, and a second branch pipe 904 is installed on a single first branch pipe 903. The end of the second branch pipe 904 is also connected to the second branch pipe 902, and each first branch pipe 903 and each second branch pipe 904 are internally installed with a one-way valve 906; by setting the one-way valve 906, it is used to prevent the gas inside the pipeline from flowing back, so that when the suction cup gripper sucks the workpiece, the vacuum degree of the suction nozzle assembly can be kept stable.

[0071] The first branch pipe 903 is connected to the air port of the suction nozzle 602 in a one-to-one correspondence. Figure 5-Figure 6 As shown, the air inlet of the suction nozzle 602 is eccentrically arranged with the corresponding suction nozzle 602 to prevent the air inlet from interfering with the first intersection 103; a filter element is provided at the connection between the air inlet of a single suction nozzle 602 and the corresponding first branch pipe 901. The filter element can be made of metal mesh, filter cotton or sintered ceramics to protect the exhaust pipe group 9 and prevent it from being blocked inside.

[0072] Forty-nine first branch pipes 903 are connected to the first branch pipe 901 , forty-nine second branch pipes 904 are connected to the second branch pipe 902 , and the second branch pipe 902 is connected to the pressure relief port 507 via a third branch pipe 905 .

[0073] The vacuum source 3 is a diaphragm pump, the vacuum port of which corresponds to the output end of the vacuum source 3 and is connected to the first branch main pipe 901 via a connecting pipe set 7 .

[0074] The working process of this utility model is as follows:

[0075] The diaphragm pump is started or stopped by the electronic control system 8, thereby driving the suction nozzle assembly to suck or release the workpiece;

[0076] When the diaphragm pump is started, the corresponding suction nozzles 602 are vacuumed in sequence through the connecting pipe group 7, the first branch pipe 901, and the first branch pipe 903. By setting the first branch pipe 901 and the first branch pipe 903, when the diaphragm pump is pumping air, all the suction nozzles 602 can be drained and vacuumed synchronously.

[0077] When the diaphragm pump is working, negative pressure is formed at the rear end of the one-way valve 906 installed in the first branch pipe 903, and the air in the suction nozzle 602 is sucked out. At this time, the pressure relief valve 508 is closed. Under the combined action of the pressure relief valve 508 and the one-way valve 906 installed in the first branch pipe 903, the suction nozzle assembly maintains a negative pressure state, thereby sucking up the workpiece;

[0078] When the suction nozzle assembly reaches the set vacuum level, the diaphragm pump stops. At this time, due to the negative pressure formed at the front end of the one-way valve 906 installed in the first branch pipe 903 and the fact that the diaphragm pump itself is not sealed, the air path in the first branch pipe 903 cannot flow back due to the action of the corresponding one-way valve 906. Therefore, the vacuum level of the suction nozzle assembly can be guaranteed at this time through the one-way valve 906 and the pressure relief valve 508.

[0079] When the workpiece needs to be loosened, the pressure relief valve 10 is pressed, or the pressure relief valve 10 is automatically opened by the electronic control system 8, so that the air in the external environment can enter the suction nozzle assembly through the pressure relief port 507, the third branch pipe 905, the second branch pipe 902, the second branch pipe 904, and the first branch pipe 903 in sequence, and then the vacuum of the suction nozzle assembly is broken, so that the suction nozzle assembly can loosen the workpiece.

[0080] The above description is an explanation of the utility model, not a limitation of the utility model. The scope of the utility model is defined by the claims. Any form of modification can be made within the scope of protection of the utility model.

Claims

1. A suction cup gripper with self-monitoring function, characterized by: The invention comprises a suction cup (6), wherein the suction cup (6) sucks a workpiece by negative pressure under the action of a vacuum source (3), and a first piezoresistive fiber array (1) and a second piezoresistive fiber array (2) are arranged in a spaced manner from top to bottom inside the suction cup (6), and the resistance value of the first piezoresistive fiber array (1) and the resistance value of the second piezoresistive fiber array (2) both change with the change of the external force applied thereto; When the suction cup (6) sucks up a workpiece, external forces are applied to the first piezoresistive fiber array (1) and the second piezoresistive fiber array (2), respectively, and the resistance value of the first piezoresistive fiber array (1) and the resistance value of the second piezoresistive fiber array (2) are monitored respectively, thereby providing feedback on the working state of the suction cup (6).

2. The suction cup gripper with self-monitoring function according to claim 1, characterized in that: The structure of the suction cup (6) is as follows: it includes a disc body (601), and a plurality of notches arranged in an array are provided on the end surface of the disc body (601), each notch is tapered, so that a protrusion (603) arranged in an array is formed on the bottom end surface of the disc body (601), and a suction nozzle (602) is formed correspondingly at each notch.

3. The suction cup gripper with self-monitoring function according to claim 2, characterized in that: The first piezoresistive fiber array (1) comprises a plurality of first transverse piezoresistive fibers (101) arranged in parallel at equal intervals, and a plurality of first longitudinal piezoresistive fibers (102) arranged in parallel at equal intervals, wherein a single first transverse piezoresistive fiber (101) and a single first longitudinal piezoresistive fiber (102) are perpendicular to each other, so that a first intersection (103) arranged in an array is formed between the first transverse piezoresistive fibers (101) and the first longitudinal piezoresistive fibers (102), and the first intersection (103) corresponds one-to-one to the center of the notch on the disc body (601), so that the first piezoresistive fiber array (1) is used to feedback the deformation of the corresponding suction nozzle (602) under the action of negative pressure.

4. The suction cup gripper with self-monitoring function according to claim 2, characterized in that: The second piezoresistive fiber array (2) comprises a plurality of second transverse piezoresistive fibers (201) arranged in parallel at equal intervals, and a plurality of second longitudinal piezoresistive fibers (202) arranged in parallel at equal intervals, wherein a single second transverse piezoresistive fiber (201) and a single second longitudinal piezoresistive fiber (202) are perpendicular to each other, so that a second intersection (203) arranged in an array is formed between the second transverse piezoresistive fibers (201) and the second longitudinal piezoresistive fibers (202), and the second intersection (203) corresponds one-to-one to the center of the protrusion (603), so that the second piezoresistive fiber array (2) is used to feedback the deformation balance between the four adjacent suction nozzles (602).

5. The suction cup gripper with self-monitoring function according to claim 2, characterized in that: The disk body (601) is also provided with a plurality of conductive slot groups, each conductive slot group comprising two conductive slots (604), and the conductive slots (604) are used to supply power to the first piezoresistive fiber array (1) and the second piezoresistive fiber array (2).

6. The suction cup gripper with self-monitoring function according to claim 2, characterized in that: The disc body (601) is made of silicone rubber.

7. The suction cup gripper with self-monitoring function according to claim 1, characterized in that: The vacuum source (3) is a diaphragm pump.

8. The suction cup gripper with self-monitoring function according to claim 1, characterized in that: A connecting shell (5) is mounted on the top of the suction cup (6). The connecting shell (5) has the following structure: it comprises a hollow shell (501), the internal space of the shell (501) is divided into a first chamber (504), a second chamber (505), and a third chamber (506) in sequence by a number of partitions, a first connector (502) is mounted on the partition for separating the first chamber (504) and the second chamber (505), and a second connector (503) is mounted on the partition for separating the second chamber (505) and the third chamber (506); A pressure relief port (507) is provided on the wall surface of the shell (501) corresponding to the third chamber (506), and a pressure relief valve (508) is installed in conjunction with the pressure relief port (507).

9. The suction cup gripper with self-monitoring function according to claim 8, characterized in that: An electric control system (8) is installed in the first chamber (504), and an air exhaust pipe group (9) is installed in the third chamber (506); The electric control system (8) is electrically connected to a vacuum source (3) arranged in a second chamber (505) via a first connector (502), and the electric control system (8) is electrically connected to the first piezoresistive fiber array (1) and the second piezoresistive fiber array (2) respectively via a second connector (503).

10. The suction cup gripper with self-monitoring function according to claim 9, characterized in that: The structure of the exhaust pipe group (9) is as follows: it includes a first branch pipe (901) connected to the output end of the vacuum source (3), a plurality of first branch pipes (903) are installed on the first branch pipe (901), a second branch pipe (904) is installed on a single first branch pipe (903), the end of the second branch pipe (904) is connected to the second branch pipe (902), and a one-way valve (906) is installed inside each first branch pipe (903) and each second branch pipe (904).

Images