Pneumatic flexible self-adaptive clamping jaw

Abstract

The utility model discloses a pneumatic flexible self-adaptive clamping jaw, and belongs to the technical field of clamping jaws. The device comprises a support; a clamping cavity is formed in the clamping jaw main body; the driving assembly is used for controlling the internal air pressure of the clamping cavity; the multiple pressure sensors are distributed on the clamping face in an array mode; the controller is used for calculating a control signal according to the multiple pressure signals, and the driving assembly receives the control signal and controls the clamping jaw body according to the control signal. The controller knows the clamping force condition of the clamping jaw body through pressure signals of the multiple pressure sensors, an accurate control signal is generated, the driving assembly controls the air pressure of the clamping cavity in the clamping jaw body according to the control signal, the clamping jaw body can accurately output the needed clamping force, and the clamping efficiency is improved. The clamping force is in a reasonable range and cannot be too large or too small, it is guaranteed that the object is stably clamped, meanwhile, the object cannot be damaged due to the too large clamping force, and the clamping device meets and is suitable for various application scenes where the clamping force needs to be accurately controlled.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, and in particular to a pneumatic flexible adaptive gripper. Background Technology

[0002] Mechanical grippers generally include rigid grippers and flexible grippers. Flexible grippers can change their degree of bending by varying the amount of air they inflate, and thus grasp and release objects by inflating or deflating them. While existing flexible grippers can adapt to the shape of objects to some extent, they still cannot accurately control the gripping force when grasping items. Excessive gripping force can damage fragile objects, while insufficient gripping force can cause objects to slip, failing to meet the needs of applications requiring precise control of gripping force. Utility Model Content

[0003] The purpose of this invention is to provide a pneumatic flexible adaptive gripper to solve one or more technical problems existing in the prior art, and at least provide a beneficial option or create conditions.

[0004] The technical solution adopted to solve the above-mentioned technical problems is as follows: a pneumatic flexible adaptive gripper, comprising: a support; at least two gripper bodies, which are arranged in a ring around the support, each gripper body having a gripping cavity inside, and the gripping surface being the side of the gripper body closest to the center of the ring arrangement; a drive assembly for controlling the internal air pressure of the gripping cavity; multiple pressure sensors, arranged in an array distributed on the gripping surface; and a controller for calculating a control signal based on the pressure signals from the multiple pressure sensors. The drive assembly is also used to receive and control the gripper bodies according to the control signal.

[0005] This technical solution has at least the following beneficial effects: By setting multiple pressure sensors arranged in an array on the gripper body, and knowing the gripping force of the gripper body through the pressure signals of the multiple pressure sensors, the gripper body determines the gripping force required to firmly hold the object based on the gripping force, thereby generating a control signal and sending it to the drive component. After receiving the control signal, the drive component controls the air pressure in the gripping cavity inside the gripper body, so that the gripper body can accurately output the required gripping force, keeping the gripping force within a reasonable range without being too large or too small. This ensures that the object is firmly held without damaging it due to excessive gripping force, and meets and is applicable to various application scenarios that require precise control of gripping force.

[0006] As a further improvement to the above technical solution, the controller also includes a storage device for storing the pressure values ​​of the pressure sensor as historical pressure data. The controller can call upon and obtain the pressure change information of the pressure sensor based on the historical pressure data and the current pressure value, and calculate the control signal based on the pressure change information and the current pressure value.

[0007] As a further improvement to the above technical solution, the controller further includes a safety module for controlling the drive assembly to stop supplying gas to the clamping cavity when the pressure value is greater than or equal to a first threshold.

[0008] As a further improvement to the above technical solution, the controller also includes an adjustment module, which determines whether the object shows signs of slipping based on the pressure change information between multiple adjacent pressure sensors. When the object shows signs of slipping, the control module controls the drive assembly to deliver gas to the clamping cavity.

[0009] As a further improvement to the above technical solution, the pressure sensor is a piezoelectric sensor.

[0010] As a further improvement to the above technical solution, the pressure sensor is a strain gauge sensor.

[0011] As a further improvement to the above technical solution, the strain gauges of multiple strain gauge sensors are connected to form a sensing element, and the sensing element is longitudinally distributed on the side of the gripper body near the clamping surface.

[0012] As a further improvement to the above technical solution, the gripper body has several transverse grooves arranged in parallel along the longitudinal direction on the side away from the gripping surface, and both ends of the transverse grooves penetrate through both sides of the gripper body.

[0013] As a further improvement to the above technical solution, the gripper body is made of silicone material, and the gripping surface is provided with multiple anti-slip grooves arranged in parallel along the longitudinal direction.

[0014] As a further improvement to the above technical solution, bolts are detachably installed between the bracket and the gripper body. Attached Figure Description

[0015] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0016] Figure 1 This is a schematic diagram of the overall mechanical structure of an embodiment of the present utility model;

[0017] Figure 2 This is a schematic diagram of the system framework structure of an embodiment of the present utility model.

[0018] 100, bracket; 200, gripper body; 300, pressure sensor. Detailed Implementation

[0019] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0020] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not 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 utility model.

[0021] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0022] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0023] Reference Figure 1-2 The pneumatic flexible adaptive gripper includes a support 100, a gripper body 200, a drive assembly, a pressure sensor 300, and a controller.

[0024] The bracket 100 includes a flange, a connecting rod mounted on the flange, and a support frame mounted on the end of the connecting rod away from the flange. The support frame is triangular in shape, and a gripper body 200 is mounted on each of the three ends of the support frame. The three gripper bodies 200 are evenly arranged around the support frame. The flange facilitates the fixed installation of the grippers.

[0025] An air valve interface and bolts are provided between the end of the support frame and the gripper body 200. The gripper body 200 is mounted on the air valve interface by bolts. The air valve interface is fixedly installed at the end of the support frame, so that the gripper body 200 is detachably connected to the support frame, so as to facilitate the disassembly, assembly and replacement of the gripper body 200.

[0026] The gripper bodies 200 are made of highly elastic, wear-resistant flexible silicone material, such as a special silicone composite material. One side of each of the three gripper bodies 200 faces the center to form a clamping surface. Two transverse grooves are formed on the side of the gripper body 200 away from the clamping surface, and these two transverse grooves are longitudinally distributed, with both ends penetrating both sides of the gripper body 200. In other embodiments, the number of transverse grooves may be one, three, or four, etc.

[0027] Multiple anti-slip grooves are arranged side-by-side on the clamping surface of the gripper body 200. These grooves are longitudinally distributed and do not penetrate the sides of the gripper body 200. A clamping cavity is formed inside the gripper body 200 and is connected to an air valve interface. By rationally designing the clamping cavity, transverse grooves, and anti-slip grooves, uniform expansion and bending can be achieved when the clamping cavity is inflated, allowing the gripper body 200 to better conform to the object's surface and firmly grasp it.

[0028] In other embodiments, the number of ends of the support frame corresponds to the number of gripper bodies 200. The support frame may also be provided with a straight end, a cross end, etc., corresponding to two or four gripper bodies 200.

[0029] The drive assembly includes an air source, a gas delivery pipeline, and a precision air valve. The gas delivery pipeline is connected to the air valve interface on the gripper body 200. The air source can provide a stable supply of compressed air, and the gas delivery pipeline delivers air to the gripping cavity of the gripper body 200, thereby controlling the internal air pressure of the gripping cavity. The precision air valve can precisely control the flow rate and pressure of the gas by controlling its opening degree, thus enabling the gripper body 200 to open and close quickly and smoothly.

[0030] Multiple pressure sensors 300 are provided, and the multiple pressure sensors 300 are distributed in an array on the clamping surface. Among them, the pressure sensors 300 are piezoelectric sensors, and the sensing ends of multiple piezoelectric sensors are evenly arranged in a matrix on the clamping surface.

[0031] In other embodiments, the pressure sensor 300 can also be a strain gauge sensor, with multiple strain gauge sensors arranged in a matrix uniformly on the clamping surface. Furthermore, the strain gauge sensing ends of multiple strain gauge sensors can be interconnected to form a non-uniform sensing plate with longitudinally dissimilar properties, located on the side of the gripper body 200 near the clamping surface. When the gripper body 200 bends to clamp an object, the change in resistance at the strain gauge sensing ends can reflect parameters such as the degree and shape of the bending of the gripper body 200, thereby enabling the sensing of force magnitude and changes in multiple directions to comprehensively and accurately characterize the force between the gripper body 200 and the object.

[0032] The controller is communicatively connected to the drive assembly and the pressure sensor 300. The controller can receive the pressure signal from the pressure sensor 300 and calculate the control signal by analyzing the pressure signals from multiple pressure sensors 300. The controller then sends the control signal to the drive assembly, which in turn controls the gripper body 200 according to the control signal.

[0033] When the gripper body 200 grips an object, the controller sends a gripping signal to the precision air valve in the drive assembly. The air valve opens, and compressed air enters the gripping cavity of the gripper body 200 through the gas delivery pipe. As the pressure inside the gripping cavity increases, the clamping part of the gripper body 200 bends due to the impact within the cavity, gradually enveloping and binding the object. During the process of the gripper body 200 contacting the object and applying clamping force, the pressure sensor 300 measures the forces in various directions in real time and converts these pressure signals into electrical signals, which are then transmitted to the controller. Based on the received pressure signal feedback information, the controller calculates the current magnitude and distribution of the clamping force using an algorithm and adjusts the opening of the precision air valve accordingly to change the pressure in the gripping cavity, thereby precisely adjusting the clamping force.

[0034] The gripper body 200 can automatically adjust the gripping method according to the shape and surface characteristics of the object, and can stably grasp objects of various shapes such as spheres, cylinders, and irregular polygons, as well as objects with smooth, rough, or textured surfaces. For example, in fruit picking, it can adapt to fruits of different sizes and shapes, reducing damage to the fruit skin.

[0035] When an object needs to be released, the controller sends a release signal to the precision air valve, which reverses its operation to expel the gas from the clamping cavity, and the gripper body 200 returns to its original state.

[0036] The controller also includes a storage unit, which stores the pressure values ​​of the pressure sensor 300 to obtain historical pressure data. The controller can call up the historical pressure data in the storage unit and combine it with the current pressure data of the pressure sensor 300 to form time series data to obtain the pressure change information of the pressure sensor 300. Based on the pressure change information and the current pressure value, the controller can analyze the dynamic situation of the gripper body 200 gripping the object, and calculate a more reasonable control signal so that the gripper body 200 can grip the object more stably.

[0037] The controller also includes a safety module with a specific program. When the received pressure signal indicates that the pressure applied to the object being gripped is greater than or equal to a first threshold, the controller sends a safety control signal to the drive component. Upon receiving the safety control signal, the drive component controls a precision air valve to stop supplying gas to the gripping cavity, preventing the gripper body 200 from further increasing the gripping force and ensuring the object is not subjected to excessive gripping force that could easily cause damage. The first threshold is a preset safety threshold based on experimental data for gripping specific objects.

[0038] The controller also includes an adjustment module. This module acquires the pressure change information from the pressure sensor 300 calculated by the controller and determines whether the object is slipping based on the pressure change trends between multiple longitudinally adjacent pressure sensors 300. For example, if the pressure values ​​of the three longitudinally adjacent upper, middle, and lower pressure sensors 300 show a continuous increase followed by a decrease, it can be determined that the object is slipping. When the object shows signs of slipping, the adjustment module sends a signal to the controller, causing the controller to open the precision air valve in the drive assembly. This supplies gas to the clamping cavity, increasing the clamping force of the gripper body 200 and preventing the object from slipping.

[0039] The gripper of this application features adaptive gripping, enabling the gripper body 200 to control the gripping force in real time and precisely, keeping the gripping force within a safe range to avoid damage to the object. When handling heavier objects, it also ensures sufficient gripping force to prevent slippage, improving the reliability and safety of the gripping operation. Furthermore, the gripper of this application has wide applicability, eliminating the need for complex gripping parameter adjustments for different objects. It can quickly switch between gripping tasks for different types of objects, making it suitable for various industries and scenarios, such as industrial automated production lines, logistics warehousing and sorting, and medical surgical assistance, greatly improving work efficiency and equipment versatility.

[0040] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A pneumatic flexible adaptive gripper, characterized in that, include: support; There are at least two gripper bodies, which are arranged in a ring around the bracket. Each gripper body has a gripping cavity inside, and the gripper body has a gripping surface on the side near the center of the ring. A drive assembly is used to control the internal air pressure of the clamping cavity; Multiple pressure sensors are provided, and the array of multiple pressure sensors is distributed on the clamping surface; The controller is used to calculate a control signal based on the pressure signals from the plurality of pressure sensors, and the drive component is also used to receive and control the gripper body according to the control signal.

2. The pneumatic flexible adaptive gripper according to claim 1, characterized in that: The controller also includes a storage device for storing historical pressure data of the pressure sensor. The controller can call upon and obtain the pressure change information of the pressure sensor based on the historical pressure data and the current pressure value, and calculate the control signal based on the pressure change information and the current pressure value.

3. The pneumatic flexible adaptive gripper according to claim 2, characterized in that: The controller further includes a safety module for controlling the drive assembly to stop supplying gas to the clamping cavity when the pressure value is greater than or equal to a first threshold.

4. The pneumatic flexible adaptive gripper according to claim 2, characterized in that: The controller also includes an adjustment module, which determines whether the object shows signs of slipping based on the pressure change information between multiple adjacent pressure sensors. When the object shows signs of slipping, the adjustment module controls the drive assembly to deliver gas to the clamping cavity.

5. The pneumatic flexible adaptive gripper according to claim 1, characterized in that: The pressure sensor is a piezoelectric sensor.

6. The pneumatic flexible adaptive gripper according to claim 1, characterized in that: The pressure sensor is a strain gauge sensor.

7. The pneumatic flexible adaptive gripper according to claim 6, characterized in that: The strain gauges of multiple strain gauge sensors are connected to form sensing plates, which are longitudinally distributed on the side of the gripper body near the clamping surface.

8. The pneumatic flexible adaptive gripper according to claim 1, characterized in that: The gripper body has several transverse grooves arranged longitudinally on the side away from the gripping surface, and both ends of the transverse grooves penetrate through both sides of the gripper body.

9. The pneumatic flexible adaptive gripper according to claim 1, characterized in that: The gripper body is made of silicone material, and the gripping surface has multiple anti-slip grooves arranged in parallel along the longitudinal direction.

10. The pneumatic flexible adaptive gripper according to claim 1, characterized in that: The bracket and the gripper body are detachably mounted with bolts.

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