Multi-channel pneumatic flexible clamping jaw pressure control system

Abstract

The utility model discloses a multi-channel pneumatic flexible clamping jaw pressure control system, and belongs to the technical field of clamping jaws. The clamping jaw comprises a support and a plurality of jaw fingers annularly arranged on the support, and clamping cavities are formed in the jaw fingers; the number of the control channel modules is in one-to-one correspondence with that of the claw fingers, and each control channel module comprises an air source interface, an air pressure adjusting unit, a pressure sensor and a controller; and the communication module is used for communication among all the controllers. When the clamping jaw clamps an irregular object, the time when each jaw finger makes contact with the object and the pressure condition after contact are different, and the pressure of an internal clamping cavity of each jaw finger is controlled by an independent control channel module, so that each jaw finger can independently adjust the air pressure according to pressure information fed back by a pressure sensor; the clamping force is adjusted according to the actual situation, stable grabbing of objects of different shapes and different materials and irregular objects is achieved, and the stability and adaptability of object grabbing of the robot can be improved.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, and in particular to a multi-channel pneumatic flexible gripper pressure control system. Background Technology

[0002] A robot's gripper typically consists of multiple fingers, each containing a pressure chamber and controlled by a pneumatic pressure system to grasp objects like fingers. However, all fingers are connected in parallel to a single pneumatic pressure control system, meaning that during a gripping operation, all fingers can only be controlled by a single pressure value. This pneumatic pressure control system does not take into account the actual conditions of each finger during the gripping process, making it difficult to grasp irregular objects. Utility Model Content

[0003] The purpose of this invention is to provide a multi-channel pneumatic flexible gripper pressure control system 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 multi-channel pneumatic flexible gripper pressure control system, the control system comprising: a gripper, including a support and multiple gripper fingers arranged around the support, each gripper finger having a gripping cavity inside; control channel modules, the number of which corresponds one-to-one with the number of gripper fingers, each control channel module including an air source interface, an air pressure regulating unit, a pressure sensor, and a controller, the air source interface being used to provide compressed air to the air pressure regulating unit, the air pressure regulating unit being used to regulate the air pressure in the gripping cavity, the pressure sensor being used to detect the gripping pressure of the gripper fingers, the controller being used to receive the pressure signal from the pressure sensor and control the air pressure regulating unit to operate according to the pressure signal; and a communication module for communication between all the controllers.

[0005] This technical solution has at least the following beneficial effects: when the gripper holds an irregular object, the time each gripper finger contacts the object and the pressure after contact are different. The pressure of the internal gripping cavity of each gripper finger is controlled by a separate control channel module, so that each gripper finger can adjust the air pressure according to the pressure information fed back by the pressure sensor, that is, adjust the gripping force according to the actual situation, so as to achieve stable gripping of objects of different shapes, materials and irregular objects, and improve the stability and adaptability of the robot in grasping objects.

[0006] As a further improvement to the above technical solution, the controller is also used to receive pressure signals from the controllers in other control channel modules as external pressure signals through the communication module, and the controller is also used to control the operation of the air pressure regulating unit according to the internal pressure signal sent by the pressure sensor and the external pressure signal.

[0007] As a further improvement to the above technical solution, the controller also includes a position module, which acquires the internal pressure signal and the external pressure signal and calculates the center position of the clamped object. The controller adjusts the control command to the air pressure regulating unit according to the center position and the internal pressure signal.

[0008] As a further improvement to the above technical solution, the air pressure regulating unit includes a flow meter for measuring the flow rate of gas flowing into or out of the clamping cavity, and the air pressure regulating unit is also used to adjust the air pressure in the clamping cavity according to the flow rate information of the flow meter.

[0009] As a further improvement to the above technical solution, the number of claws is three, and the three claws are evenly distributed in a ring around the support.

[0010] As a further improvement to the above technical solution, the sensing end of the pressure sensor is installed at the tip of the claw finger.

[0011] As a further improvement to the above technical solution, a transverse groove with both ends penetrating through both sides of the claw finger is provided on the side of the claw finger away from the object being gripped.

[0012] As a further improvement to the above technical solution, the claw is made of silicone material, and an anti-slip groove is provided on the side of the claw near the object being gripped.

[0013] As a further improvement to the above technical solution, an L-shaped plate is detachably installed on one side of the top of the claw finger, and the top of the L-shaped plate is detachably connected to the bracket.

[0014] As a further improvement to the above technical solution, the top of the L-shaped plate is provided with a sliding groove that extends through both sides, and a slider is slidably disposed on the sliding groove. The slider is threadedly connected to a screw rod that passes through the bracket. 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 structure of an embodiment of the present utility model;

[0017] Figure 2This is a schematic diagram of the claw finger installation structure in an embodiment of this utility model;

[0018] Figure 3 This is a schematic diagram of the system framework structure of an embodiment of the present utility model.

[0019] 100, bracket; 200, claw fingers; 300, L-shaped plate; 310, sliding groove; 400, slider; 500, screw; 600, outer casing. Detailed Implementation

[0020] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] Reference Figure 1-3 The multi-channel pneumatic flexible gripper pressure control system includes grippers, a communication module, and a control channel module.

[0025] The gripper includes a support 100 and three claws 200. The claws 200 are arranged three times and evenly around the outer periphery of the support 100. Each claw 200 has a gripping cavity inside. The air pressure inside the gripping cavity affects the shape of the claws 200. Therefore, by controlling the air pressure in the gripping cavities of the three claws 200, the gripping action of the three claws 200 can be achieved. In other embodiments, the support 100 may also be equipped with four, five, or six claws 200.

[0026] The number of control channel modules corresponds one-to-one with the number of claw fingers 200, and each control channel module is connected to its corresponding claw finger 200. Each control channel module includes an air source interface and an air pressure regulation unit. The air source interface is connected to the air pressure regulation unit, providing compressed air to it. The air pressure regulation unit is connected to the clamping cavity of its corresponding claw finger 200. It can be understood that the clamping cavity of the claw finger 200 is connected to the air source interface via the air pressure regulation unit, which regulates the air pressure within the clamping cavity by supplying compressed air to or expelling air from the cavity.

[0027] The control channel module also includes a pressure sensor and a controller. The sensing end of the pressure sensor is installed at the end of the corresponding claw finger, and the sensing end is located on the side of the claw finger used to grip the object. The pressure sensor is used to measure the air pressure inside the claw in real time, which reflects the gripping pressure of the claw finger. The controller is communicatively connected to both the pressure sensor and the air pressure regulation unit. The controller receives the pressure signal from the pressure sensor and, based on the gripping force fed back by the pressure signal, controls the air pressure regulation unit to adjust the air pressure in the gripping cavity to ensure that the claw finger has a certain gripping force.

[0028] During the gripping process, pressure sensors on each claw 200 monitor the force between the claw 200 and the object in real time, and transmit this pressure signal or force feedback signal to the controller in the same control channel module. Based on the received pressure signal or force feedback signal, the controller calculates the optimal air pressure value required by the claw 200 using a built-in algorithm. The controller then sends a control command to the air pressure regulation unit, which adjusts the air pressure accordingly, thereby changing the gripping force of the claw 200. For example, if the resistance experienced by a claw 200 during gripping increases, the pressure signal from the pressure sensor becomes stronger, and the controller sends a command to increase the air pressure to the air pressure regulation unit, allowing the claw 200 to grip the object more firmly. Conversely, if the resistance decreases, the controller sends a command to decrease the air pressure to the air pressure regulation unit, preventing the claw 200 from applying excessive pressure to the object.

[0029] The controller can receive pressure signals from controllers in other control channel modules as external pressure signals through the communication module. Based on the internal pressure signals and external pressure signals sent by the pressure sensors, the controller can analyze the interaction between each claw 200 and the object, and generate appropriate control commands to control the air pressure regulating unit to achieve coordinated work between each claw 200.

[0030] Understandably, each claw 200 has an independent control channel module to regulate its gripping force. Each control channel module communicates with other control channel modules via a communication module, allowing the individual claws 200 to adjust their gripping force to ensure stable grasping. Understandably, the controllers within each control channel module are interconnected via high-speed communication modules to achieve information sharing and collaborative control. The communication module supports real-time data transmission, ensuring that each control channel module can promptly obtain status information from other control channel modules.

[0031] Each control channel module exchanges information in real time via a communication module. When the air pressure or pressure signal of a certain claw 200 changes, its controller synchronously sends this change information to the controllers of other control channel modules. Simultaneously, the controller runs an intelligent algorithm that coordinates the air pressure control of each claw 200 based on the current state information of all claws 200. For example, when grasping an irregularly shaped object, the intelligent algorithm adjusts the gripping force of each claw 200 according to its position and the force applied, ensuring the object maintains a stable posture during grasping and preventing it from slipping or being damaged due to excessive or insufficient gripping force from any claw 200.

[0032] The controller includes a position module, which acquires internal pressure signals transmitted by pressure sensors in its own control channel module and external pressure signals monitored by pressure sensors in other control channel modules via the communication module. The position module analyzes and calculates the center position of the object to be gripped based on the received internal and external pressure signals. After the controller calls the center position information generated by the position module, it generates control commands to the air pressure regulating unit, causing the air pressure regulating unit to adjust the gripping force of its own claws 200. It can be understood that the claws 200 of each control channel module use synchronized data sets to adjust their own claws 200, thereby coordinating the gripping forces of each claw 200 and allowing the gripped object to be adjusted relative to the support 100 for stable gripping.

[0033] The air pressure regulating unit includes a flow meter located in the channel connecting the clamping cavity. The flow meter can be used to measure the amount of gas flowing into or out of the clamping cavity. After feeding back the gas flow amount to the air pressure regulating unit, the air pressure regulating unit can determine the timing of the internal air valve control based on the gas flow information, thereby adjusting the air pressure value in the clamping cavity in a timely and accurate manner, thus achieving the effect of precise control of the clamping force.

[0034] The three claw fingers 200 have a clamping surface on the side facing the object being clamped. Multiple transverse grooves are formed on the side of the claw fingers 200 away from the clamping surface; the number of transverse grooves can be three, four, or five. These transverse grooves are arranged longitudinally side-by-side, with both ends penetrating both sides of the claw fingers 200, giving the claw fingers 200 greater bending flexibility. The claw fingers 200 are made of highly elastic, wear-resistant flexible silicone material, such as a special silicone composite material. Multiple anti-slip grooves are arranged longitudinally side-by-side on one side of the clamping surface of the claw fingers 200, with both ends not penetrating both sides of the claw fingers 200. This reduces the possibility of the object sliding relative to the claw fingers 200, ensuring the stability of the object being clamped.

[0035] A screw is inserted through the top of the claw finger 200 near the clamping surface, and an L-shaped plate 300 is detachably mounted to it via the screw. The top of the L-shaped plate 300 extends towards the center of the claw finger 200, and a sliding groove 310 is laterally formed on the top of the L-shaped plate 300. The length direction of the sliding groove 310 is perpendicular to the diameter direction of the circumference formed by the three claw fingers 200. A slider 400 is slidably disposed within the sliding groove 310, and the cross-section of the slider 400 and the cross-section of the internal space of the sliding groove 310 are both T-shaped. A screw 500 is inserted through the bracket 100, and the shank of the screw 500 passes through the bracket 100 and is screwed into the top of the slider 400. This allows the L-shaped plate 300 to be detachably mounted on the bracket 100. At the same time, the installation position of the claw finger 200 can be easily adjusted by moving the slider 400 within the sliding groove 310.

[0036] To facilitate the installation of the claw 200, a housing 600 is fitted onto the top of the claw 200. The housing 600 is equipped with an air valve interface, and its interior communicates with the clamping cavity inside the claw 200 to facilitate the connection of the air pressure regulating unit. This also helps stabilize the position of the claw 200's top end. The housing and the L-shaped plate are detachably connected by bolts.

[0037] The multi-channel pneumatic flexible gripper pressure control system of this application can adjust the air pressure of the gripping cavity individually according to the gripping feedback signal / pressure signal of each gripper finger 200, so as to achieve stable gripping of objects of different shapes and materials. It also coordinates the gripping force of each gripper finger 200 through intelligent algorithms to ensure the correct gripping posture of the object.

[0038] Each gripper 200 has an independent control channel module that can precisely adjust the air pressure based on its own feedback signal, so that each gripper can apply the most suitable gripping force. This precise control greatly improves the gripper's adaptability to grasping objects of different shapes and materials. Whether it is a soft object, a fragile item, or a complex-shaped part, it can achieve stable gripping.

[0039] Furthermore, the communication module and intelligent algorithms enable coordinated control among multiple control channel modules, ensuring consistent posture of all claws 200 when grasping objects. This effectively prevents displacement or damage to large or irregular objects due to uneven force, improving the success rate and stability of the grasp. It is particularly suitable for industrial automated production lines and logistics sorting applications where high grasping accuracy is required.

[0040] Finally, the entire control system can automatically adjust the air pressure according to the actual gripping situation of the grippers, without manual intervention, achieving a highly automated gripping operation. This automated control method not only improves gripping efficiency but also reduces errors that may be caused by manual adjustments, further enhancing gripping quality.

[0041] 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 multi-channel pneumatic flexible gripper pressure control system, characterized in that, The control system includes: The gripper includes a support and a plurality of claw fingers arranged in a ring around the support, wherein the claw fingers have a gripping cavity inside; The number of control channel modules corresponds one-to-one with the number of claw fingers. Each control channel module includes an air source interface, an air pressure regulation unit, a pressure sensor, and a controller. The air source interface is used to provide compressed air to the air pressure regulation unit, which is used to regulate the air pressure in the clamping cavity. The pressure sensor is used to detect the clamping pressure of the claw fingers, and the controller is used to receive the pressure signal from the pressure sensor and control the air pressure regulation unit to work according to the pressure signal. A communication module is used for communication between all the controllers.

2. The multi-channel pneumatic flexible gripper pressure control system according to claim 1, characterized in that: The controller is also used to receive pressure signals from the controllers in other control channel modules as external pressure signals through the communication module. The controller is also used to control the operation of the air pressure regulating unit according to the internal pressure signal sent by the pressure sensor and the external pressure signal.

3. The multi-channel pneumatic flexible gripper pressure control system according to claim 2, characterized in that: The controller also includes a position module, which acquires the internal pressure signal and the external pressure signal and calculates the center position of the clamped object. The controller adjusts the control command to the air pressure regulating unit according to the center position and the internal pressure signal.

4. The multi-channel pneumatic flexible gripper pressure control system according to claim 1, characterized in that: The pressure regulating unit includes a flow meter for measuring the flow rate of gas flowing into or out of the clamping cavity, and the pressure regulating unit is also used to adjust the pressure in the clamping cavity according to the flow rate information of the flow meter.

5. The multi-channel pneumatic flexible gripper pressure control system according to claim 1, characterized in that: The number of claws is three, and the three claws are evenly distributed in a ring around the support.

6. The multi-channel pneumatic flexible gripper pressure control system according to claim 1, characterized in that: The sensing end of the pressure sensor is installed at the tip of the claw finger.

7. The multi-channel pneumatic flexible gripper pressure control system according to claim 1, characterized in that: The side of the claw furthest from the object being gripped has a transverse groove that extends through both ends of the claw.

8. The multi-channel pneumatic flexible gripper pressure control system according to claim 1, characterized in that: The claws are made of silicone material, and anti-slip grooves are provided on the side of the claws closest to the object being gripped.

9. The multi-channel pneumatic flexible gripper pressure control system according to claim 1, characterized in that: An L-shaped plate is detachably installed on one side of the top of the claw finger, and the top of the L-shaped plate is detachably connected to the bracket.

10. The multi-channel pneumatic flexible gripper pressure control system according to claim 9, characterized in that: The L-shaped plate has a sliding groove at the top that extends through both sides. A slider is slidably mounted on the sliding groove, and the slider is threadedly connected to a screw rod that passes through the bracket.

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