Mechanical arm end effector and control method thereof, mechanical arm and memory

Abstract

The invention discloses a mechanical arm end effector. The mechanical arm end effector comprises: a detection circuit; at least two clamping jaws; and at least two electrodes, arranged on the inner sides of the at least two clamping jaws and electrically connected with the detection circuit respectively, wherein the electrodes and a close conductor can form capacitors, electric signals used for representing the capacitors or the variable quantities of the capacitors are transmitted to the detection circuit, and the detection circuit is used for converting the electric signals representing the capacitors or the variable quantities of the capacitors into electric signals representing capacitance values or the variable quantities of the capacitance values. According to the mechanical arm end effector, the distance between each clamping jaw and the conductor to be grabbed can be monitored in real time through the at least two electrodes on the inner sides of the at least two clamping jaws, and synchronous or asynchronous movement of the at least two clamping jaws is controlled according to the distance between each clamping jaw and the conductor to be grabbed, so that the distance between each clamping jaw and the conductor to be grabbed is kept consistent all the time, and it is guaranteed that the at least two clamping jaws clamp the conductor to be grabbed at the same time.

Description

technical field [0001] The invention relates to the field of robots, in particular to a mechanical arm end effector, a control method thereof, a mechanical arm and a memory. Background technique [0002] The gripper of the robotic arm is usually set at the end of the robotic arm, which can grab the target and then transfer it to a designated position through the robotic arm to realize the transfer of the target. [0003] When using the gripper of the robotic arm to grab the target, first control the gripper of the robotic arm to open, and then control the gripper of the robotic arm to move toward the target. After the gripper of the robotic arm moves to the position of the target, the gripper of the robotic arm moves toward The target gradually shrinks so that the grippers are clamped on both sides of the target, and finally the grippers of the robotic arm are controlled to transfer the target to the designated position. [0004] However, during the process of gripping the ...

AI Technical Summary

Problems solved by technology

[0004] However, during the process of gripping the target with the jaws of the robotic arm, the two clamping parts may contact the target successively

In this case, if the target is fixed at the grasping position, the clamping part that first contacts the target will generate a rigid force on it, causing damage to the target; if the target is not fixed at the grasping position, If it is placed directly on the grasping position, the clamping part that first comes into contact with the target will push the target to other areas that deviate from the grasping position, resulting in the failure of the grippers of the robotic arm to grasp the target, because the target location has changed

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