Intelligent cargo sorting robot and sorting method thereof

Abstract

An intelligent cargo sorting robot and a sorting method thereof belong to the technical field of logistics robot equipment. The present invention is to solve the problem that the existing item sorting system cannot be separated from the operation of sorting staff. It specifically includes: when the system starts, the CPU controls the first photoelectric sensor to start, detects whether the goods are placed on the conveyor belt, and sends a signal to the CPU when the signal of placing the goods is detected; the CPU controls the motor drive module to work, and then controls the conveyor belt to start through the DC reduction motor; the CPU judges the current working mode through the working mode switching module: when the working mode is cargo weight sorting, cargo size sorting and cargo color sorting, the CPU controls the robot arm to sort the goods to the corresponding placement area according to the pressure signal of the pressure sensor, the cargo edge signal of the second photoelectric sensor and the cargo surface reflectivity detected by the first photoelectric sensor. The present invention is used for logistics sorting.

Description

Technical Field

[0001] The invention relates to an intelligent cargo sorting robot and a sorting method thereof, belonging to the technical field of logistics robot equipment. Background Art

[0002] Goods sorting is the operation of stacking goods by category, size or order of entry and exit. Sorting is the preparatory work to improve and support delivery, and is the inevitable extension of the competition and improvement of economic benefits of different distribution companies during delivery. Therefore, it can also be said that sorting is an inevitable requirement for the development of delivery to a higher form.

[0003] In the existing manufacturing process, there are usually two working modes for sorting goods: manual sorting and semi-automatic mechanical sorting. Manual sorting is the initial form of sorting, which is mainly manual and requires only a small investment in equipment. However, the process of manual sorting is complicated. If the sorting is completed manually, the items need to be subdivided many times to complete the sorting process. A piece of goods may need to be identified, moved and stored many times before it can be completed, and the sorting efficiency is low. Semi-automatic mechanical sorting uses conveyor belts as the main conveying tool, and operators are equipped at each sorting position for sorting. This sorting method can reduce some labor intensity and improve sorting efficiency to a certain extent, but this sorting method only improves the efficiency of a certain part of the operation locally, and the flexibility is relatively low. In addition, there is a problem of long distances between the goods stacking point, the sorter and the conveyor belt. When the sorting workload is large, there is still a problem of low efficiency.

[0004] High industrialization and intelligent equipment have led to the rapid development of automation application technology. Automation equipment in various industries is rapidly replacing manual labor in production lines. Automatic sorting equipment has become the preferred equipment for sorting goods with its precise, rapid and efficient characteristics. In automatic sorting equipment, the robotic arm is the task execution mechanism. However, in the sorting industry, the application of manipulators is not very popular. It is difficult for existing robotic arms to sort items of different sizes and weights through matching fixtures. Therefore, in the existing automated production lines, a sorting staff member is still needed, which not only increases labor costs, but also has low work efficiency. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the existing article sorting system cannot be separated from the operation of sorting staff, and to provide an intelligent cargo sorting robot and a sorting method thereof.

[0006] The intelligent cargo sorting robot described in the present invention comprises a base, a motor drive module, a DC reduction motor, a conveyor belt, a mechanical arm drive motor, a steering gear, a mechanical arm, a first photoelectric sensor, a second photoelectric sensor, a collision sensor, a pressure sensor and a CPU;

[0007] The conveyor belt and the mechanical arm are fixedly installed at both ends of the base, respectively. The first photoelectric sensor is arranged at the rear end of the conveyor belt to detect whether there are goods on the conveyor belt and to detect the reflectivity of the goods. The second photoelectric sensor is arranged on the side of the rear end of the conveyor belt to detect the size of the goods arriving at the rear end of the conveyor belt. The pressure sensor is arranged at the rear end of the conveyor belt to detect the weight of the goods arriving at the rear end of the conveyor belt. The collision sensor is arranged on the mechanical claw of the mechanical arm to detect the degree of grasping of the goods.

[0008] The detection signals of the first photoelectric sensor, the second photoelectric sensor, the collision sensor and the pressure sensor are sent to the CPU. The CPU controls the motor drive module, the robotic arm drive motor and the servo according to the detection signals. The motor drive module controls the start and stop of the conveyor belt by driving the DC reduction motor, the robotic arm drive motor drives the robotic arm to work, and the servo drives the rotation of the robotic arm.

[0009] Preferably, it also includes a working mode switching module, which includes a working mode selection module, a switching switch and an indicator light module;

[0010] The working mode selection module is used to select the current working mode, which includes cargo weight sorting, cargo size sorting or cargo color sorting;

[0011] The switch is used to switch the working mode and send the current working mode to the CPU;

[0012] The indicator light module is used to control the indicator light to display different colors or states according to the current working mode.

[0013] Preferably, it also includes an infrared human body sensor, which is arranged on the side of the robotic arm through a bracket. The infrared human body sensor is used to detect human body sensing signals and send the detected human body sensing signals to the CPU. The CPU controls the robotic arm drive motor to stop working according to the human body sensing signals.

[0014] Preferably, the mechanical arm includes a pan / tilt platform, a bracket, a double gear and a mechanical claw;

[0015] The mechanical claw is installed on the top of the bracket through double gears, and the bottom of the bracket is fixed to the top of the gimbal, and the gimbal is fixed on the base;

[0016] The bracket is a two-stage structure, the two stages are driven by a robotic arm drive motor and a servo respectively, and the double gears are driven by a robotic arm drive motor.

[0017] Preferably, the servos include six digital servos, driving the bracket to achieve six degrees of freedom in the working direction.

[0018] The intelligent cargo sorting method described in the present invention specifically comprises:

[0019] S1, system starts, CPU controls the first photoelectric sensor to start;

[0020] S2, the first photoelectric sensor detects whether there is a cargo placed on the conveyor belt, and when a cargo placement signal is detected, a cargo placement signal is sent to the CPU;

[0021] S3, CPU controls the motor drive module to work according to the cargo placement signal, and then controls the conveyor belt to start through the DC reduction motor;

[0022] S4, CPU determines the current working mode through the working mode switching module:

[0023] When the working mode is cargo weight sorting, S5 is executed;

[0024] When the working mode is sorting of goods by size, S6 is executed;

[0025] When the working mode is color sorting of goods, S7 is executed;

[0026] S5, CPU controls the pressure sensor to start. When the pressure sensor detects a pressure signal, it sends the pressure signal to the CPU. The CPU controls the mechanical arm drive motor and the steering gear to start according to the pressure signal, and drives the mechanical arm to work. At the same time, the CPU controls the mechanical arm to sort the goods to the corresponding placement area according to the pressure signal, and then returns to execute S2;

[0027] S6, the CPU controls the second photoelectric sensor to start. When the second photoelectric sensor detects a cargo edge signal, the cargo edge signal is sent to the CPU. The CPU controls the mechanical arm drive motor and the steering gear to start according to the cargo edge signal, and drives the mechanical arm to work. At the same time, the CPU controls the mechanical arm to sort the cargo to the corresponding placement area according to the cargo edge signal, and then returns to execute S2;

[0028] S7. The CPU determines the color of the goods according to the reflectivity of the goods surface detected by the first photoelectric sensor. The CPU controls the robot arm drive motor and the steering gear to start and drive the robot arm to work. At the same time, the CPU controls the robot arm to sort the goods to the corresponding placement area according to the color of the goods, and then returns to execute S2.

[0029] Preferably, the sorting method further comprises:

[0030] The infrared human body sensor detects the human body sensing signal, and when the human body sensing signal is detected, the human body sensing signal is sent to the CPU, and the CPU controls the mechanical arm drive motor to stop working.

[0031] Preferably, the driving of the mechanical arm in S5, S6 and S7 includes:

[0032] The CPU controls the mechanical arm drive motor to drive the mechanical claw to perform the grasping action;

[0033] The collision sensor detects a collision signal and sends the collision signal to the CPU when a collision signal is detected;

[0034] When the CPU receives the collision signal, it controls the mechanical arm drive motor to drive the mechanical claw to perform the clamping action.

[0035] Advantages of the present invention: The intelligent cargo sorting robot and the sorting method proposed by the present invention can sort cargo according to its volume, color and weight, and can realize the delivery of cargo by converting the analog quantity detected by the sensor module into AD and giving digital signals to the actuators such as the DC reduction motor and the steering gear as action instructions. Advantages include:

[0036] 1. The robot can realize three different sorting modes of sorting goods into different material boxes according to weight, size and color;

[0037] 2. Set up protective structures to avoid harm to the human body and ensure the personal safety of workers during work;

[0038] The intelligent cargo sorting robot and the sorting method proposed by the present invention can realize continuous large-scale sorting of cargo, realize unmanned sorting operation, reduce the labor cost input of enterprises, reduce the labor intensity of workers, and improve the efficiency of personnel utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of an intelligent cargo sorting robot according to the present invention;

[0040] Figure 2 This is a control principle diagram of an intelligent cargo sorting robot described in the present invention;

[0041] Figure 3 It is a structural schematic diagram of the mechanical arm described in the present invention. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0044] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0045] Specific implementation method 1: The following is combined Figure 1-Figure 3 The present embodiment is described. The intelligent cargo sorting robot described in the present embodiment includes a base 1, a motor drive module 2, a DC reduction motor 3, a conveyor belt 4, a mechanical arm drive motor 5, a steering gear 6, a mechanical arm 7, a first photoelectric sensor 8, a second photoelectric sensor 9, a collision sensor 10, a pressure sensor 11 and a CPU 13;

[0046] The conveyor belt 4 and the mechanical arm 7 are fixedly installed at both ends of the base 1 respectively. The first photoelectric sensor 8 is arranged at the rear end of the conveyor belt 4 to detect whether there are goods on the conveyor belt 4 and to detect the reflectivity of the goods. The second photoelectric sensor 9 is arranged on the side of the rear end of the conveyor belt 4 to detect the size of the goods arriving at the rear end of the conveyor belt 4. The pressure sensor 11 is arranged at the rear end of the conveyor belt 4 to detect the weight of the goods arriving at the rear end of the conveyor belt 4. The collision sensor 10 is arranged on the mechanical claw 7-4 of the mechanical arm 7 to detect the degree of grasping of the goods.

[0047] The detection signals of the first photoelectric sensor 8, the second photoelectric sensor 9, the collision sensor 10 and the pressure sensor 11 are sent to the CPU 13. The CPU 13 controls the motor drive module 2, the robot arm drive motor 5 and the steering gear 6 to operate according to the detection signals. The motor drive module 2 controls the start and stop of the conveyor belt 4 by driving the DC reduction motor 3. The robot arm drive motor 5 drives the robot arm 7 to operate, and the steering gear 6 drives the rotation of the robot arm 7.

[0048] Furthermore, it also includes a working mode switching module, which includes a working mode selection module, a switching switch and an indicator light module;

[0049] The working mode selection module is used to select the current working mode, which includes cargo weight sorting, cargo size sorting or cargo color sorting;

[0050] The switch is used to switch the working mode and send the current working mode to CPU13;

[0051] The indicator light module is used to control the indicator light to display different colors or states according to the current working mode.

[0052] In this embodiment, the first photoelectric sensor 8 determines the color of the goods according to the reflectivity of the goods, thereby realizing a working mode of color sorting of goods.

[0053] Furthermore, it also includes an infrared human body sensor 12, which is arranged on the side of the robotic arm 7 through a bracket. The infrared human body sensor 12 is used to detect human body sensing signals and send the detected human body sensing signals to CPU13. CPU13 controls the robotic arm drive motor 5 to stop working according to the human body sensing signals.

[0054] Furthermore, the mechanical arm 7 includes a platform 7-1, a bracket 7-2, a double gear 7-3 and a mechanical claw 7-4;

[0055] The mechanical claw 7-4 is installed on the top of the bracket 7-2 through the double gear 7-3, and the bottom end of the bracket 7-2 is fixed to the upper end of the placement platform 7-1, and the placement platform 7-1 is fixedly installed on the base 1;

[0056] The bracket 7 - 2 is a two-stage structure, and the two-stage structure is driven by the robot arm drive motor 5 and the steering gear 6 respectively, and the double gear 7 - 3 is driven by the robot arm drive motor 5 .

[0057] Furthermore, the servo 6 includes six digital servos, which drive the bracket 7-2 to achieve six degrees of freedom in the working direction.

[0058] Specific implementation method 2: The following is combined Figure 1-Figure 3 The present embodiment is described as follows. The present embodiment describes an intelligent cargo sorting method, which is implemented based on an intelligent cargo sorting robot. The sorting method specifically includes:

[0059] S1, system startup, CPU13 controls the first photoelectric sensor 8 to start;

[0060] S2, the first photoelectric sensor 8 detects whether goods are placed on the conveyor belt 4, and when a signal of goods placement is detected, a signal of goods placement is sent to the CPU 13;

[0061] S3, CPU13 controls the motor drive module 2 to work according to the cargo placement signal, and then controls the conveyor belt 4 to start through the DC reduction motor 3;

[0062] S4, CPU13 determines the current working mode through the working mode switching module:

[0063] When the working mode is cargo weight sorting, S5 is executed;

[0064] When the working mode is sorting of goods by size, S6 is executed;

[0065] When the working mode is color sorting of goods, S7 is executed;

[0066] S5, CPU13 controls the pressure sensor 11 to start. When the pressure sensor 11 detects a pressure signal, the pressure signal is sent to CPU13. CPU13 controls the mechanical arm drive motor 5 and the steering gear 6 to start according to the pressure signal, and drives the mechanical arm 7 to work. At the same time, CPU13 controls the mechanical arm 7 to sort the goods to the corresponding placement area according to the pressure signal, and then returns to execute S2;

[0067] S6, CPU13 controls the second photoelectric sensor 9 to start. When the second photoelectric sensor 9 detects the edge signal of the goods, the edge signal of the goods is sent to CPU13. CPU13 controls the mechanical arm drive motor 5 and the steering gear 6 to start according to the edge signal of the goods, and drives the mechanical arm 7 to work. At the same time, CPU13 controls the mechanical arm 7 to sort the goods to the corresponding placement area according to the edge signal of the goods, and then returns to execute S2;

[0068] S7, CPU13 determines the color of the goods according to the reflectivity of the surface of the goods detected by the first photoelectric sensor 8, CPU13 controls the robot arm drive motor 5 and the steering gear 6 to start, and drives the robot arm 7 to work. At the same time, CPU13 controls the robot arm 7 to sort the goods to the corresponding placement area according to the color of the goods, and then returns to execute S2.

[0069] Furthermore, the sorting method further comprises:

[0070] The infrared human body sensor 12 detects a human body sensing signal, and when a human body sensing signal is detected, the human body sensing signal is sent to the CPU 13 , and the CPU 13 controls the mechanical arm drive motor 5 to stop working.

[0071] Furthermore, the driving of the mechanical arm 7 in S5, S6 and S7 includes:

[0072] CPU13 controls the mechanical arm drive motor 5 to drive the mechanical claw 7-4 to perform the grasping action;

[0073] The collision sensor 10 detects a collision signal, and sends the collision signal to the CPU 13 when a collision signal is detected;

[0074] When the CPU 13 receives the collision signal, it controls the mechanical arm drive motor 5 to drive the mechanical claw 7 - 4 to perform the clamping action.

[0075] In the present invention, CPU13 is implemented by Arduino UNO R3.

[0076] In the present invention, the conveyor belt 4 is a PVC conveyor belt.

[0077] In the present invention, the DC reduction motor 3 adopts a 12V DC reduction motor.

[0078] In the present invention, the placing platform 7-1 is an aluminum alloy, 270-degree metal rotating platform; the bracket 7-2 is a 2mm metal sandblasted oxidation bracket; and the mechanical claw 7-4 is an alloy mechanical claw.

[0079] In the present invention, the servo 6 uses six digital servos, of which the digital servo model is TBS-K20, with a torque of 20kg.cm, a power-on rotatable angle of 270 degrees, large torque, precise rotation angle and burn resistance. When used with the aluminum alloy bracket 7-2, it can produce a multifunctional mechanical arm with 6 degrees of freedom, a length of 280mm, a width of 120mm, and a maximum position of 450mm, so as to effectively and accurately grasp and place materials.

[0080] In the present invention, the first photoelectric sensor 8 includes a pair of infrared emitting tubes and receiving tubes. The emitting tube emits infrared rays of a certain frequency. When the detection direction encounters the surface of the goods (radiating surface), the infrared rays are reflected back and received by the receiving tube. After being processed by the comparator circuit, the signal output interface outputs a digital signal (a low-level signal). The detection distance can be adjusted by the potentiometer knob. The effective distance range is 2 to 3 cm, and the working voltage is 3.3V to 5V. The detection distance of the first photoelectric sensor 8 can be adjusted by the potentiometer.

[0081] In the present invention, there is a strain gauge on the upper and lower surfaces of the pressure sensor 11, and each strain gauge has two pressure resistors. There are a total of 4 pressure resistors, forming a full-bridge circuit, which greatly improves the detection accuracy. When the strain gauge is subjected to pressure, an analog signal is generated, which is fed back to UNO R3 as a digital signal through the HX711AD conversion module. If a demarcation value is defined, this value is compared with the value of the cargo weighing as a classification condition. In this patent, the demarcation value is selected as 20g. When the cargo is less than or equal to 20g, it is defined as a light material placed in the left material box; when the cargo is greater than 20g, it is defined as a heavy material placed in the right material box.

[0082] In the present invention, the infrared human body sensor 12 adopts a pyroelectric probe, model HC-SR501 RD-624. The sensing distance and the sensing delay time are adjusted by adjusting the distance potentiometer. The sensing distance range is about 3 to 7 meters, the sensing delay is about 0.5 to 300 seconds, and the detection angle is ≤ 113 degrees. After adjusting the appropriate sensing distance and delay, when a person enters its sensing range, it outputs a high level, and when a person leaves the sensing range, it automatically delays and closes the high level and outputs a low level.

[0083] In the present invention, after the VCC and GND of the collision sensor 10 are connected, if there is no collision, the OUT pin outputs a high level, and the module switch indicator light will not light up; when there is a collision, the OUT pin outputs a low level, and the switch indicator light up. The collision sensor 10 in the present invention is used to detect whether the material is grasped when clamping the material. If so, it works to the next step; if not, it stays at this step to ensure that the material is grasped to avoid grasping people or other objects.

[0084] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. An intelligent cargo sorting method, characterized in that: The sorting method is implemented based on a sorting robot; The sorting robot comprises a base (1), a motor drive module (2), a DC reduction motor (3), a conveyor belt (4), a mechanical arm drive motor (5), a steering gear (6), a mechanical arm (7), a first photoelectric sensor (8), a second photoelectric sensor (9), a collision sensor (10), a pressure sensor (11) and a CPU (13); The conveyor belt (4) and the mechanical arm (7) are respectively fixedly mounted at two ends of the base (1); a first photoelectric sensor (8) is arranged at the rear end of the conveyor belt (4) for detecting whether goods are placed on the conveyor belt (4) and detecting the reflectivity of the goods; a second photoelectric sensor (9) is arranged on the side of the rear end of the conveyor belt (4) for detecting the size of the goods arriving at the rear end of the conveyor belt (4); a pressure sensor (11) is arranged at the rear end of the conveyor belt (4) for detecting the weight of the goods arriving at the rear end of the conveyor belt (4); and a collision sensor (10) is arranged on the mechanical claw (7-4) of the mechanical arm (7) for detecting the degree of grasping of the goods; Detection signals from the first photoelectric sensor (8), the second photoelectric sensor (9), the collision sensor (10) and the pressure sensor (11) are sent to a CPU (13). The CPU (13) controls the motor drive module (2), the mechanical arm drive motor (5) and the steering gear (6) to operate according to the detection signals. The motor drive module (2) controls the start and stop of the conveyor belt (4) by driving the DC reduction motor (3). The mechanical arm drive motor (5) drives the mechanical arm (7) to operate. The steering gear (6) drives the rotation of the mechanical arm (7). It also includes a working mode switching module, which includes a working mode selection module, a switching switch and an indicator light module; The working mode selection module is used to select the current working mode, which includes cargo weight sorting, cargo size sorting or cargo color sorting; The switch is used to switch the working mode and send the current working mode to the CPU (13); The indicator light module is used to control the indicator light to display different colors or states according to the current working mode; The sorting method specifically includes: S1, system startup, CPU (13) controls the first photoelectric sensor (8) to start; S2, the first photoelectric sensor (8) detects whether goods are placed on the conveyor belt (4), and when a signal indicating that goods are placed is detected, a signal indicating that goods are placed is sent to the CPU (13); S3, the CPU (13) controls the motor drive module (2) to work according to the cargo placement signal, and then controls the conveyor belt (4) to start through the DC reduction motor (3); S4. CPU (13) determines the current working mode through the working mode switching module: When the working mode is cargo weight sorting, S5 is executed; When the working mode is to sort the goods by size, execute S6; When the working mode is color sorting of goods, S7 is executed; S5, the CPU (13) controls the pressure sensor (11) to start, and when the pressure sensor (11) detects a pressure signal, the pressure signal is sent to the CPU (13), and the CPU (13) controls the mechanical arm drive motor (5) and the steering gear (6) to start according to the pressure signal, and drives the mechanical arm (7) to work. At the same time, the CPU (13) controls the mechanical arm (7) to sort the goods to the corresponding placement area according to the pressure signal, and then returns to execute S2; S6, the CPU (13) controls the second photoelectric sensor (9) to start, and when the second photoelectric sensor (9) detects a cargo edge signal, the cargo edge signal is sent to the CPU (13), and the CPU (13) controls the mechanical arm drive motor (5) and the steering gear (6) to start according to the cargo edge signal, and drives the mechanical arm (7) to work. At the same time, the CPU (13) controls the mechanical arm (7) to sort the cargo to the corresponding placement area according to the cargo edge signal, and then returns to execute S2; S7, the CPU (13) determines the color of the goods according to the reflectivity of the surface of the goods detected by the first photoelectric sensor (8), the CPU (13) controls the mechanical arm drive motor (5) and the steering gear (6) to start, and drives the mechanical arm (7) to work. At the same time, the CPU (13) controls the mechanical arm (7) to sort the goods to the corresponding placement area according to the color of the goods, and then returns to execute S2.

2. The intelligent cargo sorting method according to claim 1, characterized in that: The invention also comprises an infrared human body sensor (12), which is arranged on the side of the mechanical arm (7) through a bracket, and is used to detect a human body sensing signal and send the detected human body sensing signal to a CPU (13). The CPU (13) controls the mechanical arm driving motor (5) to stop working according to the human body sensing signal.

3. The intelligent cargo sorting method according to claim 2, characterized in that: The mechanical arm (7) comprises a pan-tilt platform (7-1), a bracket (7-2), a double gear (7-3) and a mechanical claw (7-4); The mechanical claw (7-4) is installed on the top of the bracket (7-2) through the double gear (7-3), the bottom end of the bracket (7-2) is fixed to the upper end of the placing platform (7-1), and the placing platform (7-1) is fixedly installed on the base (1); The bracket (7-2) is a two-stage structure, the two-stage structure is driven by the mechanical arm drive motor (5) and the steering gear (6) respectively, and the double gear (7-3) is driven by the mechanical arm drive motor (5).

4. The intelligent cargo sorting method according to claim 3, characterized in that: The steering gear (6) comprises six digital steering gears, which drive the bracket (7-2) to realize working directions with six degrees of freedom.

5. The intelligent cargo sorting method according to claim 2, further comprising: The infrared human body sensor (12) detects a human body sensing signal, and when a human body sensing signal is detected, the human body sensing signal is sent to a CPU (13), and the CPU (13) controls the mechanical arm drive motor (5) to stop working.

6. The intelligent cargo sorting method according to claim 3, characterized in that: The driving mechanical arm (7) described in S5, S6 and S7 comprises: The CPU (13) controls the mechanical arm drive motor (5) to drive the mechanical claw (7-4) to perform a grasping action; The collision sensor (10) detects a collision signal and sends the collision signal to the CPU (13) when the collision signal is detected; When the CPU (13) receives the collision signal, it controls the mechanical arm drive motor (5) to drive the mechanical claw (7-4) to perform a clamping action.

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