Control method for self-adapting flexible gripping device

Abstract

The application relates to a control method of an adaptive flexible clamping device, which comprises an industrial robot, an electric clamping jaw and a vision device arranged on the industrial robot, the vision device collects vision information and feeds back the vision information to the industrial robot, and the electric clamping jaw is driven according to a driving signal; a rotating mechanism and a tactile clamping mechanism are arranged on the electric clamping jaw, the rotating mechanism is connected with the tactile clamping mechanism, the rotating mechanism drives the tactile clamping mechanism to move up and down or rotate in the horizontal direction to adjust the position of the tactile clamping mechanism; the tactile clamping mechanism is used for clamping a clamped object, a tactile sensor is in contact with the clamped object, collects feedback signals of the clamped object and feeds back the feedback signals to the electric clamping jaw; the electric clamping jaw analyzes and processes the feedback signals, and controls the clamping force of the tactile clamping mechanism according to the feedback signals. The adaptive flexible clamping device has the advantages of simple structure, low manufacturing cost, and the ability to control the clamped force according to the properties of the clamped object, so that the clamped object is prevented from falling, sliding or being damaged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, automation applications, and in particular to a self-adaptive flexible clamping device and a control method thereof. BACKGROUND

[0002] In the related art, robots are increasingly used in the fields of intelligent manufacturing, home service, etc. The development of the tactile sensing function of the robot end effector is an important way to improve the intelligence level of the robot. In more and more application scenarios, the robot manipulator needs to clamp or grasp unknown objects. How to plan the correct operation action according to the characteristics of the object, such as the softness and hardness, surface texture, spatial shape, etc., to ensure that the operated object does not fall, slip, or break is a current technical trend. The robot end effector generally adopts two structures to operate the object. One is a "dexterous hand" mechanism that realizes the "grasping" action. It is a bionic mechanism that simulates the structure of the human hand, has multiple joints and multiple degrees of freedom, and needs multiple motors to drive, and can realize complex grasping actions. However, this structure is too complex, the servo control is difficult, and the manufacturing cost is also high. The other is a gripper that realizes the "clamping" action, i.e., the opening and closing of the gripper are realized by a motor or a hydraulic and pneumatic mechanism. The traditional gripper structure is relatively simple, but since the body is mostly made of rigid structure, the clamping force is difficult to accurately control when clamping, which may cause extrusion damage to the object. When clamping objects with hard and smooth texture, slipping often occurs. SUMMARY

[0003] To overcome the problems in the related art, the present application provides a self-adaptive flexible clamping device and a control method thereof. The self-adaptive flexible clamping device has a simple structure, low manufacturing cost, and can control the clamped force according to the properties of the clamped object to avoid the clamped object from falling, slipping, or breaking, etc.

[0004] The first aspect of the application provides a self-adaptive flexible clamping device, comprising: an industrial robot, an electric clamping jaw and a vision device are arranged on the industrial robot, the vision device collects visual information and feeds back the visual information to the industrial robot, the industrial robot analyzes and processes the visual information to obtain a driving signal, and drives the electric clamping jaw according to the driving signal; a rotating mechanism and a tactile clamping mechanism are arranged on the electric clamping jaw, the rotating mechanism is connected with the tactile clamping mechanism, the rotating mechanism drives the tactile clamping mechanism to move up and down or rotate in the horizontal direction to adjust the position of the tactile clamping mechanism; a tactile sensor is arranged on the tactile clamping mechanism; the tactile clamping mechanism is used to clamp an object to be clamped, the tactile sensor is in contact with the object to be clamped and collects feedback signals of the object to be clamped and then feeds back to the electric clamping jaw; the electric clamping jaw analyzes and processes the feedback signals and controls the clamping force of the tactile clamping mechanism according to the feedback signals. The vision device collects visual information and analyzes and processes the visual information to obtain a driving signal, and the electric clamping jaw is driven according to the driving signal, so that the electric clamping jaw can be more accurately and precisely driven to the position of the object to be clamped. The rotating mechanism is arranged on the electric clamping jaw, which drives the tactile clamping mechanism to move up and down or rotate in the horizontal direction to adjust the position of the tactile clamping mechanism, so that the tactile clamping mechanism can be flexibly adjusted, the clamping accuracy is higher, and the object to be clamped can be precisely clamped. The tactile clamping mechanism is arranged on the electric clamping jaw to clamp the object to be clamped, the tactile sensor is arranged on the tactile clamping mechanism and directly contacts the surface of the object to be clamped to collect feedback signals of the object to be clamped, the size, softness and hardness of the object to be clamped are calculated according to the feedback signals, and then the movement speed, clamping force and stopping position of the tactile clamping mechanism are controlled, so as to avoid damaging the object to be clamped or causing relative sliding of the object to be clamped during clamping, and the clamping is not firm and reliable. At the same time, the tactile sensor directly contacts the surface of the object to be clamped, the feedback signals obtained are accurate, the response speed is fast, and the tactile clamping mechanism is suitable for precise clamping.

[0005] Preferably, a motor is arranged on the tactile clamping mechanism, the motor is connected with a transmission synchronous wheel, the transmission synchronous wheel is connected with a driving lead screw, a plurality of driving nuts are arranged on the driving lead screw, a clamping finger is connected with the driving nuts, and the tactile sensor is arranged on the clamping finger. The structure of the tactile clamping mechanism is simple, the manufacturing cost is low, but the accuracy and flexibility are high, and the tactile clamping mechanism is also suitable for precise clamping.

[0006] Preferably, the driving nut is connected to a driving connecting block, the driving connecting block is connected to a guide sliding block, the clamping fingers are arranged on the guide sliding block, and the guide sliding block slides on a guide sliding rail under the driving of the driving connecting block to control the distance between the clamping fingers. In this way, the clamping fingers are controlled to stably translate, and the clamping fingers can accurately clamp the object without deviation, high accuracy, and no adverse phenomena such as excessive force or shaking.

[0007] Preferably, the driving screw is designed with forward and reverse teeth, so that the driving nut arranged on the driving screw moves towards or away from each other to adjust the distance between the clamping fingers. In this way, the clamping fingers can be accurately controlled to clamp the object.

[0008] The second aspect of the present application provides a control method of an adaptive flexible clamping device, to control the adaptive flexible clamping device, comprising:

[0009] S1, collecting visual information of the clamped object by a visual device to determine the position of the clamped object;

[0010] S2, driving the electric clamping fingers to the position of the clamped object to clamp the clamped object, and driving the electric clamping fingers to clamp the clamped object by the tactile clamping mechanism;

[0011] S3, when the clamping fingers contact the clamped object, the tactile sensor on the clamping fingers collects signals of the clamped object;

[0012] S4, the collected signals are fed back to the controller of the industrial robot for signal analysis and processing to obtain the amplitude level of the signals;

[0013] S5, comparing the amplitude level of the signals with the standard object classification table preset in the controller to obtain the standard object classification level of the clamped object;

[0014] S6, the tactile clamping mechanism controls the movement speed and clamping force of the clamping fingers according to the standard object classification level to clamp the clamped object;

[0015] S7, the electric clamping fingers move the clamped object to a specified position to complete the clamping of the object.

[0016] The control method can accurately find the position of the clamped object for effective clamping, accurately collect the feedback signals of the clamped object by the adaptive flexible clamping device, and accurately output the clamping force to effectively clamp the clamped object. In the clamping process, the clamped object is reliably and stably clamped to avoid damage to the clamped object or clamping failure.

[0017] Preferably, in S4, the signals collected by the plurality of tactile sensors are fed back to the embedded controller, the embedded controller performs differential signal filtering on the collected signals, obtains the curve of the amplitude signal of the clamped object, and outputs the amplitude level according to the preset value. The collected signals are more accurate, precise and effective, and the output amplitude level is accurate.

[0018] Preferably, in S6, the signal of the standard classification level is transmitted to the gripper finger, and the gripper finger controls its clamping force and movement speed according to the threshold value set by the standard classification level, and stops the movement of the gripper finger when the clamping force or movement speed is greater than the threshold value. According to the set standard classification level, the controller analyzes and processes the speed quickly and accurately, improves the response speed of the gripper finger, and outputs accurate clamping force.

[0019] Preferably, in S2, the electric gripper drives the tactile clamping mechanism to clamp the clamped object, and when the gripper finger reaches the position of the clamped object, the motor controls the driving screw to move the driving nut in the same direction, and drives the gripper finger to move inward synchronously to clamp the clamped object.

[0020] Preferably, in S1, the visual device takes a picture of the visual field within its visual range, extracts the picture taken by the visual device, processes the picture background in the picture using the RGB algorithm, extracts the information in the picture, determines the center of gravity coordinates and the long axis angle of the clamped object, and feeds back the determined position information to the controller. This kind of analysis and processing method can accurately find the position of the clamped object, and the processing speed is fast, thereby speeding up the response speed of the gripper finger.

[0021] Preferably, in S7, the electric gripper drives the gripper finger to move the clamped object to a specified position, the motor drives the gripper finger to move outward synchronously, releases the clamped object, and the clamped object is separated from the gripper finger; the motor continues to drive the gripper finger to move outward synchronously, and when the gripper finger is opened to the maximum position, the reset is completed and the initial state of the electric gripper is reached. After releasing the clamped object, the gripper finger is directly returned to the initial state, and this kind of activity is simple, so that the gripper finger can quickly realize the clamping action after receiving the driving signal, and complete the clamping action on the clamped object.

[0022] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which like reference characters refer to the like elements throughout the drawings, and in which the exemplary embodiments of the present application are shown.

[0024] Figure 1 is a structural schematic diagram of the adaptive flexible clamping device shown in the embodiments of the present application;

[0025] Figure 2 is a structural schematic diagram of the tactile clamping mechanism of the adaptive flexible clamping device shown in the embodiments of the present application;

[0026] Figure 3 is a flow schematic diagram of the control method of the adaptive flexible clamping device shown in the embodiments of the present application;

[0027] Figure 4 is a schematic diagram of the amplitude signal curve collected by the tactile sensor of the adaptive flexible clamping device shown in the embodiments of the present application;

[0028] Figure 5 is a structural schematic diagram of the controller shown in the embodiments of the present application.

[0029] The accompanying drawings are as follows:

[0030] Industrial robot 100; base 101; mechanical arm 102; mechanical hand 103; electric clamping jaw 1; rotating mechanism 11; rotating shaft 111; fixed part 112; tactile clamping mechanism 12; tactile sensor 121; contact surface 1211; motor 122; first transmission synchronous wheel 1221; second transmission synchronous wheel 1222; belt 1223; drive screw 123; bearing 1231; drive nut 124; drive connecting block 1241; guide sliding block 125; guide sliding rail 126; clamping jaw finger 127; connecting part 1271; clamping part 1272; through hole 1273; extension part 2; vision device 3; controller 1000; memory 1010; processor 1020. DETAILED DESCRIPTION

[0031] The preferred embodiments of the present application will be described in more detail by making reference to the accompanying drawings. Although the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0032] The terms used in the present application are merely for the purpose of describing specific embodiments and are not intended to limit the present application. The singular forms "a", "an" and "the" used in the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein means and includes any or all possible combinations of one or more associated listed items.

[0033] It should be understood that, although the terms "first", "second", "third", etc. can be used in this application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information without departing from the scope of the application. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0034] To solve the above problems, the adaptive flexible clamping device and its control method provided by the embodiments of the present application have simple structure, low manufacturing cost, and can control the clamping force according to the properties of the clamped object, avoiding the clamped object from falling, sliding or breaking, etc.

[0035] The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0036] Figure 1 is a structural schematic diagram of the adaptive flexible clamping device shown in the embodiments of the present application.

[0037] Referring to Figure 1 An adaptive flexible clamping device comprises an industrial robot 100, the industrial robot 100 is provided with a base 101, the base 101 is connected with a mechanical arm 102, and the mechanical arm 102 is connected with a mechanical hand 103. The base 101 is used to fix the industrial robot 100, support the mechanical arm 102 and the mechanical hand 103. One end of the mechanical arm 102 is fixed on the base 101, and the other end is connected with the mechanical hand 103. The mechanical arm 102 can drive the mechanical hand 103 to rotate 360 degrees on the base 101, so that the mechanical hand 103 can reach any desired position. The mechanical hand 103 is provided with an electric clamp jaw 1 and a vision device 3. The mechanical hand 103 can move the electric clamp jaw 1 to the clamped object according to the visual information fed back by the vision device 3, control the electric clamp jaw 1 to move up and down or rotate 360 degrees in the horizontal direction to adjust the appropriate position, and clamp the clamped object. The vision device 3 collects visual information and feeds back the visual information to the industrial robot 100. The industrial robot 100 analyzes and processes the visual information to obtain a driving signal, and drives the electric clamp jaw 1 to reach the position of the clamped object according to the calculated driving route according to the driving signal.

[0038] The electric clamping jaw 1 is provided with a rotating mechanism 11 and a tactile clamping mechanism 12. The rotating mechanism 11 is connected with the tactile clamping mechanism 12. The rotating mechanism 11 drives the tactile clamping mechanism 12 to move up and down or rotate horizontally to adjust the position of the tactile clamping mechanism 12, thereby increasing the flexibility of the adaptive flexible clamping device and adapting to precise clamping.

[0039] In an optional embodiment, the mechanical arm 103 is provided with a controller 1000 and a driving device (not shown). The controller 1000 is in communication connection with the driving device. The driving device is connected with the rotating mechanism 11. The driving device drives the rotating mechanism 11 to move up and down or rotate horizontally according to the signal of the controller 1000. The rotating mechanism 11 is provided with a rotating shaft 111 and a fixed part 112 arranged at one end of the rotating shaft 111. The rotating shaft 111 is connected with the driving device. The rotating shaft 111 is connected with the mechanical arm 103 and moves up and down or rotates horizontally in the mechanical arm 103. The fixed part 112 is connected with the tactile clamping mechanism 12. The fixed part 112 moves or rotates with the rotating shaft 111, thereby driving the tactile clamping mechanism 12 to move or rotate to flexibly adjust the appropriate position for clamping the clamped object.

[0040] In an optional embodiment, the mechanical arm 103 is provided with an extension part 2. The visual device 3 is arranged on the extension part 2. The visual device 3 is arranged on one side above the electric clamping jaw 1, and the electric clamping jaw 1 does not block the vision of the visual device 3. Specifically, the visual device 3 adopts a visual intelligent camera or other camera to shoot and record the relevant visual field range, and sends the information of the shooting and recording to the controller 1000 for processing or to the storage for storage.

[0041] The tactile clamping mechanism 12 is provided with a tactile sensor 121. The tactile clamping mechanism 12 is used to clamp the clamped object. The tactile sensor 121 contacts the clamped object and collects the feedback signal of the clamped object, and then feeds back to the electric clamping jaw 1. The electric clamping jaw 1 analyzes and processes the feedback signal, and controls the clamping force of the tactile clamping mechanism 12 according to the feedback signal.

[0042] Figure 2 It is a structure schematic view of the tactile clamping mechanism 12 of the adaptive flexible clamping device shown in the embodiment of the application.

[0043] Referring to Figure 2In an alternative embodiment, the tactile clamping mechanism 12 is provided with a motor 122 connected to a transmission synchronizer wheel, which is connected to a drive screw 123, and a plurality of drive nuts 124 are arranged on the drive screw 123, and a clamping finger 127 is connected to the drive nuts 124, and the tactile sensor 121 is arranged on the clamping finger 127. The motor 122 receives instructions from the controller 1000 to start the motor 122, and the motor 122 drives the transmission synchronizer wheel to rotate. In this embodiment, two transmission synchronizer wheels are provided, namely a first transmission synchronizer wheel 1221 and a second transmission synchronizer wheel 1222, which are connected by a belt 1223. The first transmission synchronizer wheel 1221 is connected to the motor 122, and the second transmission synchronizer wheel 1222 is connected to one end of the drive screw through a bearing 1231. Specifically, the two drive nuts 124 in this embodiment are installed on the drive screw 123 and move horizontally on the drive screw.

[0044] Specifically, the drive nuts 124 are connected to a drive connecting block 1241, which is connected to a guide sliding block 125, and the clamping finger 127 is arranged on the guide sliding block 125, which slides on a guide sliding rail 126 under the drive of the drive connecting block 1241 to control the distance between the clamping fingers 127. In this embodiment, the two drive nuts 124 drive the guide sliding block 125 to move on the same guide sliding rail 126 through the drive connecting block 1241, so that the guide sliding block 125 drives the clamping finger 127 to move smoothly. At the same time, the guide sliding block 125 moves on the same guide sliding rail 126 to control the clamping finger 127 to clamp the clamped object more accurately and precisely, without damaging the clamped object, and is suitable for various precise clamping. The structure of this kind of tactile clamping mechanism 12 is simple, the manufacturing cost is low, but the precision is high and the flexibility is strong, and it is also suitable for precise clamping.

[0045] Preferably, the drive screw 123 adopts a reverse tooth design, so that the drive nuts 124 arranged on the drive screw 123 move towards each other or away from each other to adjust the distance between the clamping fingers 127. When the drive nuts 124 move towards each other, the distance between the clamping fingers 127 increases to loosen the clamped object or adjust the distance between the clamping fingers 127 according to the size of the clamped object to adapt to clamping. When the drive nuts 124 move away from each other, the distance between the clamping fingers 127 decreases to clamp the clamped object to prevent the clamped object from falling or sliding.

[0046] Specifically, the clamping fingers 127 are fixed on the guide slider 125, and the guide slider 125 is in sliding connection with the guide rail 126. In this embodiment, the clamping fingers 127 are provided with a connecting portion 1271 and a clamping portion 1272 connected to one end of the connecting portion 1271, so that the clamping fingers 127 are arranged in an L shape. Specifically, a plurality of clamping fingers 127 are symmetrically arranged, the clamping portions 1272 are oppositely arranged, and the clamping portions 1272 can be in zero-distance contact, facilitating the clamping of small-sized objects. The clamping portion 1272 is provided with a through hole 1273, the tactile sensor 121 is arranged in the through hole 1273, and the contact surfaces 1211 of the tactile sensor 121 are oppositely arranged, and the clamped object is arranged between the contact surfaces 1211. Preferably, the tactile sensor 121 is provided with a metal shell, the metal shell is provided with the contact surfaces 1211 and a cavity connected to the contact surfaces 1211, a piezoelectric ceramic sheet (not shown) is arranged in the cavity, and the piezoelectric ceramic sheet is electrically connected to a line. When the contact surfaces 1211 contact the clamped object, vibration occurs, the vibration is transmitted to the piezoelectric ceramic sheet, the piezoelectric ceramic sheet generates an ultrasonic signal, the ultrasonic signal is sent to the clamped object, and the clamped object feeds back an ultrasonic signal which is received and analyzed by the controller 1000.

[0047] In this way, the visual device 3 collects visual information and analyzes and processes the visual information to obtain a driving signal, and the electric clamping jaw 1 is driven according to the driving signal, so that the electric clamping jaw 1 can be more accurately and precisely driven to the position of the clamped object. The electric clamping jaw 1 is provided with a rotating mechanism 11, which drives the tactile clamping mechanism 12 to move up and down or rotate in the horizontal direction to adjust the position of the tactile clamping mechanism 12, so that the tactile clamping mechanism 12 can be flexibly adjusted, the clamping accuracy is higher, and the clamped object can be precisely clamped. The electric clamping jaw 1 is provided with the tactile clamping mechanism 12 for clamping the clamped object, the tactile clamping mechanism 12 is provided with the tactile sensor 121 which directly contacts the surface of the clamped object, collects feedback signals of the clamped object, calculates the size, softness and hardness of the clamped object according to the feedback signals, and controls the movement speed, clamping force and stopping position of the tactile clamping mechanism 12, so as to avoid damaging the clamped object or causing relative sliding of the clamped object during clamping, and to make the clamping not firm and reliable. At the same time, the tactile sensor 121 directly contacts the surface of the clamped object, the feedback signals obtained are accurate, the response speed is fast, and the tactile sensor 121 is suitable for precise clamping.

[0048] Figure 3 is a flow diagram of the control method of the adaptive flexible clamping device according to the embodiment of the present application.

[0049] Referring to Figure 3Thus, a control method of an adaptive flexible clamping device is provided for controlling the adaptive flexible clamping device, comprising:

[0050] S1, collecting visual information of the clamped object through the visual device 3 to determine the position of the clamped object;

[0051] S2, according to the position of the clamped object, driving the electric gripper 1 to the position of the clamped object to clamp the clamped object, and the electric gripper 1 drives the tactile clamping mechanism 12 to clamp the clamped object;

[0052] S3, when the gripper finger 127 contacts the clamped object, the tactile sensor 121 on the gripper finger 127 collects signals from the clamped object;

[0053] S4, the collected signal is fed back to the controller 1000 on the industrial robot 100 for signal analysis and processing to obtain the signal amplitude level;

[0054] S5, comparing the amplitude level of the signal with the standard object classification table preset in the controller 1000 to obtain the standard object classification level of the clamped object;

[0055] S6, the tactile clamping mechanism 12 controls the movement speed and clamping force of the clamping fingers 127 according to the standard object classification level to clamp the object;

[0056] S7, the electric gripper 1 drives the gripper fingers 127 to move the gripped object to a designated position, completing the gripping of the object.

[0057] This control method can accurately find the position of the clamped object and clamp it effectively. It can enable the adaptive flexible clamping device to accurately collect the feedback signal of the clamped object and then accurately output the clamping force, effectively clamp the clamped object, and reliably and stably clamp the clamped object during the clamping process, avoiding damage to the clamped object or clamping failure.

[0058] Preferably, in S1, the visual smart camera on the visual device 3 takes a photo in the visual range, transmits the photo information to the controller 1000, the controller 1000 processes the photo or video, calculates the center of gravity coordinates and the long axis angle of the clamped object, determines the position of the clamped object, and feeds back the determined position information to the controller 1000. Thus, in an optional embodiment, the size of the clamped object is calculated according to the visual information obtained by the visual device 3, and the information is fed back to the controller 1000, so that the position of the clamped object is accurately calculated, and the clamped object is located in the clamping space between the fingers, which facilitates better clamping of the clamped object. Specifically, the visual device 3 takes a photo of the visual field in its visual range, extracts the photo in the visual device 3, processes the photo background in the photo using the RGB algorithm, extracts the information in the photo, determines the center of gravity coordinates and the long axis angle of the clamped object, and feeds back the determined position information to the controller 1000, and drives the electric clamp 1 to the position of the clamped object to clamp the clamped object. This kind of analysis and processing method can accurately find the position of the clamped object, and the processing speed is fast, thereby speeding up the response speed of the clamp finger 127.

[0059] Preferably, in S2, the controller 1000 detects the position information of the electric clamp 1, and analyzes and processes the position information of the electric clamp 1 and the clamped object to calculate the optimal driving route. The controller 1000 controls the rotation angle of the mechanical arm 102 on the base 101 according to the optimal route, positions the mechanical arm 102, and drives the driving device of the mechanical hand 103 to rotate the rotating mechanism 11 in the horizontal direction, so that the clamping direction of the clamp finger 127 is adapted to the clamped object, and the rotating mechanism 11 drives the clamp finger 127 to move downward to clamp the clamped object.

[0060] Specifically, in S2, the motor 122 is started, the transmission synchronous wheel is rotated and the force and movement are transmitted to the driving screw rod 123, so that the driving nut 124 on the driving screw rod 123 moves in opposite directions, driving the clamp finger 127 to move outward synchronously, and when the clamp finger 127 is opened to the maximum position, the reset is completed and the initial state of the electric clamp 1 is reached. The electric clamp 1 drives the tactile clamping mechanism 12 to clamp the clamped object, and when the clamp finger 127 reaches the position of the clamped object, the motor 122 controls the driving screw rod 123 to move the driving nut 124 in opposite directions, and drives the clamp finger 127 to move inward synchronously to clamp the clamped object.

[0061] In an alternative embodiment, the gripper fingers 127 are provided with two, and their movement state has two, one is that the two gripper fingers 127 move in opposite directions, the double fingers are opened, so that the clamping space becomes larger, and the reset of the gripper fingers 127 is performed; the second is that the two gripper fingers 127 move towards each other, the double fingers are clamped, so that the clamping space becomes smaller, and the clamping action on the clamped object can be realized.

[0062] Double finger opening: the motor 122 drives the two gripper fingers 127 to open outward at the same time, and when the opening reaches the maximum position, the reset is completed, and the initial state of the tactile clamping mechanism 12 is reached.

[0063] Double finger clamping: when the controller 1000 receives an external input start signal, the motor 122 starts, and through the action of the first transmission synchronous wheel 1221, the second transmission synchronous wheel 1222 and the belt 1223, the force and movement are transmitted to the drive lead screw 123. The drive lead screw 123 adopts a positive and negative tooth design, so that the two drive nuts 124 installed on the drive lead screw 123 can synchronously move inward to make a clamping action; the gripper fingers 127 are fixed with the guide slider 125, and the guide slider 125 is fixed with the drive connecting block 1241; so that when the two drive nuts 124 move, the gripper fingers 127 can be driven to make a clamping action. In the clamping movement process, the tactile sensor 121 embedded in the gripper fingers 127 directly contacts the clamped object, and feeds back a signal to the controller 1000 at the moment of contact. The controller 1000 analyzes and processes the feedback signal, calculates the size and material hardness of the clamped object, and controls the movement speed of the motor 122 and the stop position of the gripper fingers 127, so as to avoid the clamped object from falling, sliding or being damaged.

[0064] In an alternative embodiment, the gripper fingers 127 have seven grasping poses, which are:

[0065] Initial state: the two gripper fingers 127 are opened to the maximum position, which is the starting position of the gripper fingers 127.

[0066] Non-contact approach process: the motor 122 is started, the two gripper fingers 127 are opened to the maximum position and fixed, the two gripper fingers 127 move towards the direction of the clamped object, and stop at the position of the clamped object, so that the clamped object is located in the clamping space of the two gripper fingers 127.

[0067] Contacting instantaneous state: when the clamping fingers 127 stop at the position of the clamped object, the clamped object is located in the clamping space, the motor 122 receives feedback information, and drives the two clamping fingers 127 to move towards each other to perform clamping action. The contact surface 1211 of the tactile sensor 121 on the clamping finger 127 directly contacts the surface of the clamped object, and feeds back the related information of the clamped object to the controller 1000. The controller 1000 calculates the size and softness of the clamped object according to the feedback information, and gives the motor 122 a control instruction of clamping force to output the corresponding clamping force.

[0068] Object movement clamping process: the motor 122 receives the corresponding clamping force instruction to control the movement speed and stop position of the clamping finger 127, and clamps the clamped object. After clamping the clamped object, the clamped object is moved to the specified position by the clamping finger 127.

[0069] Object hovering clamping state: after the clamped object is moved to the specified position by the clamping finger 127, the clamping finger 127 is stopped.

[0070] Release process: the clamping finger 127 receives the instruction of the motor 122, and synchronously runs in opposite directions to perform the loosening action. The clamped object slides off and leaves the clamping space, and the clamping finger 127 continues to synchronously open outward. When the clamping finger 127 opens to the maximum position, the reset is completed, and the initial state of the clamping device is reached.

[0071] Specifically, in S3, the tactile sensor 121 collects the amplitude signal, width signal, frequency signal, phase signal and the like of the clamped object. In the collection process, the data is acquired by using the communication mode IIC, and in the acquisition process, the signal is identified and collected by using a special chip and an amplification circuit.

[0072] Specifically, in S4, the signals collected by the plurality of tactile sensors 121 are fed back to the embedded controller 1000. The embedded controller 1000 performs differential signal filtering on the collected signals to obtain the curve of the amplitude signal of the clamped object, as shown in Figure 4 The amplitude signal curve is compared and matched with the preset value, and the amplitude level is output according to the preset value.

[0073] Specifically, in S5, the standard classification table is provided with a standard classification level corresponding to the amplitude level. Different standard classification levels correspond to different clamping forces according to the size of the clamped object, the softness and the like.

[0074] Specifically, in S6, the signal of the standard classification level is transmitted to the gripper finger 127, and the gripper finger 127 controls the clamping force and the movement speed according to the threshold value set by the standard classification level, and when the clamping force or the movement speed is greater than the threshold value, the movement of the gripper finger 127 is stopped. The analysis and processing mode can accurately identify the required clamping force of the clamped object, and the processing speed is fast, thereby accelerating the response speed of the gripper finger 127, and the gripper finger 127 can quickly and accurately clamp the clamped object.

[0075] Specifically, in S7, the electric gripper 1 drives the gripper finger 127 to move the clamped object to a specified position, the motor 122 drives the gripper finger 127 to move outward synchronously, and the clamped object is released, and the clamped object is separated from the gripper finger 127; the motor 122 continues to drive the gripper finger 127 to move outward synchronously, and when the gripper finger 127 is opened to the maximum position, the reset is completed, and the initial state of the electric gripper 1 is reached. After releasing the clamped object, the gripper finger 127 is directly returned to the initial state, and the activity mode is simple, so that the gripper finger 127 can quickly realize the clamping action after receiving the driving signal, and the clamped object is clamped.

[0076] Figure 5 is a structural schematic diagram of the controller shown in the embodiments of the present application.

[0077] Referring to Figure 5 , the controller 1000 includes a memory 1010 and a processor 1020.

[0078] The processor 1020 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0079] The memory 1010 can include various types of storage units, such as a system memory, a read-only memory (ROM), and a permanent storage device. Among them, the ROM can store static data or instructions required by the processor 1020 or other modules of the computer. The permanent storage device can be a read and write storage device. The permanent storage device can be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a mass storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device can be a removable storage device (such as a floppy disk, an optical drive). The system memory can be a read and write storage device or a volatile read and write storage device, such as a dynamic random access memory. The system memory can store some or all of the instructions and data required by the processor during runtime. In addition, the memory 1010 can include a combination of any computer readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic disks and / or optical disks. In some embodiments, the memory 1010 can include a read and / or write removable storage device, such as a compact disc (CD), a read-only digital versatile disc (such as DVD-ROM, double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a min SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer readable storage medium does not include a carrier wave and a transient electronic signal transmitted through a wireless or wired transmission.

[0080] The memory 1010 stores executable code, which, when processed by the processor 1020, can cause the processor 1020 to perform part or all of the above-mentioned methods.

[0081] The solutions of the present application have been described in detail above with reference to the accompanying drawings. In the above-described embodiments, the description of each embodiment is focused on each embodiment, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments. It should also be appreciated by those skilled in the art that the actions and modules involved in the specification are not necessarily required by the present application. In addition, it can be understood that the steps in the method embodiments of the present application can be adjusted, combined and deleted according to actual needs, and the modules in the device embodiments of the present application can be combined, divided and deleted according to actual needs.

[0082] Having described various embodiments of the application, it is to be understood that the above description is meant not to limit and not to encompass all of the possible embodiments. Many modifications and variations of this application can be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. It is intended that the scope of the application be defined by the scope of the patent and by the claims as allowed by the patent office, which can include adaptations based on the description, equivalents, and / or substitutions of elements individually or collectively to the entire disclosure.

Claims

1. A control method of an adaptive flexible gripping device, for controlling an adaptive flexible gripping device, characterized in that, The adaptive flexible clamping device comprises: An industrial robot is provided with an electric clamping jaw and a vision device, the vision device collects vision information and feeds back the vision information to the industrial robot, the industrial robot analyzes and processes the vision information to obtain a driving signal, and drives the electric clamping jaw according to the driving signal; The electric clamping jaw is provided with a rotating mechanism and a tactile clamping mechanism, the rotating mechanism is connected with the tactile clamping mechanism, the rotating mechanism drives the tactile clamping mechanism to move up and down or rotate in the horizontal direction to adjust the position of the tactile clamping mechanism; the tactile clamping mechanism is provided with a tactile sensor; the tactile clamping mechanism is used to clamp the clamped object, the tactile sensor contacts the clamped object and collects feedback signals of the clamped object and then feeds back to the electric clamping jaw; the electric clamping jaw analyzes and processes the feedback signals and controls the clamping force of the tactile clamping mechanism according to the feedback signals; The control method of the adaptive flexible clamping device comprises: S1, collecting the vision information of the clamped object by the vision device to determine the position of the clamped object; S2, driving the electric clamping jaw to the position of the clamped object to clamp the clamped object according to the position of the clamped object, the electric clamping jaw drives the tactile clamping mechanism to clamp the clamped object; S3, when the clamping finger contacts the clamped object, the tactile sensor on the clamping finger collects signals of the clamped object; the tactile sensor is provided with a metal shell, the metal shell is provided with a contact surface and a cavity connected with the contact surface, the cavity is provided with a piezoelectric ceramic piece, and the piezoelectric ceramic piece is electrically connected with a circuit; when the contact surface contacts the clamped object, vibration occurs, the vibration is transmitted to the piezoelectric ceramic piece, the piezoelectric ceramic piece generates ultrasonic signals, the ultrasonic signals are sent to the clamped object, and the clamped object feeds back the ultrasonic signals which are received and analyzed by the controller; S4, the collected signals are fed back to the controller on the industrial robot for signal analysis and processing to obtain the amplitude level of the signals; S5, comparing the amplitude level of the signals with the standard object classification table preset in the controller to obtain the standard object classification level of the clamped object; S6, the tactile clamping mechanism controls the movement speed and clamping force of the clamping finger according to the standard object classification level to clamp the clamped object; S7, the electric clamping jaw drives the clamping finger to move the clamped object to a specified position to complete the clamping of the object.

2. The control method of the self-adapting flexible gripping device according to claim 1, characterized in that: The tactile clamping mechanism is provided with a motor, the motor is connected with a transmission synchronous wheel, the transmission synchronous wheel is connected with a driving screw, a plurality of driving nuts are arranged on the driving screw, clamping fingers are connected with the driving nuts, and the tactile sensor is arranged on the clamping fingers.

3. The control method of the self-adapting flexible gripping device according to claim 2, characterized in that: The driving nut is connected with a driving connecting block, the driving connecting block is connected with a guide sliding block, the clamping fingers are arranged on the guide sliding block, and the guide sliding block slides on a guide sliding rail under the driving of the driving connecting block to control the distance between the clamping fingers.

4. The control method of the self-adapting flexible gripping device according to claim 3, characterized in that: The driving screw rod adopts a positive and reverse tooth design, so that the driving nut arranged on the driving screw rod moves towards or away from each other to adjust the distance between the fingers of the clamping jaw.

5. The control method of the adaptive flexible gripping device according to claim 1, characterized in that: In S4, the signals collected by the plurality of tactile sensors are fed back to the embedded controller, the embedded controller performs differential signal filtering on the collected signals, obtains the curve of the amplitude signal of the clamped object, and outputs the amplitude level according to the preset value.

6. The control method of the self-adapting flexible gripping device according to claim 5, characterized in that: In S6, the signal of the standard object classification level is transmitted to the clamping finger, the clamping finger controls its clamping force and movement speed according to the threshold value set by the standard object classification level, and the clamping finger constantly captures the feedback signal of the surface of the clamped object during the movement process of contacting the surface of the clamped object. When the amplitude of the feedback signal is greater than the set threshold value, a stop signal is outputted to stop the movement of the clamping finger.

7. The control method of the adaptive flexible gripping device according to claim 1, characterized in that: In S2, the electric clamping jaw drives the tactile clamping mechanism to clamp the clamped object. When the clamping finger reaches the position of the clamped object, the motor controls the driving screw rod to move the driving nut towards each other, and drives the clamping finger to move inward synchronously to clamp the clamped object.

8. The control method of the adaptive flexible gripping device according to claim 1, characterized in that: In S1, the visual device takes a picture of the visual range within its visual range, extracts the picture taken in the visual device, processes the picture background in the picture by using the RGB algorithm, extracts the information in the picture, determines the center of gravity coordinates and the long axis angle of the clamped object, and feeds back the determined position information to the controller.

9. The control method of the adaptive flexible gripping device according to claim 1, characterized in that: In S7, the electric clamping jaw drives the clamping finger to move the clamped object to the specified position, the motor drives the clamping finger to move outward synchronously, releases the clamped object, and the clamped object is separated from the clamping finger; the motor continues to drive the clamping finger to move outward synchronously, and when the clamping finger is opened to the maximum position, the reset is completed and the initial state of the electric clamping jaw is reached.

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