Mechanical gripper, object gripping method, device and robot

Abstract

The application relates to a mechanical gripper, a mechanical gripper clamping method, a device and related products. The mechanical gripper comprises a gripper body, at least two gripper arms, a processing unit and a driving motor. The outer surface of at least one gripper arm is wrapped with a safety airbag, and a sensor is arranged on the safety airbag. One end of each gripper arm is connected into the gripper body, and at least one gripper arm is connected with the driving motor. The driving motor and the sensor are both connected with the processing unit. When the object is clamped by the mechanical gripper, the mechanical gripper has the advantages of safe interaction, adjustable torque control, high load capacity and precise position control on the basis of reducing the cost of the mechanical gripper, and the universal applicability of the mechanical gripper can be further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machinery, in particular to a mechanical gripper, a mechanical gripper clamping method, device and robot. BACKGROUND

[0002] The mechanical gripper is an important component of the collaborative robot arm, and can replace some repetitive manual work when combined with the collaborative robot arm, and has been widely used in human-computer interaction.

[0003] In the related art, a torque sensor is arranged in the mechanical gripper, and the torque sensor is used to control the mechanical gripper to clamp an object, so as to ensure that the mechanical gripper has the advantages of safe interaction, adjustable torque control, high load capacity and precise position control.

[0004] However, the torque sensor arranged in the above mechanical gripper has a high cost, resulting in a high cost of the mechanical gripper and low universality. SUMMARY

[0005] Therefore, it is necessary to provide a mechanical gripper, a mechanical gripper clamping method, device and robot to solve the above technical problems.

[0006] In a first aspect, the present application provides a mechanical gripper, which comprises a gripper body, at least two gripper arms, a processing unit, a driving motor, an outer surface of each of the at least two gripper arms is wrapped with a safety airbag, a sensor is arranged on the safety airbag, one end of each of the at least two gripper arms is connected to the gripper body, and at least one of the at least two gripper arms is connected to the driving motor; the driving motor and the sensor are connected to the processing unit.

[0007] The processing unit is configured to control the driving motor to rotate to drive the gripper arms connected to the driving motor to move according to the deformation information of the safety airbag obtained by the sensor, so that the gripper arms clamp an object.

[0008] In one of the embodiments, the at least two gripper arms comprise a first gripper arm and a second gripper arm, and the first gripper arm and the second gripper arm are connected to the driving motor.

[0009] The processing unit is configured to control the driving motor to rotate to drive the first gripper arm and the second gripper arm to move relative to each other according to the deformation information, so that the first gripper arm and the second gripper arm clamp the object.

[0010] In one of the embodiments, the driving motor comprises a first driving motor and a second driving motor; the first gripper arm is connected to the first driving motor, and the second gripper arm is connected to the second driving motor.

[0011] The processing unit is configured to control the first driving motor to rotate to drive the first jaw arm to move according to the deformation information, and control the second driving motor to rotate to drive the second jaw arm to move according to the deformation information, so that the first jaw arm and the second jaw arm perform the clamping operation on the object.

[0012] In one of the embodiments, the at least two jaw arms include a first jaw arm and a second jaw arm, and the first jaw arm or the second jaw arm is connected with the driving motor.

[0013] The processing unit is configured to control the driving motor to rotate to drive the first jaw arm or the second jaw arm to move according to the deformation information, so that the first jaw arm and the second jaw arm perform the clamping operation on the object.

[0014] In one of the embodiments, the processing unit is further configured to determine position information and / or pressure data of the object clamped by each jaw arm according to the deformation information, and generate a control signal according to the position information and / or the pressure data; and control the driving motor to rotate to drive the jaw arm connected with the driving motor to move according to the control signal.

[0015] In one of the embodiments, the sensor includes an infrared sensor and / or an air pressure sensor.

[0016] The infrared sensor is configured to detect the deformation amount of the outer surface of the airbag when the airbag touches the object.

[0017] The air pressure sensor is configured to detect the change amount of the internal air pressure of the airbag when the airbag touches the object.

[0018] The processing unit is configured to determine the deformation information of the airbag according to the deformation amount of the outer surface and / or the change amount of the internal air pressure.

[0019] In one of the embodiments, the infrared sensor is multiple, and the multiple infrared sensors are arranged at different positions on the inner surface of the airbag.

[0020] In one of the embodiments, the air pressure sensor is arranged inside the airbag.

[0021] In one of the embodiments, the friction force of the outer surface of the airbag relative to the object is greater than a sliding friction force threshold value, and the sliding friction force threshold value represents the friction force when the object slides relative to the airbag.

[0022] In one of the embodiments, the processing unit and the driving motor are arranged inside the jaw main body.

[0023] In one of the embodiments, the processing unit and the driving motor are integrally arranged.

[0024] In a second aspect, the present application further provides an object clamping method, which includes:

[0025] After the object is gripped by the jaw arms of the mechanical gripper, deformation information of the safety airbag wrapped outside the jaw arms is acquired; the mechanical gripper is the mechanical gripper in any of the embodiments of the first aspect;

[0026] The driving motor is controlled to rotate according to the deformation information to drive the jaw arms connected to the driving motor to move, so that the jaw arms of the mechanical gripper grip the object.

[0027] In one of the embodiments, the driving motor is controlled to rotate according to the deformation information to drive the jaw arms connected to the driving motor to move, including:

[0028] According to the deformation information, position information and pressure data of the object gripped by each jaw arm of the mechanical gripper after the object is gripped are determined;

[0029] A control signal is generated according to the position information and the pressure data;

[0030] The driving motor is controlled to rotate according to the control signal to drive the jaw arms connected to the driving motor to move.

[0031] In one of the embodiments, the method further includes:

[0032] It is detected whether the safety airbag is subjected to a first external force;

[0033] If yes, it is determined that each jaw arm of the mechanical gripper has contacted the object during the process of gripping the object, and the jaw arms of the mechanical gripper are controlled to grip the object.

[0034] In one of the embodiments, the method further includes:

[0035] If the safety airbag is subjected to a second external force after the object is gripped by the jaw arms of the mechanical gripper, the jaw arms of the mechanical gripper are controlled to release the currently gripped object.

[0036] In a third aspect, the application further provides an object gripping device, which includes:

[0037] A deformation information acquisition module is configured to acquire deformation information of a safety airbag wrapped outside the jaw arms of the mechanical gripper after the object is gripped by the jaw arms; the mechanical gripper is the mechanical gripper in any of the embodiments of the first aspect;

[0038] A gripping operation control module is configured to control the driving motor to rotate according to the deformation information to drive the jaw arms connected to the driving motor to move, so that the jaw arms of the mechanical gripper grip the object.

[0039] In a fourth aspect, the application further provides a robot including a memory, a processor and a mechanical gripper, the memory stores a computer program, and the processor controls the mechanical gripper to execute the computer program to realize the method steps provided in any of the embodiments of the second aspect.

[0040] The mechanical gripper, the mechanical gripper clamping method, the device and the robot, the mechanical gripper comprises: a gripper body, at least two gripper arms, a processing unit, a driving motor; the outer surface of at least one gripper arm is wrapped with a safety airbag, and a sensor is arranged on the safety airbag; one end of each gripper arm is connected into the gripper body, and at least one gripper arm is connected with the driving motor, and the driving motor and the sensor are connected with the processing unit; when the object is clamped by using the mechanical gripper, the safety airbag wrapped on the outer surface of the gripper arm can not only protect the object, but also the processing unit can adaptively control the driving motor to rotate to drive the gripper arm connected with the driving motor to move to clamp the object. In the embodiment of the application, the mechanical gripper can clamp the object by controlling the driving motor without using the torque sensor. In addition, the mechanical gripper can clamp a large weight object to realize high load capacity; moreover, the driving motor in the mechanical gripper can also adjust the position of the gripper arm clamping the object and the force applied to the object by the gripper arm through controlling the movement of the gripper arm, so that the mechanical gripper can realize the advantages of adjustable torque control and precise position control. Therefore, the mechanical gripper provided in the embodiment of the application can realize the safety interaction ability, adjustable torque control, high load capacity and precise position control on the basis of reducing the cost of the mechanical gripper, and the cost of the mechanical gripper is low, and the universal applicability of the mechanical gripper can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 It is a structural diagram of the mechanical gripper in one embodiment;

[0042] Figure 2 It is a structural diagram of the gripper arm in one embodiment;

[0043] Figure 3 It is a connection structural diagram of one driving motor and two gripper arms in the mechanical gripper in one embodiment;

[0044] Figure 4 It is a connection structural diagram of two driving motors and two gripper arms in the mechanical gripper in another embodiment;

[0045] Figure 5 It is a connection structural diagram of one driving motor and one gripper arm in the mechanical gripper in another embodiment;

[0046] Figure 6 It is a flowchart of the object clamping method in one embodiment;

[0047] Figure 7 It is a flowchart of the method for controlling the movement of the gripper arm according to the deformation information in one embodiment;

[0048] Figure 8 Flow chart of the object gripping method in another embodiment;

[0049] Figure 9 Structural diagram of the object gripping device in an embodiment;

[0050] Figure 10 Internal structural diagram of the robot in an embodiment.

[0051] Explanation of reference signs:

[0052] 11: jaw body; 12: jaw arm; 13: processing unit; 14: driving motor. DETAILED DESCRIPTION

[0053] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0054] The serial numbers of components in the present application, such as "first", "second", etc., are only used to distinguish the described objects, and do not have any sequence or technical meaning. In the present application, "connection" and "coupling" include direct and indirect connection (coupling) unless otherwise specified. In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0055] In the present application, unless otherwise specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0056] The mechanical jaw provided by the embodiment of the present application can be as follows Figure 1The mechanical gripper can be a mechanical device for gripping objects, a mechanical device for moving and transporting goods, and the like, for example, can be applied to unmanned transportation, assembly line production, and the like, and the specific application scenarios are not limited by the embodiments of the present application.

[0057] Please refer to Figure 1 The mechanical gripper provided by the embodiments of the present application includes a gripper body 11, at least two gripper arms 12, a processing unit 13, and a driving motor 14. The outer surface of at least one gripper arm 12 is wrapped with an airbag, and a sensor is arranged on the airbag. One end of each gripper arm 12 is connected to the gripper body 11, and at least one gripper arm 12 is connected to the driving motor 14. The driving motor 14 and the sensor are both connected to the processing unit 13.

[0058] The processing unit 13 is configured to control the driving motor 14 to rotate to drive the gripper arm 12 connected to the driving motor 14 to move according to the deformation information of the airbag obtained by the sensor, so that each gripper arm 12 performs a gripping operation on the object.

[0059] Figure 1 The mechanical gripper includes two gripper arms 12, a driving motor 14, and a processing unit 13. Figure 1 The shaded part in the mechanical gripper represents the object gripped by the gripper arm, and Figure 1 The sensor in the mechanical gripper is not shown.

[0060] The processing unit 13 and the driving motor 14 are in communication connection, which can be wired connection or wireless connection. The wireless connection can be Bluetooth or wifi connection. The processing unit 13 and the driving motor 14 can be arranged inside the gripper body 11 or outside the gripper body 11. Figure 1 The processing unit 13 and the driving motor 14 are arranged separately from the gripper body 11 in the mechanical gripper.

[0061] Optionally, the processing unit 13 and the driving motor 14 are arranged inside the gripper body 11. Optionally, the processing unit 13 and the driving motor 14 are integrated.

[0062] The processing unit 13 and the driving motor 14 can be arranged at any position inside the gripper main body 11, and the embodiment is not limited in this regard. In this way, the processing unit 13 and the driving motor 14 can be prevented from being exposed for a long time and being prone to poor contact or damage. In addition, the processing unit 13 and the driving motor 14 can be integrally arranged in an integrated structure inside the gripper main body 11, so that the volume of the mechanical gripper can be reduced. Further, when the driving motor 14 includes multiple driving motors, the processing unit 13 can be integrally arranged with part of the driving motors and non-integrally arranged with the remaining driving motors, and the embodiment is not limited in this regard.

[0063] Of course, the structures in the mechanical gripper are not limited to Figure 1 the arrangement shown in the figure.

[0064] The gripper main body 11 in the embodiment is a hollow structure, and the shape thereof includes, but is not limited to, a cube, a cuboid, a cylinder, a cone, a hemisphere, a semi-ellipsoid, and the like. The color of the outer surface of the gripper main body 11 can be any color, for example, red, black, brown, and the like, and the embodiment is not limited in this regard.

[0065] Optionally, the gripper main body 11 can be made of low-carbon steel, copper, or aluminum alloy, and the like. The weight of the gripper main body 11 can be set to be able to withstand the weight of the mechanical gripper when all the gripper arms 12 in the mechanical gripper are clamping objects without the mechanical gripper being tilted.

[0066] Optionally, the number of the gripper arms 12 is at least two, three, four, and the like, and the number is subject to actual conditions. The gripper arms 12 can be in a symmetrical structure or an asymmetrical structure, for example, two gripper arms 12 can be in a left-right symmetrical structure as shown in the figure, and three gripper arms 12 can be in an asymmetrical structure. Figure 1

[0067] Optionally, the gripper arms 12 can also be made of low-carbon steel, copper, or aluminum alloy, and the like. The materials of the gripper arms 12 can be completely the same, or part of the gripper arms 12 can be made of low-carbon steel and the other part can be made of aluminum alloy, and the like. Optionally, the structure of the gripper arms 12 can be a solid structure for clamping heavy objects, or a hollow structure to save materials or reduce the weight of the gripper arms 12. As described above, the gripper arms 12 can all be made of a solid structure, or part of the gripper arms 12 can be made of a solid structure and the other part can be made of a hollow structure. Optionally, the gripper arms 12 can also be a foldable structure connected by multiple component structures, and the connection mode can be detachable connection. The embodiment is not limited in this regard.

[0068] As shown in the figure, the processing unit 13 can be arranged on the gripper main body 11, and the driving motor 14 can be arranged on the gripper arm 12. Figure 2 ​As shown, the clamping jaw arm 12 includes two ends A and B, for example, the A end is called the clamping end, and the B end is called the connecting end, and the two ends can be the same or different. Figure 2 The clamping jaw arm 12 in the figure includes two bendable structures, and the small black dots in the figure are connection points. The clamping end of the clamping jaw arm 12 does not need to be connected to other structures, and thus, Figure 2 The end without the connection point in the figure is the clamping end. The connecting end of the clamping jaw arm 12 is connected to the clamping jaw body 11, and the clamping end of the clamping jaw arm 12 extends out of the clamping jaw body 11 and is used for clamping objects. Optionally, the structure of the clamping end of the clamping jaw arm 12 can be in the shape of a "J" or a "C" so that the clamping jaw arm 12 can more stably clamp objects.

[0069] Optionally, the connecting end of the clamping jaw arm 12 can be connected to the hollow structure of the clamping jaw body 11 through a hole structure. Optionally, the connection mode of each hole structure and the corresponding clamping jaw arm 12 can be detachable connection or fixed connection. The detachable connection can be screw connection, buckle connection, hinge connection, etc., and the fixed connection can be rivet connection, adhesive connection, welding connection, etc.

[0070] Of course, in addition to connecting one end of each clamping jaw arm 12, the hollow structure of the clamping jaw body 11 can also be connected to functional devices such as motors and sensors, or can be connected to structures for supporting the shape of the clamping jaw body 11 or structures for fixing functional devices, etc. The embodiments of the present application are not limited in this regard.

[0071] In actual application, all or at least two clamping jaw arms 12 in the mechanical clamping jaw can clamp objects of any weight, and the clamping mode can be complete wrapping clamping or half wrapping clamping. The embodiments of the present application are not limited in this regard.

[0072] Optionally, when the processing unit 13 controls the clamping jaw arm 12 to clamp objects, it can control different clamping jaw arms 12 to clamp objects according to the actual weight of the objects. For example, if the weight of the object to be clamped is small, only a part of the clamping jaw arms 12 in the mechanical clamping jaw can be controlled to clamp the object, and the remaining clamping jaw arms 12 are in an idle state. However, if the weight of the object to be clamped is large, all clamping jaw arms 12 in the mechanical clamping jaw need to be controlled to clamp the object. For example, there are four clamping jaw arms 12, if the object is light, only two of them can be controlled to clamp the object, and the remaining two are idle. However, if the object is heavy, all four clamping jaw arms 12 can be controlled to clamp the object.

[0073] On the basis of the above embodiments, the outer surface of the clamping jaw arm 12 is wrapped with a safety airbag, which can be made of silicone material to avoid damage to the outer surface of the object when the clamping jaw arm 12 clamps the object due to excessive force.

[0074] It can be understood that in the embodiments of the present application, the outer surface of each jaw arm 12 can include a safety air bag, or only part of the outer surface of the jaw arm 12 includes a safety air bag, and the remaining jaw arm 12 can not be wrapped with a safety air bag or wrapped with a protective body of a different shape and material from the safety air bag. Among them, the protective body of a different shape and material from the safety air bag can be a silica gel sleeve or a foam sleeve, foam, etc. Taking two jaw arms 12 as an example, one of the outer surfaces is wrapped with a safety air bag, and the other outer surface includes foam. It should be noted that the difference between the safety air bag and the protective body is that the safety air bag not only has a cushioning protection function, but also is a resilient structure with the feature of obvious deformation information when in contact with an object. However, the protective body can only have a cushioning protection function. In this way, when the jaw arm 12 clamps an object, the object can be prevented from being damaged, and the deformation information generated when the object is clamped can be detected, and all jaw arms 12 do not need to include a safety air bag, thereby saving costs.

[0075] Among them, whether it is a safety air bag or the above protective body, it can be sealedly wrapped around the corresponding jaw arm 12, or it can be semi-sealedly wrapped around the corresponding jaw arm 12, and the embodiments of the present application do not limit the shape and size thereof, as long as it can wrap the end of the jaw arm 12 clamping an object. In addition, the size of the safety air bag can be set according to the size of the jaw arm 12, so as to wrap the jaw arm 12 and not cause the clamped object to easily slide off. Further, in order to prevent the object from sliding off when the jaw arm 12 clamps the object, the outer surface of the safety air bag can be roughened to increase the friction between the safety air bag and the object. Based on this, in one embodiment, the friction of the outer surface of the safety air bag in the mechanical jaw relative to the object is greater than a sliding friction threshold value, which represents the friction when the object slides off relative to the safety air bag. In actual application, the object clamped by the mechanical jaw is not fixed, and the roughness of the outer surface of different objects is also different, so the object is different, and the friction when it slides off relative to the safety air bag is also different, and then the corresponding sliding friction threshold value is also different, which can be determined according to the actual situation.

[0076] Among them, a sensor is arranged on the safety air bag to detect the deformation information of the safety air bag when the jaw arm 12 clamps an object. Among them, the setting position of the sensor on the safety air bag can be attached to the outer surface or the inner surface of the safety air bag, or it can be attached to the outer surface of the jaw arm 12 in the safety air bag; and the setting position of the sensor on the surface of the safety air bag or the jaw arm 12 is not limited. In addition, since the main function of the sensor is to detect the deformation information of the safety air bag, in order to ensure that the detected deformation information is more accurate, sensors can be arranged at multiple positions on the surface of the safety air bag or the jaw arm 12.

[0077] As mentioned above, at least one of the plurality of jaw arms 12 is wrapped with an airbag, and in order to further save costs, when more than two of the plurality of jaw arms 12 are wrapped with an airbag, only one of the airbags can be provided with a sensor, so that when the object is clamped, as long as the object contacts, presses, or the like, the airbag, the deformation information of the airbag can be detected.

[0078] Optionally, according to the working principle, the sensor can be an electrical sensor, a magnetic sensor, an optical sensor, and / or a charge sensor, etc.; according to the function, the sensor can be a distance sensor, a displacement sensor, a speed sensor, an acceleration sensor, a light intensity detection sensor, a pressure sensor, and a force sensor, etc.

[0079] The driving motor 14 in the mechanical jaw can be one or more, and the driving motor 14 can be arranged inside the jaw body 11 or outside the jaw body 11. One end of the driving motor 14 is connected to the processing unit 13, and the other end is connected to at least one jaw arm 12. In operation, the driving motor 14 rotates under the control of the processing unit 13 to drive the connected jaw arm 12 to move, thereby achieving the clamping operation on the object.

[0080] Optionally, the jaw arm 12 and the driving motor 14 can be directly connected or indirectly connected. When directly connected, the processing unit 13 controls the rotation of the driving motor 14 to directly control the movement of the corresponding jaw arm 12; when indirectly connected, for example, through a shaft structure, the processing unit 13 controls the rotation of the driving motor 14, which drives the shaft structure to rotate, and the rotation of the shaft structure drives the movement of the corresponding jaw arm 12.

[0081] Specifically, when the driving motor 14 drives the connected jaw arm 12 to move, the rotation amplitude can adjust the clamping position of the corresponding jaw arm 12 when clamping the object and the force applied to the object by the corresponding jaw arm 12, so as to control the jaw arm 12 to align with the object when clamping the object, achieving the effect of precise and stable clamping of the object. Optionally, the jaw arm 12 can align with the center of the outer surface of the object, or align with the upper or lower position of the outer surface of the object, etc. The clamping position is not limited in the embodiments of the present application.

[0082] The processing unit 13 is connected to the sensor to obtain the deformation information of the airbag detected by the sensor, and can analyze and process the deformation information, and control the rotation of the driving motor 14 according to the processing result, thereby driving the connected jaw arm 12 to move, so that each jaw arm 12 clamps the object.

[0083] In the embodiment, the mechanical gripper comprises a gripper body, at least two gripper arms, a processing unit, and a driving motor; the outer surface of at least one gripper arm is wrapped with a safety airbag, and at least one safety airbag is provided with a sensor; one end of each gripper arm is connected into the gripper body, and at least one gripper arm is connected with the driving motor; the driving motor and the sensor are both connected with the processing unit; when the object is gripped by using the mechanical gripper, the safety airbag wrapped on the outer surface of the gripper arm not only can protect the object, but also the processing unit can adaptively control the driving motor to rotate to drive the gripper arm connected with the driving motor to move to grip the object. In other words, the mechanical gripper provided in the embodiment can realize the gripping of the object by the gripper arm only by controlling the driving motor without using the torque sensor. In addition, the mechanical gripper can grip the heavy object to realize the high load capacity; moreover, the driving motor in the mechanical gripper can also adjust the position of the gripper arm 12 for gripping the object and the force applied by the gripper arm 12 to the object by controlling the movement of the gripper arm 12, so that the mechanical gripper can realize the advantages of adjustable torque control and precise position control, etc. Therefore, the mechanical gripper provided in the embodiment can realize the safety interaction ability, adjustable torque control, high load capacity, precise position control, etc. on the basis of reducing the cost of the mechanical gripper, and the cost of the mechanical gripper is relatively low, so the universal applicability of the mechanical gripper can also be improved.

[0084] Based on the above embodiment, the connection mode of the gripper arm and the driving motor in different cases is described below. Taking the mechanical gripper comprising two gripper arms 12 as an example, the connection mode can be divided into the case that both of the two gripper arms 12 are connected with the driving motor 14 and the case that only one of the two gripper arms 12 is connected with the driving motor 14.

[0085] Firstly, the case that both of the two gripper arms 12 are connected with the driving motor 14 is described below.

[0086] As shown in FIG. 12, Figure 3 In one embodiment, at least two gripper arms 12 in the mechanical gripper comprise a first gripper arm and a second gripper arm, and the first gripper arm and the second gripper arm are both connected with the driving motor 14; the processing unit 13 is used for controlling the driving motor 14 to rotate to drive the relative movement of the first gripper arm and the second gripper arm according to the deformation information, so that the first gripper arm and the second gripper arm perform the gripping operation on the object.

[0087] Figure 3 In the embodiment, the driving motor 14 is connected with the first gripper arm 121 and the second gripper arm 122 at the same time as an example. Figure 3 The dashed line in FIG. 12 represents the outline structure of the gripper body 11, the driving motor 14 is arranged inside the gripper body 11, and other structures in the mechanical gripper Figure 3 are not shown in the embodiment.

[0088] Specifically, the driving motor 14 is connected with both the first jaw arm and the second jaw arm, in this case, the processing unit 13 controls the driving motor 14 to rotate according to the deformation information, which drives both the first jaw arm and the second jaw arm to move, and in order to ensure that the object can be clamped, the first jaw arm and the second jaw arm need to move relative to each other to achieve the opening and closing state when clamping the object.

[0089] Further, in the case that both the first jaw arm and the second jaw arm are connected with the driving motor 14, the driving motor 14 can also include two, one for each of the first jaw arm and the second jaw arm. Based on this, in one embodiment, as shown in Figure 4 the driving motor 14 in the mechanical jaw includes a first driving motor and a second driving motor; the first jaw arm is connected with the first driving motor, and the second jaw arm is connected with the second driving motor; the processing unit 13 is configured to control the first driving motor to rotate to drive the first jaw arm to move according to the deformation information, and control the second driving motor to rotate to drive the second jaw arm to move according to the deformation information, so that the first jaw arm and the second jaw arm clamp the object.

[0090] Figure 4 For example, in the first driving motor 141 is connected with the first jaw arm 121, and the second driving motor 142 is connected with the second jaw arm 122. And the first driving motor 141 and the second driving motor 142 are arranged inside the jaw main body 11, while other structures Figure 4 in the mechanical jaw are not shown.

[0091] In this embodiment, the first jaw arm is driven by the first driving motor to move, and the second jaw arm is driven by the second driving motor to move. When the first jaw arm and the second jaw arm move, they can have the same action but different movement directions. For example, when clamping the object, the first jaw arm and the second jaw arm both move towards the middle, and when releasing the object, the first jaw arm and the second jaw arm both move away from the middle. Regardless of which one, the movement directions of the first jaw arm and the second jaw arm are different.

[0092] In addition, in some scenarios, only one driving motor 14, the driving motor 14 can also be connected with one of the two jaw arms 12. Based on this, in one embodiment, as shown in Figure 5 the at least two jaw arms 12 in the mechanical jaw include a first jaw arm and a second jaw arm, and one of the first jaw arm or the second jaw arm is connected with the driving motor 14; the processing unit 13 is configured to control the driving motor 14 to rotate to drive the first jaw arm or the second jaw arm to move according to the deformation information, so that the first jaw arm and the second jaw arm clamp the object.

[0093] In this case, the first jaw arm or the second jaw arm is connected with the driving motor 14, Figure 5 The first jaw arm is connected with the driving motor 14 in this embodiment.

[0094] When the driving motor 14 is connected with the first jaw arm, the processing unit 13 controls the driving motor 14 to rotate according to the deformation information, which drives the first jaw arm to move. At this time, the second jaw arm is fixed because it is not connected with the driving motor 14. When the driving motor 14 is connected with the second jaw arm, the processing unit 13 controls the driving motor 14 to rotate according to the deformation information, which drives the second jaw arm to move. At this time, the first jaw arm is fixed because it is not connected with the driving motor 14.

[0095] It can be understood that, whether the first jaw arm or the second jaw arm moves, the first jaw arm and the second jaw arm jointly act on the object during the clamping process. In this case, the jaw arm that does not move only helps the moving jaw arm to fix the object.

[0096] It should be noted that, as known from the foregoing embodiments, at least one jaw arm can be wrapped with an airbag, that is, one of the first jaw arm and the second jaw arm can be wrapped with an airbag, or both can be wrapped with airbags. Based on this, the processing unit 13 controls the driving motor 14 to rotate according to the deformation information of the airbag. If only the first jaw arm is wrapped with an airbag, the driving motor 14 is controlled to rotate according to the deformation information of the airbag on the first jaw arm. If only the second jaw arm is wrapped with an airbag, the driving motor 14 is controlled to rotate according to the deformation information of the airbag on the second jaw arm. If both the first jaw arm and the second jaw arm are wrapped with airbags, the driving motor 14 can be controlled to rotate according to the deformation information of the airbags on both the first jaw arm and the second jaw arm, or the driving motor 14 can be controlled to rotate according to the deformation information of the airbags on the first jaw arm and the second jaw arm, respectively. The embodiment of the present application does not limit this.

[0097] In the embodiment, the mechanical jaw described above can control part of the jaw arms or all of the jaw arms to move through the driving motor, so as to adjust the position of the part or all of the jaw arms clamping the object and the size of the force applied to the object. Therefore, during the process of clamping the object by the part / all of the jaw arms, the effect of accurate clamping and controllable force can be achieved, so that the mechanical jaw can realize the advantages of adjustable torque control and accurate position control. Moreover, during the clamping process, the clamped object can be protected from being damaged, so as to achieve the purpose of safe clamping and realize the safe interaction ability of the mechanical jaw.

[0098] The following describes how the processing unit obtains the deformation information and controls the driving motor 14 to rotate according to the deformation information. In one embodiment, the processing unit 13 is further configured to determine position information and / or pressure data of the object gripped by each jaw arm 12 according to the deformation information detected by the sensor, and generate a control signal according to the position information and / or the pressure data; and control the driving motor 14 to rotate to drive the jaw arm 12 connected to the driving motor 14 to move according to the control signal.

[0099] Specifically, the processing unit 13 can receive the deformation information sent by the sensor and process the deformation information. For example, the processing of the deformation information can include information analysis, information conversion, information comparison, and the like. Alternatively, after receiving the deformation information, the processing unit 13 can filter out invalid information from the deformation information, and then perform information analysis, information conversion, information comparison, and the like on the filtered deformation information. After processing, the position information and / or pressure data of the object gripped by the jaw arm can be obtained, and a control signal can be generated based on the position information and / or the pressure data. Then, the driving motor 14 is controlled to rotate to drive the jaw arm 12 connected to the driving motor 14 to move according to the control signal. The position information of the object gripped by the jaw arm can be understood as the specific position corresponding to the contact point between the airbag and the object. The pressure data can be the pressure on the outer surface of the airbag, or the pressure change data inside the airbag.

[0100] In order to distinguish the jaw arm (or airbag) corresponding to the deformation information, the processing unit 13 can receive sensor identification information or identification information of the corresponding jaw arm 12 set by the sensor in the deformation information sent by the sensor.

[0101] Optionally, the generated control signal can include at least one of a position control signal and a pressure control signal. The position control signal is used to control the driving motor 14 to rotate to drive the jaw arm 12 to move, so as to adjust the position of the jaw arm 12 gripping the object. The pressure control signal is used to control the driving motor 14 to rotate to drive the jaw arm 12 to move, so as to adjust the force applied by the jaw arm 12 gripping the object to the object. Based on this, the processing unit 14 can control the driving motor 14 through the position control signal and the pressure control signal to adjust the position of the jaw arm 12 gripping the object and the force applied by the jaw arm 12 to the object. Alternatively, the processing unit 14 can control the driving motor 14 through the position control signal or the pressure control signal to adjust the position of the jaw arm 12 gripping the object or the force applied by the jaw arm 12 to the object.

[0102] In actual processing, the coordinates of the plurality of target position points on the safety air bag of the clamping jaw arm can be determined in advance, the current position information and the current pressure data of the object are obtained according to the above deformation information, the processing unit 13 can match the current position information of the object with the coordinates of the plurality of target position points on the safety air bag, if there is a matching successful position point, it indicates that the current position of the clamping jaw arm 12 for clamping the object does not need to be adjusted, but if it is not matched successfully, it indicates that at this time, the processing unit 13 needs to generate a position control signal according to the current position information of the object and the plurality of target position points on the safety air bag. The position control signal is used to indicate that the position of the clamping jaw arm for clamping the object is adjusted to any target position point.

[0103] Similarly, for pressure adjustment, the processing unit 13 can judge whether the current pressure data of the object is within the preset pressure range, if not, it indicates that the force applied to the object by the clamping jaw arm 12 is too large or too small, then the processing unit 13 needs to generate a pressure control signal according to the current pressure data of the object and the preset pressure range, and then control the amplitude of the rotation of the driving motor 14 through the pressure control signal. The amplitude is proportional to the pressure applied to the object by the clamping jaw arm 12 driven by the driving motor 14. But if the current pressure data of the object is within the preset pressure range, it indicates that the force applied to the object by the clamping jaw arm 12 is appropriate, in this case, there is no need to generate a pressure control signal.

[0104] In some scenarios, to avoid the sensor failure causing the object clamped by the clamping jaw arm 12 to have obvious deformation, or there is an obvious clamping deviation of the object, the outer surface of the safety air bag and / or the protection body can also be provided with an adjusting button, an adjusting control panel or the like structure. The adjusting button and / or the adjusting control panel or the like structure can be in communication connection with the processing unit 13, so that in the process of clamping the object by the clamping jaw arm 12, if the user observes that the object is clamped deviated or the object is deformed too much, the user can input an adjusting instruction to the processing unit 13 in time and quickly through triggering the adjusting button and / or the adjusting control panel or the like structure, so as to control the driving motor 14 to rotate to adjust the movement of the clamping jaw arm 12 in time and quickly, and avoid the problem of damaging the clamped object.

[0105] Among them, the adjusting instruction can carry position adjusting information and / or pressure adjusting information. Therefore, after the processing unit 13 receives the adjusting instruction, it can control the driving motor 14 to rotate to drive the clamping jaw arm 12 to move correspondingly according to the adjusting instruction.

[0106] In the embodiment, in order to ensure that the mechanical clamping jaw safely and stably clamps the object, the position of the clamping jaw arm 12 for clamping the object is usually the center position of the object. If the object is clamped deviated, the user can input the adjusting instruction through the adjusting button and / or the adjusting control panel or the like structure to adjust the clamping position of the clamping jaw arm 12.

[0107] In the embodiment, the processing unit in the mechanical gripper can determine the control signal according to the deformation information, and control the driving motor to rotate to drive the gripper arm to move through the control signal, so as to adjust the clamping position of the gripper arm when clamping the object and the force applied to the object, so as to achieve the effects of precise clamping and controllable force, and enable the mechanical gripper to realize the advantages of adjustable torque control and precise position control. At the same time, the clamped object can be protected from being damaged during clamping, so as to achieve the purpose of safe clamping and realize the safe interaction ability of the mechanical gripper.

[0108] The deformation information can be a change value of distance, pressure, force and / or speed, etc. The deformation information corresponds to the function of the sensor. For example, if the sensor is a pressure sensor, the deformation information is the change value of pressure; if the sensor is a distance sensor, the deformation information is the change value of distance, and other sensors are similar.

[0109] For example, taking an infrared sensor and an air pressure sensor as an example, in an embodiment, the sensor in the mechanical gripper includes an infrared sensor and / or an air pressure sensor; the infrared sensor is used to detect the deformation amount of the outer surface of the safety airbag when touching the object; the air pressure sensor is used to detect the change amount of the internal air pressure of the safety airbag when touching the object; and the processing unit 13 is used to determine the deformation information of the safety airbag according to the deformation amount of the outer surface and / or the change amount of the internal air pressure.

[0110] Specifically, the sensor in the mechanical gripper can include at least one of an infrared sensor and an air pressure sensor. If the sensor only includes an infrared sensor, the infrared sensor can be multiple. Optionally, the multiple infrared sensors can be respectively arranged at any different positions on the outer surface, the inner surface of the same safety airbag and / or the outer surface of the corresponding gripper arm 12, or can be arranged at any different positions on the outer surface, the inner surface of different safety airbags and / or the outer surface of the corresponding gripper arm 12. And at least one infrared sensor can be arranged on the outer surface, the inner surface of each safety airbag and / or the outer surface of the corresponding gripper arm 12.

[0111] Optionally, if the sensor only includes an air pressure sensor, the air pressure sensor can be at least one. The air pressure sensor and the infrared sensor can be arranged at any different positions on the outer surface, the inner surface of the same safety airbag and / or the outer surface of the corresponding gripper arm 12 at the same time, or can be arranged at any different positions on the outer surface, the inner surface of different safety airbags and / or the outer surface of the corresponding gripper arm 12 respectively, for example, the air pressure sensor is arranged on the safety airbag 1, and the infrared sensor is arranged on the safety airbag 2.

[0112] Additionally, if the sensor includes infrared sensors and other sensors, there can be multiple infrared sensors and at least one barometric pressure sensor. Optionally, the spacing between different sensors can be zero or greater than zero. Furthermore, the spacing between any two sensors can be equal or unequal.

[0113] It is understood that if the sensor only includes an infrared sensor, the deformation information should at least include the deformation of the airbag's outer surface, but not the change in internal air pressure when the airbag contacts an object. If the sensor only includes a pressure sensor, the deformation information should at least include the change in internal air pressure when the airbag contacts an object, but not the deformation of the airbag's outer surface. If the sensor includes both an infrared sensor and a pressure sensor, the deformation information should at least include the deformation of the airbag's outer surface and the change in internal air pressure when the airbag contacts an object.

[0114] As can be seen from the foregoing embodiments, in actual processing, the processing unit 13 can pre-store the sensor position information set by different sensors in the initial state of the mechanical gripper. Furthermore, the processing unit 13 can determine the current position information of each sensor based on the sensor position information and the deformation information of the outer surface of the airbag, and determine the current position information of each sensor as the position information of the gripping point of the object being gripped. Simultaneously, the processing unit 13 can determine the current air pressure of each airbag, i.e., pressure data, based on the change in internal air pressure of the airbag before and after contacting the object and the air pressure value of the airbag before contacting the object, as shown in the deformation information.

[0115] In this embodiment, the aforementioned mechanical gripper can detect the deformation information of the airbag in real time through an infrared sensor and / or a pressure sensor. This allows the processing unit 13 to control the drive motor 14 to rotate and drive the gripper arm to move based on the deformation information. This enables timely adjustment of the gripping position and the magnitude of the force applied to the object by the gripper arm, thereby preventing damage to the object during gripping and achieving safe gripping. This realizes the safe interaction capability of the mechanical gripper.

[0116] The preceding embodiments have provided a detailed explanation of the internal structure of the mechanical gripper and the principle by which it grasps objects. The following describes several scenarios involving the mechanical gripper when grasping objects. It is understood that when describing these scenarios, the relevant limitations of the mechanical gripper and the principle of object grasping can be found in the above embodiments, and for clarity and brevity, they will not be repeated.

[0117] In one embodiment, such as Figure 6 The flowchart shown illustrates a method for gripping an object, which includes:

[0118] S100, after the mechanical gripper arm clamps the object, obtain the deformation information of the safety airbag wrapped outside the gripper arm.

[0119] S200, control the driving motor to rotate to drive the gripper arm connected with the driving motor to move according to the deformation information, so that the mechanical gripper arm clamps the object.

[0120] The embodiment is aimed at the scene that the mechanical gripper arm touches the object and controls the gripper arm to clamp the object according to the deformation information of the safety airbag.

[0121] Specifically, after the mechanical gripper arm clamps the object, the processing unit can obtain the deformation information of the safety airbag wrapped outside the gripper arm. Due to the force applied by the gripper arm to the object during clamping, the deformation information of the safety airbag is generated when the gripper arm clamps the object, so the deformation information can include the deformation amount of the safety airbag, the position of the safety airbag contacting the object, the pressure of the safety airbag, the change amount of the internal air pressure of the safety airbag, etc.

[0122] The deformation information can be detected by a sensor arranged on the safety airbag, for example, by an infrared sensor and / or an air pressure sensor arranged on the safety airbag. Correspondingly, the deformation information is the deformation amount of the outer surface of the safety airbag detected by the infrared sensor and the change amount of the internal air pressure of the safety airbag detected by the air pressure sensor.

[0123] Based on the above deformation information, the processing unit can determine to control the driving motor to rotate to drive the gripper arm connected with the driving motor to move according to the deformation information, so that the mechanical gripper arm clamps the object.

[0124] In the embodiment, the object clamping method can obtain the deformation information of the safety airbag wrapped outside the gripper arm after the mechanical gripper arm clamps the object, and control the driving motor to rotate to drive the gripper arm connected with the driving motor to move according to the deformation information, so that the mechanical gripper arm clamps the object. The method can drive the gripper arm to move by controlling the driving motor to rotate, so as to adjust the clamping position of the gripper arm when clamping the object and the force applied to the object, thereby preventing the object from being damaged during clamping. The purpose of safe clamping can be achieved. At the same time, the method can be realized by a computer program and does not need human participation, thereby saving human resources, improving the speed of clamping the object, and improving the universal applicability of the object clamping method.

[0125] In one embodiment, as shown in Figure 7 the above S200 can be realized by the following steps:

[0126] S210, determine position information and pressure data of each jaw arm clamping the object according to the deformation information.

[0127] Wherein, the position information of the jaw arm clamping the object is the specific position corresponding to the point on the contact surface of the airbag and the object after the mechanical jaw clamping the object, and the pressure data can be the pressure on the outer surface of the airbag or the air pressure change data in the airbag. Optionally, the airbag corresponding to the contact surface of the airbag and the object is provided with an infrared sensor on the outer surface of the airbag for detecting the deformation of the outer surface of the airbag corresponding to the point on the contact surface of the airbag and the object.

[0128] Taking the air pressure change data in the airbag as an example, the processing unit can determine the current air pressure of the airbag, i.e. the pressure data F, through the change of the air pressure in the airbag before and after the airbag touches the object in the deformation information.

[0129] Specifically, the position of the infrared sensor in the airbag after the jaw arm clamps the object will change relative to the position of the infrared sensor in the airbag before the jaw arm clamps the object. Therefore, the processing unit can determine the current position information of each infrared sensor in the airbag after the jaw arm clamps the object according to the deformation of the outer surface of the airbag corresponding to each infrared sensor and the position information (x, y) of each infrared sensor before the jaw arm clamps the object.

[0130] Further, the processing unit can calculate the current position information of each infrared sensor after the jaw arm clamps the object and the deformation of the outer surface of the airbag corresponding to each infrared sensor to first obtain the position information (x, y) of the point on the contact surface of the clamped object and the airbag, and then calculate the contact area S of the object and the airbag according to the position information (x, y) of the point on the contact surface of the clamped object and the airbag. i i i i

[0131] Wherein, the contact surface of the airbag and the object can be a three-dimensional curved surface A, and the contact area S can be the area S of the three-dimensional curved surface A contacted by the clamped object and the airbag. In this embodiment, the position information of all points on the contact surface of the object and the airbag is approximately the same.

[0132] For the three-dimensional curved surface A, there are:

[0133]

[0134] Wherein, x i and y i ​​​​x and y coordinates of different points on the contact surface between the current object and the airbag, i represents the number of different points on the contact surface between the object and the airbag, Dx i y i represents the projection of the three-dimensional curved surface A in the xoy plane in three-dimensional coordinates;

[0135] Further, the three-dimensional curved surface A is divided into n parts, and the area of each small curved surface can be represented by dA, and ∫∫ A dA represents the sum of all dA in the three-dimensional curved surface A i y i The accumulated contact area S of the contact surface between the current object and the airbag is represented by dDx i y i , dDx i y i may be equal to Similarly, the area dA of each small curved surface in the three-dimensional curved surface A can be equal to In this embodiment, dDx i y i can be converted into dA by a Jacobian matrix T, specifically, is equal to is equal to

[0136] Optionally, the above Jacobian matrix T can be represented as:

[0137]

[0138] wherein f1 represents x i , f2 represents y i , f3 represents f(x i , y i ), represents represents Then, is equal to is equal to Based on the above derivation, it can be obtained that:

[0139]

[0140]

[0141] Further, the processing unit can perform operation processing according to the contact area S and the change amount P of the internal air pressure of the airbag before and after the contact object, and calculate the pressure data F. The above operation processing can be addition operation, subtraction operation, multiplication operation and / or division operation, etc.

[0142] In the embodiment, the pressure data F can be equal to the product of the contact area S and the change P of the internal pressure of the airbag before and after touching the object, i.e., SxP. The pressure data F corresponding to each jaw arm jointly acting on the object can be equal.

[0143] S220, generating a control signal according to the position information and the pressure data.

[0144] The position information is mainly used to adjust the position of the object gripped by the jaw arm, and the pressure data is used to adjust the force applied to the object when the object is gripped by the jaw arm, so the processing unit can generate control information according to the position information and the pressure data. For example, a position control signal is generated according to the position information of the object gripped by the jaw arm, and a pressure control signal is generated according to the pressure data.

[0145] The position control signal can include information such as the movement direction to be adjusted and the displacement amount of the movement, and the pressure control signal can include information such as the pressure to be adjusted and the direction of the pressure.

[0146] S230, controlling the driving motor to rotate to drive the jaw arm connected to the driving motor to move according to the control signal.

[0147] In the embodiment, the processing unit can simultaneously control the driving motor to rotate to drive the jaw arm connected to the driving motor to move according to the position control signal and the pressure control signal.

[0148] The object gripping method can determine the control signal according to the actual situation of the object being gripped during the process of the object being gripped, so as to control the driving motor to rotate to adjust the gripping position and the force applied to the object when the object is gripped by the jaw arm, so that the object is not damaged during the gripping process, and the purpose of safe gripping is achieved. The method can be realized by a computer program and does not require human intervention, which can save human resources and improve the universal applicability of the object gripping method.

[0149] In some scenarios, the jaw arm may be empty. Based on this, the jaw arm gripping the object also needs to verify whether the object can be accurately and effectively gripped. Therefore, in one embodiment, after the jaw arm of the mechanical gripper grips the object, as shown in Figure 8 The object gripping method further comprises:

[0150] S300, detecting whether the first external force acts on the airbag.

[0151] Specifically, the processing unit can determine whether the pressure data is less than or equal to a first detection pressure threshold, to determine whether the airbag is subjected to the first external force according to the determination result. Optionally, the pressure data can be the pressure data F corresponding to each jaw arm that jointly acts on the object. The specific calculation process of the pressure data F has been described above, and will not be described here.

[0152] S400, if yes, it is determined that the jaw arm of the mechanical gripper has contacted the object during the process of clamping the object, and the jaw arm of the mechanical gripper is controlled to clamp the object.

[0153] If the airbag is currently subjected to the first external force, it is determined that the jaw arm of the mechanical gripper has contacted the object during the process of clamping the object, and further, the processing unit can control the driving motor to rotate to drive the jaw arm to normally clamp the current object.

[0154] In this embodiment, whether the airbag wrapped around the jaw arm is subjected to the first external force during the process of clamping the object by the jaw arm is detected, and the clamping operation is performed based on the airbag being subjected to the first external force, so as to avoid the situation that the jaw arm is clamped empty.

[0155] Further, the object clamped by the jaw arm can not be the target object, for example, a part of a person or animal with subjective consciousness is clamped, in this case, if the jaw arm 12 clamps a part of the person or animal, the person or animal will struggle, and an external force will be applied to the jaw arm 12 during the struggle. Based on this, in one embodiment, if the jaw arm of the mechanical gripper clamps the object, and the airbag is subjected to the second external force, the jaw arm of the mechanical gripper is controlled to release the current clamped object.

[0156] Specifically, the processing unit can determine whether the pressure data is greater than a second detection pressure threshold, and when the determination result is yes, it indicates that the airbag is subjected to the second external force. Therefore, the jaw arm has clamped the object, and the external force still exists in this case, so it can be determined that the clamped object is not the target object, based on which the processing unit can control the driving motor to rotate to drive the jaw arm to move, so as to release the current clamped object.

[0157] It should be noted that the pressure data generated by the airbag when the object is normally clamped is different from the pressure data generated by the airbag when the object struggles, and therefore, the first detection pressure threshold and the second detection pressure threshold can be different from the preset pressure threshold in the above. Generally, the pressure data generated by the airbag when the object is normally clamped is less than the pressure data generated by the airbag when the object struggles, so the second detection pressure threshold can be greater than the preset pressure threshold, and greater than the first detection pressure threshold, and the first detection pressure threshold can be less than or equal to the preset pressure threshold.

[0158] The object clamping method can detect whether the airbag is subjected to different external forces, determine whether the object currently clamped is the target object to be clamped according to the detection result, control the jaw arm to release the object clamped by mistake if the object currently clamped is a non-target object, so as to avoid damage to the non-target object and affect the normal use state, and control the jaw arm to normally clamp if the object currently clamped is the target object, so as to achieve the clamping purpose.

[0159] Further, based on the same inventive concept, the embodiments of the present application also provide an object clamping device for implementing the above-mentioned object clamping method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in the following object clamping device embodiments can be referred to the limitations of the object clamping method in the foregoing, which will not be described here again.

[0160] In one embodiment, as shown in Figure 9 An object clamping device is provided, comprising: a deformation information acquisition module 11 and a clamping operation control module 12, wherein:

[0161] The deformation information acquisition module 11 is configured to acquire deformation information of an airbag wrapped outside the jaw arm after the jaw arm of the mechanical jaw clamps an object;

[0162] The clamping operation control module 12 is configured to control the driving motor to rotate to drive the jaw arm connected with the driving motor to move, so that the jaw arm of the mechanical jaw performs a clamping operation on the object according to the deformation information.

[0163] In one embodiment, the clamping operation control module 12 comprises: an information determination unit, a control signal acquisition unit and a control unit, wherein:

[0164] The information determination unit is configured to determine position information and pressure data of each jaw arm clamping an object after the mechanical jaw clamps the object according to the deformation information;

[0165] The control signal acquisition unit is configured to generate a control signal according to the position information and the pressure data;

[0166] The control unit is configured to control the driving motor to rotate to drive the jaw arm connected with the driving motor to move according to the control signal.

[0167] In one embodiment, the object clamping device further comprises: a detection module and a first control clamping module, wherein:

[0168] The detection module is configured to detect whether the airbag is subjected to a first external force;

[0169] The first control gripping module is configured to determine that each gripper arm of the mechanical gripper has contacted the object in the process that the mechanical gripper grips the object when the result of the detection module is the existence, and control the gripper arm of the mechanical gripper to grip the object.

[0170] In one of the embodiments, the object gripping device further comprises a second control gripping module, wherein:

[0171] The second control gripping module is configured to control the gripper arm of the mechanical gripper to grip the object when the result of the detection module is the non-existence and the second external force acting on the airbag is determined.

[0172] The specific limitations of the object gripping device can refer to the limitations of the object gripping method described above, which will not be repeated here. Each module in the above object gripping device can be realized by software, hardware and their combination in whole or in part. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above modules.

[0173] In one embodiment, a robot is provided, which can be any intelligent terminal, and its internal structure diagram can be as shown in Figure 10 The robot comprises a processor, a memory, a communication interface, a display screen, an input device and a depth sensor mounted thereon, which are connected through a system bus. The processor of the robot is configured to provide computing and control capabilities. The memory of the robot comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The communication interface of the robot is configured to perform wired or wireless communication with an external terminal. The wireless communication can be achieved through WIFI, operator network, NFC (near field communication) or other technologies. The computer program is executed by the processor to implement an object gripping method. The display screen of the robot can be a liquid crystal display screen or an electronic ink display screen. The input device of the robot can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the robot shell, or an external keyboard, touchpad or mouse, etc. The depth sensor mounted on the robot is configured to collect environmental information in the environment where the robot is located.

[0174] Those skilled in the art can understand that Figure 10 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the robot to which the scheme of the present application is applied. Specifically, the robot can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0175] In one embodiment, a robot is provided, comprising a memory, a processor and a mechanical gripper, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

[0176] After the gripper arm of the mechanical gripper clamps the object, deformation information of a safety airbag wrapped outside the gripper arm is acquired;

[0177] The driving motor is controlled to rotate according to the deformation information to drive the gripper arm connected with the driving motor to move, so that the gripper arm of the mechanical gripper clamps the object.

[0178] In one embodiment, a readable storage medium is provided, storing a computer program, the computer program being executed by a processor to implement the following steps:

[0179] After the gripper arm of the mechanical gripper clamps the object, deformation information of a safety airbag wrapped outside the gripper arm is acquired;

[0180] The driving motor is controlled to rotate according to the deformation information to drive the gripper arm connected with the driving motor to move, so that the gripper arm of the mechanical gripper clamps the object.

[0181] The readable storage medium provided in the embodiment achieves the above steps, and the implementation principle and technical effects are similar to those of the above method embodiments, which will not be described here.

[0182] In one embodiment, a computer program product is provided, comprising a computer program, the computer program being executed by a processor to implement the following steps:

[0183] After the gripper arm of the mechanical gripper clamps the object, deformation information of a safety airbag wrapped outside the gripper arm is acquired;

[0184] The driving motor is controlled to rotate according to the deformation information to drive the gripper arm connected with the driving motor to move, so that the gripper arm of the mechanical gripper clamps the object.

[0185] The computer program product provided in the embodiment achieves the above steps, and the implementation principle and technical effects are similar to those of the above method embodiments, which will not be described here.

[0186] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, storage, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0187] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, but as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0188] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A mechanical gripper, characterized by, The mechanical gripper comprises a gripper body, at least two gripper arms, a processing unit, a driving motor, an outer surface of at least one gripper arm is wrapped with a safety airbag, a sensor is arranged on the safety airbag, one end of each gripper arm is connected into the gripper body, and at least one gripper arm is connected with the driving motor, and the driving motor and the sensor are connected with the processing unit; The processing unit is used for controlling the driving motor to rotate to drive the gripper arm connected with the driving motor to move according to the deformation information of the safety airbag obtained by the sensor, so that each gripper arm clamps and takes the object. The processing unit is also used for determining the position information and pressure data of each gripper arm clamping and taking the object according to the deformation information, and generating a control signal according to the position information and the pressure data; and the driving motor is controlled to rotate to drive the gripper arm connected with the driving motor to move according to the control signal, so as to adjust the clamping position of the gripper arm clamping and taking the object and the force applied to the object. The control signal comprises a position control signal, and the processing unit is specifically used for generating the position control signal according to the position information and a preset target position point on the safety airbag in a case where the position information does not match the preset target position point, and the position control signal is used for indicating that the position information of the gripper arm clamping and taking the object is adjusted to any preset target position point.

2. The mechanical gripper of claim 1, wherein, The at least two gripper arms comprise a first gripper arm and a second gripper arm, and the first gripper arm and the second gripper arm are connected with the driving motor. The processing unit is used for controlling the driving motor to rotate to drive the first gripper arm and the second gripper arm to move relatively according to the deformation information, so that the first gripper arm and the second gripper arm clamp and take the object.

3. The mechanical gripper jaw of claim 2, wherein, The driving motor comprises a first driving motor and a second driving motor, the first gripper arm is connected with the first driving motor, and the second gripper arm is connected with the second driving motor. The processing unit is used for controlling the first driving motor to rotate to drive the first gripper arm to move according to the deformation information, and controlling the second driving motor to rotate to drive the second gripper arm to move according to the deformation information, so that the first gripper arm and the second gripper arm clamp and take the object.

4. The mechanical gripper of claim 1, wherein, The at least two gripper arms comprise a first gripper arm and a second gripper arm, and the first gripper arm or the second gripper arm is connected with the driving motor. The processing unit is used for controlling the driving motor to rotate to drive the first gripper arm or the second gripper arm to move according to the deformation information, so that the first gripper arm and the second gripper arm clamp and take the object.

5. The mechanical gripper according to any one of claims 1-4, wherein, The sensor comprises an infrared sensor and / or an air pressure sensor. The infrared sensor is used for detecting the deformation amount of the outer surface of the safety airbag when the safety airbag touches the object. The air pressure sensor is used for detecting the change amount of the internal air pressure of the safety airbag when the safety airbag touches the object. The processing unit is configured to determine deformation information of the airbag according to the deformation of the outer surface and / or the change of the internal air pressure.

6. The mechanical gripper of claim 5, wherein, The infrared sensors are arranged at different positions on the inner surface of the airbag.

7. The mechanical gripper of claim 5, wherein, The air pressure sensor is arranged inside the airbag.

8. The mechanical gripper according to any one of claims 1-4, wherein, The friction force of the outer surface of the airbag relative to the object is greater than a sliding friction force threshold value, which represents the friction force when the object slides relative to the airbag.

9. The mechanical gripper according to any one of claims 1-4, wherein, The processing unit and the driving motor are arranged inside the gripper body.

10. The mechanical gripper according to any one of claims 1-4, wherein, The processing unit and the driving motor are arranged integrally.

11. An object gripping method characterized by, The method comprises: After the gripper arms of the mechanical gripper clamp the object, deformation information of the airbag wrapped on the outer surface of the gripper arms is obtained; the mechanical gripper is the mechanical gripper of any one of claims 1-10; According to the deformation information, the driving motor is controlled to rotate to drive the gripper arms connected to the driving motor to move, so that the gripper arms of the mechanical gripper clamp the object. According to the deformation information, the driving motor is controlled to rotate to drive the gripper arms connected to the driving motor to move, so that the gripper arms of the mechanical gripper clamp the object. According to the deformation information, the position information and the pressure data of each gripper arm clamping the object after the mechanical gripper clamps the object are determined; According to the position information and the pressure data, a control signal is generated; According to the control signal, the driving motor is controlled to rotate to drive the gripper arms connected to the driving motor to move, so as to adjust the clamping position of the gripper arms clamping the object and / or the force applied to the object. The control signal includes a position control signal, and the generation of the control signal according to the position information and the pressure data comprises: In the case that the position information does not match the preset target position point on the airbag, the position control signal is generated according to the position information and the preset target position point, and the position control signal is used to indicate that the position information of the gripper arms clamping the object is adjusted to any preset target position point.

12. The object gripping method according to claim 11, wherein, The method further comprises: Detecting whether a first external force acts on the airbag; If so, it is determined that each gripper arm of the mechanical gripper has touched the object during the process of clamping the object, and the gripper arms of the mechanical gripper clamp the object.

13. The object gripping method according to claim 11, wherein, The method further comprises: If a second external force acts on the airbag after the gripper arms of the mechanical gripper clamp the object, the gripper arms of the mechanical gripper are controlled to release the clamping of the object.

14. An object gripping device, characterized in that The device comprises: A deformation information acquisition module is configured to obtain deformation information of the airbag wrapped on the outer surface of the gripper arms after the gripper arms of the mechanical gripper clamp the object; the mechanical gripper is the mechanical gripper of any one of claims 1-10; A clamping operation control module is configured to control the driving motor to rotate to drive the gripper arms connected to the driving motor to move according to the deformation information, so that the gripper arms of the mechanical gripper clamp the object.

15. A robot comprising a memory, a processor and a mechanical gripper, said memory storing a computer program, characterized in that, The processor controls the mechanical gripper to implement the steps of the method of any of claims 11-13 when executing the computer program.

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