A multi-claw control method and device based on articulated robot

Abstract

The present invention relates to the field of robotics technology, and discloses a multi-gripper control method and device based on an articulated robot. The method collects and analyzes the functions of grippers on the market, compares the functional differences and commonalities of the grippers, abstractly integrates the common functions of all grippers, integrates several interfaces, and then constructs a gripper plug-in based on these interfaces. The gripper plug-in is integrated on a first robot, and can execute gripper instructions issued by the front end of the first robot. When the back end of the first robot receives a command issued by the front end of the first robot, the gripper plug-in can be used to parse it, and the gripper can be connected to the robot end or the electrical box to control multiple grippers. The present invention uses a gripper plug-in to control multiple grippers, which can simplify the development process, improve the stability of operation and the efficiency of the plug-in control; the gripper is controlled using multiple connection methods, which improves the success rate of gripper control.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a multi-claw control method and device based on an articulated robot. Background Art

[0002] Collaborative robots are gaining widespread application in various fields, including industry, healthcare, and the service industry. Collaborative robots primarily consist of a robot body and an end-user (end-user). Common end-users include grippers and suction cups. Due to their high scalability, these end-user controls are often implemented as plug-ins.

[0003] Currently, mainstream robot plug-ins tend to have relatively simple functions, and each plug-in can only control one model. For the situation where many users use multiple grippers from different manufacturers in actual usage scenarios, the current solution is to use multiple plug-ins. However, using multiple plug-ins will make it more complicated for users to use scripts for programming, and starting multiple plug-ins will also increase the workload of the service. Summary of the Invention

[0004] The present invention provides a multi-gripper control method and device based on an articulated robot, which can integrate most grippers currently on the market with a plug-in, simplifying the development process and improving operational stability and plug-in control efficiency.

[0005] In order to solve the above technical problems, the present invention provides a multi-gripper control method based on an articulated robot, comprising:

[0006] receiving a gripper command from the front end of the first robot and executing the gripper command according to a gripper plug-in integrated on the first robot; wherein the gripper plug-in includes a plurality of interfaces, each interface corresponding to a gripper function, and the gripper function corresponding to each interface is derived by analyzing a common function of a plurality of grippers to be analyzed;

[0007] Receiving a command from the front end of the first robot, parsing the command using the gripper plug-in, and obtaining a target gripper and an action to be performed corresponding to the command;

[0008] Creating a target gripper object corresponding to the target gripper, and connecting the first robot and the target gripper;

[0009] The action to be performed is sent to the target gripper controller corresponding to the target gripper, so that the target gripper controller controls the target gripper to complete the action to be performed.

[0010] The present invention integrates a gripper plug-in containing multiple interfaces on the robot, and the gripper plug-in can execute the gripper instructions issued by the first robot front end according to the gripper plug-in; after receiving the command issued by the first robot front end, the gripper plug-in can be used to parse the command, obtain the target gripper and the corresponding action to be executed, connect the target gripper, and distribute the action to be executed to the corresponding gripper controller, so as to control the target gripper to execute the action to be executed; using one gripper plug-in to control multiple grippers can simplify the development process and the gripper usage process, greatly avoid interference between grippers, and greatly improve the scalability of the plug-in.

[0011] Furthermore, the gripper function corresponding to each interface is obtained by analyzing the common functions of several grippers to be analyzed, specifically:

[0012] Collect several functions of several grippers to be analyzed;

[0013] Performing difference and commonality analysis on several functions of the several clamping jaws to be analyzed to obtain several common functions;

[0014] Abstract and integrate the common functions to form corresponding interfaces;

[0015] A gripper plug-in is constructed according to the plurality of interfaces.

[0016] The present invention collects and analyzes the functions of grippers on the market, compares the functional differences and commonalities of each gripper, abstractly integrates the common functions of all grippers, integrates several interfaces, and then builds a gripper plug-in based on these interfaces. Using one gripper plug-in to control multiple grippers can simplify the development process and the use process of the gripper.

[0017] Furthermore, the receiving of the gripper instruction issued by the front end of the first robot and the execution of the gripper instruction according to the gripper plug-in integrated on the first robot are specifically as follows:

[0018] The gripper instructions include gripper registration, gripper deletion, gripper connection, gripper motion parameter configuration and gripper motion;

[0019] When the gripper instruction received by the gripper plug-in is a gripper motion parameter configuration, determining the type of gripper to be configured; wherein the gripper types include ordinary parallel grippers and rotating parallel grippers;

[0020] If the type of the clamp to be configured is a common parallel clamp, configuring basic motion parameters for the clamp to be configured; wherein the basic motion parameters include force, position and speed;

[0021] If the type of the clamp to be configured is a rotating parallel clamp, basic motion parameters and rotational motion parameters are configured for the clamp to be configured; wherein the rotational motion parameters include rotational force, rotational speed and rotational position.

[0022] The first robot integrated with the gripper plug-in of the present invention can receive the gripper instructions issued by the front end of the first robot in the gripper plug-in, and execute the corresponding gripper tasks, such as gripper motion parameter configuration. Due to the differences in gripper functions of various manufacturers, grippers can be roughly divided into two categories: ordinary parallel grippers and rotating parallel grippers. Ordinary parallel grippers can only use the clamping function, so the parameters can be set to force, position, speed, etc., while rotating parallel grippers can also set rotational force, rotational speed, rotational position, etc. on the basis of ordinary parallel grippers. The gripper plug-in can be used to configure various parameters of multiple grippers at the same time, which can improve the control efficiency of the plug-in.

[0023] Furthermore, when the gripper instruction received by the gripper plug-in is a gripper motion parameter configuration, the method further includes:

[0024] If it is detected that the gripper to be configured does not support speed configuration, a speed configuration file is created and saved in the gripper plug-in, so that the gripper to be configured that does not support speed configuration loads the corresponding speed configuration through the speed configuration file.

[0025] Since some grippers of the present invention do not support speed setting, the front end of the gripper uses dynamic loading, and the setting parameters are all dynamically loaded. The control function can be loaded through the speed configuration file saved in the gripper plug-in, thereby achieving compatibility of multiple gripper functions.

[0026] Furthermore, after obtaining the target gripper and the action to be executed corresponding to the command, the method further includes:

[0027] Searching, by the first robot, for a target gripper object corresponding to the target gripper;

[0028] If the target gripper object corresponding to the target gripper does not exist in the first robot, create the target gripper object and connect the first robot and the target gripper;

[0029] If the first robot has a target gripper object corresponding to the target gripper, the first robot and the target gripper are connected using the target gripper object in the first robot.

[0030] After parsing the target gripper, the present invention will detect whether the target gripper has been connected to the first robot. If the two have been connected before, the previous target gripper object can be used to connect to the target gripper with one click, thereby improving user experience.

[0031] Furthermore, the connecting the first robot and the target gripper is specifically:

[0032] The connection method between the first robot and the target gripper includes one or more of the following combinations:

[0033] The first robot and the destination gripper are connected via the end of the first robot;

[0034] Alternatively, the first robot and the destination gripper are connected via an electrical box.

[0035] The first robot of the present invention can be connected to the gripper through two connection methods: the first robot end connection and the electrical box connection. These two connection methods can coexist, and the two different connection methods will not interfere with data processing, which is of great help in some special scenarios.

[0036] Furthermore, the clamping jaw plug-in is constructed according to the plurality of interfaces, specifically:

[0037] A UML diagram is constructed according to the plurality of interfaces, and a plug-in is constructed according to the UML diagram.

[0038] The present invention provides a multi-gripper control method based on an articulated robot. The method collects and analyzes the functions of commercially available grippers, compares the functional differences and commonalities of each gripper, abstractly integrates the common functions of all grippers, and integrates several interfaces. A gripper plug-in is then constructed based on these interfaces. The gripper plug-in is integrated into a first robot, and can execute gripper commands issued by the front end of the first robot. When the back end of the first robot receives commands issued by the front end of the first robot, the gripper plug-in can be used to parse the commands, connect the gripper to the robot end or the electrical box, and control multiple grippers. The present invention uses a gripper plug-in to control multiple grippers, which can simplify the development process, improve operational stability, and enhance the efficiency of the plug-in control. The gripper is controlled using multiple connection methods, which improves the success rate of gripper control.

[0039] Accordingly, the present invention provides a multi-gripper control device based on an articulated robot, comprising: an execution module, an analysis module, a connection module and a control module;

[0040] The execution module is used to receive a gripper instruction issued by the front end of the first robot and execute the gripper instruction according to a gripper plug-in integrated on the first robot; wherein the gripper plug-in includes a plurality of interfaces, each interface corresponding to a gripper function, and the gripper function corresponding to each interface is obtained by analyzing the common function of a plurality of grippers to be analyzed;

[0041] The parsing module is used to receive a command sent by the front end of the first robot, parse the command using the gripper plug-in, and obtain the target gripper and the action to be executed corresponding to the command;

[0042] The connection module is used to create a target gripper object corresponding to the target gripper and connect the first robot and the target gripper;

[0043] The control module is used to send the action to be performed to the target gripper controller corresponding to the target gripper, so that the target gripper controller controls the target gripper to complete the action to be performed.

[0044] Furthermore, the execution module includes: a collection unit, an analysis unit, an integration unit and a creation unit;

[0045] The collecting unit is used to collect a plurality of functions of a plurality of jaws to be analyzed;

[0046] The analyzing unit is used to analyze the differences and commonalities of the functions of the plurality of jaws to be analyzed, and obtain a plurality of common functions;

[0047] The integration unit is used to abstractly integrate the plurality of common functions to form a plurality of corresponding interfaces;

[0048] The creation unit is used to construct a gripper plug-in according to the plurality of interfaces.

[0049] Furthermore, the execution module further includes: a judgment unit, a first configuration unit and a second configuration unit;

[0050] The gripper instructions include gripper registration, gripper deletion, gripper connection, gripper motion parameter configuration and gripper motion;

[0051] The judgment unit is used to judge the type of the clamp to be configured when the clamp instruction received by the clamp plug-in is a clamp motion parameter configuration; wherein the clamp type includes a common parallel clamp and a rotating parallel clamp;

[0052] The first configuration unit is configured to configure basic motion parameters for the gripper to be configured if the gripper to be configured is a common parallel gripper; wherein the basic motion parameters include force, position, and speed;

[0053] The second configuration unit is used to configure basic motion parameters and rotational motion parameters for the clamping jaw to be configured if the type of the clamping jaw to be configured is a rotating parallel clamping jaw; wherein the rotational motion parameters include rotational force, rotational speed and rotational position.

[0054] The present invention provides a multi-gripper control device based on an articulated robot. Based on the organic combination of modules, it can use a plug-in to integrate most of the grippers currently on the market, simplifying the development process and improving the operation stability and plug-in control efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic flow chart of an embodiment of a multi-gripper control method based on an articulated robot provided by the present invention;

[0056] Figure 2 A schematic structural diagram of an embodiment of a multi-gripper control device based on an articulated robot provided by the present invention;

[0057] Figure 3 A schematic flow chart of another embodiment of the multi-gripper control method based on an articulated robot provided by the present invention. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0059] Example 1

[0060] See also Figure 1 , is a flow chart of an embodiment of a multi-gripper control method based on an articulated robot provided by the present invention. The method includes steps 101 to 104, each of which is specifically as follows:

[0061] Step 101: Receive a gripper instruction issued by the front end of the first robot, and execute the gripper instruction according to a gripper plug-in integrated on the first robot; wherein the gripper plug-in includes several interfaces, each interface corresponds to a gripper function, and the gripper function corresponding to each interface is obtained by analyzing the common functions of several grippers to be analyzed.

[0062] Furthermore, in the first embodiment of the present invention, the gripper function corresponding to each interface is obtained by analyzing the common functions of a plurality of grippers to be analyzed, specifically:

[0063] Collect several functions of several grippers to be analyzed;

[0064] Performing difference and commonality analysis on several functions of the several clamping jaws to be analyzed to obtain several common functions;

[0065] Abstract and integrate the common functions to form corresponding interfaces;

[0066] A gripper plug-in is constructed according to the plurality of interfaces.

[0067] Furthermore, in the first embodiment of the present invention, the clamping jaw plug-in is constructed according to the plurality of interfaces, specifically:

[0068] A UML diagram is constructed according to the plurality of interfaces, and a plug-in is constructed according to the UML diagram.

[0069] In the first embodiment of the present invention, in order to control multiple grippers with only one gripper plug-in, the functions of all grippers on the market are first analyzed, their differences and commonalities are compared, the common functions of all grippers are abstractly integrated, and several interfaces are integrated to control all grippers on the market. Then, a plug-in framework is built, and UML diagrams are built around these interfaces and plug-ins are built to integrate all gripper controls one by one according to the manufacturer's gripper manual.

[0070] Furthermore, in the first embodiment of the present invention, the receiving of the gripper instruction issued by the front end of the first robot and the execution of the gripper instruction according to the gripper plug-in integrated on the first robot are specifically as follows:

[0071] The gripper instructions include gripper registration, gripper deletion, gripper connection, gripper motion parameter configuration and gripper motion;

[0072] When the gripper instruction received by the gripper plug-in is a gripper motion parameter configuration, determining the type of gripper to be configured; wherein the gripper types include ordinary parallel grippers and rotating parallel grippers;

[0073] If the type of the clamp to be configured is a common parallel clamp, configuring basic motion parameters for the clamp to be configured; wherein the basic motion parameters include force, position and speed;

[0074] If the type of the clamp to be configured is a rotating parallel clamp, basic motion parameters and rotational motion parameters are configured for the clamp to be configured; wherein the rotational motion parameters include rotational force, rotational speed and rotational position.

[0075] Furthermore, in the first embodiment of the present invention, when the gripper instruction received by the gripper plug-in is a gripper motion parameter configuration, the method further includes:

[0076] If it is detected that the gripper to be configured does not support speed configuration, a speed configuration file is created and saved in the gripper plug-in, so that the gripper to be configured that does not support speed configuration loads the corresponding speed configuration through the speed configuration file.

[0077] In the first embodiment of the present invention, a first robot integrated with a gripper plug-in can receive gripper instructions issued by the front end of the first robot in the gripper plug-in, and perform corresponding gripper tasks, such as gripper motion parameter configuration. Due to the differences in gripper functions of various manufacturers, grippers can be roughly divided into two categories: ordinary parallel grippers and rotating parallel grippers. Ordinary parallel grippers can only use the clamping function, so the parameters can be set to force, position, speed, etc., while rotating parallel grippers can also set rotational force, rotational speed, rotational position, etc. on the basis of ordinary parallel grippers. The gripper plug-in can be used to configure various parameters of multiple grippers at the same time, which can improve the control efficiency of the plug-in. Since some grippers do not support speed setting, the front end of the gripper uses dynamic loading, and the setting parameters are all dynamically loaded. The control function can be loaded through the speed configuration file saved in the gripper plug-in, thereby achieving compatibility of multiple gripper functions.

[0078] As an example of the first embodiment of the present invention, the front end of the gripper uses dynamic loading, which can dynamically load setting parameters at the front end and load control functions through json files, thereby achieving compatibility of multiple gripper functions.

[0079] Step 102: Receive a command from the front end of the first robot, parse the command using the gripper plug-in, and obtain the target gripper and the action to be executed corresponding to the command.

[0080] Step 103: Create a target gripper object corresponding to the target gripper, and connect the first robot and the target gripper.

[0081] Step 104: Send the action to be performed to the target gripper controller corresponding to the target gripper, so that the target gripper controller controls the target gripper to complete the action to be performed.

[0082] In the first embodiment of the present invention, the command sent by the front end of the first robot includes the robot's actions to be performed, and these actions to be performed need to be completed by controlling the corresponding grippers. Because the grippers of the first robot are not directly controlled for motion, but through the gripper plug-in, when receiving the command sent by the front end of the first robot, the gripper plug-in can be regarded as an agent, and the gripper plug-in can parse the command, and can parse out the target gripper and the action to be performed of the command, and distribute the action to be performed to the corresponding gripper controller, so that the corresponding gripper controller can control the target gripper to complete the action to be performed. Using this method of uniformly distributing commands and executing them separately can greatly avoid interference between grippers and control different grippers separately.

[0083] Furthermore, in the first embodiment of the present invention, after obtaining the target gripper and the action to be performed corresponding to the command, the method further includes:

[0084] Searching, by the first robot, for a target gripper object corresponding to the target gripper;

[0085] If the target gripper object corresponding to the target gripper does not exist in the first robot, create the target gripper object and connect the first robot and the target gripper;

[0086] If the first robot has a target gripper object corresponding to the target gripper, the first robot and the target gripper are connected using the target gripper object in the first robot.

[0087] In the first embodiment of the present invention, after the destination gripper is obtained, the first robot needs to be connected to the destination gripper before it can control the destination gripper to complete the action. The connection method requires first creating a destination gripper object on the first robot. Since the gripper will save the parameters in the configuration file of the gripper plug-in in json format after completing the first connection with the first robot, there is no need to create the gripper object again when the gripper is connected to the first robot for the second time. The gripper object created for the first time can be directly used to connect to the gripper. Therefore, after the destination gripper is obtained, the destination gripper object corresponding to the destination gripper can be searched on the first robot. If the destination gripper object already exists, there is no need to create the destination gripper object again, which greatly improves the scalability of the plug-in.

[0088] In the first embodiment of the present invention, in order to facilitate user use, the clamp plug-in of the present invention adds port scanning function (USB port), connection parameter saving and other functions, which facilitates users to connect a second time with one click after the first connection is completed, thereby improving user experience.

[0089] Furthermore, in the first embodiment of the present invention, the connecting the first robot and the target gripper is specifically:

[0090] The connection method between the first robot and the target gripper includes one or more of the following combinations:

[0091] The first robot and the destination gripper are connected via the end of the first robot;

[0092] Alternatively, the first robot and the destination gripper are connected via an electrical box.

[0093] In the first embodiment of the present invention, the first robot can be connected to the gripper through the first robot end connection, or it can be connected to the gripper through the electrical box, and both connection methods can be used at the same time. The two different connection methods will not interfere with data processing, which is of great help in some special scenarios.

[0094] In the first embodiment of the present invention, since two different connection methods need to be integrated, the present invention also uses data processing and distribution for isolation, and verifies the connection method when sending data after processing to ensure that different connection methods do not interfere with data processing.

[0095] As an example of the first embodiment of the present invention, see Figure 3 , is a flow chart of another embodiment of the multi-gripper control method based on the articulated robot provided by the present invention. After a gripper plug-in that can control multiple grippers is integrated on the robot, when a gripper instruction is received, the gripper configuration can be performed according to the gripper instruction, and the gripper number and other operations can be set. After receiving the command sent by the front end of the robot, the gripper plug-in can parse the target gripper and the action to be executed of the command, and search whether there is a target gripper object in the record. If so, the target gripper object in the record is used to connect with the target gripper; if not, a gripper object is created according to the gripper number, and then the target gripper is connected. After connecting the target gripper, it is activated and reset, and then waits for the instruction of the corresponding gripper controller, and verifies the connection method to determine the connection status of the target gripper. After determining that the target gripper and the robot are successfully connected, the instruction of the corresponding gripper controller is received, parameter processing and function implementation are performed, and the action to be executed is completed.

[0096] In summary, the first embodiment of the present invention provides a multi-gripper control method based on an articulated robot, collects and analyzes the functions of grippers on the market, compares the functional differences and commonalities of each gripper, abstractly integrates the common functions of all grippers, integrates several interfaces, and then constructs a gripper plug-in based on these interfaces. The gripper plug-in is integrated on the first robot, and can execute the gripper instructions issued by the front end of the first robot. When the back end of the first robot receives the command issued by the front end of the first robot, the gripper plug-in can be used to parse it, and the gripper can be connected to the robot end or the electrical box to control multiple grippers. The present invention uses a gripper plug-in to control multiple grippers, which can simplify the development process, improve the stability of operation and the efficiency of plug-in control; the gripper is controlled by using multiple connection methods, which improves the success rate of gripper control.

[0097] Example 2

[0098] See also Figure 2 , is a schematic structural diagram of an embodiment of a multi-gripper control device based on an articulated robot provided by the present invention, the device includes an execution module 201, a parsing module 202, a connection module 203 and a control module 204;

[0099] The execution module 201 is used to receive the gripper command issued by the front end of the first robot and execute the gripper command according to the gripper plug-in integrated in the first robot; wherein the gripper plug-in includes a plurality of interfaces, each interface corresponding to a gripper function, and the gripper function corresponding to each interface is obtained by analyzing the common function of a plurality of grippers to be analyzed;

[0100] The parsing module 202 is used to receive a command sent by the front end of the first robot, parse the command using the gripper plug-in, and obtain the target gripper and the action to be executed corresponding to the command;

[0101] The connection module 203 is used to create a target gripper object corresponding to the target gripper and connect the first robot and the target gripper;

[0102] The control module 204 is configured to send the action to be performed to a target gripper controller corresponding to the target gripper, so that the target gripper controller controls the target gripper to complete the action to be performed.

[0103] Furthermore, in the second embodiment of the present invention, the execution module 201 includes: a collection unit, an analysis unit, an integration unit, and a creation unit;

[0104] The collecting unit is used to collect a plurality of functions of a plurality of grippers to be analyzed;

[0105] The analyzing unit is used to analyze the differences and commonalities of the functions of the plurality of jaws to be analyzed, and obtain a plurality of common functions;

[0106] The integration unit is used to abstractly integrate the plurality of common functions to form a plurality of corresponding interfaces;

[0107] The creation unit is used to construct a gripper plug-in according to the plurality of interfaces.

[0108] Furthermore, in a second embodiment of the present invention, a clamping jaw plug-in is constructed according to the plurality of interfaces, specifically:

[0109] A UML diagram is constructed according to the plurality of interfaces, and a plug-in is constructed according to the UML diagram.

[0110] Furthermore, in the second embodiment of the present invention, the execution module further includes: a judgment unit, a first configuration unit, and a second configuration unit;

[0111] The gripper instructions include gripper registration, gripper deletion, gripper connection, gripper motion parameter configuration and gripper motion;

[0112] The judging unit is used to judge the type of the clamp to be configured when the clamp instruction received by the clamp plug-in is a clamp motion parameter configuration; wherein the clamp type includes a common parallel clamp and a rotating parallel clamp;

[0113] The first configuration unit is used to configure basic motion parameters for the clamping jaw to be configured if the type of the clamping jaw to be configured is a common parallel clamping jaw; wherein the basic motion parameters include force, position and speed;

[0114] The second configuration unit is used to configure basic motion parameters and rotational motion parameters for the clamping jaw to be configured if the type of the clamping jaw to be configured is a rotating parallel clamping jaw; wherein the rotational motion parameters include rotational force, rotational speed and rotational position.

[0115] Furthermore, in the second embodiment of the present invention, the judgment unit further includes: a loading subunit;

[0116] The loading subunit is used to create a speed configuration file and save it in the clamping jaw plug-in if it is detected that the clamping jaw to be configured does not support the speed configuration, so that the clamping jaw to be configured that does not support the speed configuration can load the corresponding speed configuration through the speed configuration file.

[0117] Furthermore, in the second embodiment of the present invention, the parsing module 201 includes: a search unit, a first connection unit, and a second connection unit;

[0118] The search unit is used to search the first robot for a target gripper object corresponding to the target gripper;

[0119] The first connection unit is configured to create a destination gripper object if a destination gripper object corresponding to the destination gripper does not exist in the first robot, and connect the first robot and the destination gripper;

[0120] The second connection unit is used to connect the first robot and the target gripper by using the target gripper object in the first robot if the target gripper object corresponding to the target gripper exists in the first robot.

[0121] Furthermore, in the second embodiment of the present invention, the first robot and the target gripper are connected as follows:

[0122] The connection method between the first robot and the target gripper includes one or more of the following combinations:

[0123] The first robot and the destination gripper are connected via the end of the first robot;

[0124] Alternatively, the first robot and the destination gripper are connected via an electrical box.

[0125] In summary, the first embodiment of the present invention provides a multi-gripper control device based on an articulated robot. Based on the organic combination of modules, the functions of the grippers on the market are collected and analyzed, the functional differences and commonalities of the grippers are compared, the common functions of all grippers are abstractly integrated, and several interfaces are integrated. Then, a gripper plug-in is constructed based on these interfaces, and the gripper plug-in is integrated on the first robot. The gripper instruction issued by the front end of the first robot can be executed. When the rear end of the first robot receives the command issued by the front end of the first robot, the gripper plug-in can be used for parsing, and the gripper can be connected to the gripper through the robot end or the electrical box to control multiple grippers. The present invention uses a gripper plug-in to control multiple grippers, which can simplify the development process, improve the stability of operation and the efficiency of plug-in control; the gripper is controlled by using multiple connection methods, which improves the success rate of gripper control.

[0126] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A multi-gripper control method based on an articulated robot, characterized in that: include: receiving a gripper command from the front end of the first robot and executing the gripper command according to a gripper plug-in integrated in the first robot; wherein the gripper plug-in includes a plurality of interfaces, each interface corresponding to a gripper function, and the gripper function corresponding to each interface is obtained by analyzing the common functions of a plurality of grippers to be analyzed; the gripper types include ordinary parallel grippers and rotating parallel grippers; Receiving a command from the front end of the first robot, parsing the command using the gripper plug-in, and obtaining a target gripper and an action to be performed corresponding to the command; Creating a target gripper object corresponding to the target gripper, and connecting the first robot and the target gripper; The action to be performed is sent to the target gripper controller corresponding to the target gripper, so that the target gripper controller controls the target gripper to complete the action to be performed.

2. The multi-claw control method based on an articulated robot according to claim 1, characterized in that: The gripper functions corresponding to the interfaces are obtained by analyzing the common functions of several grippers to be analyzed, specifically: Collect several functions of several grippers to be analyzed; Performing difference and commonality analysis on several functions of the several clamping jaws to be analyzed to obtain several common functions; Abstract and integrate the common functions to form corresponding interfaces; A gripper plug-in is constructed according to the plurality of interfaces.

3. The multi-claw control method based on an articulated robot according to claim 1, characterized in that: The receiving of the gripper instruction issued by the front end of the first robot and executing the gripper instruction according to the gripper plug-in integrated on the first robot is specifically as follows: The gripper instructions include gripper registration, gripper deletion, gripper connection, gripper motion parameter configuration and gripper motion; When the gripper instruction received by the gripper plug-in is a gripper motion parameter configuration, determining the type of gripper to be configured; If the type of the clamp to be configured is a common parallel clamp, configuring basic motion parameters for the clamp to be configured; wherein the basic motion parameters include force, position and speed; If the type of the clamp to be configured is a rotating parallel clamp, basic motion parameters and rotational motion parameters are configured for the clamp to be configured; wherein the rotational motion parameters include rotational force, rotational speed and rotational position.

4. The multi-claw control method based on an articulated robot according to claim 3, characterized in that: When the gripper instruction received by the gripper plug-in is a gripper motion parameter configuration, the method further includes: If it is detected that the gripper to be configured does not support speed configuration, a speed configuration file is created and saved in the gripper plug-in, so that the gripper to be configured that does not support speed configuration loads the corresponding speed configuration through the speed configuration file.

5. The multi-claw control method based on an articulated robot according to claim 1, characterized in that: After obtaining the target gripper and the action to be executed corresponding to the command, the method further includes: Searching, by the first robot, for a target gripper object corresponding to the target gripper; If the target gripper object corresponding to the target gripper does not exist in the first robot, create the target gripper object and connect the first robot and the target gripper; If the first robot has a target gripper object corresponding to the target gripper, the first robot and the target gripper are connected using the target gripper object in the first robot.

6. The multi-claw control method based on an articulated robot according to claim 1, characterized in that: The connecting of the first robot and the target gripper is specifically as follows: The connection method between the first robot and the target gripper includes one or more of the following combinations: The first robot and the destination gripper are connected via the end of the first robot; Alternatively, the first robot and the destination gripper are connected via an electrical box.

7. The multi-claw control method based on an articulated robot according to claim 2, characterized in that: The clamping claw plug-in is constructed according to the plurality of interfaces, specifically: A UML diagram is constructed according to the plurality of interfaces, and a plug-in is constructed according to the UML diagram.

8. A multi-claw control device based on an articulated robot, characterized in that: include: Execution module, parsing module, connection module and control module; The execution module is used to receive a gripper instruction issued by the front end of the first robot and execute the gripper instruction according to a gripper plug-in integrated in the first robot; wherein the gripper plug-in includes a plurality of interfaces, each interface corresponding to a gripper function, and the gripper function corresponding to each interface is obtained by analyzing the common functions of a plurality of grippers to be analyzed; the gripper types include ordinary parallel grippers and rotating parallel grippers; The parsing module is used to receive a command sent by the front end of the first robot, parse the command using the gripper plug-in, and obtain the target gripper and the action to be executed corresponding to the command; The connection module is used to create a target gripper object corresponding to the target gripper and connect the first robot and the target gripper; The control module is used to send the action to be performed to the target gripper controller corresponding to the target gripper, so that the target gripper controller controls the target gripper to complete the action to be performed.

9. The multi-claw control device based on an articulated robot according to claim 8, characterized in that: The execution module includes: a collection unit, an analysis unit, an integration unit and a creation unit; The collecting unit is used to collect a plurality of functions of a plurality of jaws to be analyzed; The analyzing unit is used to analyze the differences and commonalities of the functions of the plurality of jaws to be analyzed, and obtain a plurality of common functions; The integration unit is used to abstractly integrate the plurality of common functions to form a plurality of corresponding interfaces; The creation unit is used to construct a gripper plug-in according to the plurality of interfaces.

10. The multi-claw control device based on an articulated robot according to claim 8, characterized in that: The execution module further includes: a judgment unit, a first configuration unit and a second configuration unit; The gripper instructions include gripper registration, gripper deletion, gripper connection, gripper motion parameter configuration and gripper motion; The judging unit is configured to judge the type of the gripper to be configured when the gripper instruction received by the gripper plug-in is a gripper motion parameter configuration; The first configuration unit is configured to configure basic motion parameters for the gripper to be configured if the gripper to be configured is a common parallel gripper; wherein the basic motion parameters include force, position, and speed; The second configuration unit is used to configure basic motion parameters and rotational motion parameters for the clamping jaw to be configured if the type of the clamping jaw to be configured is a rotating parallel clamping jaw; wherein the rotational motion parameters include rotational force, rotational speed and rotational position.

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