Robot gripper, robot and robot gripper control method

Abstract

The application provides a robot gripper, a robot and a robot gripper control method, and relates to the field of robots.The robot gripper comprises a connecting piece, a mounting frame, a pressing mechanism, a first laser ranging sensor and a second laser ranging sensor.The top of the connecting piece is configured to be connected with a robot body.The mounting frame is connected to the bottom of the connecting piece.The pressing mechanism comprises a plurality of driving pieces and a plurality of pressing pieces.The driving pieces are fixedly arranged on the mounting frame.The connecting piece is a rotary body structure.The plurality of driving pieces are uniformly arranged around the central axis of the connecting piece, and the driving ends of the driving pieces are all directed towards the central axis.The pressing pieces are correspondingly connected to the driving ends of the driving pieces.The first laser ranging sensor is arranged on the bottom of the connecting piece, and the second laser ranging sensor is arranged on the driving end of the driving piece.The application provides a robot gripper, a robot and a robot gripper control method, and high-precision grabbing and assembling of a cylindrical workpiece can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a robot gripper, a robot and a robot gripper control method. BACKGROUND

[0002] At present, the application of industrial automation production is extremely wide. In the industrial production process, the cylindrical workpiece feeding and assembly generally uses a mechanical gripper.

[0003] In the existing mechanical gripper, research is mainly conducted from the convenience of grabbing and the firmness of grabbing. For example, the patent with the publication number CN218370444U discloses a robot gripper structure for copper pipe production. The robot gripper structure includes a clamping jaw for grabbing workpieces and a vacuum chuck for adsorbing workpieces. When the clamping jaw clamps the workpiece, the vacuum chuck will simultaneously produce adsorption on the workpiece grabbed by the clamping jaw, so as to realize fast and stable grabbing of the workpiece.

[0004] However, the current robot gripper is difficult to be used for high-precision grabbing and assembly of cylindrical workpieces. SUMMARY

[0005] In order to solve at least one problem mentioned in the background art, the present application provides a robot gripper, a robot and a robot gripper control method, which can be used for high-precision grabbing and assembly of cylindrical workpieces.

[0006] In order to achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0007] In a first aspect, the present application provides a robot gripper for grabbing a cylindrical workpiece. The robot gripper includes a connecting piece, a mounting bracket, a pressing mechanism, a laser ranging assembly and a controller. The top of the connecting piece is configured to be connected with a robot body.

[0008] The mounting bracket is connected to the bottom of the connecting piece. The pressing mechanism includes a plurality of driving pieces and a plurality of pressing pieces. The driving pieces are fixedly arranged on the mounting bracket. The connecting piece is a rotary body structure. The driving pieces are uniformly arranged around the central axis of the connecting piece, and the driving ends of the driving pieces are all directed towards the central axis. The pressing pieces are correspondingly connected to the driving ends of the driving pieces and are driven by the driving pieces to approach or move away from the central axis, so as to clamp or release the cylindrical workpiece.

[0009] The laser ranging assembly includes a first laser ranging sensor and a second laser ranging sensor. The first laser ranging sensor is arranged at the bottom of the connecting piece. The first laser ranging sensor is used to measure the center position of the end face of the cylindrical workpiece and the included angle of the end face relative to the horizontal plane.

[0010] The second laser ranging sensor is arranged at the driving end of the driving member and is configured to detect the distance between the second laser ranging sensor and the cylindrical workpiece.

[0011] The controller is electrically connected to the laser ranging assembly and is configured to adjust the pose of the robot gripper according to the measurement results of the first and second laser ranging sensors.

[0012] As an optional implementation, the driving member comprises a hydraulic cylinder.

[0013] As an optional implementation, the side of the pressing member facing the central axis is a curved surface recessed toward the side of the driving member.

[0014] As an optional implementation, the mounting frame comprises a connecting plate and a baffle, the baffle is arranged around the central axis, the connecting plate is connected between the baffle and the connecting member, the driving member is arranged outside the baffle, and the inner side of the baffle is arranged as a containing space for the cylindrical workpiece.

[0015] As an optional implementation, a through hole is arranged on the side wall of the baffle, and the driving end of the driving member extends into the containing space through the through hole.

[0016] In a second aspect, the present application further provides a robot comprising the robot gripper of any one of the first aspect.

[0017] In a third aspect, the present application further provides a robot gripper control method applied to the robot gripper of any one of the first aspect, comprising the following steps:

[0018] Determining the center position of the end face of the cylindrical workpiece through the first ranging sensor;

[0019] Moving the robot gripper to the center position;

[0020] Determining the included angle between the end face and the first direction and the second direction through the first ranging sensor, wherein the first direction is perpendicular to the second direction;

[0021] Adjusting the pose of the robot gripper according to the included angle between the end face and the first direction and the second direction, so that the central axis of the robot gripper is parallel to the central axis of the cylindrical workpiece;

[0022] Measuring the distance between each second laser ranging sensor and the cylindrical workpiece through the second laser ranging sensor, and adjusting the position of the robot gripper according to the distance, so that the central axis of the robot gripper coincides with the central axis of the cylindrical workpiece.

[0023] As an optional implementation, the center position of the end face of the cylindrical workpiece is determined through the first ranging sensor, specifically comprising:

[0024] The first laser ranging sensor is scanned along the first direction and the second direction respectively to determine the spatial coordinates of the intersection points of the edge of the end face and the first direction and the second direction respectively;

[0025] The spatial coordinates of the center point of the end face are determined by the spatial coordinates.

[0026] As an optional implementation, the spatial coordinates of the center point of the end face are determined by the spatial coordinates, specifically including: according to the formula

[0027] x = (x1 + x3) / 2

[0028] y = (y2 + y4) / 2

[0029] z = (z1 + z2 + z3 + z4) / 4

[0030] The spatial coordinates of the center point of the end face are determined by the spatial coordinates.

[0031] Wherein, P1 and P3 are respectively two intersection points of the edge of the end face and the first direction, P2 and P4 are respectively two intersection points of the edge of the end face and the second direction, the spatial coordinates of P1 point are (x1, y1, z1), the spatial coordinates of P2 point are (x2, y2, z2), the spatial coordinates of P3 point are (x3, y3, z3), the spatial coordinates of P4 point are (x4, y4, z4), P0 is the center point of the end face, x, y, z are respectively the spatial three-dimensional coordinates of P0 point.

[0032] As an optional implementation, the angle between the end face and the first direction and the angle between the end face and the second direction are determined by the first ranging sensor, specifically including: according to the formula

[0033] α = arctan[(l2-l1) / (x2-x1)]

[0034] β = arctan[(l4-l3) / (y4-y3)]

[0035] The angle between the end face and the first direction and the angle between the end face and the second direction are determined by the first ranging sensor.

[0036] Wherein, α is the angle between the end face and the first direction, β is the angle between the end face and the second direction, l1 is the distance from the first laser ranging sensor to P1 point, l2 is the distance from the first laser ranging sensor to P2 point, l3 is the distance from the first laser ranging sensor to P3 point, l4 is the distance from the first laser ranging sensor to P4 point.

[0037] The robot gripper provided by the application is used for grabbing a cylindrical workpiece, and comprises a connecting piece, a mounting frame, a pressing mechanism, a laser ranging assembly and a controller. The top of the connecting piece is configured to be connected with a robot body. The mounting frame is connected to the bottom of the connecting piece. The pressing mechanism comprises a plurality of driving pieces and a plurality of pressing pieces. The driving pieces are fixedly arranged on the mounting frame. The connecting piece is a rotary body structure. The driving pieces are uniformly arranged around the central axis of the connecting piece, and the driving ends of the driving pieces are all directed towards the central axis. The pressing pieces are correspondingly connected to the driving ends of the driving pieces and are driven by the driving pieces to approach or move away from the central axis so as to clamp or release the cylindrical workpiece. The laser ranging assembly comprises a first laser ranging sensor and a second laser ranging sensor. The first laser ranging sensor is arranged at the bottom of the connecting piece and is used for measuring the central position of the end face of the cylindrical workpiece and the included angle between the end face and the horizontal plane. The second laser ranging sensor is arranged at the driving end of the driving piece and is used for detecting the distance between the second laser ranging sensor and the cylindrical workpiece. The controller is electrically connected to the laser ranging assembly and is configured to adjust the pose of the robot gripper according to the measurement results of the first laser ranging sensor and the second laser ranging sensor.

[0038] When the robot gripper provided by the application grabs the cylindrical workpiece, the central position of the end face of the cylindrical workpiece can be determined by the first ranging sensor first, and then the robot gripper is moved to the central position. Then the included angles between the end face and the first direction and the second direction are determined by the first ranging sensor, and the pose of the robot gripper is adjusted according to the included angles between the end face and the first direction and the second direction, so that the central axis of the robot gripper is parallel to the central axis of the cylindrical workpiece, and the cylindrical workpiece is located between the pressing pieces. Then the distances between the second laser ranging sensor and the cylindrical workpiece are measured by the second laser ranging sensor, and the position of the robot gripper is adjusted according to the measured distances, so that the central axis of the robot gripper coincides with the central axis of the cylindrical workpiece. Then the pressing pieces are driven by the driving pieces to approach the cylindrical workpiece until the cylindrical workpiece is clamped between the pressing pieces, so as to complete the grabbing action of the cylindrical workpiece. Through multiple adjustments of the pose of the robot gripper, the grabbing precision and the assembly precision of the cylindrical workpiece are greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative labor.

[0040] Figure 1 The first overall structure schematic diagram of the robot gripper provided by the embodiment of the present application;

[0041] Figure 2 A second overall structure schematic view of the robot gripper provided by the embodiment of the present application;

[0042] Figure 3 A Figure 1 front view;

[0043] Figure 4 A Figure 1 bottom view;

[0044] Figure 5 A Figure 1 top view;

[0045] Figure 6 A structure schematic view of the pressing mechanism of the robot gripper provided by the embodiment of the present application;

[0046] Figure 7 A working schematic view of the first laser ranging sensor ranging in the robot gripper provided by the embodiment of the present application;

[0047] Figure 8 A working schematic view of the second laser ranging sensor ranging in the robot gripper provided by the embodiment of the present application;

[0048] Figure 9 A flow chart of a robot gripper control method provided by the embodiment of the present application.

[0049] BRIEF DESCRIPTION OF THE DRAWINGS:

[0050] 100 - robot gripper;

[0051] 110 - connecting piece;

[0052] 120 - mounting frame;

[0053] 121 - connecting plate;

[0054] 122 - baffle plate;

[0055] 130 - pressing mechanism;

[0056] 131 - driving piece;

[0057] 132 - pressing piece;

[0058] 140 - laser ranging assembly;

[0059] 141 - first laser ranging sensor;

[0060] 142 - second laser ranging sensor;

[0061] 200 - cylindrical workpiece;

[0062] X - first direction;

[0063] Y - second direction. DETAILED DESCRIPTION

[0064] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work, fall within the protection scope of the present application.

[0065] In the application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0066] In addition, in addition to being used to indicate the orientation or positional relationship, the above-mentioned partial terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. Those of ordinary skill in the art can understand the specific meaning of these terms in the present application according to the specific circumstances.

[0067] In addition, the terms "mount", "set", "provided with", "connect", "connected" should be broadly understood. For example, it can be fixedly connected, detachably connected, or integrally constructed; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be internal communication between two devices, elements or components. Those of ordinary skill in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0068] In addition, the terms "first", "second", and the like are mainly used to distinguish different devices, elements or components (the specific types and structures can be the same or different), and are not intended to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, the meaning of "multiple" is two or more.

[0069] Among existing robot grippers, research is mainly conducted from the aspects of convenience and firmness of grabbing, for example, a robot gripper structure for copper pipe production disclosed in a patent with publication number CN218370444U includes a clamping jaw for grabbing workpieces and a vacuum chuck for adsorbing workpieces. When the clamping jaw clamps a workpiece, the vacuum chuck simultaneously adsorbs the workpiece clamped by the clamping jaw, so that fast and stable grabbing of the workpiece can be achieved. However, in some cases, the robot gripper needs to grab and assemble workpieces with high precision. The current robot gripper is difficult to achieve high-precision grabbing and assembly of cylindrical workpieces.

[0070] Therefore, the present application provides a robot gripper for grabbing cylindrical workpieces. The robot gripper includes a connecting piece, a mounting frame, a pressing mechanism, a laser ranging assembly, and a controller. The top of the connecting piece is configured to be connected with a robot body. The mounting frame is connected to the bottom of the connecting piece. The pressing mechanism includes a plurality of driving pieces and a plurality of pressing pieces. The driving pieces are fixedly arranged on the mounting frame. The connecting piece is a rotary body structure. The plurality of driving pieces are uniformly arranged around the central axis of the connecting piece, and the driving ends of each driving piece are directed towards the central axis. The pressing pieces are correspondingly connected to the driving ends of each driving piece. The laser ranging assembly includes a first laser ranging sensor and a second laser ranging sensor. The first laser ranging sensor is arranged at the bottom of the connecting piece. The second laser ranging sensor is arranged at the driving end of the driving piece. The controller is electrically connected to the laser ranging assembly. When grabbing a cylindrical workpiece, the center position of the end face of the cylindrical workpiece can be determined by the first ranging sensor first, and then the robot gripper is moved to the center position. The angles between the end face and the first direction and the second direction are determined by the first ranging sensor, and the posture of the robot gripper is adjusted according to the angles between the end face and the first direction and the second direction, so that the central axis of the robot gripper is parallel to the central axis of the cylindrical workpiece, and the cylindrical workpiece is located between the plurality of pressing pieces. The distances between the second laser ranging sensor and the cylindrical workpiece are measured by the second laser ranging sensor, and the position of the robot gripper is adjusted according to the measured distances, so that the central axis of the robot gripper coincides with the central axis of the cylindrical workpiece. Then, the pressing pieces are driven by the driving pieces to approach the cylindrical workpiece until the cylindrical workpiece is clamped between the plurality of pressing pieces, to complete the grabbing action of the cylindrical workpiece. Through multiple adjustments of the posture of the robot gripper, the grabbing precision and assembly precision of the cylindrical workpiece are greatly improved.

[0071] A first overall structure diagram of the robot gripper provided by the embodiment of the present application is shown in FIG. 1. Figure 2 A second overall structure diagram of the robot gripper provided by the embodiment of the present application is shown in FIG. 2. Figure 3 A front view of the robot gripper provided by the embodiment of the present application is shown in FIG. 3. Figure 1 A bottom view of the robot gripper provided by the embodiment of the present application is shown in FIG. 4. Figure 4 A side view of the robot gripper provided by the embodiment of the present application is shown in FIG. 5. Figure 1 A bottom view of the robot gripper provided by the embodiment of the present application is shown in FIG. 4. Figure 5Fig. 1 is a perspective view of a robot gripper according to an embodiment of the present application; Figure 1 Fig. 2 is a top view of the robot gripper according to the embodiment of the present application; Figure 6 Fig. 3 is a schematic view of a pressing mechanism of the robot gripper according to the embodiment of the present application; Figure 7 Fig. 4 is a working schematic view of a first laser ranging sensor ranging in the robot gripper according to the embodiment of the present application; Figure 8 Fig. 5 is a working schematic view of a second laser ranging sensor ranging in the robot gripper according to the embodiment of the present application; Figure 9 Fig. 6 is a flowchart of a robot gripper control method according to the embodiment of the present application.

[0072] Reference can be made to Figures 1 to 9 The robot gripper 100 according to the embodiment of the present application is used for gripping a cylindrical workpiece 200, and comprises a connecting piece 110, a mounting frame 120, a pressing mechanism 130, a laser ranging assembly 140, and a controller. The top of the connecting piece 110 is configured to be connected with a robot body. The mounting frame 120 is connected to the bottom of the connecting piece 110. The pressing mechanism 130 comprises a plurality of driving pieces 131 and a plurality of pressing pieces 132. The driving pieces 131 are fixedly arranged on the mounting frame 120. The connecting piece 110 is a rotary body structure. The driving pieces 131 are uniformly arranged around the central axis of the connecting piece 110, and the driving ends of the driving pieces 131 are all directed towards the central axis. The pressing pieces 132 are correspondingly connected to the driving ends of the driving pieces 131, and are driven by the driving pieces 131 to approach or move away from the central axis, so as to grip or release the cylindrical workpiece 200. The laser ranging assembly 140 comprises a first laser ranging sensor 141 and a second laser ranging sensor 142. The first laser ranging sensor 141 is arranged at the bottom of the connecting piece 110, and is used for measuring the central position of the end face of the cylindrical workpiece 200 and the included angle of the end face relative to the horizontal plane. The second laser ranging sensor 142 is arranged at the driving end of the driving piece 131, and is used for detecting the distance between the second laser ranging sensor 142 and the cylindrical workpiece 200. The controller is electrically connected to the laser ranging assembly 140, and is configured to adjust the pose of the robot gripper 100 according to the measurement results of the first laser ranging sensor 141 and the second laser ranging sensor 142.

[0073] The robot gripper 100 provided by the embodiment of the present application can first determine the center position of the end face of the cylindrical workpiece 200 through the first distance measuring sensor, and then move the robot gripper 100 to the center position; then determine the included angle between the end face and the first direction X and the second direction Y through the first distance measuring sensor, and adjust the posture of the robot gripper 100 according to the included angle between the end face and the first direction X and the second direction Y, so that the central axis of the robot gripper 100 is parallel to the central axis of the cylindrical workpiece 200, and the cylindrical workpiece 200 is located between the plurality of pressing members 132; then the distance between each second laser distance measuring sensor 142 and the cylindrical workpiece 200 can be measured through the second laser distance measuring sensor 142, and the position of the robot gripper 100 is adjusted according to the measured distance, so that the central axis of the robot gripper 100 coincides with the central axis of the cylindrical workpiece 200, and then each pressing member 132 is driven by the driving member 131 to move towards the cylindrical workpiece 200 until the cylindrical workpiece 200 is clamped between the plurality of pressing members 132, so as to complete the grabbing action of the cylindrical workpiece 200. Through multiple adjustments of the posture of the robot gripper 100, the grabbing precision and assembly precision of the cylindrical workpiece 200 are greatly improved.

[0074] It can be understood that the above-mentioned adjustment of the posture of the robot gripper 100 is controlled by the controller, and the first laser distance measuring sensor 141 and the second laser distance measuring sensor 142 will feed back the measurement results to the controller through electrical signals, and the controller controls the movement and rotation of the robot gripper 100, without the need for personnel intervention, so as to realize the accurate positioning and grabbing of the cylindrical workpiece 200.

[0075] In the above embodiment, the driving member 131 can include a hydraulic cylinder, and the pressing member 132 can be driven to move towards or away from the central axis of the robot gripper 100 through the reciprocating linear motion of the hydraulic cylinder, so as to realize the clamping and releasing actions of the cylindrical workpiece 200, and the grabbing action of the robot gripper 100 is more stable through the driving of the hydraulic cylinder.

[0076] In the above embodiment, the side of the pressing member 132 facing the central axis can be designed as a curved surface recessed towards the side of the driving member 131, and the cylindrical workpiece 200 is pressed through the curved surface, which can increase the contact area between the pressing member 132 and the workpiece surface, avoid damaging the workpiece surface due to stress concentration, and on the other hand, the workpiece can be better positioned and reinforced through the curved surface with a certain arc, so as to prevent the workpiece from shaking during grabbing.

[0077] As Figure 1 and Figure 2As shown in the above embodiments, the mounting frame 120 can include a connecting plate 121 and a baffle 122, the baffle 122 is arranged around the outer periphery of the central axis, the connecting plate 121 is connected between the baffle 122 and the connecting piece 110, the driving piece 131 is arranged outside the baffle 122, the inner side of the baffle 122 is arranged into a containing space for accommodating the cylindrical workpiece 200, the grabbed cylindrical workpiece 200 can be located in the containing space, the baffle 122 can prevent the workpiece from falling from one side, and the safety of construction is improved.

[0078] As shown in the above embodiments, the mounting frame 120 can include a connecting plate 121 and a baffle 122, the baffle 122 is arranged around the outer periphery of the central axis, the connecting plate 121 is connected between the baffle 122 and the connecting piece 110, the driving piece 131 is arranged outside the baffle 122, the inner side of the baffle 122 is arranged into a containing space for accommodating the cylindrical workpiece 200, the grabbed cylindrical workpiece 200 can be located in the containing space, the baffle 122 can prevent the workpiece from falling from one side, and the safety of construction is improved. Figure 1 Figure 2 As shown in the above embodiments, the mounting frame 120 can include a connecting plate 121 and a baffle 122, the baffle 122 is arranged around the outer periphery of the central axis, the connecting plate 121 is connected between the baffle 122 and the connecting piece 110, the driving piece 131 is arranged outside the baffle 122, the inner side of the baffle 122 is arranged into a containing space for accommodating the cylindrical workpiece 200, the grabbed cylindrical workpiece 200 can be located in the containing space, the baffle 122 can prevent the workpiece from falling from one side, and the safety of construction is improved.

[0079] As shown in the above embodiments, the mounting frame 120 can include a connecting plate 121 and a baffle 122, the baffle 122 is arranged around the outer periphery of the central axis, the connecting plate 121 is connected between the baffle 122 and the connecting piece 110, the driving piece 131 is arranged outside the baffle 122, the inner side of the baffle 122 is arranged into a containing space for accommodating the cylindrical workpiece 200, the grabbed cylindrical workpiece 200 can be located in the containing space, the baffle 122 can prevent the workpiece from falling from one side, and the safety of construction is improved. Figure 2 As shown in the above embodiments, the mounting frame 120 can include a connecting plate 121 and a baffle 122, the baffle 122 is arranged around the outer periphery of the central axis, the connecting plate 121 is connected between the baffle 122 and the connecting piece 110, the driving piece 131 is arranged outside the baffle 122, the inner side of the baffle 122 is arranged into a containing space for accommodating the cylindrical workpiece 200, the grabbed cylindrical workpiece 200 can be located in the containing space, the baffle 122 can prevent the workpiece from falling from one side, and the safety of construction is improved.

[0080] ​The robot gripper 100 provided by the embodiment of the present application is used for grabbing the cylindrical workpiece 200, and the robot gripper 100 comprises a connecting piece 110, a mounting frame 120, a pressing mechanism 130, a laser ranging assembly 140 and a controller, the top of the connecting piece 110 is configured to be connected with a robot body; the mounting frame 120 is connected to the bottom of the connecting piece 110, the pressing mechanism 130 comprises a plurality of driving pieces 131 and a plurality of pressing pieces 132, the driving pieces 131 are fixedly arranged on the mounting frame 120, the connecting piece 110 is a rotary body structure, the driving pieces 131 are uniformly arranged around the central axis of the connecting piece 110, and the driving ends of the driving pieces 131 all face the direction of the central axis; the pressing pieces 132 are correspondingly connected to the driving ends of the driving pieces 131, and are driven by the driving pieces 131 to approach or move away from the central axis, so as to clamp or release the cylindrical workpiece 200; the laser ranging assembly 140 comprises a first laser ranging sensor 141 and a second laser ranging sensor 142, the first laser ranging sensor 141 is arranged at the bottom of the connecting piece 110, and is used for measuring the central position of the end face of the cylindrical workpiece 200 and the included angle of the end face relative to the horizontal plane; the second laser ranging sensor 142 is arranged at the driving end of the driving piece 131, and is used for detecting the distance between the second laser ranging sensor 142 and the cylindrical workpiece 200; the controller is electrically connected to the laser ranging assembly 140, and is configured to adjust the pose of the robot gripper 100 according to the measurement results of the first laser ranging sensor 141 and the second laser ranging sensor 142.

[0081] When the robot gripper 100 provided by the embodiment of the present application grabs the cylindrical workpiece 200, the central position of the end face of the cylindrical workpiece 200 can be determined by the first ranging sensor first, and then the robot gripper 100 is moved to the central position; then the included angles of the end face relative to the first direction X and the second direction Y are determined by the first ranging sensor, and the attitude of the robot gripper 100 is adjusted according to the included angles of the end face relative to the first direction X and the second direction Y, so that the central axis of the robot gripper 100 is parallel to the central axis of the cylindrical workpiece 200, and the cylindrical workpiece 200 is located between the pressing pieces 132; then the distances between the second laser ranging sensor 142 and the cylindrical workpiece 200 can be measured by the second laser ranging sensor 142, and the position of the robot gripper 100 is adjusted according to the measured distances, so that the central axis of the robot gripper 100 coincides with the central axis of the cylindrical workpiece 200, and then each pressing piece 132 is driven by the driving piece 131 to approach the cylindrical workpiece 200 until the cylindrical workpiece 200 is clamped between the pressing pieces 132, so as to complete the grabbing action of the cylindrical workpiece 200. Through multiple adjustments of the pose of the robot gripper 100, the grabbing precision and assembly precision of the cylindrical workpiece 200 are greatly improved.

[0082] In addition, the robot provided by the embodiment of the present application comprises the robot gripper 100 provided by any one of the above embodiments, and the robot provided by the embodiment of the present application can realize high-precision grabbing and assembling of the cylindrical workpiece 200 through the robot gripper 100.

[0083] In addition, as shown in Figure 9 The embodiment of the present application further provides a robot gripper control method, which is applied to the robot gripper 100 provided by any one of the above embodiments, and the method comprises the following steps:

[0084] S100, determining the center position of the end face of the cylindrical workpiece 200 through the first distance measuring sensor.

[0085] Specifically, as shown in Figure 7 The first laser distance measuring sensor 141 can be caused to sweep the end face of the cylindrical workpiece 200 along the first direction X and the second direction Y respectively, so as to determine the spatial coordinates of the intersection points of the edge of the end face and the first direction X and the second direction Y respectively; and then the spatial coordinates of the center point of the end face are determined through the spatial coordinates.

[0086] The spatial coordinates of the center point of the end face can be determined through the following formula:

[0087] x=(x1+x3) / 2

[0088] y=(y2+y4) / 2

[0089] z=(z1+z2+z3+z4) / 4

[0090] Wherein, P1 and P3 are two intersection points of the edge of the end face and the first direction, P2 and P4 are two intersection points of the edge of the end face and the second direction, the spatial coordinates of P1 point are (x1, y1, z1), the spatial coordinates of P2 point are (x2, y2, z2), the spatial coordinates of P3 point are (x3, y3, z3), the spatial coordinates of P4 point are (x4, y4, z4), P0 is the center point of the end face, and x, y and z are the spatial three-dimensional coordinates of P0 point. As shown in Figure 7As shown, it can be understood that when the first laser ranging sensor 141 approaches the end face of the cylindrical workpiece 200 along the first direction X from the outside, at the moment of contact with the cylindrical workpiece 200, the distance measured by the first laser ranging sensor 141 will change abruptly (from large to small), so that the initial measured distance after the change can be taken as the record data, that is, the distance from the first direction X to one of the intersection points (P1) of the edge of the end face of the cylindrical workpiece 200 to the first laser ranging sensor 141, and the spatial coordinates of the P1 point can be determined in combination with the spatial coordinates of the robot gripper 100 itself. When the first laser ranging sensor 141 leaves the end face of the cylindrical workpiece 200, the distance measured by the first laser ranging sensor 141 will change again (from small to large), by which the spatial coordinates (x3, y3, z3) of the P3 point can be determined. Similarly, by making the first laser ranging sensor 141 sweep the end face of the cylindrical workpiece 200 along the second direction Y, the spatial coordinates (x2, y2, z2) of the P2 point and the spatial coordinates (x4, y4, z4) of the P4 point can be determined respectively, so that the spatial coordinates (x0, y0, z0) of the P0 point can be calculated by the above formula, and then the robot gripper 100 is moved to the P0 point.

[0091] S200, moving the robot gripper 100 to the center position.

[0092] Specifically, the first laser ranging sensor 141 can send the detection result to the controller through an electrical signal, and the controller controls the robot gripper 100 to move to the position of the center point of the end face of the cylindrical workpiece 200.

[0093] S300, determining the angles of the end face with the first direction X and the second direction Y by the first ranging sensor, wherein the first direction X is perpendicular to the second direction Y.

[0094] Specifically, the angles of the end face with the first direction X and the second direction Y can be determined according to the following formula:

[0095] α = arctan[(l2-l1) / (x2-x1)]

[0096] β = arctan[(l4-l3) / (y4-y3)]

[0097] Wherein, α is the angle of the end face with the first direction X, β is the angle of the end face with the second direction Y, l1 is the distance from the first laser ranging sensor 141 to the P1 point, l2 is the distance from the first laser ranging sensor 141 to the P2 point, l3 is the distance from the first laser ranging sensor 141 to the P3 point, and l4 is the distance from the first laser ranging sensor 141 to the P4 point.

[0098] S400, adjust the posture of the robot gripper 100 according to the included angle between the end face and the first direction X and the second direction Y, so that the central axis of the robot gripper 100 is parallel to the central axis of the cylindrical workpiece 200. In this way, it can be ensured that the cylindrical workpiece 200 grabbed by the robot gripper 100 is in an upright state, which facilitates subsequent assembly.

[0099] S500, measure the distance between each second laser ranging sensor 142 and the cylindrical workpiece 200 by the second laser ranging sensor 142, and adjust the position of the robot gripper 100 according to the distance, so that the central axis of the robot gripper 100 coincides with the central axis of the cylindrical workpiece 200.

[0100] Specifically, by measuring the distance between the plurality of second laser ranging sensors 142 and the cylindrical workpiece 200, the cylindrical workpiece 200 can be located at the center position of the robot gripper 100, so that the robot gripper 100 is more uniform and stable when grabbing the cylindrical workpiece 200. It can be understood that when the distance from each second laser ranging sensor 142 to the cylindrical workpiece 200 is equal, it means that the central axis of the cylindrical workpiece 200 coincides with the central axis of the robot gripper 100.

[0101] The robot gripper control method provided by the embodiment of the application can first determine the center position of the end face of the cylindrical workpiece 200 by the first ranging sensor when grabbing the cylindrical workpiece 200, and then move the robot gripper 100 to the center position; then determine the included angle between the end face and the first direction X and the second direction Y by the first ranging sensor, and adjust the posture of the robot gripper 100 according to the included angle between the end face and the first direction X and the second direction Y, so that the central axis of the robot gripper 100 is parallel to the central axis of the cylindrical workpiece 200, and the cylindrical workpiece 200 is located between the plurality of pressing members 132; then the distance between each second laser ranging sensor 142 and the cylindrical workpiece 200 can be measured by the second laser ranging sensor 142, and the position of the robot gripper 100 is adjusted according to the measured distance, so that the central axis of the robot gripper 100 coincides with the central axis of the cylindrical workpiece 200, and then the driving member 131 drives each pressing member 132 to move towards the cylindrical workpiece 200 until the cylindrical workpiece 200 is clamped between the plurality of pressing members 132, to complete the grabbing action of the cylindrical workpiece 200. Through multiple adjustments of the position and posture of the robot gripper 100, the grabbing precision and assembly precision of the cylindrical workpiece 200 are greatly improved.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A robotic gripper, characterized in that, The robot gripper, used for gripping cylindrical workpieces, includes a connector, a mounting frame, a clamping mechanism, a laser ranging component, and a controller. The top of the connector is configured to connect to the robot body. The mounting bracket is connected to the bottom of the connector. The clamping mechanism includes multiple driving components and multiple clamping components. The driving components are fixedly mounted on the mounting bracket. The connector is a rotating structure. The multiple driving components are evenly arranged around the central axis of the connector, and the driving end of each driving component faces the direction of the central axis. The clamping components are correspondingly connected to the driving ends of each driving component and move closer to or further away from the central axis under the drive of the driving components to grip or release the cylindrical workpiece. The laser ranging assembly includes a first laser ranging sensor and a second laser ranging sensor. The first laser ranging sensor is disposed at the bottom of the connector and is used to measure the center position of the end face of the cylindrical workpiece and the angle between the end face and the horizontal plane. The second laser rangefinder is disposed at the driving end of the driving component and is used to detect the distance between each second laser rangefinder and the cylindrical workpiece; The controller is electrically connected to the laser ranging component and is configured to adjust the pose of the robot gripper based on the measurement results of the first laser ranging sensor and the second laser ranging sensor.

2. The robot gripper according to claim 1, characterized in that, The driving component includes a hydraulic cylinder.

3. The robot gripper according to claim 2, characterized in that, The side of the clamping member facing the central axis is a concave curved surface facing the driving member.

4. The robot gripper according to claim 3, characterized in that, The mounting bracket includes a connecting plate and a baffle. The baffle is arranged around the periphery of the central axis. The connecting plate is connected between the baffle and the connecting member. The driving member is arranged on the outside of the baffle. The inside of the baffle is arranged to form an accommodating space for placing the cylindrical workpiece.

5. The robot gripper according to claim 4, characterized in that, The side wall of the baffle is provided with a through hole, and the driving end of the driving member extends into the accommodating space through the through hole.

6. A robot, characterized in that, Includes the robotic gripper as described in any one of claims 1-5.

7. A robot gripper control method, characterized in that, The robot gripper control method, applied to any one of claims 1-5, comprises the following steps: The center position of the end face of the cylindrical workpiece is determined by the first laser rangefinder. Move the robot gripper to the center position; The angles between the end face and the first direction and the second direction are determined by the first laser ranging sensor, wherein the first direction is perpendicular to the second direction; The posture of the robot gripper is adjusted according to the angle between the end face and the first and second directions so that the central axis of the robot gripper is parallel to the central axis of the cylindrical workpiece. The distance between each of the second laser rangefinders and the cylindrical workpiece is measured by the second laser rangefinder, and the position of the robot gripper is adjusted according to the distance so that the central axis of the robot gripper coincides with the central axis of the cylindrical workpiece.

8. The robot gripper control method according to claim 7, characterized in that, The determination of the center position of the end face of the cylindrical workpiece using the first laser rangefinder specifically includes: The first laser rangefinder is made to scan the end face of the cylindrical workpiece along the first direction and the second direction respectively, so as to determine the spatial coordinates of the intersection point of the edge of the end face with the first direction and the second direction respectively. The spatial coordinates of the center point of the end face are determined by the spatial coordinates.

9. The robot gripper control method according to claim 8, characterized in that, Determining the spatial coordinates of the end face center point using the spatial coordinates specifically includes: according to the formula Determine the spatial coordinates of the center point of the end face; Wherein, P1 and P3 are the two intersection points of the edge of the end face with the first direction, P2 and P4 are the two intersection points of the edge of the end face with the second direction, the spatial coordinates of point P1 are (x1, y1, z1), the spatial coordinates of point P2 are (x2, y2, z2), the spatial coordinates of point P3 are (x3, y3, z3), the spatial coordinates of point P4 are (x4, y4, z4), and P0 is the center point of the end face, where x, y, and z are the three-dimensional spatial coordinates of point P0.

10. The robot gripper control method according to claim 9, characterized in that, The step of determining the angles between the end face and the first and second directions using the first laser ranging sensor specifically includes: according to the formula Determine the angle between the end face and the first direction and the angle between the end face and the second direction; Wherein, α is the angle between the end face and the first direction, β is the angle between the end face and the second direction, l1 is the distance from the first laser ranging sensor to point P1, l2 is the distance from the first laser ranging sensor to point P2, l3 is the distance from the first laser ranging sensor to point P3, and l4 is the distance from the first laser ranging sensor to point P4.

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