Finger, robotic arm, robot control method, control system and computer readable storage medium

Abstract

The present invention discloses a control method, a control system and a computer-readable storage medium for a finger, a manipulator and a robot. The control method comprises the steps of: obtaining the torque value collected by the torque sensor; and controlling the first driving structure to drive the rotating body to rotate according to the torque value. The contact state between the contact part of the rotating body and the second limb is determined by the torque value collected by the torque sensor, and it is also determined whether the limb is subjected to external force and accidental collision. When the limb is subjected to external force and accidental collision occurs, the limb will curl up, and the first driving structure can be controlled to drive the rotating member to rotate, so that the limb maintains a curled state to help avoid accidental collision again.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a finger, a robotic arm, a control method for a robot, a control system, and a computer-readable storage medium. Background Art

[0002] With the development of robot technology, robots are widely used, and the application environment of robots is becoming more and more complex. For example, robots and their limbs are prone to accidentally bump into other objects during use. In the prior art, robots and their limbs cannot prevent collisions with other objects and are easily damaged by collisions with other objects. For example, in the patent document with publication number CN116985167A, two gears are meshed to realize the rotation of fingers. When the finger is accidentally bumped and rotated, it is difficult to drive the two gears and the worm to rotate together, and the finger or the gear is easily damaged.

[0003] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0004] The technical problem to be solved by the present invention is that, in view of the above-mentioned defects of the prior art, a control method, a control system and a computer-readable storage medium for a finger, a robotic arm and a robot are provided, aiming to solve the problem in the prior art that the limbs of the robot cannot prevent collision with other objects and are easily damaged by collision with other objects.

[0005] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0006] A finger control method, wherein the finger comprises:

[0007] first limb;

[0008] a rotating body, rotatably disposed on the first limb;

[0009] A first driving structure, disposed on the first limb and used to drive the rotating body to rotate;

[0010] a second limb, rotatably disposed on the first limb;

[0011] a torque sensor, used to detect the torque of the rotating body or the first driving structure;

[0012] a controller, electrically connected to the torque sensor and the first driving structure respectively;

[0013] Wherein, the rotating body is provided with a contact portion and an avoidance portion, the contact portion is used to contact the second limb, and the avoidance portion avoids the second limb;

[0014] After the rotating body rotates and the contact portion contacts the second limb, the second limb is pushed to rotate;

[0015] The control method comprises the steps of:

[0016] Obtaining a torque value collected by the torque sensor;

[0017] According to the torque value, the first driving structure is controlled to drive the rotating body to rotate.

[0018] The finger control method, wherein, according to the torque value, controlling the first driving structure to drive the rotating body to rotate, comprises:

[0019] When the torque value is less than or equal to a first preset torque value, the first driving structure is controlled to drive the rotating body to rotate a first preset angle.

[0020] The finger control method, wherein, according to the torque value, controlling the first driving structure to drive the rotating body to rotate, comprises:

[0021] When the torque value is greater than or equal to a second preset torque value, the first driving structure is controlled to drive the rotating body to rotate gradually; wherein the second preset torque value is greater than the first preset torque value.

[0022] The finger control method, wherein the finger further comprises:

[0023] a third limb, rotatably disposed on the second limb;

[0024] A connecting rod, two ends of which are respectively connected to the first limb and the third limb;

[0025] A first elastic member, disposed on the third limb;

[0026] Wherein, the first elastic member is used to provide elastic force for stretching the second limb and the third limb.

[0027] The finger control method, wherein the finger further comprises:

[0028] a base, movably connected to the first limb;

[0029] A driving mechanism group, wherein the driving mechanism group is arranged on the base;

[0030] Wherein, the driving mechanism group is movably connected to the first limb and is used to drive the first limb to move relative to the base;

[0031] The driving mechanism group is electrically connected to the controller;

[0032] The control method comprises the steps of:

[0033] According to the torque value, the driving mechanism group is controlled to drive the first limb to move.

[0034] The finger control method, wherein, according to the torque value, controlling the driving mechanism group to drive the first limb movement, comprises:

[0035] When the torque value is less than or equal to a first preset torque value, the driving mechanism group is controlled to drive the first limb to rotate a second preset angle.

[0036] The finger control method, wherein the drive mechanism group includes: at least one second drive mechanism, the second drive mechanism includes:

[0037] A sliding body, slidably disposed on the base;

[0038] A clutch body, separated from or combined with the sliding body;

[0039] A second elastic member, two ends of which are respectively connected to the sliding body and the base;

[0040] A second driving structure, disposed on the base and used to drive the clutch body to move;

[0041] Wherein, the sliding body is movably connected to the first limb;

[0042] The second elastic member is used to provide elastic force for combining the sliding body and the clutch body.

[0043] The finger control method, wherein, according to the torque value, controlling the driving mechanism group to drive the first limb movement, comprises:

[0044] When the torque value is greater than or equal to a second preset torque value, the driving mechanism group is controlled to drive the first limb to move gradually.

[0045] A finger control system comprises a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the steps of any of the control methods described above when executing the computer program.

[0046] A computer-readable storage medium stores a computer program, wherein the computer program implements the steps of any of the control methods described above when executed by a processor.

[0047] A method for controlling a robot arm, wherein the robot arm comprises:

[0048] first limb;

[0049] a rotating body, rotatably disposed on the first limb;

[0050] A first driving structure, disposed on the first limb and used to drive the rotating body to rotate;

[0051] a second limb, rotatably disposed on the first limb;

[0052] a torque sensor, used to detect the torque of the rotating body or the first driving structure;

[0053] a controller, electrically connected to the torque sensor and the first driving structure respectively;

[0054] Wherein, the rotating body is provided with a contact portion and an avoidance portion, the contact portion is used to contact the second limb, and the avoidance portion avoids the second limb;

[0055] After the rotating body rotates and the contact portion contacts the second limb, the second limb is pushed to rotate;

[0056] The control method comprises the steps of:

[0057] Obtaining a torque value collected by the torque sensor;

[0058] According to the torque value, the first driving structure is controlled to drive the rotating body to rotate.

[0059] A method for controlling a robot, wherein the robot comprises:

[0060] first limb;

[0061] a rotating body, rotatably disposed on the first limb;

[0062] A first driving structure, disposed on the first limb and used to drive the rotating body to rotate;

[0063] a second limb, rotatably disposed on the first limb;

[0064] a torque sensor, used to detect the torque of the rotating body or the first driving structure;

[0065] a controller, electrically connected to the torque sensor and the first driving structure respectively;

[0066] Wherein, the rotating body is provided with a contact portion and an avoidance portion, the contact portion is used to contact the second limb, and the avoidance portion avoids the second limb;

[0067] After the rotating body rotates and the contact portion contacts the second limb, the second limb is pushed to rotate;

[0068] The control method comprises the steps of:

[0069] Obtaining a torque value collected by the torque sensor;

[0070] According to the torque value, the first driving structure is controlled to drive the rotating body to rotate.

[0071] Beneficial effect: The torque collected by the torque sensor is used to determine the contact state between the contact part of the rotating body and the second limb, and thus determine whether the limb is subjected to external force and accidental collision. When the limb is subjected to external force and accidental collision occurs, the limb will curl up, and the first driving structure can be controlled to drive the rotating member to rotate, so that the limb maintains the curled state to help avoid accidental collision again. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 It is a schematic diagram of the structure of a limb for preventing accidental collision in an embodiment of the present invention.

[0073] Figure 2 It is a cross-sectional view of the first limb, the second limb and the third limb in an embodiment of the present invention.

[0074] Figure 3 Schematic diagram of the structure of the second driving mechanism in an embodiment of the present invention.

[0075] Figure 4 4 is a side view of the second driving mechanism in the embodiment of the present invention.

[0076] Figure 5 is a cross-sectional view of the second driving mechanism in an embodiment of the present invention.

[0077] Figure 6 It is an exploded view of the sliding body, the clutch body and the second driving structure in the embodiment of the present invention.

[0078] Figure 7 It is a cross-sectional view of the first limb, the second limb and the third limb in a curled state in an embodiment of the present invention.

[0079] Figure 8 It is a side view of a limb curled up to prevent accidental collision in an embodiment of the present invention.

[0080] Fig. 9 It is a side view of a limb that is prevented from accidental touching in an embodiment of the present invention when being accidentally touched.

[0081] Fig.10 It is a side view of the limb that prevents accidental collision during rotation in an embodiment of the present invention.

[0082] Fig.11 4 is a flow chart of a finger control method in an embodiment of the present invention.

[0083] 10. first limb; 20. rotating body; 21. contact part; 22. avoidance part; 23. worm gear part; 30. first driving structure; 31. worm; 32. first driver; 40. second limb; 50. base; 51. guide rail; 52. slider; 60. second driving mechanism; 61. sliding body; 611. accommodating groove; 62. clutch body; 621. screw hole; 63. second elastic member; 64. second driving structure; 641. screw; 642. second driver; 71. ball head pull rod; 72. rotating frame; 80. third limb; 91. first elastic member; 92. connecting rod. DETAILED DESCRIPTION

[0084] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0085] Please also see Figure 1-Figure 10 , the present invention provides some embodiments of a finger.

[0086] like Figure 1-Figure 2 As shown, the finger of the present invention comprises:

[0087] First limb 10;

[0088] A rotating body 20, rotatably disposed on the first limb 10;

[0089] A first driving structure 30 is disposed on the first limb 10 and is used to drive the rotating body 20 to rotate;

[0090] A second limb 40, rotatably disposed on the first limb 10;

[0091] A torque sensor, used to detect the torque of the rotating body 20 or the first driving structure 30;

[0092] A controller, electrically connected to the torque sensor and the first driving structure 30 respectively;

[0093] Among them, the rotating body 20 is provided with a contact part 21 and an avoidance part 22, the contact part 21 is used to contact the second limb 40, and the avoidance part 22 avoids the second limb 40; after the rotating body 20 rotates and the contact part 21 contacts the second limb 40, the second limb 40 is pushed to rotate.

[0094] Specifically, the finger body of the present application forms a flexible structure, has an anti-accidental-touch function, and can reduce finger injuries. Specifically, the rotating body 20 is rotatably arranged on the first limb 10, and the rotating body 20 forms a contact portion 21 and an avoidance portion 22, the contact portion 21 is used to contact the second limb 40, and the avoidance portion 22 is used to avoid the second limb 40. When the contact portion 21 contacts the second limb 40, it can push the second limb 40 to rotate. When the second limb 40 is subjected to external force, the second limb 40 rotates and disengages from the contact portion 21, so that the second limb 40 rotates to the avoidance portion 22, and the rotation of the second limb 40 will not drive the rotating body 20 to rotate. The second limb 40 is subjected to external force and is in a curled state, and will not affect or damage the rotating body 20 and the first driving structure 30.

[0095] The second limb 40 can be in a curled state or an extended state. The first limb 10 and the second limb 40 are connected in rotation. The rotation direction of the second limb 40 is divided into a curling direction and an extended direction. In the extended state, when the second limb 40 rotates in the curling direction, the second limb 40 changes from the extended state to the curled state; in the curled state, when the second limb 40 rotates in the extended direction, the second limb 40 changes from the curled state to the extended state. In the extended state, the contact portion 21 of the rotating body 20 contacts the second limb 40. When the first driving structure 30 drives the rotating body 20 to rotate in the curling direction and pushes the second limb 40 to rotate in the curling direction, the curling of the second limb 40 is realized. In the extended state, the second limb 40 rotates in the curling direction under the external force, the second limb 40 and the rotating body 20 are out of contact, the second limb 40 rotates to the corresponding position of the avoidance portion 22 (there is a gap between the second limb 40 and the avoidance portion 22), and the second limb 40 changes to the curled state. After the external force disappears, the second limb 40 can rotate along the extension direction and contact the contact portion 21 again, so that the first driving structure 30 can drive the rotating body 20 to rotate again and drive the second limb 40 to rotate.

[0096] The torque sensor can be arranged on the output shaft of the rotating body 20 or the first driving structure 30, and the controller is used to obtain the torque collected by the torque sensor and control the first driving structure 30. When the contact portion 21 of the rotating body 20 contacts the second limb 40, the torque collected by the torque sensor is relatively large; when the contact portion 21 of the rotating body 20 does not contact the second limb 40, the torque collected by the torque sensor is relatively small. The contact state between the contact portion 21 of the rotating body 20 and the second limb 40 is determined by the magnitude of the torque collected by the torque sensor, and thus whether the limb is subjected to external force and accidental collision occurs.

[0097] When the limb is subjected to external force and accidentally hit, the limb will curl up. Maintaining the curled state of the limb is conducive to avoiding accidental hit again. Therefore, the first driving structure 30 can be controlled to drive the rotating member to rotate so that the limb curls up. When the limb hits the object to be grasped, the torque collected by the torque sensor increases, and the first driving structure 30 can be controlled to drive the rotating member to rotate so that the limb grasps the object to be grasped.

[0098] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 3 As shown, the limbs for preventing accidental collision also include:

[0099] A base 50 movably connected to the first limb 10;

[0100] A driving mechanism group, wherein the driving mechanism group is disposed on the base 50;

[0101] The driving mechanism group is movably connected to the first limb 10 and is used to drive the first limb 10 to move relative to the base 50; the driving mechanism group is electrically connected to the controller.

[0102] Specifically, the base 50 is located on a side of the first limb 10 away from the second limb 40, the base 50 is movably connected to the first limb 10, and the driving mechanism group is used to drive the first limb 10 to move relative to the base 50, so that the first limb 10 and the second limb 40 move together. The controller controls the driving mechanism group.

[0103] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 3 As shown, the driving mechanism group includes: at least one second driving mechanism 60, and the second driving mechanism 60 includes:

[0104] A sliding body 61 is slidably disposed on the base 50;

[0105] The clutch body 62 is separated from or combined with the sliding body 61;

[0106] A second driving structure 64 is disposed on the base 50 and is used to drive the clutch body 62 to move;

[0107] The sliding body 61 is movably connected to the first limb 10 .

[0108] Specifically, the second limb 40 has an anti-accidental collision function relative to the first limb 10, and the anti-accidental collision is achieved specifically through the contact portion 21 of the rotating body 20 and the second limb 40. The first limb 10 also has an anti-accidental collision function relative to the base 50, and the anti-accidental collision is achieved specifically through the sliding body 61 and the clutch body 62. The sliding body 61 slides relative to the base 50, and the clutch body 62 and the sliding body 61 can be separated or combined. The clutch body 62 is connected to the second driving structure 64, and the second driving structure 64 drives the movement of the clutch body 62, and the movement of the clutch body 62 is dominated by the second driving structure 64. Since the sliding body 61 and the clutch body 62 can be separated, the sliding of the sliding body 61 is not completely dominated by the second driving structure 64. When the sliding body 61 and the clutch body 62 are separated, the sliding body 61 slides freely and does not affect the second driving structure 64; when the sliding body 61 and the clutch body 62 are combined, the second driving structure 64 can drive the clutch body 62 and the sliding body 61 to move together.

[0109] like Fig. 9 As shown, when the first limb 10 is rotated in the curling direction by external force, the first limb 10 pushes the sliding body 61 to slide, and the sliding body 61 is separated from the clutch body 62. The sliding of the sliding body 61 does not affect or damage the clutch body 62 and the second driving structure 64, and the first limb 10 and the base 50 are in a curled state.

[0110] like Figure 8 As shown, the second driving structure 64 is used to drive the clutch body 62 to move. When the sliding body 61 and the clutch body 62 are combined, the second driving structure 64 drives the clutch body 62 to move, and the sliding body 61 slides together, and drives the first limb 10 to move. The first limb 10 can specifically rotate in the curling direction or in the stretching direction. When more than two second driving mechanisms 60 are used, the first limb 10 can also rotate left and right.

[0111] In a preferred implementation of the embodiment of the present invention, Figure 3 , Figure 4 as well as Figure 5 As shown, the second driving mechanism 60 includes:

[0112] The second elastic member 63 has two ends connected to the sliding body 61 and the base 50 respectively;

[0113] The second elastic member 63 is used to provide elastic force for combining the sliding body 61 and the clutch body 62 .

[0114] Specifically, when the first limb 10 is subjected to an external force and rotates in the curling direction, the second elastic member 63 is deformed. After the external force disappears, under the action of the second elastic member 63, the first limb 10 rotates in the stretching direction, and the first limb 10 and the base 50 are in an extended state.

[0115] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 6 As shown, a receiving groove 611 is formed on the sliding body 61 for receiving the clutch body 62 .

[0116] Specifically, a receiving groove 611 is formed on the sliding body 61, and the receiving groove 611 is used to receive the clutch body 62. The clutch body 62 is located in the receiving groove 611, and the sliding body 61 is combined with the clutch body 62. When the second driving structure 64 drives the clutch body 62 to move, it will drive the sliding body 61 to slide; the clutch body 62 is not located in the receiving groove 611, and the sliding body 61 is separated from the clutch body 62. After the second driving structure 64 is started, it will not drive the sliding body 61 to slide. The clutch body 62 cannot rotate in the receiving groove 611. For example, the receiving groove 611 can be non-cylindrical or non-conical. When the clutch body 62 moves, the sliding body 61 slides with it.

[0117] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 6 As shown, the clutch body 62 is provided with a screw hole 621; the bottom of the receiving groove 611 is provided with a through hole; the second driving structure 64 includes:

[0118] The screw rod 641 is threadedly connected to the screw hole 621;

[0119] A second driver 642, used for driving the screw rod 641 to rotate;

[0120] The through hole is for the screw rod 641 to pass through.

[0121] Specifically, the clutch body 62 is provided with a screw hole 621, and is threadedly connected with the screw rod 641, and the second driver 642 is used to drive the screw rod 641 to rotate. When the clutch body 62 is located in the receiving groove 611, the second driver 642 drives the screw rod 641 to rotate, and the clutch body 62 and the sliding body 61 do not rotate with the screw rod 641, but the clutch body 62 and the sliding body 61 slide (or move) together, thereby driving the first limb 10 to move.

[0122] In a preferred implementation of the embodiment of the present invention, Figure 4-Figure 5 As shown, a guide rail 51 is disposed on the base 50 , a slider 52 is disposed on the guide rail 51 , and the slider 52 is connected to the sliding body 61 .

[0123] Specifically, in order to limit the sliding trajectory of the sliding body 61, a guide rail 51 and a slider 52 are provided on the base 50. The guide rail 51 guides the sliding of the slider 52. The sliding body 61 is connected to the slider 52. The guide rail 51 and the slider 52 limit the sliding of the sliding body 61 along the straight line where the guide rail 51 is located.

[0124] In a preferred implementation of the embodiment of the present invention, Figure 3 and Fig.10 As shown, the sliding body 61 is movably connected to the first limb 10 via a ball head pull rod 71 ; a rotating frame 72 is rotatably provided on the base 50 , and the rotating frame 72 is rotatably connected to the first limb 10 .

[0125] Specifically, two ends of the ball-end tie rod 71 are respectively connected to the sliding body 61 and the first limb 10 . The ball-end tie rod 71 has a high degree of freedom of movement, thereby realizing a movable connection between the sliding body 61 and the first limb 10 .

[0126] In a preferred implementation of the embodiment of the present invention, Figure 2 and Figure 7 As shown, the rotating body 20 is provided with a worm gear portion 23, and the worm gear portion 23 is provided with a plurality of worm teeth; the first driving structure 30 includes:

[0127] a worm 31, meshing with the worm gear;

[0128] The first driver 32 is used to drive the worm 31 to rotate.

[0129] Specifically, a worm gear portion 23 is formed on the rotating member, and the worm gear portion 23 is located in an area outside the contact portion 21 and the avoidance portion 22 on the rotating member. The worm gear portion 23 has a plurality of worm teeth, and the worm 31 is meshed with the worm teeth. The first driver 32 is used to drive the worm 31 to rotate, and when the worm 31 rotates, the rotating member is driven to rotate. The rotation direction of the worm 31 is perpendicular to the rotation direction of the rotating member.

[0130] In a preferred implementation of the embodiment of the present invention, Figure 2 and Figure 7 As shown, the finger also includes:

[0131] A third limb 80, rotatably disposed on the second limb 40;

[0132] A connecting rod 92, two ends of which are respectively connected to the first limb 10 and the third limb 80;

[0133] A first elastic member 91, disposed on the third limb 80;

[0134] The first elastic member 91 is used to provide elastic force for the second limb 40 and the third limb 80 to stretch.

[0135] Specifically, the third limb 80 is rotatably connected to the second limb 40, and the two ends of the connecting rod 92 are rotatably connected to the first limb 10 and the third limb 80 respectively, and the third limb 80 is located on the side of the second limb 40 away from the first limb 10. When the first driving structure 30 drives the rotating body 20 to rotate and pushes the second limb 40 to rotate relative to the first limb 10, under the action of the connecting rod 92, the third limb 80 also rotates relative to the second limb 40, so that the entire limb is bent. The first elastic member 91 provides elastic force for stretching for the second limb 40 and the third limb 80. When the first driving structure 30 drives the rotating body 20 to rotate from the initial position to achieve limb bending, the first elastic member 91 is deformed. When the first driving structure 30 reversely drives the rotating member to return to the initial position, under the action of the first elastic member 91, the second limb 40 and the third limb 80 rotate along the stretching direction, so that the entire limb is stretched.

[0136] Based on the finger described in any of the above embodiments, the present invention also provides a preferred embodiment of a finger control method:

[0137] like Fig.11 As shown, the finger control method of the embodiment of the present invention includes the following steps:

[0138] Step S100, obtaining the torque value collected by the torque sensor;

[0139] Step S200: Control the first driving structure to drive the rotating body to rotate according to the torque value.

[0140] Specifically, the torque value is collected by the torque sensor, and according to the collected torque value, the first driving structure is controlled to drive the rotating body to rotate, so that the limb is in or maintains a curled state. The contact state between the contact part of the rotating body and the second limb is determined by the torque value collected by the torque sensor, and it is also determined whether the limb is subjected to external force and accidental collision. When the limb is subjected to external force and accidental collision occurs, the limb will curl up, and the first driving structure can be controlled to drive the rotating member to rotate, so that the limb maintains a curled state to help avoid accidental collision again.

[0141] Step S100 specifically includes:

[0142] Step S110: Control the first driving structure to drive the rotating body to rotate with the rated torque, and collect the torque value through the torque sensor.

[0143] Specifically, when the torque sensor collects torque, the first drive structure can be controlled to drive the rotating body to rotate with the rated torque (or rated power), and the torque can be collected through the torque sensor. When the first drive structure outputs with the rated torque, the rated torque can be a torque that is sufficient to drive the rotating body to rotate but cannot drive the second limb to rotate, or it can be a torque that is sufficient to drive the rotating body to rotate and drive the second limb to rotate. Then the rated torque can be one or more, and the torque magnitudes of the multiple rated torques can be different. Although the first drive structure outputs with the rated torque, the contact state of the contact part of the rotating body and the second limb are different, the rotation state of the rotating body and the rotation state of the second limb may also be different, and the torque collected by the torque sensor will also be different. Step S110 realizes the collection of torque values, specifically controlling the first drive structure to drive the rotating body to rotate with the rated torque, and collecting torque values ​​through the torque sensor. The preset interval time can be used for collection, that is, step S110 is executed every preset interval time, and the torque value collected by the torque sensor is obtained. The preset interval time can be adjusted according to the specific situation.

[0144] Step S200 specifically includes:

[0145] S210: When the torque value is less than or equal to a first preset torque value, control the first driving structure to drive the rotating body to rotate a first preset angle.

[0146] Specifically, the first preset torque value is a preset torque value that is smaller and close to zero. When the collected torque value is less than or equal to the first preset torque value, the second limb may be separated from the rotating body, and the second limb has been passively curled, indicating that the limb is subjected to external force or accidentally hits other objects. In order to prevent the limb from being damaged by external force or hitting other objects, the first driving structure is controlled to drive the rotating body to rotate by a first preset angle so that the second limb maintains a curled state. The first preset angle can be the maximum rotation angle of the second limb (or rotating body). The first driving structure is controlled to drive the rotating body to rotate by the first preset angle, so that the second limb can be in a completely curled state and cannot continue to curl. The time for the first driving structure to drive the rotating body to rotate the first preset angle is controlled to be less than the first preset time, so as to achieve rapid curling of the second limb (or rotating body).

[0147] Step S200 also includes:

[0148] S220. When the torque value is greater than or equal to a second preset torque value, control the first driving structure to drive the rotating body to gradually rotate; wherein the second preset torque value is greater than the first preset torque value.

[0149] Specifically, the second preset torque value is a larger preset torque value. When the collected torque value is greater than or equal to the second preset torque value, the squeezing force of the second limb on the rotating body increases, and the second limb is already in a fully extended state. It is possible that it is subjected to external force, accidentally touches other objects, or contacts the object to be grasped. Then, the first driving structure is controlled to drive the rotating body to rotate gradually. The time for controlling the first driving structure to drive the rotating body to rotate gradually is greater than the second preset time, so that the second limb (or rotating body) is gradually and slowly curled, and the second preset time is greater than the first preset time. Since the second limb may contact the object to be grasped or other objects, slow curling can avoid damage to the limb and the object to be grasped.

[0150] Step S200 also includes:

[0151] S230: When the torque value reaches a maximum preset torque value, control the first driving structure to stop driving the rotating body to rotate.

[0152] Specifically, when the collected torque value reaches the maximum preset torque value, it indicates that the limb has grasped the object to be grasped or other objects, and then it is necessary to control the first driving structure to stop driving the rotating body to rotate.

[0153] The control method also includes:

[0154] Step S300: Control the driving mechanism group to drive the first limb to move according to the torque value.

[0155] Specifically, in addition to driving the rotating member to rotate by the first driving structure, the first limb can also be driven to move by the driving mechanism group. The movement of the first limb can cooperate with the rotation of the rotating member, so that the first limb and the second limb are both in a curled state. Step S200 and step S300 can be performed simultaneously or sequentially, and step S200 can precede step S300, and step S300 can precede step S200.

[0156] Step S300 specifically includes:

[0157] Step S310: When the torque value is less than or equal to a first preset torque value, control the driving mechanism group to drive the first limb to rotate a second preset angle.

[0158] Specifically, when the collected torque value is less than or equal to the first preset torque value, it indicates that the limb is subjected to external force or accidentally hits other objects, and the first limb may have been passively curled. In order to prevent the limb from being damaged by external force or hitting other objects, the control drive mechanism group drives the first limb to rotate the second preset angle so that the first limb maintains the curled state. The second preset angle can be the maximum rotation angle of the first limb. The control drive mechanism group rotates the first limb to rotate the second preset angle, and the first limb is in a completely curled state and cannot continue to curl. The time for the control drive mechanism group to drive the first limb to rotate the second preset angle is less than the first preset time, so as to achieve rapid curling of the first limb. Step S310 and step S210 can be executed simultaneously or successively. Step S210 can precede step S310, and step S310 can precede step S210.

[0159] Step S300 also includes:

[0160] Step S320: When the torque value is greater than or equal to a second preset torque value, control the driving mechanism group to drive the first limb to move gradually.

[0161] Specifically, when the collected torque value is greater than or equal to the second preset torque value, the first limb has been in a fully extended state, and it may be subjected to external force, accidentally hit other objects, or contact the object to be grasped, so the control drive mechanism group drives the first limb to move gradually. The time for the control drive mechanism group to drive the first limb to move gradually is greater than the second preset time, so that the first limb moves gradually and slowly. Since the limb may contact the object to be grasped or other objects, slow movement can avoid damage to the limb and the object to be grasped.

[0162] Step S300 also includes:

[0163] S330. When the torque value reaches a maximum preset torque value, control the driving mechanism group to stop driving the first limb to move.

[0164] Specifically, when the collected torque value reaches the maximum preset torque value, it indicates that the limb has grasped the object to be grasped or other objects, and it is necessary to control the driving mechanism group to stop driving the first limb to move.

[0165] Based on the finger control method described in any one of the above embodiments, the present invention further provides an embodiment of a computer device:

[0166] The computer device of the present invention comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the control method of any one of the above embodiments when executing the computer program.

[0167] Based on the finger control method described in any one of the above embodiments, the present invention also provides an embodiment of a computer-readable storage medium:

[0168] The computer-readable storage medium of the present invention stores a computer program thereon, and when the computer program is executed by a processor, the steps of the control method of any of the above embodiments are implemented.

[0169] Based on the finger described in any of the above embodiments, the present invention also provides a preferred embodiment of a robot hand:

[0170] The robot arm of the embodiment of the present invention comprises:

[0171] first limb;

[0172] a rotating body, rotatably disposed on the first limb;

[0173] A first driving structure, disposed on the first limb and used to drive the rotating body to rotate;

[0174] a second limb, rotatably disposed on the first limb;

[0175] a torque sensor, used to detect the torque of the rotating body or the first driving structure;

[0176] a controller, electrically connected to the torque sensor and the first driving structure respectively;

[0177] Wherein, the rotating body is provided with a contact portion and an avoidance portion, the contact portion is used to contact the second limb, and the avoidance portion avoids the second limb;

[0178] After the rotating body rotates and the contact portion contacts the second limb, the second limb is pushed to rotate.

[0179] Based on the robot arm described in any of the above embodiments, the present invention further provides a control method for the robot arm, comprising the steps of:

[0180] Obtaining a torque value collected by the torque sensor;

[0181] According to the torque value, the first driving structure is controlled to drive the rotating body to rotate.

[0182] Based on the finger described in any of the above embodiments, the present invention also provides a preferred embodiment of a robot:

[0183] The robot according to the embodiment of the present invention comprises:

[0184] first limb;

[0185] a rotating body, rotatably disposed on the first limb;

[0186] A first driving structure, disposed on the first limb and used to drive the rotating body to rotate;

[0187] a second limb, rotatably disposed on the first limb;

[0188] a torque sensor, used to detect the torque of the rotating body or the first driving structure;

[0189] a controller, electrically connected to the torque sensor and the first driving structure respectively;

[0190] Wherein, the rotating body is provided with a contact portion and an avoidance portion, the contact portion is used to contact the second limb, and the avoidance portion avoids the second limb;

[0191] After the rotating body rotates and the contact portion contacts the second limb, the second limb is pushed to rotate.

[0192] Based on the robot described in any one of the above embodiments, the present invention further provides a robot control method, comprising the steps of:

[0193] Obtaining a torque value collected by the torque sensor;

[0194] According to the torque value, the first driving structure is controlled to drive the rotating body to rotate.

[0195] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A finger control method, characterized in that: The fingers include: first limb; a rotating body, rotatably disposed on the first limb; A first driving structure, disposed on the first limb and used to drive the rotating body to rotate; a second limb, rotatably disposed on the first limb; a torque sensor, used to detect the torque of the rotating body or the first driving structure; a controller, electrically connected to the torque sensor and the first driving structure respectively; Wherein, the rotating body is provided with a contact portion and an avoidance portion, the contact portion is used to contact the second limb, and the avoidance portion avoids the second limb; After the rotating body rotates and the contact portion contacts the second limb, the second limb is pushed to rotate; The control method comprises the steps of: Obtaining a torque value collected by the torque sensor; According to the torque value, controlling the first driving structure to drive the rotating body to rotate; The step of controlling the first driving structure to drive the rotating body to rotate according to the torque value includes: When the torque value is less than or equal to a first preset torque value, the first driving structure is controlled to drive the rotating body to rotate a first preset angle; when the torque value is less than or equal to the first preset torque value, the second limb is separated from the rotating body, and the first preset angle is the maximum rotation angle of the rotating body.

2. The finger control method according to claim 1, characterized in that: The step of controlling the first driving structure to drive the rotating body to rotate according to the torque value includes: When the torque value is greater than or equal to a second preset torque value, the first driving structure is controlled to drive the rotating body to gradually rotate so that the second limb gradually curls; wherein the second preset torque value is greater than the first preset torque value.

3. The finger control method according to claim 1, characterized in that: The finger also includes: a third limb, rotatably disposed on the second limb; A connecting rod, two ends of which are respectively connected to the first limb and the third limb; A first elastic member, disposed on the third limb; Wherein, the first elastic member is used to provide elastic force for stretching the second limb and the third limb.

4. The finger control method according to any one of claims 1 to 3, characterized in that: The finger also includes: a base, movably connected to the first limb; A driving mechanism group, wherein the driving mechanism group is arranged on the base; Wherein, the driving mechanism group is movably connected to the first limb and is used to drive the first limb to move relative to the base; The driving mechanism group is electrically connected to the controller; The control method comprises the steps of: According to the torque value, the driving mechanism group is controlled to drive the first limb to move.

5. The finger control method according to claim 4, characterized in that: According to the torque value, controlling the driving mechanism group to drive the first limb movement includes: When the torque value is less than or equal to a first preset torque value, the driving mechanism group is controlled to drive the first limb to rotate to a second preset angle; the second preset angle is the maximum rotation angle of the first limb.

6. The finger control method according to claim 5, characterized in that: The driving mechanism group includes: at least one second driving mechanism, and the second driving mechanism includes: A sliding body, slidably disposed on the base; A clutch body, separated from or combined with the sliding body; A second elastic member, two ends of which are respectively connected to the sliding body and the base; A second driving structure, disposed on the base and used to drive the clutch body to move; Wherein, the sliding body is movably connected to the first limb; The second elastic member is used to provide elastic force for combining the sliding body and the clutch body.

7. The finger control method according to claim 5, characterized in that: According to the torque value, controlling the driving mechanism group to drive the first limb movement includes: When the torque value is greater than or equal to a second preset torque value, the driving mechanism group is controlled to drive the first limb to move gradually.

8. A finger control system, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the control method according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the control method according to any one of claims 1 to 7 are implemented.

10. A method for controlling a robot arm, characterized in that: The robot arm comprises: first limb; a rotating body, rotatably disposed on the first limb; A first driving structure, disposed on the first limb and used to drive the rotating body to rotate; a second limb, rotatably disposed on the first limb; a torque sensor, used to detect the torque of the rotating body or the first driving structure; a controller, electrically connected to the torque sensor and the first driving structure respectively; Wherein, the rotating body is provided with a contact portion and an avoidance portion, the contact portion is used to contact the second limb, and the avoidance portion avoids the second limb; After the rotating body rotates and the contact portion contacts the second limb, the second limb is pushed to rotate; The control method comprises the steps of: Obtaining a torque value collected by the torque sensor; According to the torque value, controlling the first driving structure to drive the rotating body to rotate; The step of controlling the first driving structure to drive the rotating body to rotate according to the torque value includes: When the torque value is less than or equal to a first preset torque value, the first driving structure is controlled to drive the rotating body to rotate a first preset angle; when the torque value is less than or equal to the first preset torque value, the second limb is separated from the rotating body, and the first preset angle is the maximum rotation angle of the rotating body.

11. A robot control method, characterized in that: The robot comprises: first limb; a rotating body, rotatably disposed on the first limb; A first driving structure, disposed on the first limb and used to drive the rotating body to rotate; a second limb, rotatably disposed on the first limb; a torque sensor, used to detect the torque of the rotating body or the first driving structure; a controller, electrically connected to the torque sensor and the first driving structure respectively; Wherein, the rotating body is provided with a contact portion and an avoidance portion, the contact portion is used to contact the second limb, and the avoidance portion avoids the second limb; After the rotating body rotates and the contact portion contacts the second limb, the second limb is pushed to rotate; The control method comprises the steps of: Obtaining a torque value collected by the torque sensor; According to the torque value, controlling the first driving structure to drive the rotating body to rotate; The step of controlling the first driving structure to drive the rotating body to rotate according to the torque value includes: When the torque value is less than or equal to a first preset torque value, the first driving structure is controlled to drive the rotating body to rotate a first preset angle; when the torque value is less than or equal to the first preset torque value, the second limb is separated from the rotating body, and the first preset angle is the maximum rotation angle of the rotating body.

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