Mechanical grabbing tool and control method thereof

Abstract

The invention relates to the technical field of manipulators, and discloses a mechanical grabbing tool and a control method of the mechanical grabbing tool. And the displacement response amount and the angle response amount of the mechanical gripper are respectively determined by utilizing the displacement change and the angle change which are fed back in real time, so that fine adjustment is performed on the mechanical gripper in real time, accurate fine adjustment is realized, the target grabbing accuracy of the mechanical grabbing tool is improved, and the mechanical grabbing tool can adapt to a space with a complex terrain and a narrow space.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a mechanical grasping tool and a control method thereof. Background Art

[0002] At present, in the process of power system construction, transformation, operation and maintenance, the timeliness and efficiency of replacing faulty equipment in the power system is an important evaluation indicator for judging the comprehensive management level of the power grid. Due to the complex terrain and narrow space in the substation, mechanical gripping tools are required to grasp objects in the narrow space of the substation.

[0003] At present, it is difficult to precisely fine-tune the control process of mechanical grasping tools, resulting in low accuracy in grasping targets by mechanical grasping tools. It is also difficult to adapt to spaces with complex terrain and narrow spaces, which can easily cause damage to the equipment. Summary of the invention

[0004] In view of this, the present invention provides a mechanical grasping tool and a control method thereof, which solves the technical problem that the control process of the current mechanical grasping tool is difficult to accurately fine-tune, resulting in low accuracy of the mechanical grasping tool in grasping the target, and it is difficult to adapt to spaces with complex terrain and narrow spaces, which easily leads to damage to the equipment.

[0005] A first aspect of the present invention provides a mechanical grasping tool, comprising: a mechanical grasper, a controller, a displacement control platform and a rotation control platform;

[0006] The mechanical gripper is used to grasp the target object;

[0007] The controller is used to determine the displacement response of the mechanical gripper according to the displacement deviation between the mechanical gripper and the target object, and is also used to determine the angle response of the mechanical gripper according to the real-time rotation angle change of the mechanical gripper; and is also used to send the displacement response and the angle response to the displacement control platform and the rotation control platform respectively;

[0008] The displacement control platform is used to control the displacement of the mechanical gripper along the three-dimensional displacement direction according to the displacement response amount;

[0009] The rotation control platform is used to control the rotation of the mechanical gripper according to the angle response amount.

[0010] Optionally, the mechanical gripper includes a support frame, a clamping mechanism and a pressure sensor;

[0011] The support frame is fixedly connected to the clamping mechanism;

[0012] The clamping mechanism includes a retractable clamping assembly;

[0013] The pressure sensor is electrically connected to the retractable clamping assembly and is used to collect the clamping pressure of the retractable clamping assembly and adjust the telescopic length of the retractable clamping assembly according to the clamping pressure.

[0014] Optionally, the retractable clamping assembly comprises a ring-shaped clamping base and a plurality of hydraulic rods;

[0015] The plurality of hydraulic rods are evenly distributed along the circumferential direction of the annular clamping base, and the extension and retraction directions of the plurality of hydraulic rods are all toward the inside of the annular clamping base;

[0016] The plurality of hydraulic rods are respectively connected to the pressure sensors.

[0017] Optionally, the displacement control platform includes a support plate;

[0018] The support plate is equipped with an x-axis slide, an x-axis drive motor, a y-axis slide, a y-axis drive motor, a z-axis linear motor and a z-axis linear connecting rod;

[0019] The control end of the x-axis driving motor is electrically connected to the controller, and the output end of the x-axis driving motor is connected to the x-axis slide table, so as to drive the x-axis slide table to move along the x-axis direction;

[0020] The control end of the y-axis driving motor is electrically connected to the controller, and the output end of the y-axis driving motor is connected to the y-axis slide table, so as to drive the y-axis slide table to move along the y-axis direction;

[0021] The control end of the z-axis linear motor is electrically connected to the controller, the output end of the z-axis linear motor is connected to the z-axis linear connecting rod, the z-axis linear connecting rod is fixedly connected to the mechanical gripper, and the z-axis linear motor is used to drive the z-axis linear connecting rod to move along the z-axis direction.

[0022] Optionally, there are two z-axis linear motors and two z-axis linear connecting rods;

[0023] A horizontal adjustment connecting piece is fixedly connected to the side surface of each z-axis linear connecting rod, and the horizontal adjustment connecting piece is fixedly connected to the mechanical gripper.

[0024] Optionally, the mechanical gripper is provided with a first angle sensor;

[0025] The first angle sensor is connected to the controller and is used to collect the tilt angle of the mechanical gripper and send the tilt angle to the controller;

[0026] The controller is also used to perform PID control on the stepping amounts of the two z-axis linear motors according to the tilt angle, so that the deviation of the tilt angle relative to the horizontal angle is zero.

[0027] Optionally, the slewing control platform includes a load-bearing support shaft, a servo motor, a worm and a worm wheel;

[0028] The load-bearing support shaft is fixedly connected to the slewing control platform;

[0029] The servo motor is connected to the controller and the worm respectively;

[0030] The worm is meshingly connected with the worm wheel.

[0031] Optionally, the slewing control platform further comprises a second angle sensor, which is arranged on the load-bearing support shaft and is used to collect angle change information of the load-bearing support shaft and transmit the angle change information to the controller;

[0032] The controller is further configured to generate an angle rotation instruction according to the angle change information and send the instruction to the servo motor, so that the servo motor rotates the worm according to the angle rotation instruction.

[0033] In a second aspect, the present invention further provides a control method for the mechanical grasping tool as described in the first aspect, comprising:

[0034] Determine the displacement response of the mechanical gripper according to the displacement deviation between the mechanical gripper and the target object, and determine the angle response of the mechanical gripper according to the real-time rotation angle change of the mechanical gripper;

[0035] The displacement of the mechanical gripper along the three-dimensional displacement direction is controlled according to the displacement response amount, and the rotation of the mechanical gripper is controlled according to the angle response amount, so that the mechanical gripper grasps the target object.

[0036] It can be seen from the above technical scheme that the present invention coordinates the displacement and rotation of the mechanical gripper by the displacement control platform and the rotation control platform through the controller, and uses the real-time feedback of the displacement change and angle change to respectively determine the displacement response and angle response of the mechanical gripper, so as to fine-tune the mechanical gripper in real time, thereby achieving precise fine-tuning, improving the accuracy of the mechanical grasping tooling in grasping the target, and can adapt to spaces with complex terrain and narrow space. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of the structure of a mechanical grabbing tool provided by an embodiment of the present invention;

[0038] Figure 2A schematic diagram of the structure of a horizontal adjustment connector in a mechanical grabbing tool provided by an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of the structure of a slewing control platform provided in an embodiment of the present invention;

[0040] Figure 4 A flow chart of a control method for a mechanical grasping tooling provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In addition, for the convenience of description below, the referenced "upper", "lower", "left", and "right" are the same as the upper, lower, left, and right directions of the drawings themselves, and the "first", "second", etc. below are distinguished for description and have no other special meanings.

[0043] like Figure 1 As shown, the embodiment of the present application provides a mechanical grasping tool, including: a mechanical grasper 10, a controller 20, a displacement control platform 30 and a rotation control platform 40;

[0044] The mechanical gripper 10 is used to grasp a target object.

[0045] The controller 20 is used to determine the displacement response of the mechanical gripper 10 based on the displacement deviation between the mechanical gripper 10 and the target object, and is also used to determine the angle response of the mechanical gripper 10 based on the real-time rotation angle change of the mechanical gripper 10; it is also used to send the displacement response and the angle response to the displacement control platform 30 and the rotation control platform 40 respectively.

[0046] In actual operation, the controller 20 obtains the control signal through proportional control according to the displacement deviation between the mechanical gripper 10 and the target object:

[0047]

[0048]

[0049]

[0050] In the formula, , , They are the control signals in the x-axis direction, y-axis direction and z-axis direction respectively. To adjust the gain factor, , , They are the displacement deviations in the x-axis direction, y-axis direction, and z-axis direction respectively.

[0051] The displacement response of the mechanical gripper 10 is determined by the displacement deviation between the mechanical gripper 10 and the target object:

[0052]

[0053]

[0054]

[0055] In the formula, , , are the displacement responses in the x-axis, y-axis and z-axis directions respectively, , , are the initial displacements in the x-axis, y-axis and z-axis directions respectively.

[0056] The angle response of the mechanical gripper 10 is determined by the real-time rotation angle change of the mechanical gripper 10:

[0057]

[0058] In the formula, is the angle response of the mechanical gripper 10, is the real-time rotation angle change of the mechanical gripper 10, is the initial angle of the mechanical gripper 10.

[0059] The displacement control platform 30 is used to control the displacement of the mechanical gripper 10 along the three-dimensional displacement direction according to the displacement response amount.

[0060] The three-dimensional displacement directions refer to the x-axis direction, the y-axis direction and the z-axis direction.

[0061] The rotation control platform 40 is used to control the rotation of the mechanical gripper 10 according to the angle response amount.

[0062] It should be noted that the embodiment of the present application coordinates the displacement and rotation of the mechanical gripper 10 by the controller 20 and the displacement control platform 30 and the rotation control platform 40, and uses the real-time feedback of the displacement change and the angle change to respectively determine the displacement response and the angle response of the mechanical gripper 10, so as to fine-tune the mechanical gripper 10 in real time, thereby achieving precise fine-tuning, improving the accuracy of the mechanical gripping tooling in grasping the target, and can adapt to spaces with complex terrain and narrow space.

[0063] In some embodiments, Figure 1 As shown, the mechanical gripper 10 includes a support frame 11, a clamping mechanism and a pressure sensor;

[0064] The support frame 11 is fixedly connected to the clamping mechanism;

[0065] The clamping mechanism includes a retractable clamping assembly;

[0066] The pressure sensor is electrically connected to the retractable clamping assembly and is used to collect the clamping pressure of the retractable clamping assembly and adjust the telescopic length of the retractable clamping assembly according to the clamping pressure.

[0067] In practical applications, the retractable clamping assembly includes a circular clamping base 12 and a plurality of hydraulic rods 13 .

[0068] The plurality of hydraulic rods 13 are evenly distributed along the circumferential direction of the annular clamping base, and the telescopic directions of the plurality of hydraulic rods 13 are all toward the inside of the annular clamping base.

[0069] The plurality of hydraulic rods 13 are respectively connected to pressure sensors.

[0070] As a preferred embodiment, there can be four hydraulic rods 13, which are driven to extend and retract through a hydraulic distributor. Each hydraulic rod 13 is respectively connected to four key points of the mechanical gripper 10, and the hydraulic distributor is connected to the pump station through a hydraulic pipeline.

[0071] The four hydraulic rods 13 are adapted to the sizes of different equipment heads by telescoping. The hydraulic rods 13 are automatically measured by pressure sensors according to the shape and size of the equipment head. The controller 20 receives data in real time and adjusts the length of each hydraulic rod 13 through the hydraulic rods 13 to ensure that the gripper can accurately wrap the equipment head.

[0072] Each hydraulic rod 13 is independently controlled and manages the hydraulic supply of the four columns through a hydraulic distributor, which is specifically implemented as follows:

[0073] (1) Real-time feedback to the controller 20 through the pressure sensor;

[0074] (2) The controller 20 calculates the required telescopic length of each hydraulic rod 13 according to the feedback pressure data, and adjusts the hydraulic pressure of each hydraulic column through the hydraulic distributor to control the telescopic length of the hydraulic cylinder;

[0075] (3) The extension and retraction range of the hydraulic rod 13 is adaptively adjusted according to the shape of the equipment head to ensure that the equipment head is evenly clamped.

[0076] In some embodiments, the displacement control platform 30 includes a support plate 35;

[0077] The support plate 35 is equipped with an x-axis slide 31, an x-axis drive motor, a y-axis slide 32, a y-axis drive motor, a z-axis linear motor 33 and a z-axis linear connecting rod 34;

[0078] The control end of the x-axis driving motor is electrically connected to the controller 20, and the output end of the x-axis driving motor is connected to the x-axis slide 31, for driving the x-axis slide 31 to move along the x-axis direction;

[0079] The control end of the y-axis driving motor is electrically connected to the controller 20, and the output end of the y-axis driving motor is connected to the y-axis slide 32, for driving the y-axis slide 32 to move along the y-axis direction;

[0080] The control end of the z-axis linear motor 33 is electrically connected to the controller 20, the output end of the z-axis linear motor 33 is connected to the z-axis linear link 34, the z-axis linear link 34 is fixedly connected to the mechanical gripper 10, and the z-axis linear motor 33 is used to drive the z-axis linear link 34 to move along the z-axis direction.

[0081] It can be understood that since the z-axis linear link 34 is fixedly connected to the mechanical gripper 10, displacement in the x-axis direction, y-axis direction and z-axis direction can be achieved respectively by driving the x-axis slide 31, the y-axis slide 32 and the z-axis linear link 34.

[0082] When the mechanical gripper 10 lifts the target object to the installation position, the displacement control platform 30 can also be used to fine-tune the installation position. The control and drive of the displacement control platform 30 can also be achieved through remote control signals. No manual intervention is required during the working process, which can effectively reduce the labor intensity of the workers. When the substation equipment is lifted to the installation position, the fine-tuning function of the slide can ensure the accuracy of the alignment between the equipment and the installation bolts.

[0083] The displacement control platform 30 uses a servo motor as a driving device, and the motor controls the forward, backward, left and right movement of the slide by receiving remote control signals. When the mechanical gripper 10 moves the target object to the installation position, the operator issues a fine-tuning command through the remote control. The system will control the horizontal slide to move in a small range along the X-axis, Y-axis and Z-axis directions according to the actual position of the device to ensure that the device is aligned with the installation hole.

[0084] In some embodiments, there are two z-axis linear motors and two z-axis linear connecting rods;

[0085] The side surface of each z-axis linear connecting rod is fixedly connected with a horizontal adjustment connecting piece, and the horizontal adjustment connecting piece is fixedly connected to the mechanical gripper 10.

[0086] It is understandable that if Figure 2 As shown, the two z-axis linear links 341, 342 can work independently, and the horizontal adjustment connectors 361, 362 are fixedly connected to the sides of the two z-axis linear links 341, 342 respectively. The relative heights of the two horizontal adjustment connectors 361, 362 can be adjusted by the two z-axis linear motors 331, 332 through their corresponding two z-axis linear links 341, 342, thereby adjusting the horizontal change of the mechanical gripper 10, ensuring that the mechanical gripper 10 always remains on the horizontal plane, and ensuring that the mechanical gripper 10 can accurately grasp and put down vertical equipment such as porcelain bottles.

[0087] In some embodiments, the mechanical gripper 10 is provided with a first angle sensor;

[0088] The first angle sensor is connected to the controller 20 and is used to collect the tilt angle of the mechanical gripper 10 and to send the tilt angle to the controller 20;

[0089] The controller 20 is also used to perform PID control on the stepping amounts of the two z-axis linear motors according to the tilt angle, so that the deviation of the tilt angle relative to the horizontal angle is zero.

[0090] The tilt angle of the mechanical gripper 10 is detected by the first angle sensor and fed back to the controller 20 in real time. The controller 20 automatically adjusts the extension and retraction of the two z-axis linear motors according to the tilt angle feedback signal of the first angle sensor to keep the mechanical gripper 10 horizontal. The specific control process can be implemented by the PID controller 20, and the control equation is:

[0091]

[0092] In the formula, is the detected tilt error, , , are proportional, integral and differential control parameters respectively. The controller 20 adjusts the extension length of the hydraulic cylinder to make the error Minimize, thereby ensuring that the robot gripper 10 always remains horizontal.

[0093] In some embodiments, Figure 3 As shown, the slewing control platform 40 includes a bearing support shaft 41, a servo motor, a worm 42 and a worm wheel 43;

[0094] The bearing support shaft 41 is fixedly connected to the slewing control platform 40;

[0095] The servo motor is connected to the controller 20 and the worm 42 respectively;

[0096] The worm 42 is meshingly connected with the worm wheel 43 .

[0097] The mechanical gripper 10 can be moved between the loading device and the working position by using the rotary control platform 40. The rotary control platform 40 is responsible for moving the clamping device between the loading device and the working position. The rotary control platform 40 drives the worm wheel 43 and the worm 42 through a servo motor to realize rotation control. The servo motor receives a signal from the controller 20 and controls the rotation angular velocity of the worm 42. The worm 42 drives the worm wheel 43 meshing with it to rotate, thereby realizing the horizontal rotation of the mechanical gripper.

[0098] The slewing control platform 40 further includes a second angle sensor, which is disposed on the bearing support shaft 41 and is used to collect angle change information of the bearing support shaft 41 and transmit the angle change information to the controller 20;

[0099] The controller 20 is further configured to generate an angle rotation instruction according to the angle change information and send it to the servo motor, so that the servo motor rotates the worm 42 according to the angle rotation instruction.

[0100] The second angle sensor detects the rotation angle in real time to ensure the precise movement of the mechanical gripper 10 between the working position and the loading position. The servo motor controls the rotation to form a highly automated gripping tooling system that can achieve precise gripping and moving operations under different working conditions.

[0101] In addition, the present application also provides a control method for a mechanical gripping tool as in any of the above embodiments, such as Figure 4 As shown, the method includes:

[0102] Step S1, determining the displacement response of the mechanical gripper according to the displacement deviation between the mechanical gripper and the target object, and determining the angle response of the mechanical gripper according to the real-time rotation angle change of the mechanical gripper.

[0103] Step S2: controlling the displacement of the mechanical gripper along the three-dimensional displacement direction according to the displacement response amount, and controlling the rotation of the mechanical gripper according to the angle response amount, so that the mechanical gripper grasps the target object.

[0104] In some embodiments, the mechanical gripper includes a support frame, a clamping mechanism, and a pressure sensor;

[0105] The support frame is fixedly connected to the clamping mechanism;

[0106] The clamping mechanism includes a retractable clamping assembly;

[0107] The clamping pressure of the retractable clamping assembly is collected, and the telescopic length of the retractable clamping assembly is adjusted according to the clamping pressure.

[0108] In some embodiments, the retractable clamping assembly includes a ring-shaped clamping base and a plurality of hydraulic rods;

[0109] A plurality of hydraulic rods are evenly distributed along the circumference of the annular clamping base, and the extension and retraction directions of the plurality of hydraulic rods are all toward the inside of the annular clamping base;

[0110] The plurality of hydraulic rods are respectively connected with pressure sensors.

[0111] In some embodiments, the displacement control platform includes a support plate;

[0112] An x-axis slide, an x-axis drive motor, a y-axis slide, a y-axis drive motor, a z-axis linear motor and a z-axis linear connecting rod are installed on the support plate;

[0113] The control end of the x-axis drive motor is electrically connected to the controller, and the output end of the x-axis drive motor is connected to the x-axis slide table to drive the x-axis slide table to move along the x-axis direction;

[0114] The control end of the y-axis driving motor is electrically connected to the controller, and the output end of the y-axis driving motor is connected to the y-axis slide table to drive the y-axis slide table to move along the y-axis direction;

[0115] The control end of the z-axis linear motor is electrically connected to the controller, the output end of the z-axis linear motor is connected to the z-axis linear connecting rod, the z-axis linear connecting rod is fixedly connected to the mechanical gripper, and the z-axis linear motor is used to drive the z-axis linear connecting rod to move along the z-axis direction.

[0116] In some embodiments, there are two z-axis linear motors and two z-axis linear connecting rods;

[0117] The side surface of each z-axis linear connecting rod is fixedly connected with a horizontal adjustment connecting piece, and the horizontal adjustment connecting piece is fixedly connected to the mechanical gripper.

[0118] In some embodiments, a first angle sensor is provided on the mechanical gripper;

[0119] The first angle sensor is connected to the controller, wherein the tilt angle of the mechanical gripper is collected and the tilt angle is sent to the controller;

[0120] The controller is also used to perform PID control on the stepping amounts of the two z-axis linear motors according to the tilt angle, so that the deviation of the tilt angle relative to the horizontal angle is zero.

[0121] In some embodiments, the slewing control platform includes a load-bearing support shaft, a servo motor, a worm and a worm gear;

[0122] The load-bearing support shaft is fixedly connected to the slewing control platform;

[0123] The servo motor is connected to the controller and the worm respectively;

[0124] The worm is meshingly connected with the worm wheel.

[0125] In some embodiments, the slewing control platform further comprises a second angle sensor, which is disposed on the load-bearing support shaft, wherein the second angle sensor collects angle change information of the load-bearing support shaft and transmits the angle change information to the controller;

[0126] An angle rotation command is generated according to the angle change information and sent to the servo motor, so that the servo motor rotates the worm according to the angle rotation command.

[0127] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the method described above can refer to the corresponding process in the aforementioned device embodiment, and will not be repeated here.

[0128] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mechanical grabbing tool, characterized in that: include: Mechanical gripper, controller, displacement control platform and rotation control platform; The mechanical gripper is used to grasp the target object; The controller is used to determine the displacement response of the mechanical gripper according to the displacement deviation between the mechanical gripper and the target object, and is also used to determine the angle response of the mechanical gripper according to the real-time rotation angle change of the mechanical gripper; and is also used to send the displacement response and the angle response to the displacement control platform and the rotation control platform respectively; The displacement control platform is used to control the displacement of the mechanical gripper along the three-dimensional displacement direction according to the displacement response amount; The rotation control platform is used to control the rotation of the mechanical gripper according to the angle response amount.

2. The mechanical gripping tool according to claim 1, characterized in that: The mechanical gripper comprises a support frame, a clamping mechanism and a pressure sensor; The support frame is fixedly connected to the clamping mechanism; The clamping mechanism includes a retractable clamping assembly; The pressure sensor is electrically connected to the retractable clamping assembly and is used to collect the clamping pressure of the retractable clamping assembly and adjust the telescopic length of the retractable clamping assembly according to the clamping pressure.

3. The mechanical gripping tool according to claim 2, characterized in that: The retractable clamping assembly includes a ring-shaped clamping base and a plurality of hydraulic rods; The plurality of hydraulic rods are evenly distributed along the circumferential direction of the annular clamping base, and the extension and retraction directions of the plurality of hydraulic rods are all toward the inside of the annular clamping base; The plurality of hydraulic rods are respectively connected to the pressure sensors.

4. The mechanical gripping tool according to claim 1, characterized in that: The displacement control platform includes a support plate; The support plate is equipped with an x-axis slide, an x-axis drive motor, a y-axis slide, a y-axis drive motor, a z-axis linear motor and a z-axis linear connecting rod; The control end of the x-axis driving motor is electrically connected to the controller, and the output end of the x-axis driving motor is connected to the x-axis slide table, so as to drive the x-axis slide table to move along the x-axis direction; The control end of the y-axis driving motor is electrically connected to the controller, and the output end of the y-axis driving motor is connected to the y-axis slide table, so as to drive the y-axis slide table to move along the y-axis direction; The control end of the z-axis linear motor is electrically connected to the controller, the output end of the z-axis linear motor is connected to the z-axis linear connecting rod, the z-axis linear connecting rod is fixedly connected to the mechanical gripper, and the z-axis linear motor is used to drive the z-axis linear connecting rod to move along the z-axis direction.

5. The mechanical gripping tool according to claim 4, characterized in that: There are two z-axis linear motors and two z-axis linear connecting rods; A horizontal adjustment connecting piece is fixedly connected to the side surface of each z-axis linear connecting rod, and the horizontal adjustment connecting piece is fixedly connected to the mechanical gripper.

6. The mechanical gripping tool according to claim 5, characterized in that: The mechanical gripper is provided with a first angle sensor; The first angle sensor is connected to the controller and is used to collect the tilt angle of the mechanical gripper and send the tilt angle to the controller; The controller is also used to perform PID control on the stepping amounts of the two z-axis linear motors according to the tilt angle, so that the deviation of the tilt angle relative to the horizontal angle is zero.

7. The mechanical gripping tool according to claim 1, characterized in that: The slewing control platform includes a load-bearing support shaft, a servo motor, a worm and a worm wheel; The load-bearing support shaft is fixedly connected to the slewing control platform; The servo motor is connected to the controller and the worm respectively; The worm is meshingly connected with the worm wheel.

8. The mechanical gripping tool according to claim 7, characterized in that: The slewing control platform further includes a second angle sensor, which is disposed on the load-bearing support shaft and is used to collect angle change information of the load-bearing support shaft and transmit the angle change information to the controller; The controller is further configured to generate an angle rotation instruction according to the angle change information and send the instruction to the servo motor, so that the servo motor rotates the worm according to the angle rotation instruction.

9. A control method for a mechanical gripping tool as claimed in any one of claims 1 to 8, characterized in that: include: Determine the displacement response of the mechanical gripper according to the displacement deviation between the mechanical gripper and the target object, and determine the angle response of the mechanical gripper according to the real-time rotation angle change of the mechanical gripper; The displacement of the mechanical gripper along the three-dimensional displacement direction is controlled according to the displacement response amount, and the rotation of the mechanical gripper is controlled according to the angle response amount, so that the mechanical gripper grasps the target object.

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