High-sensitivity cooperative manipulator and control method thereof

Abstract

The embodiment of the invention relates to the technical field of mechanical automation, in particular to a high-sensitivity cooperative manipulator and a control method thereof. The manipulator comprises a base, a palm sensor carrier is arranged in front of the base, a first proximity sensor and a palm air bag are mounted in the palm sensor carrier, a first air pressure sensor is arranged in the palm air bag, a thumb driving seat is rotatably mounted on one side of the base, and two finger driving seats are rotatably mounted on the other side of the base. A thumb air bag carrier is arranged at the fingertip of the thumb, finger air bag carriers are arranged at the fingertips of the fingers, finger air bags are embedded in the finger air bag carriers, and a second proximity sensor and a second air pressure sensor are arranged in the thumb air bag. And finger proximity sensors and finger air pressure sensors are arranged in the two finger air bags.

Description

Technical Field

[0001] Multiple embodiments of this specification relate to the field of mechanical automation technology, and specifically relate to a highly sensitive collaborative manipulator and its control method. Background Art

[0002] As a robot that can safely collaborate with humans in a shared workspace, collaborative manipulators have made significant progress in industrial automation and service fields in recent years. Their core advantage is that through high-precision force sensors and torque control algorithms, collaborative manipulators can sense external forces in real time and respond, ensuring safe collaboration with humans. Despite the advanced technology of collaborative manipulators, there are still some deficiencies. The cost of such manipulators is very high, and the manufacturing process is also somewhat difficult, making it difficult to popularize. Moreover, existing manipulators are still insufficient when dealing with highly complex or unstructured tasks and cannot meet the requirements of diverse application scenarios. In view of the above deficiencies, there is an urgent need for a new type of collaborative manipulator technology that can reduce system complexity while ensuring high precision. Summary of the Invention

[0003] Multiple embodiments of this specification describe a highly sensitive collaborative manipulator and its control method.

[0004] In a first aspect, embodiments of this specification provide a highly sensitive collaborative manipulator, including: A base, on the back of the base, there is a connection flange for connecting with a robotic arm. On the front of the base, there is a palm sensor carrier, in which a first proximity sensor and a palm airbag are installed. Inside the palm airbag, there is a first air pressure sensor. On one side of the base, a thumb drive seat is rotatably installed, and on the other side, two finger drive seats are rotatably installed. A thumb is installed on the thumb drive seat, and two fingers are respectively installed on the two finger drive seats. At the fingertip of the thumb, there is a thumb airbag carrier, in which a thumb airbag is inlaid. At the fingertip of the finger, there is a finger airbag carrier, in which a finger airbag is inlaid. Inside the thumb airbag, there is a second proximity sensor and a second air pressure sensor. Inside both of the two finger airbags, there are finger proximity sensors and finger air pressure sensors. The first proximity sensor, the first air pressure sensor, the second proximity sensor, the second air pressure sensor, the finger proximity sensors, and the finger air pressure sensors are all connected to a communication module, and the communication module is connected to a host computer.

[0005] In a second aspect, embodiments of this specification provide a control method for a highly sensitive collaborative manipulator, including the steps of: Controlling the thumb and the two fingers to expand and swing to a predetermined position, and moving the robotic arm to a preset grasping position; Control the robotic arm to drive the robotic hand closer to the object to be grasped, and continuously read the detection value of the first proximity sensor; When the detection value of the first proximity sensor reaches a preset first reference value, stop the robotic arm; Control the thumb and two fingers of the robotic hand to close at a first rate, and continuously read the detection values of the second proximity sensor and the finger proximity sensor; When the detection value of the second proximity sensor or the finger proximity sensor reaches a preset first reference value, control the corresponding thumb or finger to stop; Control the thumb and two fingers of the robotic hand to close at a second rate, and continuously read the detection values of the second pressure sensor and the finger pressure sensors; When the detection values of the second pressure sensor and the finger pressure sensors experience a jump, control the thumb and two fingers of the robotic hand to close at a third rate until the detection values of the second pressure sensor and the finger pressure sensors reach a preset first reference pressure value; Control the robotic arm to drive the robotic hand to lift, continuously read the detection values of the second pressure sensor and the finger pressure sensors during the process, and adjust the closing degree of the thumb and two fingers; Control the robotic arm to drive the robotic hand to move to the target position, continuously read the detection values of the second pressure sensor and the finger pressure sensors during the process, and when the detection values of the second pressure sensor and the finger pressure sensors exceed a preset second reference pressure value, slow down the moving rate of the robotic arm; When controlling the robotic arm to move to the target position, control the thumb and two fingers of the robotic hand to open.

[0006] In a third aspect, an embodiment of this specification provides an electronic device, including a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the method described in any of the above aspects.

[0007] In a fourth aspect, an embodiment of this specification provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method described in any of the above aspects is implemented.

[0008] In a fifth aspect, an embodiment of this specification provides a computer program product, including a computer program, and when the computer program is executed by a processor, the method described in any of the above aspects is implemented.

[0009] The beneficial effects brought by the technical solutions provided in some embodiments of this specification at least include: In multiple embodiments of this specification, the three fingers of the highly sensitive collaborative manipulator are distributed in a triangular shape. The thumb is located on one side, and the two fingers are symmetrically distributed on the other side, forming a stable grasping structure. By directly detecting the pressure detection value, the pressure received on the surface of the grasped object can be directly grasped. When the pressure is controlled within a certain range, it can ensure that the object to be grasped will not be damaged or deformed too much. By means of the first proximity sensor, the second proximity sensor and the finger proximity sensor, the manipulator can make predictions and adjustments before grasping an object, improving the accuracy and safety of the operation. At the same time, it also expands the application range of the manipulator, making it more suitable for handling fragile or irregularly shaped objects.

[0010] Other features and advantages of multiple embodiments of this specification will be further revealed in the following detailed description and the drawings. Brief Description of the Drawings

[0011] To more clearly illustrate the technical solutions in the embodiments of this specification, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of this specification. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0012] Figure 1 Schematic diagram of the front structure of the manipulator provided for the embodiments of this specification.

[0013] Figure 2 Schematic diagram of the back structure of the manipulator provided for the embodiments of this specification.

[0014] Figure 3 Schematic diagram of the finger drive seat structure provided for the embodiments of this specification.

[0015] Figure 4 Schematic diagram of the finger structure provided for the embodiments of this specification.

[0016] Figure 5 Another schematic diagram of the finger structure provided for the embodiments of this specification.

[0017] Figure 6 Schematic diagram of the manipulator principle verification machine provided for the embodiments of this specification.

[0018] Figure 7 Pressure detection curve when the manipulator principle verification machine provided for the embodiments of this specification picks up an object.

[0019] Figure 8 Schematic diagram of the capacitive proximity sensor structure provided for the embodiments of this specification.

[0020] Figure 9Schematic flowchart of the control method for the manipulator provided in the embodiments of this specification.

[0021] Figure 10 Schematic flowchart of the method for presetting the first reference pressure value provided in the embodiments of this specification.

[0022] Figure 11 Schematic flowchart of the method for adjusting the closing degree provided in the embodiments of this specification.

[0023] Figure 12 Schematic diagram of the structure of the electronic device provided in the embodiments of this specification.

[0024] Wherein: 10, base; 11, PCB board; 12, connecting flange; 21, palm sensor carrier; 22, palm airbag; 31, thumb swing shaft; 32, thumb abduction / adduction shaft; 33, thumb link group; 34, thumb drive seat; 35, thumb airbag carrier; 36, thumb airbag; 41, finger swing shaft; 42, finger abduction / adduction shaft; 43, finger link group; 44, finger airbag carrier; 45, finger drive seat; 46, finger airbag; 51, TPU; 52, conductive TPU; 53, electrode terminal. Detailed implementation manners

[0025] The technical solutions in the embodiments of this specification will be explained and described below with reference to the accompanying drawings of the embodiments of this specification. However, the following embodiments are only the preferred embodiments of this specification, not all of them. Based on the embodiments in the implementation manners, other embodiments obtained by those skilled in the art without creative efforts all fall within the protection scope of this specification.

[0026] The terms "first", "second", "third", etc. in the description and claims of this specification and the above accompanying drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0027] In the following description, terms such as "inner", "outer", "upper", "lower", "left", "right", etc. indicating orientation or position relationship are only for the convenience of describing the embodiments and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of this specification.

[0028] The data involved in this application are all information and data authorized by users or fully authorized by all parties, and the collection of relevant data complies with the relevant laws, regulations and standards of relevant countries and regions.

[0029] Before introducing the technical solutions described in this specification, the application scenarios of the technical solutions and related technologies are introduced.

[0030] The manipulator described in this specification is used in combination with a robotic arm, and a flange for connecting to the robotic arm is provided on the manipulator. The control of the manipulator is jointly controlled by the control device of the robotic arm, and this control device is the host computer of the manipulator. A communication module is provided on the manipulator. The communication module reports the detection values of the sensors on the manipulator to the host computer and sends the control instructions sent by the host computer to the corresponding components of the manipulator.

[0031] The manipulator described in this specification is suitable for grasping and transporting fragile and soft items, such as eggs, sponges, etc. Thumb airbags 36 and finger airbags 46 are provided at the fingertips of the manipulator. The airbags can protect the grasped items and at the same time play the role of detecting pressure. The pressure here refers to pressure. The detection values of the pressure are directly detected through the pressure sensors built in the palm airbag 22, thumb airbag 36 and finger airbag 46, and the pressure received on the surface of the grasped item can be directly grasped. When the pressure is controlled within a certain range, it can be ensured that the item to be grasped will not be damaged or deformed too much.

[0032] In view of the fact that this application will involve some professional terms, therefore, the following will first introduce this part of professional terms.

[0033] TPU 51 refers to compressible thermoplastic polyurethane, and conductive TPU 52 refers to compressible thermoplastic polyurethane with conductivity. TPU 51 has good wear resistance, oil resistance and elasticity. Conductive TPU 52 obtains conductivity through special treatment or by adding specific fillers (such as carbon black, metal powder or other conductive materials).

[0034] Please refer to the appendix Figure 1 and the appendix Figure 2, this specification first provides a highly sensitive collaborative manipulator, including a base 10, and a connection flange 12 for connecting to a robotic arm is provided on the back of the base 10. Multiple holes for bolt connection are machined on the flange. A PCB board 11 is arranged on the back of the base 10 for installing electronic components. There is a gap between the flange and the base 10 for accommodating the connection part of the robotic arm. A palm sensor carrier 21 is arranged in front of the base 10, and a first proximity sensor and a palm airbag 22 are installed in the palm sensor carrier 21. A first pressure sensor is arranged in the palm airbag 22. The first proximity sensor can detect the distance between the palm of the manipulator and the item to be grasped. The palm airbag 22 can detect the pressure between the item to be grasped and the palm part of the manipulator, which is used to assist in judging whether the manipulator has contacted the item to be grasped and the magnitude of the pressure on the item to be grasped. The first proximity sensor can support functions such as automatically centering and positioning the target object, non-destructive grasping, and preventing liquid spillage for the manipulator. A thumb drive base 34 is rotatably installed on one side of the base 10, and two finger drive bases 45 are rotatably installed on the other side. A thumb is installed on the thumb drive base 34, and two fingers are respectively installed on the two finger drive bases 45. The three fingers are distributed in a triangle, with the thumb on one side and the two fingers symmetrically distributed on the other side, forming a stable grasping structure. On the other hand, the thumb can also rotate to the side of the manipulator to form more diverse combinations of positions with the two fingers, suitable for grasping items to be grasped of various shapes.

[0035] A thumb airbag carrier 35 is inlaid at the fingertip of the thumb, and a thumb airbag 36 is inlaid in the thumb airbag carrier 35. A finger airbag carrier 44 is inlaid at the fingertip of the finger, and a finger airbag 46 is inlaid in the finger airbag carrier 44. A second proximity sensor and a second pressure sensor are arranged in the thumb airbag 36, and a finger proximity sensor and a finger pressure sensor are arranged in each of the two finger airbags 46. Proximity sensors are respectively arranged at the thumb and the fingers, which can respectively control the distances between the thumb and the two fingers and the item to be grasped. The two fingers can be respectively named the index finger and the little finger. The thumb airbag 36 and the two finger airbags 46 can protect the surface of the grasped item and can respectively control the pressures between the thumb and the two fingers and the surface of the grasped item. The first proximity sensor, the first pressure sensor, the second proximity sensor, the second pressure sensor, the finger proximity sensor, and the finger pressure sensor are all connected to a communication module, and the communication module is connected to a host computer.

[0036] On the other hand, this specification provides the specific structures of the thumb and fingers. A thumb swing motor and a thumb abduction / adduction motor are installed inside the thumb drive motor base. The rotation axis of the thumb drive motor base and the base 10 is the thumb swing axis 31. The output shaft of the thumb swing motor matches the thumb swing axis 31. The thumb includes a thumb link group 33. The thumb airbag carrier 35 is connected to the thumb abduction / adduction motor through the thumb link group 33. The rotation axis of the thumb abduction / adduction motor is the thumb abduction / adduction axis 32.

[0037] Please refer to the appendix Figure 3 , a finger swing motor and a finger abduction / adduction motor are installed inside the finger drive seat 45. The rotation axis of the finger drive motor seat and the base 10 is the finger swing axis 41. The output shaft of the finger swing motor matches the finger swing axis 41. Please refer to the appendix Figure 4 and the appendix Figure 5 , the finger includes a finger link group 43. The finger airbag carrier 44 is connected to the finger abduction / adduction motor through the finger link group 43. The rotation axis of the finger abduction / adduction motor is the finger abduction / adduction axis 42.

[0038] As a recommended implementation manner, the thumb swing motor, the thumb abduction / adduction motor, the finger swing motor, and the finger abduction / adduction motor all adopt servo motors.

[0039] In this embodiment, the outer shells of the palm airbag 22, the thumb airbag 36, and the finger airbag 46 are all made of compressible thermoplastic polyurethane material. The interiors of the palm airbag 22, the thumb airbag 36, and the finger airbag 46 are all filled with open-cell foam. The open-cell foam allows air to flow freely within the structure. At the same time, under the action of an external force, the pressure change only causes the stressed area to deform, while the rest does not deform significantly, which helps to improve the stability of grasping. As a recommended implementation manner, the palm airbag 22, the thumb airbag 36, and the finger airbag 46 are connected to a piezoresistive pressure sensor (exemplarily, such as the ABPDANT005 piezoresistive pressure sensor) through pipelines for real-time monitoring of pressure changes.

[0040] Please refer to the appendix Figure 6 , which is the principle verification machine for this embodiment. The appendix Figure 7 is the force detection curves of the thumb and two fingers when the principle verification machine picks up an object, that is, the pressure change curves of the thumb airbag and the two finger airbags. The palm is not used in this object picking, so its pressure is 0. Among them, the pressure of the thumb airbag is the largest. The process of this object picking is stable, verifying that the manipulator described in this embodiment can be used for grasping irregular objects.

[0041] On the other hand, in this embodiment, the first proximity sensor, the second proximity sensor, and the finger proximity sensor are all capacitive proximity sensors. A capacitive proximity sensor is a device that detects the approach of an object based on capacitance changes. Its working principle is to determine whether an object is approaching the sensor by detecting changes in the capacitance value. When a conductive object or an object with a different dielectric constant approaches the sensor, it affects the electric field distribution around the sensor electrodes, thereby changing the capacitance value. The internal circuit of the sensor can detect this change and convert it into an electrical signal output to determine whether an object is approaching. Please refer to the appendix Figure 8 , the capacitive proximity sensor includes two TPU 51 and a conductive TPU 52. The conductive TPU 52 is located between the two TPU 51. The middle parts of the two TPU 51 are perforated, and electrode terminals 53 are provided on the conductive TPU 52. Since the conductive TPU 52 is hard and brittle, holes are drilled in the two TPU 51 and the conductive TPU 52 is laminated between the two TPU 51 to enhance flexibility and durability. With the help of the first proximity sensor, the second proximity sensor, and the finger proximity sensor, the manipulator can make pre-judgments and adjustments before grasping an object, improving the operation accuracy and safety. At the same time, it also expands the application range of the manipulator, making it more suitable for handling fragile or irregularly shaped objects.

[0042] On the other hand, this specification provides a control method for a highly sensitive collaborative manipulator. Please refer to the appendix Figure 9 , including the steps: Step S101) Control the thumb and two fingers to expand and swing to a predetermined position, and move the robotic arm to a preset grasping position. The thumb and two fingers of the manipulator are controlled to expand to the initial position (i.e., the maximum open state) to prepare for subsequent grasping. The robotic arm moves the manipulator to a preset grasping position, usually a reasonable starting point near the target object. This starting point is calibrated under manual control conditions. Exemplarily, the manipulator provided in this embodiment is used to grasp eggs, ceramics, sponge products, etc. on a production line. Since the shapes and weights of the products in a batch are basically the same, and the conveyed positions are repetitive, after manual marking, continuous repetitive grasping and placing operations can be carried out.

[0043] Step S102) Control the robotic arm to drive the manipulator to approach the object to be grasped, and continuously read the detection value of the first proximity sensor. The robotic arm slowly drives the manipulator to approach the target object. At this time, the first proximity sensor will detect the distance from the object in real time. By continuously reading the detection value of the first proximity sensor, the movement speed and direction of the robotic arm can be dynamically adjusted. After calibration under manual control, it can approach according to the calibrated movement speed and direction.

[0044] Step S103) When the detection value of the first proximity sensor reaches the preset first reference value, stop the robotic arm. When the distance value detected by the first proximity sensor reaches the set first reference value, it indicates that the robotic hand is close enough to the target object. At this time, the robotic arm stops moving and proceeds to the next operation.

[0045] Step S104) Control the thumb and two fingers of the robotic hand to close at a first rate, and continuously read the detection values of the second proximity sensor and the finger proximity sensor. The thumb and two fingers of the robotic hand start to close inward at a first rate (a slower speed), gradually approaching the target object. During the closing process, the second proximity sensor and the finger proximity sensor will detect the distance to the object in real time.

[0046] Step S105) When the detection value of the second proximity sensor or the finger proximity sensor reaches the preset first reference value, control the corresponding thumb or finger to stop. When the thumb is close enough, stop the closing of the thumb. When the finger is close enough, stop the closing of the finger. Eventually, both the thumb and the finger can reach the predetermined distance.

[0047] Step S106) Control the thumb and two fingers of the robotic hand to close at a second rate, and continuously read the detection values of the second pressure sensor and the finger pressure sensor. After all fingers approach the target object, further close the fingers at a second rate. The second rate is less than the first rate. During this process, the second pressure sensor and the finger pressure sensor will monitor the change of the contact pressure in real time.

[0048] Step S107) When the detection values of the second pressure sensor and the finger pressure sensor experience a sudden jump, control the thumb and two fingers of the robotic hand to close at a third rate until the detection values of the second pressure sensor and the finger pressure sensor reach the preset first reference pressure value. When the pressure sensor detects a sudden jump in the pressure value, it indicates that the finger has come into contact with the target object. Reduce the closing rate of the finger to the third rate, and the third rate is less than the second rate. And continue to apply a slight pressure until the detection value of the pressure sensor reaches the preset first reference pressure value. Achieve "soft grasping" to avoid applying excessive pressure to the target object and protect fragile or vulnerable objects.

[0049] Step S108) Control the robotic arm to drive the robotic hand to lift, and continuously read the detection values of the second pressure sensor and the finger pressure sensor during the process, and adjust the closing degree of the thumb and two fingers. The robotic arm drives the robotic hand to lift and leave the original position of the target object. During the lifting process, continuously monitor the detection values of the pressure sensor and fine-tune the closing force of the fingers as needed. Ensure that the target object remains stable after being grasped and will not slip or become loose due to the movement of the robotic arm.

[0050] Step S109) Control the robotic arm to drive the mechanical hand to move to the target position. During the process, continuously read the detection values of the second air pressure sensor and the finger air pressure sensor. When the detection values of the second air pressure sensor and the finger air pressure sensor exceed the preset second reference pressure value, slow down the moving speed of the robotic arm. The robotic arm moves the mechanical hand to the target position. During the movement, continuously monitor the detection values of the air pressure sensor. If the detection value exceeds the preset second reference pressure value, it indicates that the extrusion force on the target object increases. When the pressure value exceeds the threshold, slow down the moving speed of the robotic arm to reduce the additional pressure on the target object and avoid grasping failure or object damage caused by the rapid movement of the robotic arm.

[0051] Step S110) When controlling the robotic arm to move to the target position, control the thumb and two fingers of the mechanical hand to expand. When the mechanical hand reaches the target position, control the thumb and two fingers to expand to release the target object. Complete the entire grasping and placing task.

[0052] On the other hand, in another embodiment, please refer to the appendix Figure 10 , the method for presetting the first reference pressure value includes: Step S201) Under the condition of manually controlling the robotic arm and the mechanical hand, control the thumb and two fingers of the mechanical hand to close in a preset step length. After the closing step length ends, record the detection values of the second air pressure sensor and the finger air pressure sensor, and lift the robotic arm by a preset amplitude. In the manual mode, the operator gradually makes the thumb and two fingers of the mechanical hand close inward in a fixed step length through the control system. After each closing, record the detection values of the second air pressure sensor and the finger air pressure sensor. After the closing is completed, the robotic arm is lifted by a preset amplitude, such as a fixed height or distance, to observe whether the target object is successfully grasped. Determine the grasping ability of the mechanical hand at different closing degrees. Record the detection values of the air pressure sensor after each closing to provide a basis for setting the first reference pressure value subsequently.

[0053] Step S202) If the object to be grasped can be grasped, use the recorded detection values of the second air pressure sensor and the finger air pressure sensor as the first reference pressure value. The first reference pressure value is the sum of the detection values of the air pressure sensors of the thumb and two fingers. If the target object can be successfully grasped and does not fall off at the current closing step length. Add the currently recorded detection values of the second air pressure sensor and the finger air pressure sensor to obtain the sum. This sum is used as the first reference pressure value for pressure control in subsequent automated grasping tasks. Ensure that the mechanical hand can apply sufficient pressure to stably grasp the target object during automatic operation, while avoiding excessive pressure causing object damage.

[0054] Step S203) If the object to be grasped cannot be grasped, control the robotic arm to lower by a preset amplitude, and continue to close the thumb and two fingers with a preset step size. If the target object fails to be successfully grasped or drops at the current closing step size, then continue to close the thumb and two fingers further with the preset step size to increase the grasping force. Repeatedly record the detection values of the air pressure sensor and attempt to grasp the target object until successful. By gradually increasing the closing degree and pressure of the fingers, find the minimum pressure value that can successfully grasp the target object.

[0055] On the other hand, in another embodiment, for the method of controlling the robotic arm to drive the mechanical hand to lift, continuously reading the detection values of the second air pressure sensor and the finger air pressure sensor during the process, and adjusting the closing degrees of the thumb and two fingers, please refer to the appendix Figure 11 , including: Step S301) Continuously read the detection value of the first proximity sensor, denoted as the proximity value. During the process of the robotic arm driving the mechanical hand to lift, read the detection value of the first proximity sensor in real time. Record this detection value as the "proximity value" for judging the relative distance change between the target object and the mechanical hand. Monitor whether the target object is displaced or loosened due to the movement of the robotic arm. Ensure that the mechanical hand can dynamically adjust the grasping force according to the position change of the target object.

[0056] Step S302) When the change in the proximity value exceeds the preset threshold, close the thumb and two fingers by a preset amplitude. If the "proximity value" of the first proximity sensor changes and the change amount exceeds the preset threshold, for example, the distance between the target object and the mechanical hand suddenly increases, it indicates that the target object may have a tendency to loosen or slip. The mechanical hand will automatically close the thumb and two fingers further by a preset amplitude (such as a fixed angle or pressure increment) to increase the grasping force and prevent the target object from falling off. Track the displacement change of the target object in a timely manner to ensure the stability of grasping.

[0057] Step S303) When the proximity value remains unchanged for a preset duration, expand the thumb and two fingers by a preset amplitude. If the "proximity value" of the first proximity sensor remains unchanged for a period of time, that is, the distance between the target object and the mechanical hand does not change, it indicates that the target object has been stably grasped and there is no risk of displacement. The mechanical hand will automatically expand the thumb and two fingers slightly by a preset amplitude (such as a fixed angle or pressure decrement) to reduce the excessive squeezing of the target object and avoid causing unnecessary damage to it. Dynamically adjust the grasping force, and on the premise of ensuring that the target object does not fall off, try to reduce the pressure of the mechanical hand on the target object as much as possible. Improve the safety and adaptability of grasping, especially suitable for fragile or soft target objects.

[0058] Please refer to Figure 12 the structural schematic diagram of an electronic device provided by the embodiment of the present specification shown.

[0059] As Figure 12 shown, the electronic device 1100 may include: at least one processor 1101, at least one network interface 1104, a user interface 1103, a memory 1105, and at least one communication bus 1102. Among them, the communication bus 1102 can be used to realize the connection and communication of the above components. Among them, the user interface 1103 may include buttons, and the optional user interface may further include a standard wired interface and a wireless interface. Among them, the network interface 1104 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc. Among them, the processor 1101 may include one or more processing cores. The processor 1101 connects various parts within the entire electronic device 1100 through various interfaces and lines, and executes various functions of the routing device 1100 and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 1105, and by calling data stored in the memory 1105. Optionally, the processor 1101 may be implemented in at least one of the hardware forms of DSP, FPGA, and PLA. The processor 1101 may integrate one or a combination of several of a CPU, a GPU, and a modem, etc. Among them, the CPU mainly processes the operating system, the user interface, and application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication.

[0060] It can be understood that the above modem may not be integrated into the processor 1101 and may be implemented separately through a single chip.

[0061] Among them, the memory 1105 may include RAM and may also include ROM. Optionally, the memory 1105 includes a non-transitory computer-readable medium. The memory 1105 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 1105 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above method embodiments, etc.; the data storage area may store data involved in the above method embodiments. Optionally, the memory 1105 may further be at least one storage device located far from the aforementioned processor 1101. As a computer storage medium, the memory 1105 may include an operating system, a network communication module, a user interface module, and application programs. The processor 1101 may be used to call the application programs stored in the memory 1105 and execute the methods in the above multiple embodiments.

[0062] The embodiments of this specification also provide a computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When they run on a computer or a processor, the computer or the processor is caused to execute multiple steps in the above embodiments. If each component module of the above electronic device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.

[0063] The embodiments of this specification also provide a computer program product, including a computer program. When the computer program is executed by a processor, multiple steps in the above embodiments are implemented.

[0064] Without conflict, the technical features in this embodiment and the implementation solutions can be combined arbitrarily.

[0065] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes multiple computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of this specification are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or a data center that integrates multiple available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a Digital Versatile Disc (DVD)), or a semiconductor medium (such as a Solid State Disk (SSD)), etc.

[0066] When implemented by hardware or firmware, the foregoing method flow is programmed into a hardware circuit to obtain a corresponding hardware circuit structure and implement the corresponding functions. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is an integrated circuit whose logic function is determined by a user programming the device. A designer can program a digital system "integrated" on a PLD by themselves, without having to ask a chip manufacturer to design and fabricate a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly implemented using "logic compiler" software, which is similar to the software compiler used in program development and writing. The original code before compilation also has to be written in a specific programming language, which is called a hardware description language (HDL), and there are not only one but many kinds of HDLs. Those skilled in the art should also be clear that as long as the method flow is slightly logically programmed in the above-mentioned several hardware description languages and programmed into an integrated circuit, it is easy to obtain a hardware circuit that implements the logic method flow.

[0067] The above embodiments are only described in the preferred embodiment mode of this specification, and do not limit the scope of this specification. Without departing from the design spirit of this specification, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of this specification shall fall within the protection scope determined by the claims of this specification.

Claims

1. A highly sensitive collaborative manipulator, characterized in that: include: A base, a flange for connecting with a robot arm is arranged on the back of the base, a palm sensor carrier is arranged on the front of the base, a first proximity sensor and a palm airbag are installed in the palm sensor carrier, a first air pressure sensor is arranged in the palm airbag, a thumb drive seat is rotatably installed on one side of the base, and two finger drive seats are rotatably installed on the other side, a thumb is installed on the thumb drive seat, and two fingers are respectively installed on the two finger drive seats, A thumb airbag carrier is provided at the fingertip of the thumb, a thumb airbag is embedded in the thumb airbag carrier, a finger airbag carrier is provided at the fingertip of the finger, a finger airbag is embedded in the finger airbag carrier, a second proximity sensor and a second air pressure sensor are provided in the thumb airbag, and a finger proximity sensor and a finger air pressure sensor are provided in both the finger airbags. The first proximity sensor, the first air pressure sensor, the second proximity sensor, the second air pressure sensor, the finger proximity sensor and the finger air pressure sensor are all connected to a communication module, and the communication module is connected to a host computer.

2. A highly sensitive collaborative manipulator according to claim 1, characterized in that: The thumb drive motor seat is provided with a thumb swing motor and a thumb extension and retraction motor. The rotation axis between the thumb drive motor seat and the base is a thumb swing axis. The output shaft of the thumb swing motor matches the thumb swing axis. The thumb includes a thumb connecting rod group. The thumb airbag carrier is connected to the thumb extension and retraction motor through the thumb connecting rod group. A finger swing motor and a finger extension and retraction motor are installed in the finger drive seat, the rotating shaft of the finger drive motor seat and the base is the finger swing shaft, the finger swing motor output shaft matches the finger swing shaft, the finger includes a finger connecting rod group, and the finger airbag carrier is connected to the finger extension and retraction motor through the finger connecting rod group.

3. A highly sensitive collaborative manipulator according to claim 1 or 2, characterized in that: The shells of the palm airbag, the thumb airbag and the finger airbag are all made of compressible thermoplastic polyurethane material, and the insides of the palm airbag, the thumb airbag and the finger airbag are all filled with open-cell foam.

4. A highly sensitive collaborative manipulator according to claim 1 or 2, characterized in that: The first proximity sensor, the second proximity sensor and the finger proximity sensor are all capacitive proximity sensors. The capacitive proximity sensor includes two TPUs and a conductive TPU. The conductive TPU is located between the two TPUs. A hole is opened in the middle of the two TPUs. The conductive TPU is provided with an electrode terminal.

5. A control method for a highly sensitive collaborative manipulator according to any one of claims 1 to 4, characterized in that: Includes steps: Control the thumb and two fingers to spread out and swing to a predetermined position, and move the robotic arm to a preset grasping position; Control the robotic arm to drive the robotic arm to approach the object to be grasped, and continuously read the detection value of the first proximity sensor; When the detection value of the first proximity sensor reaches a preset first reference value, stopping the robotic arm; Controlling the thumb and two fingers of the manipulator to close at a first rate, and continuously reading detection values ​​of the second proximity sensor and the finger proximity sensor; When the detection value of the second proximity sensor or the finger proximity sensor reaches a preset first reference value, controlling the corresponding thumb or finger to stop; Controlling the thumb and two fingers of the manipulator to close at a second rate, and continuously reading the detection values ​​of the second air pressure sensor and the finger air pressure sensor; When the detection values ​​of the second air pressure sensor and the finger air pressure sensor jump up, the thumb and two fingers of the manipulator are controlled to close at a third rate until the detection values ​​of the second air pressure sensor and the finger air pressure sensor reach a preset first reference pressure value; Control the robotic arm to drive the robotic hand to lift up, continuously read the detection values ​​of the second air pressure sensor and the finger air pressure sensor during the process, and adjust the retraction degree of the thumb and the two fingers; Control the robotic arm to drive the robotic hand to move to the target position, and continuously read the detection values ​​of the second air pressure sensor and the finger air pressure sensor during the process. When the detection values ​​of the second air pressure sensor and the finger air pressure sensor exceed the preset second reference pressure value, slow down the movement speed of the robotic arm; When the robot arm is controlled to move to the target position, the thumb and two fingers of the robot hand are controlled to unfold.

6. The control method of a highly sensitive collaborative manipulator according to claim 5, characterized in that: The method for presetting the first reference pressure value includes: Under the condition of manually controlling the robotic arm and the robotic hand, the thumb and two fingers of the robotic hand are controlled to close in a preset step length, and after the closing step length is completed, the detection values ​​of the second air pressure sensor and the finger air pressure sensor are recorded, and the robotic arm is lifted in a preset amplitude; If the object to be grasped can be grasped, the recorded detection values ​​of the second air pressure sensor and the finger air pressure sensor are used as the first reference pressure value, where the first reference pressure value is the sum of the detection values ​​of the thumb and two fingers air pressure sensors; If the object to be grasped cannot be grasped, the robot arm is controlled to reduce a preset amplitude and continue to close the thumb and two fingers at a preset step length.

7. The control method of a highly sensitive collaborative manipulator according to claim 5, characterized in that: The method of controlling the robotic arm to drive the robotic hand to lift, continuously reading the detection values ​​of the second air pressure sensor and the finger air pressure sensor during the process, and adjusting the degree of retraction of the thumb and the two fingers includes: Continuously reading the detection value of the first proximity sensor and recording it as a proximity value; When the change of the proximity value exceeds a preset threshold, closing the thumb and two fingers by a preset amplitude; When the proximity value remains unchanged for a preset time period, the thumb and two fingers are spread out with a preset amplitude.

8. An electronic device, characterized in that: including a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the method according to any one of claims 5 to 7.

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 method according to any one of claims 5 to 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 5 to 7 is implemented.

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