Machine claw with grabbing and desorption functions

Abstract

The invention discloses a machine claw with grabbing and desorption functions, and relates to the technical field of machine claw control. A traditional machine claw grabbing mechanism generally has the defects that the distance measuring precision is insufficient; the single sensor is easily interfered by the environment, so that the grabbing positioning deviation is caused; the grabbing force cannot be sensed in real time, so that the target object is easily damaged or the grabbing fails; the problems of power supply noise, signal delay and the like influence the control precision. The defects limit the application of the unmanned aerial vehicle in a complex scene. Therefore, a grabbing mechanism integrating high-precision sensing, real-time feedback and strong anti-interference capability is urgently needed. The invention provides a machine claw with grabbing and desorption functions. Accurate grabbing and self-adaptive control are achieved by coordinating feedback and processing of a distance measuring sensor, a force sensor and a driving module through a microcontroller.

Description

Technical Field

[0001] The present invention relates to the field of machine claw control technology, and specifically to a grasping mechanism based on multi-sensor fusion, which integrates high-precision ranging, force feedback and stable control functions, and is suitable for scenarios such as logistics handling and industrial automation. Background Art

[0002] Traditional robot gripper mechanisms generally have insufficient ranging accuracy: relying on a single sensor, they are easily disturbed by the environment, resulting in grasping positioning deviations; and lack force feedback: they cannot sense the grasping force in real time, which can easily cause damage to the target or grasping failure; and poor system stability: power supply noise, signal delay and other issues affect control accuracy. The above defects limit the application of drones in complex scenarios. Therefore, there is an urgent need for a grasping mechanism that integrates high-precision sensing, real-time feedback and strong anti-interference capabilities. Summary of the invention

[0003] The present invention provides a machine claw with grasping and detaching functions, which realizes precise grasping and adaptive control by coordinating feedback and processing of a distance measuring sensor, a force sensor and a driving module through an STM32 microcontroller.

[0004] In order to achieve the above objectives, the present invention provides the following technical solutions:

[0005] The grasping structure comprises three grasping claw tips (2), a grasping claw body (4) and an auxiliary claw (6), wherein each grasping claw comprises a grasping claw tip (2), a grasping claw body (4), an upper end connecting piece (10) of a grasping claw cylinder, a grasping claw tip cylinder (11), a grasping claw cylinder bottom connecting piece (12), a grasping claw body cylinder (14), an upper end connecting piece (18) of a grasping claw body cylinder, and a lower connecting piece (19) of a grasping claw body cylinder. 20), the grab claw tip cylinder (11), the grab claw body cylinder (14), and the wire clamp (5), which are then connected by an internal thread type shoulder pin shaft (3), a washer (8) and a hexagonal bolt (9); the auxiliary claw is composed of an auxiliary claw cylinder upper end connecting piece (25), an auxiliary claw cylinder (26) and an auxiliary grab cylinder lower end connecting piece (27), which are then connected by an internal thread type shoulder pin shaft (3), a washer (8) and a hexagonal bolt (9); The force sensor (1) is placed at the tip of the claw tip (2) of the grasping claw. The line passes through the force sensor outlet (28), enters the claw tip inlet (7), passes through the claw tip outlet (17), is fixed by the wire clamp (5), and then passes through the claw-base inlet (19) to the built-in chassis (23) in the access base (15). The lower connecting piece (20) of the claw body cylinder of the grabbing claw is connected to the base (15) through an internal threaded shoulder pin (3), a washer (8) and a hexagonal bolt (9), and then the lower end of the claw body cylinder (14) is threadedly connected. Then, the upper connecting piece (18) of the claw body cylinder of the grabbing claw is threadedly connected to the upper end of the claw body cylinder (14). At the same time, the upper connecting piece (18) of the claw body cylinder of the grabbing claw is connected to the rear through hole of the claw body (4) through an internal threaded shoulder pin, a washer and a hexagonal bolt. The line of the claw body cylinder (14) is transmitted from the grabbing claw-base line inlet (19) to the built-in chassis (23) in the base (15) to control the swing of the claw body of the grabbing claw; The bottom connecting piece (12) of the claw tip cylinder of the grabbing claw is connected to the middle through hole of the claw body (4) of the grabbing claw by means of an internal threaded shoulder pin shaft (3), a washer (8) and a hexagonal bolt (9), and then is threadedly connected to the lower end of the claw tip cylinder (11) of the grabbing claw. Then the upper connecting piece (10) of the claw tip cylinder of the grabbing claw is threadedly connected to the upper end of the claw tip cylinder (11). At the same time, the upper connecting piece (10) of the claw tip cylinder of the grabbing claw is connected to the rear through hole of the claw tip (2) of the grabbing claw by means of an internal threaded shoulder pin shaft, a washer and a hexagonal bolt. The line of the claw tip cylinder (11) is transmitted from the claw-base line inlet (19) to the built-in chassis (23) in the access base (15) to control the swing of the claw tip. The lower connecting piece (27) of the auxiliary claw cylinder and the base (15) are connected by means of an internally threaded shoulder pin (3), a washer (8) and a hexagonal bolt (9), and then the lower end of the auxiliary claw cylinder (26) is threadedly connected. Then, the upper connecting piece (25) of the auxiliary claw cylinder and the upper end of the auxiliary claw cylinder (26) are threadedly connected. At the same time, the rear through hole of the upper connecting piece (25) of the auxiliary claw cylinder and the auxiliary claw (6) is connected by means of an internally threaded shoulder pin, a washer and a hexagonal bolt. The line of the auxiliary claw cylinder (26) enters the access box (23) from the auxiliary claw-base line inlet (22) of the base (15); The distance measuring sensor (13) is connected to the chassis (23) through the base line inlet (24) to determine the distance between the grasping mechanism and the object.

[0006] The grab claw body cylinder (14), the grab claw tip cylinder (11) and the auxiliary claw cylinder (26) can use the same type of cylinder pneumatics, but the upper and lower connecting parts of the cylinders are different. The description of the content of the present invention uses the description of the grab claw body cylinder, the grab claw tip cylinder and the auxiliary claw cylinder for clarity. The cylinder and connecting part of the auxiliary claw are the same as the cylinder and connecting part of the grab claw body. The description of the content of the present invention uses the description of the grab claw body cylinder connecting part and the auxiliary claw cylinder connecting part for clarity.

[0007] The operating voltage is 3.3V; the VIN (pin 1) of the STM32F103C8T6 is connected to the 3.3V power supply and connected to the GND (power ground) through the C7 capacitor, the GND (pin 2) of the STM32 is connected to the system ground, and the SCL (pin 3) is used for I 2 C clock signal, connected to the SCL (pin 10) of the VL53L1CBV0FY / 1 sensor, and connected to IOVDD (3.3V) through a 10KΩ pull-up resistor R3 to ensure that the signal works correctly. The SDA (pin 4) of the STM32 is used for I 2 C data signal, connected to the SDA (pin 9) of the VL53L1CBV0FY / 1 sensor, and also connected to IOVDD (3.3V) through a 10KΩ pull-up resistor R4 to ensure the stability of the I2C bus. The GPIO1 (pin 5) of the STM32 is used to interact with the VL53L1CBV0FY / 1, connected to the GPIO1 (pin 7) of the VL53L1CBV0FY / 1, and connected to IOVDD (3.3V) through a 10KΩ pull-up resistor R5, which is used to control the GPIO signal of the sensor. The XSHUT (pin 6) of the STM32 is used to control the enable of the VL53L1CBV0FY / 1, connected to the XSHUT (pin 5) of the VL53L1CBV0FY / 1, and connected to IOVDD (3.3V) through a 10KΩ pull-up resistor R6 to ensure that the sensor is enabled by default when powered on.

[0008] The chassis includes an STM32F103C8T6TR controller, which has efficient processing capabilities and rich I / O interfaces. It can process data from multiple sensors at the same time and accurately control the operation of the grasping mechanism. There is also a VL53L1CBV0FY / 1 ranging sensor, which is used when the grasping action is in progress. The sensor uses time-of-flight technology to accurately measure the distance to the target object and provide accurate spatial information for drone grasping. And the HSFPAR003A force sensor is used for grasping feedback. The sensor is used to monitor the pressure applied during the grasping process. Through real-time feedback data, the grasping force is adjusted to avoid damage to the target object. This device has low cost, fast response, and high reliability. It can be widely used in warehousing logistics, hazardous environment operations and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is an isometric view of the mechanical claw of the present invention; Figure 2 It is a back view of the mechanical claw of the present invention; Figure 3 A diagram of the auxiliary claw of the mechanical claw of the present invention; Figure 4 is a top view of a cross-sectional view of the mechanical claw of the present invention; Figure 5 It is a schematic diagram of the installation of the force sensor of the present invention; Figure 6 It is a schematic diagram of the installation of the distance measuring sensor of the present invention; Figure 7 It is a schematic diagram of a cylinder of the present invention; Figure 8 It is the principle diagram of the sensor circuit of the present invention; Fig. 9 It is the principle diagram of the cylinder driving circuit of the present invention. DETAILED DESCRIPTION

[0010] The present invention will be further described below in conjunction with the accompanying drawings.

[0011] The grabbing structure of the present invention comprises three grabbing claw tips (2), a grabbing claw body (4) and an auxiliary claw (6). Each grabbing claw is composed of a grabbing claw tip (2), a grabbing claw body (4), a grabbing claw cylinder upper end connecting piece (10), a grabbing claw tip cylinder (11), a grabbing claw cylinder bottom connecting piece (12), a grabbing claw body cylinder (14), a grabbing claw body cylinder upper end connecting piece (18), a grabbing claw body cylinder lower connecting piece (20), a grabbing claw tip cylinder (11), a grabbing claw body cylinder (14), and a wire clamp (5), and then connected by an internal thread type shoulder pin shaft (3), a washer (8) and a hexagonal bolt (9). The auxiliary claw is composed of an auxiliary claw cylinder upper end connecting piece (25), an auxiliary claw cylinder (26) and an auxiliary grasping cylinder lower end connecting piece (27), and then connected by an internal thread type shoulder pin shaft (3), a washer (8) and a hexagonal head bolt (9).

[0012] The force sensor (1) is placed at the tip of the claw tip (2) of the grabbing claw, and the line passes through the force sensor outlet (28). After entering from the claw tip inlet (7), it passes through the claw tip outlet (17) and is fixed by the wire clamp (5) to prevent line disturbance from affecting the grabbing action. Then, it is transmitted from the claw-base inlet (19) to the chassis (23) built into the access base (15).

[0013] The lower connecting piece (20) of the claw body cylinder of the grabbing claw is connected to the base (15) through an internal threaded shoulder pin (3), a washer (8) and a hexagonal bolt (9), and then the lower end of the claw body cylinder (14) is threadedly connected. Then, the upper connecting piece (18) of the claw body cylinder of the grabbing claw is threadedly connected to the upper end of the claw body cylinder (14). At the same time, the upper connecting piece (18) of the claw body cylinder of the grabbing claw is connected to the rear through hole of the claw body (4) through an internal threaded shoulder pin (3), a washer (8) and a hexagonal bolt (9). The line of the claw body cylinder (14) is transmitted from the grabbing claw-base line inlet (19) to the built-in chassis (23) in the base (15) to control the swing of the claw body of the grabbing claw.

[0014] The bottom connecting piece (12) of the claw tip cylinder of the grab claw is connected to the middle through hole of the claw body (4) of the grab claw by means of an internal threaded shoulder pin shaft (3), a washer (8) and a hexagonal bolt (9), and then is threadedly connected to the lower end of the claw tip cylinder (11) of the grab claw. Then the upper connecting piece (10) of the claw tip cylinder of the grab claw is threadedly connected to the upper end of the claw tip cylinder (11). At the same time, the upper connecting piece (10) of the claw tip cylinder of the grab claw is connected to the rear through hole of the claw tip (2) of the grab claw by means of an internal threaded shoulder pin shaft (3), a washer (8) and a hexagonal bolt (9). The line of the claw tip cylinder (11) of the grab claw is transmitted from the claw-base line inlet (19) to the built-in chassis (23) in the access base (15) to control the swing of the claw tip.

[0015] The cylinder and connector of the auxiliary claw are the same as the cylinder and connector of the claw body of the grabbing claw. The installation method is also the same. The lower connector (27) of the auxiliary claw cylinder is connected to the base (15) through an internal threaded shoulder pin (3), a washer (8) and a hexagonal bolt (9), and then the lower end of the auxiliary claw cylinder (26) is threadedly connected. Then, the upper connector (25) of the auxiliary claw cylinder is threadedly connected to the upper end of the auxiliary claw cylinder (26). At the same time, the upper connector (25) of the auxiliary claw cylinder is connected to the rear through hole of the auxiliary claw (6) through an internal threaded shoulder pin (3), a washer (8) and a hexagonal bolt (9). The line of the auxiliary claw cylinder (26) enters the access box (23) from the auxiliary claw-base line inlet (22) of the base (15) to control the fixing effect of the auxiliary claw.

[0016] The distance measuring sensor (13) is connected to the chassis (23) through the base cable inlet (24) and is responsible for determining the distance between the grasping mechanism and the object.

[0017] The specific circuit wiring method of the device is:

[0018] The entire system operates at 3.3V, and decoupling capacitors (100nF and 4.7uF) are used at multiple key nodes to ensure power stability and signal integrity. STM32F103C8T6 is used as the core control unit, with its VIN (pin 1) connected to the 3.3V power supply and connected to GND (power ground) through C7 (100nF) capacitor for power decoupling, reducing power noise, and stabilizing 3.3V power supply. STM32's GND (pin 2) is connected to the system ground to ensure that the common reference point of all devices is consistent. SCL (pin 3) is used for I 2 C clock signal, connected to the SCL (pin 10) of the VL53L1CBV0FY / 1 sensor, and connected to IOVDD (3.3V) through a 10KΩ pull-up resistor R3 to ensure that the signal works correctly. The SDA (pin 4) of the STM32 is used for I 2C data signal, connected to the SDA (pin 9) of the VL53L1CBV0FY / 1 sensor, and also connected to IOVDD (3.3V) through a 10KΩ pull-up resistor R4 to ensure I 2 C bus stability. GPIO1 (pin 5) of STM32 is used to interact with VL53L1CBV0FY / 1, connected to GPIO1 (pin 7) of VL53L1CBV0FY / 1, and connected to IOVDD (3.3V) through a 10KΩ pull-up resistor R5, which is used to control the GPIO signal of the sensor. XSHUT (pin 6) of STM32 is used to control the enable of VL53L1CBV0FY / 1, connected to XSHUT (pin 5) of VL53L1CBV0FY / 1, and connected to IOVDD (3.3V) through a 10KΩ pull-up resistor R6, ensuring that the sensor is enabled by default when powered on.

[0019] In the GPIO port configuration, PA2 (pin 8), PA4 (pin 10), and PA6 (pin 12) of STM32 are connected to V1 (pin 4) of HSPAR003A sensor through 10KΩ resistors R10, R12, and R14, respectively, for collecting sensor output signals, while PA1 (pin 7), PA3 (pin 9), and PA5 (pin 11) of STM32 are connected to V1 (pin 4) of HSPAR003A sensor through 10KΩ resistors R9, R11, and R13, respectively. The V2 (pin 2) of the device is used to obtain another set of measurement data. The GND (pins 3 and 5) of each HSPAR003A sensor is connected to the system ground to ensure a stable reference potential. The power supply pin Vdd (pin 1) of HSPAR003A is connected to 3.3V to provide operating voltage for the sensor. In order to reduce signal noise, 100nF decoupling capacitors, namely C4, C5, and C6, are connected in parallel to the V1 and V2 signal lines of all HSPAR003A sensors to filter out high-frequency interference and improve signal quality.

[0020] VL53L1CBV0FY / 1 is used as a laser ranging sensor, using I 2C interface communicates with STM32. Its SDA (pin 9) is connected to SDA (pin 4) of STM32, SCL (pin 10) of VL53L1CBV0FY / 1 is connected to SCL (pin 3) of STM32, XSHUT (pin 5) of VL53L1CBV0FY / 1 is connected to XSHUT (pin 6) of STM32, GPIO1 (pin 7) of VL53L1CBV0FY / 1 is connected to GPIO1 (pin 5) of STM32, and its GND is pin 3. Pin 4, pin 6, and pin 12 are connected to the system ground. Ensure that AVDD (pin 11) of VL53L1CBV0FY / 1 powers the sensor and is connected to 3.3V, while AVDDVCSEL (pin 1) provides power for the laser transmitter and is also connected to 3.3V. AVSSVCSEL (pin 2) is the analog ground of VCSEL and is connected to the system ground. A 100nF C1 and a 4.7uF C2 capacitor are connected in parallel between AVDD and GND to reduce high-frequency noise and ensure stable power supply.

[0021] The main power supply voltage of the whole system is 3.3V. The power supply VCC of all sensors and microcontrollers are connected to this power rail, and multiple 100nF capacitors (C7, C8, C9) are placed at key power nodes for power decoupling, reducing transient interference and improving power supply quality. In particular, an additional 4.7uF C2 capacitor is added to the VL53L1CBV0FY / 1 power supply line to enhance the power supply filtering capability.

[0022] The ground wires (GND pins) of all modules are grounded to ensure the electrical safety and stable operation of the circuit. To ensure the stability of the system in different working environments, the circuit design also reduces power supply noise and interference by properly arranging filter capacitors and voltage stabilization components.

[0023] Attached Figure 8The control circuit of the cylinder is shown in Figure 1. The circuit uses the HLK-10M12 power module to convert AC voltage to DC voltage. First, connect the fuse (0.5A) to the power input to ensure current safety. Connect the sliding rheostat R17 and capacitor C14 (100nF) to the power input, and connect the inductor L5 (10mH) to the resistor and capacitor to form a filter network to reduce power supply noise. Next, connect the AC input of the transformer HLK-10M12 to the power supply, and connect the AC at the output to the AC end of the rectifier circuit U9, which converts AC power to DC power. After rectification, the DC output ends (+VO, -VO) of U9 are connected to capacitor C15 (220μF) respectively to smooth the DC voltage. Next, connect the filtered DC power to the relay RL2, which controls the start and stop of the circuit through the switch KA1. The control end SBI E of the relay is connected to the switch SQ to complete the cylinder circuit control function. The indicator light Y1 is connected to the output terminal KA1 of the relay and serves as an indicator light for the circuit working status, reminding the user whether the circuit is working normally.

[0024] In summary, this circuit uses STM32F103C8T6 as the main control unit, combines VL53L1CBV0FY / 1 for laser ranging, and collects environmental data through multiple HSPAR003A sensors. 2 The C bus is matched with pull-up resistors to ensure stable communication, the GPIO port realizes signal conditioning through a resistor network, and decoupling capacitors are used at each key node to improve system stability. The whole circuit has reasonable power supply and stable signal connection, which is suitable for multi-point data acquisition and ranging applications.

Claims

1. A robot claw with grasping and detaching functions, characterized in that: The grasping structure comprises three grasping claw tips (2), a grasping claw body (4) and an auxiliary claw (6), wherein each grasping claw comprises a grasping claw tip (2), a grasping claw body (4), an upper end connecting piece (10) of a grasping claw cylinder, a grasping claw tip cylinder (11), a grasping claw cylinder bottom connecting piece (12), a grasping claw body cylinder (14), an upper end connecting piece (18) of a grasping claw body cylinder, and a lower connecting piece (19) of a grasping claw body cylinder. 20), the grab claw tip cylinder (11), the grab claw body cylinder (14), and the wire clamp (5), which are then connected by an internal thread type shoulder pin shaft (3), a washer (8) and a hexagonal bolt (9); the auxiliary claw is composed of an auxiliary claw cylinder upper end connecting piece (25), an auxiliary claw cylinder (26) and an auxiliary grab cylinder lower end connecting piece (27), which are then connected by an internal thread type shoulder pin shaft (3), a washer (8) and a hexagonal bolt (9); The force sensor (1) is placed at the tip of the claw tip (2) of the grasping claw. The line passes through the force sensor outlet (28), enters the claw tip inlet (7), passes through the claw tip outlet (17), is fixed by the wire clamp (5), and then passes through the claw-base inlet (19) to the built-in chassis (23) in the access base (15). The lower connecting piece (20) of the claw body cylinder of the grabbing claw is connected to the base (15) through an internal threaded shoulder pin (3), a washer (8) and a hexagonal bolt (9), and then the lower end of the claw body cylinder (14) is threadedly connected. Then, the upper connecting piece (18) of the claw body cylinder of the grabbing claw is threadedly connected to the upper end of the claw body cylinder (14). At the same time, the upper connecting piece (18) of the claw body cylinder of the grabbing claw is connected to the rear through hole of the claw body (4) through an internal threaded shoulder pin, a washer and a hexagonal bolt. The line of the claw body cylinder (14) is transmitted from the grabbing claw-base line inlet (19) to the built-in chassis (23) in the base (15) to control the swing of the claw body of the grabbing claw; The bottom connecting piece (12) of the claw tip cylinder of the grabbing claw is connected to the middle through hole of the claw body (4) of the grabbing claw by means of an internal threaded shoulder pin shaft (3), a washer (8) and a hexagonal bolt (9), and then is threadedly connected to the lower end of the claw tip cylinder (11) of the grabbing claw. Then the upper connecting piece (10) of the claw tip cylinder of the grabbing claw is threadedly connected to the upper end of the claw tip cylinder (11). At the same time, the upper connecting piece (10) of the claw tip cylinder of the grabbing claw is connected to the rear through hole of the claw tip (2) of the grabbing claw by means of an internal threaded shoulder pin shaft, a washer and a hexagonal bolt. The line of the claw tip cylinder (11) is transmitted from the claw-base line inlet (19) to the built-in chassis (23) in the access base (15) to control the swing of the claw tip. The lower connecting piece (27) of the auxiliary claw cylinder and the base (15) are connected by means of an internally threaded shoulder pin (3), a washer (8) and a hexagonal bolt (9), and then the lower end of the auxiliary claw cylinder (26) is threadedly connected. Then, the upper connecting piece (25) of the auxiliary claw cylinder and the upper end of the auxiliary claw cylinder (26) are threadedly connected. At the same time, the rear through hole of the upper connecting piece (25) of the auxiliary claw cylinder and the auxiliary claw (6) is connected by means of an internally threaded shoulder pin, a washer and a hexagonal bolt. The line of the auxiliary claw cylinder (26) enters the access box (23) from the auxiliary claw-base line inlet (22) of the base (15); The distance measuring sensor (13) is connected to the chassis (23) through the base line inlet (24) to determine the distance between the grasping mechanism and the object.

2. The robot claw with the function of grasping and detaching according to claim 1, characterized in that: The operating voltage is 3.3V; the VIN (pin 1) of the STM32F103C8T6 is connected to the 3.3V power supply and connected to the GND (power ground) through the C7 capacitor, the GND (pin 2) of the STM32 is connected to the system ground, and the SCL (pin 3) is used for I 2 C clock signal, connected to the SCL (pin 10) of the VL53L1CBV0FY / 1 sensor, and connected to IOVDD (3.3V) through a 10KΩ pull-up resistor R3 to ensure that the signal works correctly. The SDA (pin 4) of the STM32 is used for I 2 C data signal, connected to the SDA (pin 9) of the VL53L1CBV0FY / 1 sensor, and also connected to IOVDD (3.3V) through a 10KΩ pull-up resistor R4 to ensure I 2 C bus stability The GPIO1 (pin 5) of the STM32 is used to interact with VL53L1CBV0FY / 1, connected to the GPIO1 (pin 7) of VL53L1CBV0FY / 1, and connected to IOVDD (3.3V) through a 10KΩ pull-up resistor R5, which is used to control the GPIO signal of the sensor. The XSHUT (pin 6) of the STM32 is used to control the enable of VL53L1CBV0FY / 1, connected to the XSHUT (pin 5) of VL53L1CBV0FY / 1, and connected to IOVDD (3.3V) through a 10KΩ pull-up resistor R6, ensuring that the sensor is enabled by default when it is powered on.

3. The robot claw with the function of grasping and detaching according to claim 1, characterized in that: In the GPIO port configuration, PA2 (pin 8), PA4 (pin 10), and PA6 (pin 12) of STM32 are connected to V1 (pin 4) of HSPAR003A sensor through 10KΩ resistors, namely R10, R12, and R14, respectively, for collecting sensor output signals, while PA1 (pin 7), PA3 (pin 9), and PA5 (pin 11) of STM32 are connected to V2 (pin 2) of HSPAR003A sensor through 10KΩ resistors, namely R9, R11, and R13, respectively, for obtaining another set of measurement data. The GND (pins 3 and 5) of each HSPAR003A sensor is connected to the system ground to ensure a stable reference potential. The power supply pin Vdd (pin 1) of HSPAR003A is connected to 3.3V to provide working voltage for the sensor. In order to reduce signal noise, 100nF decoupling capacitors, namely C4, C5, and C6, are connected in parallel to the V1 and V2 signal lines of all HSPAR003A sensors.

4. The robot claw with the function of grasping and detaching according to claim 1, characterized in that: VL53L1CBV0FY / 1 is used as a laser ranging sensor, using I 2 C interface communicates with STM32. Its SDA (pin 9) is connected to SDA (pin 4) of STM32, SCL (pin 10) of VL53L1CBV0FY / 1 is connected to SCL (pin 3) of STM32, XSHUT (pin 5) of VL53L1CBV0FY / 1 is connected to XSHUT (pin 6) of STM32, GPIO1 (pin 7) of VL53L1CBV0FY / 1 is connected to GPIO1 (pin 5) of STM32, and its G ND, that is, pin 3, pin 4, pin 6, and pin 12 are connected to the system ground. Ensure that AVDD (pin 11) of VL53L1CBV0FY / 1 powers the sensor and is connected to 3.3V, while AVDDVCSEL (pin 1) provides power for the laser transmitter and is also connected to 3.3V. AVSSVCSEL (pin 2) is the analog ground of VCSEL and is connected to the system ground. A 100nF C1 and 4.7uF C2 capacitors are connected in parallel between AVDD and GND.

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