Electronic device grabbing device and grabbing operation monitoring method thereof
By designing an automatic clamping electronic device grabbing device, the fatigue and shaking problems caused by continuous pressure applied to fingers during clamping of tweezers are solved, and stable and labor-saving clamping and real-time operation monitoring are achieved, improving the safety and efficiency of electronic device grabbing.
Patent Information
- Application Number
- CN202510872649.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-27
- Publication Date
- 2025-08-01
AI Technical Summary
The existing electronic device grabber tool tweezers need to continuously apply pressure during the clamping process, causing soreness in the hand, and it is prone to shaking and slipping, causing the electronic device to fall off.
An electronic device grabbing device is designed, including a grab tube, a moving rod, a push rod, a rigid metal clamp and a pulling spring. Automatic clamping is achieved through elastic deformation, without applying pressure during the clamping process, and the standardization of the grab operation is monitored through a posture sensing module.
It realizes labor-saving and stable clamping of electronic devices, reduces hand fatigue, improves clamping stability, and provides real-time monitoring and training guidance for grab operations.
Smart Images
Figure CN120395952A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of electronic device grasping devices, and particularly relates to an electronic device grasping device and a grasping operation monitoring method thereof. Background Art
[0002] The soldering of electronic devices is a core process in electronic manufacturing and repair, involving various soldering methods, materials, tools and techniques. The correct soldering technology directly affects the reliability, conductivity and mechanical strength of circuit connections. The following is a comprehensive introduction to the soldering of electronic devices. Soldering is achieved by heating and melting the solder (usually a tin-based alloy) to form a metallurgical bond on the metal surface, and a firm electrical and mechanical connection is formed after cooling.
[0003] The grasping operation during the soldering of electronic devices is a key link in precision electronic assembly, and appropriate tools and techniques are required to ensure operation accuracy and safety. Currently, the existing manual tool for grasping electronic devices is a pair of tweezers. The elastic two feet of the tweezers are used to clamp and fix the electronic device. During the clamping process, the fingers need to continuously apply pressure, resulting in hand soreness and shaking after long-term clamping. At the same time, since the tweezers only clamp from both ends, the tweezers are prone to slipping during the clamping process, resulting in the situation that the electronic device falls off. Summary of the Invention
[0004] (1) Technical Problems to be Solved Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide an electronic device grasping device and a grasping operation monitoring method thereof. The electronic device grasping device aims to solve the technical problems that during the clamping process of the existing tweezers, the fingers need to continuously apply pressure, resulting in hand soreness and shaking after long-term clamping, and the tweezers are prone to slipping during the clamping process, resulting in the situation that the electronic device falls off.
[0005] (2) Technical Solutions [[ID=2�]]To solve the above technical problems, on the one hand, the present invention provides such an electronic device grasping device, including a grasping tube and a moving rod slidably arranged in the grasping tube. The top end of the moving rod is fixedly connected with a push rod, and a plurality of rigid metal clamping members are fixedly arranged in an annular array at the bottom end of the moving rod. The top end of the grasping tube is fixed with a top cover, and a tension spring located above the moving rod is embedded in the grasping tube. The top end of the push rod passes through the top cover and is fixed with a protrusion.
[0006] When using this technical solution, a moving rod is slidably arranged in the grasping tube. When grasping an electronic device, the protruding part pushes the push rod and the moving rod downward. During the movement of the moving rod, the tension spring is stretched and undergoes elastic deformation. At the same time, the rigid metal clamping piece is pushed out of the grasping tube. After the rigid metal clamping piece extends out, the arc-shaped elastic part elastically resets to make the first connecting part and the clamping part open outward. After the plurality of clamping parts clamp the sheet-shaped electronic device, the protruding part is released. The tension spring elastically resets and pulls the moving rod upward. When the moving rod and the rigid metal clamping piece move upward, the inner wall of the opening at the bottom end of the grasping tube squeezes the arc-shaped elastic part to contract inward, so that the second connecting part and the clamping part clamp and fix the sheet-shaped electronic device. The elastic deformation after the tension spring is stretched is used to clamp and fix the sheet-shaped electronic device. During the clamping process, no pressure needs to be applied by the fingers, making it more labor-saving to clamp the sheet-shaped electronic device for a long time. The plurality of clamping parts apply pressure to the sheet-shaped electronic device from different angles, improving the clamping stability of the sheet-shaped electronic device.
[0007] Preferably, anti-slip sleeves are fixedly sleeved at both ends of the grasping tube. A knob is fixed on the outer wall of the top cover, and a second connecting part that is threadedly inserted into the grasping tube is fixed at the bottom end of the top cover.
[0008] Further, the push rod is slidably inserted into the top cover, and a protruding part is integrally formed at the top end of the push rod passing through the top cover.
[0009] Furthermore, a plurality of grooves are formed in a circular array at the bottom end of the moving rod. Four groups of rigid metal clamping pieces are provided, and the top ends of the rigid metal clamping pieces are embedded in the grooves.
[0010] Furthermore, the tension spring is sleeved on the push rod, and both ends of the tension spring are fixedly connected to the inner wall of the top cover and the moving rod respectively.
[0011] Furthermore, an arc-shaped elastic part is fixed at the bottom end of the rigid metal clamping piece. The arc-shaped elastic part is closely connected to the inner wall of the opening at the bottom end of the grasping tube, and the arc-shaped elastic part is larger than a quarter-circular arc structure. The inner wall of the opening at the bottom end of the grasping tube squeezes the arc-shaped elastic part to make the second connecting part and the clamping part contract inward.
[0012] Furthermore, a second connecting part is fixed at the bottom end of the arc-shaped elastic part. A clamping part is fixed at the bottom of the second connecting part. A sheet-shaped electronic device is clamped and fixed between the plurality of clamping parts, and anti-slip protrusions are provided on the inner walls of the plurality of clamping parts.
[0013] On the other hand, the present invention provides a grasping operation monitoring method for an electronic device grasping device. A posture sensing module is embedded in the protruding part, which is used to sense the posture change of the device during the process of grasping the sheet-shaped electronic device, and then monitor the human grasping process. The method includes: During the process of an operator grasping a sheet electronic device, the attitude perception module continuously obtains the attitude parameters of the convex part, calculates the grasping angle and grasping time of the device based on the attitude parameters, comprehensively evaluates the operation specification degree of the operator through a weighted algorithm based on the grasping angle and grasping time, and generates corresponding training guidance opinions when the operation specification degree of the operator is frequently lower than the preset operation threshold; Among them, calculating the grasping angle and grasping time of the device based on the attitude parameters includes: Obtain the acceleration curve in the attitude parameters, and based on a preset image feature extraction algorithm, identify multiple second-direction acceleration curve segments in the acceleration curve, and monitor whether there is a first-direction acceleration curve segment in front of it with the second-direction acceleration curve segment as the reference. Among them, the first-direction acceleration curve segment and the second-direction acceleration curve segment are adjacent. The first-direction acceleration curve is used to represent the downward movement of the convex part along the axis of the push rod, and the second-direction acceleration curve is used to represent the upward movement of the convex part along the axis of the push rod. The acceleration curve is provided by the acceleration sensor in the attitude perception module; If it exists, calculate the ratio of the length of the first-direction acceleration curve segment to the length of the second-direction acceleration curve segment, and when the ratio is greater than the preset threshold, determine that the current second-direction acceleration curve segment corresponds to the rigid metal clamping part to perform a grasping operation on the sheet electronic device; If it exists, calculate the ratio of the length of the first-direction acceleration curve segment to the length of the second-direction acceleration curve segment, and when the ratio is less than or equal to the preset threshold, determine that the current second-direction acceleration curve segment corresponds to the rigid metal clamping part to perform a placement operation on the sheet electronic device; If it does not exist, determine that the current second-direction acceleration curve segment corresponds to the rigid metal clamping part to perform a placement operation on the sheet electronic device; Calculate the single grasping time based on the interval duration between the first time node of the second-direction acceleration curve segment corresponding to the grasping operation and the second time node of the second-direction acceleration curve segment corresponding to the placement operation, where both the first time node and the second time node are the intermediate values of the time periods corresponding to the second-direction acceleration curve segment; Retrieve the inclination data corresponding to each second time node in the attitude parameters, calculate the angle between the grasping tube and the horizontal plane based on the inclination data, and then obtain the grasping angle. The inclination data is provided by the gyroscope unit in the attitude perception module.
[0014] (3)Beneficial effects Compared with the prior art, the beneficial effects of the present invention are as follows: In the present invention, a moving rod is slidably arranged in the grasping tube. When grasping an electronic device, the convex part pushes the push rod and the moving rod downward. During the movement of the moving rod, the tension spring is stretched to generate elastic deformation. At the same time, the rigid metal clamping member is pushed out of the grasping tube. After the rigid metal clamping member extends out, the arc-shaped elastic part elastically resets to open the second connecting part and the clamping part outward. After the plurality of clamping parts clamp the sheet-shaped electronic device, the convex part is released. The tension spring elastically resets to pull the moving rod upward. When the moving rod and the rigid metal clamping member move upward, the inner wall of the opening at the bottom end of the grasping tube squeezes the arc-shaped elastic part to contract inward, so that the second connecting part and the clamping part clamp and fix the sheet-shaped electronic device. The elastic deformation after the tension spring is stretched is used to clamp and fix the sheet-shaped electronic device. During the clamping process, no pressure needs to be applied by the fingers, making it more labor-saving to clamp the sheet-shaped electronic device for a long time. The plurality of clamping parts apply pressure to the sheet-shaped electronic device from different angles, improving the stability of clamping the sheet-shaped electronic device. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0016] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a schematic cross-sectional structural diagram of the present invention; Figure 3 is a schematic cross-sectional structural diagram of the moving rod of the present invention; Figure 4 is a schematic partial structural diagram of the rigid metal clamping member of the present invention.
[0017] The reference signs in the drawings are: 1, grasping tube; 2, push rod; 3, knob; 4, anti-slip sleeve; 5, sheet-shaped electronic device; 6, rigid metal clamping member; 7, moving rod; 8, top cover; 9, convex part; 10, first connecting part; 11, tension spring; 12, groove; 13, arc-shaped elastic part; 14, second connecting part; 15, clamping part. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0019] Embodiment 1: This specific embodiment is a grasping device for electronic components. Its structural schematic diagram is as shown in Figure 1 and Figure 2 . It includes a grasping tube 1 and a moving rod 7 slidably arranged in the grasping tube 1. A push rod 2 is fixedly connected to the top end of the moving rod 7, and a plurality of rigid metal clamping members 6 are fixedly arranged in an annular array at the bottom end of the moving rod 7. A top cover 8 is fixedly arranged at the top end of the grasping tube 1, and a tension spring 11 located above the moving rod 7 is embedded in the grasping tube 1. A protruding portion 9 is fixedly arranged at the top end of the push rod 2 after passing through the top cover 8.
[0020] Anti-slip sleeves 4 are fixedly sleeved at both ends of the grasping tube 1. A knob 3 is fixedly arranged on the outer wall of the top cover 8, and a first connecting portion 10 screwed and inserted into the grasping tube 1 is fixedly arranged at the bottom end of the top cover 8. The push rod 2 is slidably inserted into the top cover 8, and a protruding portion 9 is integrally formed at the top end of the push rod 2 after passing through the top cover 8. A plurality of grooves 12 are formed in an annular array at the bottom end of the moving rod 7. Four groups of rigid metal clamping members 6 are provided, and the top ends of the rigid metal clamping members 6 are embedded in the grooves 12. The protruding portion 9 pushes the push rod 2 and the moving rod 7 to move downward. During the movement of the moving rod 7, the tension spring 11 is stretched to generate elastic deformation, and at the same time, the rigid metal clamping members 6 are pushed to extend out of the grasping tube 1. After the rigid metal clamping members 6 extend out, the arc-shaped elastic portion 13 elastically returns to make the second connecting portion 14 and the clamping portion 15 open outward.
[0021] As shown in Figure 3 and Figure 4As shown, the tension spring 11 is sleeved on the push rod 2, and the two ends of the tension spring 11 are fixedly connected to the inner wall of the top cover 8 and the moving rod 7 respectively. An arc-shaped elastic part 13 is fixed at the bottom end of the rigid metal clamping part 6. The arc-shaped elastic part 13 is closely connected to the inner wall of the opening at the bottom end of the grasping tube 1, and the arc-shaped elastic part 13 is larger than a quarter-circular arc structure. The inner wall of the opening at the bottom end of the grasping tube 1 squeezes the arc-shaped elastic part 13 to make the second connecting part 14 and the clamping part 15 contract inward. The elastic force of the tension spring 11 is much greater than the elastic force of the elastic arc part. When no pressure is applied to the push rod 2, the tension spring 11 elastically resets to pull the rigid metal clamping part 6 to contract into the grasping tube 1. The inner wall of the grasping tube 1 squeezes the arc-shaped elastic part 13 and the second connecting part 14 to make the bottom of the rigid metal clamping part 6 contract inward. A second connecting part 14 is fixed at the bottom end of the arc-shaped elastic part 13, and a clamping part 15 is fixed at the bottom of the second connecting part 14. A sheet-shaped electronic device 5 is clamped and fixed between multiple clamping parts 15, and anti-slip protrusions are arranged on the inner walls of the multiple clamping parts 15. After the multiple clamping parts 15 clamp the sheet-shaped electronic device 5, the protrusion part 9 is released. The tension spring 11 elastically resets to pull the moving rod 7 to move upward. When the moving rod 7 and the rigid metal clamping part 6 move upward, the inner wall of the opening at the bottom end of the grasping tube 1 squeezes the arc-shaped elastic part 13 to contract inward, so that the second connecting part 14 and the clamping part 15 clamp and fix the sheet-shaped electronic device 5. The elastic deformation after the tension spring 11 is stretched is used to clamp and fix the sheet-shaped electronic device 5. During the clamping process, no pressure needs to be applied by fingers, making it more labor-saving to clamp the sheet-shaped electronic device 5 for a long time.
[0022] Working principle: When using the device of this technical solution to grasp an electronic device, the protrusion part 9 pushes the push rod 2 and the moving rod 7 to move downward. During the movement of the moving rod 7, the tension spring 11 is stretched to generate elastic deformation, and at the same time, the rigid metal clamping part 6 is pushed to extend out of the grasping tube 1. After the rigid metal clamping part 6 extends out, the arc-shaped elastic part 13 elastically resets to make the second connecting part 14 and the clamping part 15 open outward. After the multiple clamping parts 15 clamp the sheet-shaped electronic device 5, the protrusion part 9 is released. The tension spring 11 elastically resets to pull the moving rod 7 to move upward. When the moving rod 7 and the rigid metal clamping part 6 move upward, the inner wall of the opening at the bottom end of the grasping tube 1 squeezes the arc-shaped elastic part 13 to contract inward, so that the second connecting part 14 and the clamping part 15 clamp and fix the sheet-shaped electronic device 5. The elastic deformation after the tension spring 11 is stretched is used to clamp and fix the sheet-shaped electronic device 5. During the clamping process, no pressure needs to be applied by fingers, making it more labor-saving to clamp the sheet-shaped electronic device 5 for a long time. The multiple clamping parts 15 apply pressure to the sheet-shaped electronic device 5 from different angles, improving the clamping stability of the sheet-shaped electronic device 5.
[0023] Embodiment 2: This embodiment is based on Embodiment 1 and is used to provide a method for monitoring the grasping operation of an electronic device grasping device. The protrusion part 9 is embedded with an attitude perception module for perceiving the attitude change of the device during the process of grasping the sheet-shaped electronic device 5, so as to monitor the human grasping process. The method includes: During the process of the operator grasping the chip electronic device 5, the attitude perception module continuously obtains the attitude parameters of the convex part 9, calculates the grasping angle and grasping time of the device based on the attitude parameters, comprehensively evaluates the operation specification degree of the operator through a weighted algorithm based on the grasping angle and grasping time, and generates corresponding training guidance opinions when the operation specification degree of the operator is frequently lower than the preset operation threshold; Among them, calculating the grasping angle and grasping time of the device based on the attitude parameters includes: Obtain the acceleration curve in the attitude parameters, and based on a preset image feature extraction algorithm, identify multiple second-direction acceleration curve segments in the acceleration curve, and monitor whether there is a first-direction acceleration curve segment in front of it with the second-direction acceleration curve segment as the reference. Among them, the first-direction acceleration curve segment and the second-direction acceleration curve segment are adjacent. The first-direction acceleration curve is used to represent the downward movement of the convex part 9 along the axis of the push rod 2, and the second-direction acceleration curve is used to represent the upward movement of the convex part 9 along the axis of the push rod 2. The acceleration curve is provided by the acceleration sensor in the attitude perception module; During the grasping or placing process, the push rod 2 has an obvious rebound action (corresponding to the second-direction acceleration curve segment). When pressing the push rod 2 offline, there are obvious differences between grasping and placing. During grasping, since the pushing stroke of the push rod 2 is relatively long, the acceleration sensor can detect a relatively obvious pushing acceleration. During the placing process, since the rigid metal clamping member 6 clamps the chip electronic device 5 at this time, the stroke of the push rod 2 is in a compressed state. On the one hand, the redundant pushing stroke is short. On the other hand, the human inertial operation is that after the chip electronic device 5 is placed at the target position, the push rod 2 is habitually pushed forward a small section of the stroke, and then after visually confirming that the chip electronic device 5 is released, the push rod 2 is quickly rebounded. At this time, the habitually pushing forward a small section of the stroke of the push rod 2 may cause the acceleration sensor to be unable to recognize or only recognize some subtle pushing accelerations (corresponding to the first-direction acceleration curve segment) due to each person's operation habit.
[0024] If it exists, calculate the ratio of the length of the first-direction acceleration curve segment to the length of the second-direction acceleration curve segment, and when the ratio is greater than the preset threshold, determine that the current second-direction acceleration curve segment corresponds to the rigid metal clamping member 6 performing a grasping operation on the chip electronic device 5; If it exists, calculate the ratio of the length of the first-direction acceleration curve segment to the length of the second-direction acceleration curve segment, and when the ratio is less than or equal to the preset threshold, determine that the current second-direction acceleration curve segment corresponds to the rigid metal clamping member 6 performing a placing operation on the chip electronic device 5; If not, it is determined that the current second-direction acceleration curve segment corresponds to the rigid metal clamping member 6 performing a placement operation on the sheet-shaped electronic device 5; Based on the interval duration between the first time node of the second-direction acceleration curve segment corresponding to the grasping operation and the second time node of the second-direction acceleration curve segment corresponding to the placement operation, the single grasping time is calculated, where both the first time node and the second time node are the intermediate values of the time periods corresponding to the second-direction acceleration curve segments; Retrieve the inclination data corresponding to each second time node from the attitude parameters, and calculate the angle between the grasping tube 1 and the horizontal plane based on the inclination data, thereby obtaining the grasping angle. The inclination data is provided by the gyroscope unit in the attitude sensing module.
[0025] All technical features in this embodiment can be freely combined according to actual needs.
[0026] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Claims
1. An electronic device grasping device, characterized in that, It includes a grasping tube (1) and a moving rod (7) slidably arranged in the grasping tube (1). The top end of the moving rod (7) is fixedly connected to a push rod (2), and a plurality of rigid metal clamping members (6) are fixedly arranged in an annular array at the bottom end of the moving rod (7). The top end of the grasping tube (1) is fixedly provided with a top cover (8), and a tension spring (11) located above the moving rod (7) is embedded in the grasping tube (1). The top end of the push rod (2) passes through the top cover (8) and is fixedly provided with a protruding portion (9).
2. The electronic device grasping device according to claim 1, characterized in that, Anti-slip sleeves (4) are fixedly sleeved at both ends of the grasping tube (1). A knob (3) is fixedly arranged on the outer wall of the top cover (8), and a first connecting portion (10) threadedly inserted into the grasping tube (1) is fixedly arranged at the bottom end of the top cover (8).
3. The electronic device grabbing device according to claim 1, characterized in that: The push rod (2) is slidably inserted into the top cover (8), and a protruding portion (9) is integrally formed at the top end of the push rod (2) passing through the top cover (8).
4. An electronic device grasping device according to claim 1, wherein A plurality of grooves (12) are formed in an annular array at the bottom end of the moving rod (7). Four groups of rigid metal clamping members (6) are provided, and the top ends of the rigid metal clamping members (6) are embedded in the grooves (12).
5. An electronic device grasping device according to claim 1, characterized in that, The tension spring (11) is sleeved on the push rod (2), and both ends of the tension spring (11) are fixedly connected to the inner wall of the top cover (8) and the moving rod (7) respectively.
6. An electronic device grasping device according to claim 1, characterized in that, An arc-shaped elastic portion (13) is fixedly arranged at the bottom end of the rigid metal clamping member (6), and the arc-shaped elastic portion (13) is in close connection with the inner wall of the opening at the bottom end of the grasping tube (1).
7. An electronic device grasping device according to claim 6, characterized in that, A second connecting portion (14) is fixedly arranged at the bottom end of the arc-shaped elastic portion (13), a clamping portion (15) is fixedly arranged at the bottom of the second connecting portion (14), a sheet-shaped electronic device (5) is clamped and fixed between the plurality of clamping portions (15), and anti-slip protrusions are arranged on the inner walls of the plurality of clamping portions (15).
8. A method for monitoring a grasping operation of an electronic device grasping device according to any one of claims 1-7, characterized in that, The protruding portion (9) is embedded with an attitude sensing module for sensing the attitude change of the device during the process of grasping the sheet-shaped electronic device (5), so as to monitor the manual grasping process. The method includes: During the process of the operator grasping the sheet-shaped electronic device (5), the attitude sensing module continuously obtains the attitude parameters of the protruding portion (9), calculates the grasping angle and grasping time of the device based on the attitude parameters, comprehensively evaluates the operation specification degree of the operator through a weighted algorithm based on the grasping angle and grasping time, and generates corresponding training guidance opinions when the operation specification degree of the operator is frequently lower than the preset operation threshold; Among them, calculating the grasping angle and grasping time of the device based on the attitude parameters includes: Obtain the acceleration curve in the attitude parameters, and based on a preset image - like feature extraction algorithm, identify multiple second - direction acceleration curve segments in the acceleration curve, and using the second - direction acceleration curve segments as a reference, monitor whether there is a first - direction acceleration curve segment in front of it. Among them, the first - direction acceleration curve segment and the second - direction acceleration curve segment are adjacent. The first - direction acceleration curve is used to represent the downward movement of the convex part (9) along the axis of the push rod (2), and the second - direction acceleration curve is used to represent the upward movement of the convex part (9) along the axis of the push rod (2). The acceleration curve is provided by the acceleration sensor in the attitude perception module; If it exists, calculate the ratio of the length of the first - direction acceleration curve segment to the length of the second - direction acceleration curve segment, and when the ratio is greater than the preset threshold, determine that the current second - direction acceleration curve segment corresponds to the rigid metal clamp (6) performing a grasping operation on the sheet - like electronic device (5); If it exists, calculate the ratio of the length of the first - direction acceleration curve segment to the length of the second - direction acceleration curve segment, and when the ratio is less than or equal to the preset threshold, determine that the current second - direction acceleration curve segment corresponds to the rigid metal clamp (6) performing a placing operation on the sheet - like electronic device (5); If it does not exist, determine that the current second - direction acceleration curve segment corresponds to the rigid metal clamp (6) performing a placing operation on the sheet - like electronic device (5); Based on the time interval between the first time node of the second - direction acceleration curve segment corresponding to the grasping operation and the second time node of the second - direction acceleration curve segment corresponding to the placing operation, calculate the single - grasp time, where both the first time node and the second time node are the mid - values of the time periods corresponding to the second - direction acceleration curve segments; Retrieve the tilt data corresponding to each second time node in the attitude parameters, and based on the tilt data, calculate the angle between the grasping tube (1) and the horizontal plane, thereby obtaining the grasping angle. The tilt data is provided by the gyroscope unit in the attitude perception module.