Method and device for automatically generating end effector support strut configurations

Abstract

The application discloses a kind of end effector support rod structure automatic generation method and device.Therein, the method includes: determining the spatial position information of the reference component of end effector in the three-dimensional model of the end effector, wherein the reference component includes main rod and suction disc;Based on the spatial position information, the geometric configuration relationship model of the auxiliary component connected with the reference component is established, wherein the auxiliary component includes support rod, pipe clamp head, main rod joint and suction disc adapter;Based on the geometric configuration relationship model, the installation pose of the auxiliary component is determined, and based on the installation pose, the support rod structure of the end effector is generated.The application solves the technical problem that assembly adjustment is complicated due to the multiple degrees of freedom of parts in the existing end effector design technology.

Description

Technical Field

[0001] This invention relates to the field of intelligent automotive manufacturing, and more specifically, to a method and apparatus for automatically generating end effector support structures. Background Technology

[0002] With the rapid development of the automotive industry, OEMs are increasingly relying on simulation verification in the development of new models and the optimization of production processes. Especially in the stamping process, stamping workshops often need to design and use end effectors to complete the forming and handling of body panels. As a crucial actuator in robotic handling systems, the structural design of the end effector directly affects the accuracy of process verification and the stability of the production line.

[0003] In existing technologies, the design of end effectors primarily relies on manual labor. Taking a common suction cup end effector as an example, once the positions of the suction cup and crossbar mechanism are determined, designers need to adjust the assembly relationships of components such as the main rod connector, support rod, pipe clamp, and suction cup adapter one by one to meet process and structural requirements. Because these components have a high degree of freedom in three-dimensional space, designers need to repeatedly adjust the posture of the parts, consuming a significant amount of time and effort, resulting in low overall design efficiency and susceptibility to errors introduced by human factors.

[0004] To address the aforementioned issues, existing technologies have proposed several improvements. For example, some solutions integrate the main rod connector, support rod, and pipe clamp into a single unit, allowing for adjustable pipe clamp angles. Other solutions integrate the suction cup and adapter into a single structure to reduce assembly and adjustment workload. Still others employ artificial intelligence (AI) technology to assist design, such as the AI-based end effector design method proposed in the applicant's Chinese patent application filed on August 15, 2025 (application number 2025111409142, invention title "AI-based end effector design method and device"). However, because the components in the overall structure still possess considerable degrees of freedom, designers still need to perform manual or automated assembly adjustments over a significant range, resulting in the cumbersome assembly process caused by the numerous degrees of freedom of the components remaining unresolved.

[0005] There is currently no effective solution to the above problems. Summary of the Invention

[0006] This invention provides a method and apparatus for automatically generating end effector support structure, which at least solves the technical problem of cumbersome assembly and adjustment caused by the large number of degrees of freedom of parts in existing end effector design technology.

[0007] According to one aspect of the present invention, a method for automatically generating an end effector support structure is provided, comprising: determining the spatial position information of a reference component of the end effector in a three-dimensional model of the end effector, wherein the reference component includes a main rod and a suction cup; based on the spatial position information, establishing a geometrical relationship model of an auxiliary component connected to the reference component, wherein the auxiliary component includes a support rod, a pipe clamp, a main rod connector, and a suction cup adapter; based on the geometrical relationship model, determining the installation pose of the auxiliary component, and generating the support structure of the end effector based on the installation pose.

[0008] According to another aspect of the present invention, an apparatus for automatically generating an end effector support structure is also provided, comprising: a determining module configured to determine the spatial position information of a reference component of the end effector in a three-dimensional model of the end effector, wherein the reference component includes a main rod and a suction cup; a geometric construction module configured to establish a geometric construction relationship model of an auxiliary component connected to the reference component based on the spatial position information, wherein the auxiliary component includes a support rod, a pipe clamp, a main rod connector, and a suction cup adapter; and a generating module configured to determine the installation pose of the auxiliary component based on the geometric construction relationship model, and generate the support structure of the end effector based on the installation pose.

[0009] In this embodiment of the invention, the spatial position information of the reference component of the end effector in the three-dimensional model of the end effector is determined, wherein the reference component includes a main rod and a suction cup; based on the spatial position information, a geometric structural relationship model of the auxiliary component connected to the reference component is established, wherein the auxiliary component includes a support rod, a pipe clamp, a main rod connector, and a suction cup adapter; based on the geometric structural relationship model, the installation posture of the auxiliary component is determined, and based on the installation posture, the support rod structure of the end effector is generated. This solution solves the technical problem of cumbersome assembly and adjustment caused by the large number of degrees of freedom of parts in existing end effector design technologies. Attached Figure Description

[0010] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0011] Figure 1 This is a structural diagram of a vehicle body part equipped with an end effector, based on existing technology;

[0012] Figure 2 This is a structural diagram of an end effector based on existing technology;

[0013] Figure 3This is a flowchart of an optional method for automatically generating an end effector support structure according to an embodiment of the present invention;

[0014] Figure 4 This is a flowchart of another optional method for automatically generating an end effector support structure according to an embodiment of the present invention;

[0015] Figure 5A This is a schematic diagram of the assembly shaft system of the suction cup according to an embodiment of the present invention;

[0016] Figure 5B This is a schematic diagram of the assembly shaft system of the suction cup adapter according to an embodiment of the present invention;

[0017] Figure 5C This is a schematic diagram of the assembly shaft system of the pipe clamp according to an embodiment of the present invention;

[0018] Figure 5D This is a schematic diagram of the assembly shaft system of the main rod joint according to an embodiment of the present invention;

[0019] Figure 5E This is a schematic diagram of the assembly shaft system of the main rod or support rod according to an embodiment of the present invention;

[0020] Figure 6 These are schematic diagrams illustrating the connection of adapters at different angles according to embodiments of the present invention;

[0021] Figure 7A This is a geometric schematic diagram illustrating the automatic generation method of an end effector support structure according to an embodiment of the present invention.

[0022] Figure 7B This is a geometric schematic diagram illustrating the automatic generation method of the end-cap support structure for separating the pipe clamp according to an embodiment of the present invention.

[0023] Figure 7C This is a schematic diagram of the rotation radius R according to an embodiment of the present invention;

[0024] Figure 8 This is a schematic diagram of an optional end effector support structure automatic generation device according to an embodiment of the present invention.

[0025] Figure 9 A schematic diagram of the structure of an electronic device suitable for implementing embodiments of the present disclosure is shown;

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Jumper plate; 2. Main rod; 3. Main rod connector; 4. Support rod; 5. Pipe clamp; 6. Suction cup; 7. Suction cup adapter; 24. Main rod axis; R, rotation radius; L, translation distance; m, tangent; m”, tangent after translation; n, redundant tangent; 82. Determining module; 84. Geometric construction module; 86. Generating module; 1001. CPU; 1002. ROM; 1003. RAM; 1004. Bus; 1005. I / O interface; 1006. Input section; 1007. Output section; 1008. Storage section; 1009. Communication section; 1010. Driver; 1011. Removable media. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] According to an embodiment of the present invention, a method embodiment for automatically generating an end effector support structure is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0031] End effector, such as Figure 1 As shown, this is a dedicated actuator installed at the end of an industrial robot or automated equipment. End effectors are typically like... Figure 2 The components shown include a jumper plate 1, a main rod 2, a main rod connector 3, a support rod 4, a pipe clamp 5, a suction cup 6, and a suction cup adapter 7.

[0032] The jumper plate 1 connects multiple main rods. The main rod 2 is the primary support structure of the end effector, bearing the weight of the entire device and transmitting the robot's motion force; it is typically a rigid beam made of aluminum alloy or carbon fiber. The support rod 4 supports and adjusts the height of the suction cup or other actuators, usually featuring an adjustable design to adapt to different working environments or workpiece sizes. The main rod connector 3 connects the main rod and the support rod. The suction cup adapter 7 is the interface component for mounting the vacuum suction cup, featuring multi-degree-of-freedom adjustment functions (such as angle and position fine-tuning) for precise alignment with the workpiece surface and reliable gripping. The suction cup 6 is the part that directly contacts the workpiece, gripping objects through negative pressure adsorption. Its material, shape, and number can be selected and configured according to the workpiece characteristics. The tube clamp 5 connects the suction cup adapter 7 and the support rod 4.

[0033] Figure 3 This is a method for automatically generating an end effector support structure according to an embodiment of the present invention, such as... Figure 3 As shown, the method includes the following steps:

[0034] Step S302: Determine the spatial position information of the reference component of the end effector in the three-dimensional model of the end effector, wherein the reference component includes the main rod and the suction cup.

[0035] First, based on the actual assembly of each part in the support structure of the end effector, each part is represented by a center line segment of a preset length in the corresponding axis direction, and a joint type that meets the design requirements of the actual assembly is selected from the preset types of joints.

[0036] Next, the spatial position information of the end effector's reference components within the end effector's 3D model is determined. For example, the assembly position of the suction cup on the sheet metal model, and the alignment of the suction cup's Z-axis with the normal vector of the surface where the suction cup assembly point is located. The height and position (front / back) of the main rod relative to the sheet metal model are also determined according to different design requirements.

[0037] For example, in some embodiments, the line segments of the main rod can be first established in the space of the three-dimensional model; then, a plane on the axis of the suction cup adapter can be created in the space, and the angle between the plane and the line segments of the main rod can be used as the corresponding connector angle. Based on the corresponding connector angle, a connector type that meets the design requirements of the actual assembly can be selected from the preset types of connectors. This embodiment transforms the spatial relationship between the main rod and the suction cup adapter into an angle parameter, which can intuitively reflect the assembly constraints, thereby enabling the determination of the connector type based on the corresponding connector angle.

[0038] Step S304: Based on the spatial location information, establish a geometric structure relationship model of the auxiliary components connected to the reference component, wherein the auxiliary components include a support rod, a pipe clamp, a main rod connector, and a suction cup adapter.

[0039] For example, based on the spatial location information, starting from the intersection of the axes of the two connectors of the suction cup adapter, a first line segment Y is generated along the corresponding connector angle towards the main rod axis, and a second line segment X is generated with the Z-axis of the suction cup adapter mounting system as a reference. In the first plane XY containing the first line segment Y and the second line segment X, a circle is generated with the starting point as the center and the radius of rotation of the pipe clamp in the pipe clamp support rod mounting system as the radius. This embodiment uses the intersection point as the starting point and constructs a circular geometric relationship, which can effectively determine the spatial layout of the pipe clamp and the support rod. This method transforms the complex assembly process into a simple geometric structure, improving the calculation efficiency of the support rod installation pose.

[0040] Step S306: Based on the geometric structure relationship model, determine the installation pose of the auxiliary component, and based on the installation pose, generate the support structure of the end effector.

[0041] A tangent line is generated on the first plane XY that is tangent to the circle and forms a corresponding joint angle with the axis of the main rod. This tangent line is translated along a direction perpendicular to the first plane XY, where the translation distance is the distance from the origin of the suction cup adapter to the origin of the pipe clamp support rod axis. The translated tangent line is used as the axis of the support rod, and the intersection of the translated tangent line and the axis of the main rod is used as the adapter mounting pose for the corresponding joint angle. Based on this mounting pose, the support rod structure of the end effector is generated. Finally, based on the mounting pose, the support rod structure of the end effector is generated.

[0042] This embodiment precisely determines the axis and joint position of the support rod through tangent and translation operations, avoiding errors from manual adjustments. This method achieves automatic conversion from the geometric model to the actual assembly pose, thereby ensuring that the generated support rod structure meets design constraints.

[0043] This invention also provides another method for automatically generating end effector support rod structures. This method is mainly applied in automotive stamping processes and robotic handling systems. By abstractly modeling and performing spatial geometric calculations on the components of the end effector support rod structure, the posture of the end effector support rod structure that meets design requirements can be quickly obtained without manually adjusting the assembly relationships one by one. In this embodiment, the main rod and suction cup are used as reference components. By determining their spatial positions in the three-dimensional model, the geometric relationships of the auxiliary components are further derived, thereby determining the installation posture of the auxiliary components. Finally, a complete support rod structure is generated based on the installation posture, thus realizing the automated design of the end effector support rod structure.

[0044] Specifically, such as Figure 4 As shown, the automatic generation method for the end effector support structure includes the following steps:

[0045] Step S402: Establish the main pole segment in space.

[0046] First, an abstract model is created for each component in the end effector's support structure. Components such as the support rod, pipe clamp, and suction cup adapter all have clearly defined assembly axes; therefore, these components can be represented by line segments with their axial directions as a reference. The specific assembly axes of each component are as follows: Figures 5A to 5E As shown, where, Figures 5A to 5E This is a schematic diagram of the assembly shaft system for the suction cup, suction cup adapter, pipe clamp, main rod connector, and main rod / support rod;

[0047] For example, main rods and support rods can be represented by straight line segments; for pipe clamps, the center point of the support rod mounting axis can be used as the origin, and the center line segment extending from that point can be used to represent the clamp; for suction cup adapters, they can be represented as L-shaped line segments. Then, the main rod line segments, i.e., the main rod axis, are established in the space of the 3D model. In this way, complex 3D parts are simplified into geometrically meaningful line segment representations, thus facilitating subsequent geometric calculations.

[0048] Step S404: Create a plane on the suction cup adapter axis in space, with the angle between the plane and the main rod segment being the connector angle.

[0049] After completing the abstract modeling of the part, it is necessary to select a joint type from the preset joint types that meets the actual assembly requirements. Joint type refers to the different angles and structural methods used to connect the support rod and the main rod. In this embodiment, the joint type library pre-stores a variety of commonly used joint solutions, such as adapters with fixed angles of 30°, 45°, and 60°, or universal adjustable joints.

[0050] The choice of connector type is based on the spatial relationship between the main rod and the suction cup adapter. Specifically, in the space of the 3D model, the plane containing the axis system of the suction cup adapter is first created, and the angle between this plane and the axis of the main rod is taken as the connector angle. Diagrams illustrating the connection of adapters at different angles are shown below. Figure 6 As shown. Among them, Figure 6 (a) shows angles of 45°, 60°, and 90°. Figure 6 (b) shows an angle of 90°. Based on this joint angle, the closest joint scheme is matched from a preset joint type library to determine the joint type used for the support structure design.

[0051] Through this process, this embodiment can avoid the tedious process of manually probing the joint angle repeatedly, quickly select the joint structure that meets the design requirements, and improve modeling efficiency.

[0052] Step S406: Draw a circle with radius R on the plane, where R is the perpendicular distance between the two mounting axes of the pipe clamp.

[0053] refer to Figure 7A and 7B First, the intersection point O of the two connector axes of the suction cup adapter 7 is taken as the starting point. Based on this, a first line segment Y is generated in the direction of the main rod axis 24. The direction of this line segment is determined by a predetermined connector angle, such as forming an angle of 30°, 45° or 60° with the main rod axis.

[0054] Subsequently, using the normal to the working surface of the suction cup, i.e., the Z-axis of the suction cup adapter mounting system, as a reference, a second line segment X is generated. This line segment represents the reference datum for the suction cup direction and is used to constrain the installation posture of the support rod.

[0055] Within the first plane XY containing the first line segment Y and the second line segment X, a circle is generated with the intersection point O as its center. The radius of this circle is the radius of rotation of the pipe clamp within its support rod mounting system. Figure 7C As shown. The radius of rotation R is defined as the distance from the origin of the pipe clamp to the mounting point of the support rod, that is, the perpendicular distance between the two mounting axes of the pipe clamp. This circle can be used to describe the possible range of motion of the pipe clamp in space.

[0056] This embodiment simplifies the complex assembly problem into a planar geometry problem. By combining line segments and circles, the geometric constraints between auxiliary components can be clearly expressed, laying the foundation for subsequent installation pose calculations.

[0057] Step S408: Draw a tangent line from the intersection of the plane and the main rod segment to the circle, and take a tangent line parallel to the intersection line of the adapter and the main rod segment.

[0058] First, within the first plane XY, generate a tangent m that is tangent to the circle and forms a corresponding joint angle with the axis of the main rod, and a redundant tangent n. Take a tangent m parallel to the line of intersection between the suction cup adapter and the axis of the main rod. This tangent satisfies both the angle requirement between the support rod and the main rod and ensures spatial consistency with the rotation radius of the pipe clamp.

[0059] Step S410: Translate the tangent line by a distance equal to the vertical distance from the pipe clamp to the suction cup adapter.

[0060] The tangent m is translated along a direction perpendicular to the first plane XY to obtain the translated tangent m". The translation distance L is equal to the distance from the origin of the suction cup adapter to the origin of the pipe clamp support rod axis, that is, the perpendicular distance from the pipe clamp to the suction cup adapter.

[0061] Step S412: Determine the pose.

[0062] The translated tangent is the centerline of the support rod. The intersection of this line and the main rod segment is the location of the main rod joint, i.e., the assembly point of the main rod joint. Assembly is performed based on the determined assembly point.

[0063] Determine if there are any other parts that have not been assembled. If so, jump to step S404 and repeat steps S404 to S412 until all parts of the end effector are assembled.

[0064] Compared with existing technologies, the embodiments of this application simplify the operation steps, greatly reduce the workload of designers, improve work efficiency, and lower design costs. Furthermore, designers do not need to adjust the assembly relationships between each part; they can quickly calculate the optimal posture of the support structure under a specified joint type. The complete support posture that meets the conditions is automatically generated when the centerline of each part coincides with the line segment shown in the diagram. The embodiments of this application utilize the motion trajectory of each part in the support structure to automatically calculate the posture of the support through mathematical calculations, greatly improving the adaptation efficiency of the support structure posture.

[0065] This application also provides a device for automatically generating the end effector support structure, such as... Figure 8 As shown, it includes: a determination module 82, configured to determine the spatial position information of a reference component of the end effector in the three-dimensional model of the end effector, wherein the reference component includes a main rod and a suction cup; a geometry construction module 84, configured to establish a geometric construction relationship model of an auxiliary component connected to the reference component based on the spatial position information, wherein the auxiliary component includes a support rod, a tube clamp, a main rod connector, and a suction cup adapter; and a generation module 86, configured to determine the installation pose of the auxiliary component based on the geometric construction relationship model, and generate the support rod structure of the end effector based on the installation pose.

[0066] It should be noted that the device for automatically generating the end effector support structure provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the device for automatically generating the end effector support structure provided in the above embodiments and the method embodiment for automatically generating the end effector support structure belong to the same concept, and the specific implementation process can be found in the method embodiment, which will not be repeated here.

[0067] Figure 9 A schematic diagram of an electronic device suitable for implementing embodiments of the present disclosure is shown. It should be noted that... Figure 9The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0068] like Figure 9 As shown, the electronic device includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage section 1008 into a random access memory (RAM) 1003. The RAM 1003 also stores various programs and data required for system operation. The CPU 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0069] The following components are connected to I / O interface 1005: an input section 1006 including a keyboard, mouse, etc.; an output section 1007 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN card, modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to I / O interface 1005 as needed. A removable medium 1011, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 1010 as needed so that computer programs read from it can be installed into storage section 1008 as needed.

[0070] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for automatically generating an end effector support structure, characterized in that, include: The spatial position information of the reference components of the end effector in the three-dimensional model of the end effector is determined, wherein the reference components include the main rod and the suction cup; Based on the spatial location information, a geometric structure relationship model of the auxiliary components connected to the reference component is established, wherein the auxiliary components include a support rod, a pipe clamp, a main rod connector, and a suction cup adapter. Based on the geometric construction relationship model, the installation pose of the auxiliary component is determined, and based on the installation pose, the support structure of the end effector is generated; The process of establishing a geometric structure relationship model for auxiliary components connected to the reference component based on the spatial position information includes: generating a first line segment towards the main rod axis along the corresponding joint angle, with the intersection of the axes of the two joints of the suction cup adapter as the starting point, and generating a second line segment with the normal of the working circular surface of the suction cup as a reference; and generating a circle with the starting point as the center and the rotation radius of the pipe clamp in the pipe clamp support rod mounting system as the radius in the first plane where the first line segment and the second line segment are located. The determination of the installation pose of the auxiliary component based on the geometric structure relationship model includes: generating a tangent line on the first plane that is tangent to the circle and forms the corresponding joint angle with the axis of the main rod; translating the tangent line in a direction perpendicular to the first plane, wherein the translation distance is the distance from the origin of the suction cup adapter to the origin of the pipe clamp support rod mounting axis; using the translated tangent line as the axis of the support rod, and using the intersection of the translated tangent line and the axis of the main rod as the adapter installation pose for the corresponding joint angle.

2. The method according to claim 1, characterized in that, Before determining the spatial position information of the reference component of the end effector in the three-dimensional model of the end effector, the method further includes: based on the actual assembly of each part in the support structure of the end effector, representing each part in the corresponding axis direction with a center line segment of a preset length, and selecting a joint type from a preset type of joint that meets the design requirements of the actual assembly.

3. The method according to claim 2, characterized in that, Select from the preset types of connectors the connector types that meet the design requirements of the actual assembly, including: In the space of the three-dimensional model, a plane is created on the suction cup adapter axis system, and the angle between the plane on the suction cup adapter axis system and the axis of the main rod is taken as the corresponding connector angle; Based on the corresponding joint angle, select a joint type from the preset joint types that meets the design requirements of the actual assembly.

4. The method according to claim 3, characterized in that, The segments of the main rod and the support rod have a straight line configuration, the segments of the suction cup adapter have a "T" shaped branch configuration, and the segments of the pipe clamp and the main rod connector have a "|" shaped configuration.

5. A device for automatically generating an end effector support structure, characterized in that, include: The determination module is configured to determine the spatial position information of a reference component of the end effector in the three-dimensional model of the end effector, wherein the reference component includes a main rod and a suction cup; The geometric construction module is configured to establish a geometric construction relationship model of auxiliary components connected to the reference component based on the spatial location information, wherein the auxiliary components include a support rod, a pipe clamp, a main rod connector, and a suction cup adapter. The generation module is configured to determine the installation pose of the auxiliary component based on the geometric construction relationship model, and generate the support structure of the end effector based on the installation pose. The geometric construction module is further configured to: based on the spatial position information, starting from the intersection of the axes of the two connectors of the suction cup adapter, generate a first line segment along the corresponding connector angle towards the main rod axis, and generate a second line segment with the normal of the working circular surface of the suction cup as a reference; in the first plane where the first line segment and the second line segment are located, generate a circle with the starting point as the center and the rotation radius of the pipe clamp in the pipe clamp support rod mounting system as the radius; The generation module is further configured to: generate a tangent line on the first plane that is tangent to the circle and forms the corresponding joint angle with the axis of the main rod; translate the tangent line in a direction perpendicular to the first plane, wherein the translation distance is the distance from the origin of the suction cup adapter to the origin of the pipe clamp support rod mounting axis; use the translated tangent line as the axis of the support rod, and use the intersection of the translated tangent line and the axis of the main rod as the adapter mounting pose for the corresponding joint angle.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 4.

7. A computer device, characterized in that, include: Memory and processor The memory stores computer programs; The processor is configured to execute a computer program stored in the memory, wherein when the computer program is executed, the processor performs the method according to any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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