Control method and system of task execution device for physical and chemical experiment operation

Abstract

The invention belongs to the field of laboratory automation equipment, and discloses a control method and system of a task execution device for physical and chemical experiment operation, and the method comprises the steps: initializing and calibrating the device; receiving and analyzing an experiment task instruction; collecting object information through a visual sensor; the upper computer generates an execution scheme according to the strategy library; the electric control rotary clamping jaw is driven to complete operation; force and displacement parameters are monitored in real time, and dynamic adjustment actions are fed back through a closed loop; and judging that the operation is completed according to the threshold. The system comprises a visual sensor, a rotary driving body, an electric control rotary clamping jaw and an upper computer. By integrating visual identification and force sense feedback, fine operations such as clamping, taking and placing, bottle cap screwing and the like can be completed in a self-adaptive mode, the efficiency, precision and reliability of laboratory automatic operation are remarkably improved, manual operation errors are reduced, and good application prospects are achieved.

Description

Technical Field

[0001] This invention relates to the field of laboratory automation equipment technology, and in particular to a control method and system for a task execution device used in physical and chemical experiments. Background Technology

[0002] With the development of science and technology, laboratory automation has become an important means to improve experimental efficiency and ensure operational accuracy and repeatability. Physicochemical experiments often involve various operations requiring high repeatability and strict precision, such as reagent handling, bottle cap tightening and loosening, and syringe operation. Traditionally, these operations were mostly performed manually, which was not only inefficient but also resulted in poor consistency, susceptibility to human error, and certain safety hazards.

[0003] Currently, some automated equipment is available on the market to assist laboratory operations, such as robotic arms and automated pipetting systems. However, these devices often have limited functionality and poor adaptability, making it difficult to handle diverse and non-standardized experimental items (such as bottle caps and glassware of different shapes, sizes, and materials). Especially in complex operations requiring precise force control and visual guidance (such as monitoring torque and displacement while screwing on a bottle cap), existing technologies often lack effective integrated control strategies and adaptive adjustment mechanisms.

[0004] Furthermore, existing clamping devices mostly rely on preset program control and lack real-time feedback adjustment capabilities, resulting in a high failure rate when facing unknown or variable experimental environments. Research on intelligent operating systems combining visual sensing and force control is still in the development stage, and a mature, widely applicable integrated solution for physical and chemical laboratories has not yet been formed.

[0005] Therefore, there is an urgent need to develop a control method and system for automated task execution devices that can integrate visual recognition, force feedback and intelligent decision-making, so as to improve the automation level, adaptability and reliability of laboratory operations. Summary of the Invention

[0006] The purpose of this invention is to provide a control method and control system for a task execution device used in physicochemical experiments, thereby improving the efficiency and accuracy of automated laboratory operations. By integrating visual recognition, force feedback, and intelligent decision-making, the system can adaptively handle various experimental tasks, such as clamping, picking up, and screwing on bottle caps, effectively reducing the repetitiveness and inconsistency of manual operations and significantly improving the level of automation in experimental procedures.

[0007] The technical solution adopted by this invention to solve its technical problem is: to provide a control method for a task execution device for physical and chemical experiments, comprising the following steps:

[0008] The device is initialized, and communication connections and parameter calibrations are performed between the vision sensor, the electrically controlled rotating gripper, and the host computer.

[0009] Receive physical and chemical experiment operation task instructions, parse the task type and target parameters, wherein the task type includes clamping and placing and twisting operations;

[0010] The spatial location, shape features, and material properties of the objects associated with the task are collected by a visual sensor and transmitted to the host computer.

[0011] Based on the collected information and the pre-stored experimental operation strategy library, the host computer generates a task execution plan that includes motion trajectory, clamping parameters and action sequence;

[0012] According to the execution plan, the electrically controlled rotating gripper is driven to complete the posture adjustment, target clamping and specified operation actions;

[0013] During task execution, the clamping force, rotational torque, and displacement parameters are monitored in real time, and the actuator action is dynamically adjusted through closed-loop feedback.

[0014] When the monitored parameters reach the preset threshold, the corresponding operation is determined to be completed, and the next operation step is executed until the entire experimental task is completed.

[0015] Furthermore, the clamping and placement control process includes the following steps:

[0016] The visual sensor collects information on the position, appearance features, material, and posture of the target object and transmits the collected information to the host computer.

[0017] Based on the received information and combined with a pre-trained grasping strategy library, the host computer determines the optimal grasping scheme, which includes the best gripping position, the pre-opening distance of the grippers, and the target gripping force.

[0018] The electrically controlled rotary gripper moves to the target position according to the optimal gripping position command issued by the host computer, and adjusts the gripper to the pre-opening distance;

[0019] The electrically controlled rotary gripper controls the gripper to perform a closing action, and at the same time monitors the clamping force in real time through motor current feedback. When the clamping force reaches the target clamping force, the gripper is controlled to stop closing and maintain the clamping state.

[0020] The electrically controlled rotating gripper drives the target object to perform handling or placement tasks, completing the gripping and placement operation.

[0021] Furthermore, the turning control process includes the following steps:

[0022] The visual sensor collects the spatial pose of the bottle and the position and feature contour information of the bottle cap, and transmits the collected information to the host computer.

[0023] Based on the received information, the host computer invokes the bottle cap twisting strategy to determine the bottle cap clamping area, clamping posture, and clamping force parameters.

[0024] The electrically controlled rotary gripper controls the parallel gripper to close according to the determined bottle cap clamping area, clamping posture and clamping force parameters, clamping the bottle cap, and maintaining stable clamping through motor current closed-loop force control during the clamping process;

[0025] External auxiliary clamps secure the lower part of the bottle;

[0026] Control the electrically controlled rotating gripper to perform a tightening action;

[0027] During the screwing process, the rotational torque and Z-axis displacement are monitored in real time. When the rotational torque drops to zero or reaches a preset threshold, and the Z-axis displacement reaches a preset threshold, it is determined that the cap is fully screwed out or tightened, and the rotation mechanism and Z-axis offset are stopped.

[0028] Furthermore, the pre-trained grasping strategy library is generated through a large number of grasping experiments on objects of different types, specifications and materials, covering grasping parameters for tubular objects, cylindrical objects, square objects and plate-shaped objects.

[0029] Furthermore, in the bottle cap screwing control process, the electrically controlled rotating gripper is controlled to perform the screwing action; the rotation speed of the rotating drive body of the electrically controlled rotating gripper is adjusted by the host computer according to the bottle cap specifications and material.

[0030] Furthermore, in the clamping and pick-up operation control process, the opening action of the parallel grippers is driven by a motor, and the motor's drive current is controlled by closed-loop feedback to ensure the stability of the clamping force.

[0031] This application also provides a control system for a task execution device for physical and chemical experimental operations, including:

[0032] A vision sensor, connected to a host computer, is used to collect the position and orientation information of the collected object;

[0033] A rotary drive unit is mounted on top of the vision sensor and is used to drive the gripper rotating parts to move.

[0034] An electrically controlled rotary gripper, connected to a rotary drive body, is used to grip objects or perform the action of screwing on bottle caps.

[0035] The host computer is connected to the vision sensor, the rotary drive body, and the electrically controlled rotary gripper to generate and issue motion execution commands.

[0036] Furthermore, the electrically controlled rotary gripper includes: a gripper rotator, a first clamping part, a second clamping part, and a gripping finger, a syringe holding part, and a syringe; the gripper rotator is connected to the rotary drive body; a slide rail is mounted on one end of the gripper rotator; the first clamping part and the second clamping part are respectively mounted on the slide rail, and the first clamping part and the second clamping part move towards or away from each other; the gripping finger is mounted on the side wall of the first clamping part and the second clamping part.

[0037] This specification provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the methods described in any of the above aspects.

[0038] This specification provides computer program products, including computer programs that, when executed by a processor, implement the methods described in any of the above aspects.

[0039] Compared with the prior art, the beneficial effects of the present invention are:

[0040] (1) The control method and system for the task execution device for physical and chemical experiments provided by the present invention significantly improve the efficiency and accuracy of automated laboratory operations. By integrating visual recognition, force feedback and intelligent decision-making, the system can adaptively handle a variety of experimental tasks, such as clamping and placing and screwing on bottle caps, effectively reducing the repetitiveness and inconsistency of manual operations and greatly improving the level of automation of the experimental process.

[0041] (2) The system has strong environmental adaptability and operational reliability. Based on the pre-trained grasping strategy library and real-time sensor feedback, the device can dynamically adjust the clamping parameters and motion trajectory according to the shape, size and material of different objects to avoid damage to objects or operation failure. Especially in tasks that require precise force control, such as screwing bottle caps, the accuracy and completion of the operation are ensured through dual monitoring of torque and displacement.

[0042] (3) This invention also enhances the safety and repeatability of laboratory operations. The system adjusts the clamping force and rotation speed in real time through closed-loop control to prevent breakage of glassware or sample contamination due to excessive force or improper operation. It can be widely applied to various physical and chemical experimental scenarios and has good promotional value and application prospects. Attached Figure Description

[0043] Figure 1 This is a flowchart illustrating a control method for a task execution device used in physical and chemical experiments according to the present invention.

[0044] Figure 2 This is a schematic diagram of the structure of a task execution device for physical and chemical laboratory operations according to the present invention;

[0045] The components in the attached diagram are labeled as follows:

[0046] 1. Vision sensor; 2. Rotary drive body; 3. Electrically controlled rotating gripper; 30. Gripper rotating component; 31. First gripping part; 32. Second gripping part; 33. Gripper finger. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 are within the scope of protection of the present invention.

[0048] Example 1:

[0049] This embodiment discloses a control method for a task execution device used in physical and chemical experiments, such as... Figure 1 As shown, it includes the following steps:

[0050] S1. Device initialization: Communication connections and parameter calibration are established between the vision sensor, the electrically controlled rotary gripper, and the host computer. After the system is powered on, the host computer automatically establishes communication connections with the vision sensor, the rotary drive unit, and the electrically controlled rotary gripper, and checks the status of each component. Subsequently, the parameter calibration process is executed, including: focal length and white balance calibration of the vision sensor; zero-point position calibration of the electrically controlled rotary gripper; and zero-point calibration of the rotary drive unit. This step ensures that all units are in a known reference state.

[0051] S2. Receive physicochemical experiment operation task instructions, parse the task type and target parameters. The task type includes clamping and placing and screwing bottle cap operations. The host computer receives a specific physicochemical experiment operation task instruction from the user interface or the laboratory information management system, such as "pick up and place test tube A to position B" or "unscrew the cap of reagent bottle C". The host computer parses the instruction, clarifies the task type (clamping and placing or screwing bottle cap) and the target parameters (such as target position coordinates, target clamping force, target number of screwing turns, etc.).

[0052] S3. The visual sensor collects information on the spatial location, morphological features, and material properties of the task-related objects and transmits it to the host computer. The host computer then sends a collection command to the visual sensor. The visual sensor captures images of the working area and processes them using built-in or host computer-run image processing algorithms. Specifically, this involves using OpenCV-based or deep learning-based recognition algorithms to extract the spatial location (converted to world coordinates through camera calibration), morphological features (such as contour and diameter), posture (tilt angle), and material properties (such as preliminary judgment based on texture and reflectivity) of the task-related objects (such as test tubes and bottle caps). This information is then packaged into data packets and transmitted to the host computer.

[0053] S4. The host computer generates a task execution plan containing motion trajectory, clamping parameters and action sequence based on the collected information and the pre-stored experimental operation strategy library.

[0054] After receiving visual information, the host computer matches it with a pre-stored experimental operation strategy library. This strategy library is an empirical database that stores optimized operation parameters for different object types, materials, and tasks. Based on this, the host computer generates a detailed task execution plan, which includes:

[0055] Motion trajectory: Path planning for the electrically controlled rotary gripper to move from its current position to the target point.

[0056] Clamping parameters include pre-opening distance and target clamping force.

[0057] Action sequence: a series of ordered action instructions, such as "move to point P1 > rotate to angle θ1 > close the gripper to force F > lift to height Z2 > ...

[0058] S5. Drive the electrically controlled rotating gripper to complete the posture adjustment, target clamping and specified operation actions according to the execution plan;

[0059] S6. During task execution, the clamping force, rotational torque and displacement parameters are monitored in real time, and the action of the actuator is dynamically adjusted through closed-loop feedback;

[0060] S7. When the monitored parameters reach the preset threshold, the corresponding operation is determined to be completed, and the next operation step is executed until the entire experimental task is completed. For each sub-operation (such as one clamping or one twisting), when the monitored parameters reach the preset completion threshold (such as the clamping force reaching the target value and remaining stable, or the twisting torque dropping sharply while the Z-axis displacement reaches the preset value), the host computer determines that the operation is completed and executes the next operation step sequentially until the entire experimental task instruction is fully executed.

[0061] Example 2: Specific implementation process of clamping and placing.

[0062] When the parsed task type is "gripping and placing", the system executes the following fine control process to complete the gripping and placement of the target object (such as test tube, beaker, sample plate, etc.).

[0063] S201: Target Information Acquisition. The vision sensor acquires multi-angle images of the target object. Through image recognition algorithms, it not only identifies the object's center coordinates (X, Y, Z) but also extracts its appearance features (such as outline shape and size) and performs a preliminary classification of its material (such as glass, plastic, and metal) based on surface texture and reflective properties. Simultaneously, it analyzes the object's posture, such as whether the test tube is vertical or whether the beaker's handle is pointing in a specific direction. This information is transmitted to the host computer in real time.

[0064] S202: Optimal Grasping Scheme Decision. After receiving the target information, the host computer calls its internally pre-trained grasping strategy library. This strategy library is an empirical model trained using deep learning algorithms through grasping experiments on a large number of objects of different types (tubular, cylindrical, square, plate-like), different specifications (diameter, height), and different materials (smooth, rough, fragile). The strategy library stores successful grasping parameters for various objects. The host computer matches the features of the current target object with the strategy library to determine the optimal grasping scheme. This scheme specifically includes:

[0065] Optimal clamping position: Determine the best point of contact between the clamping fingers and the object to avoid slippage or damage. For example, for a cylindrical test tube, clamp it at the upper-middle part of its height.

[0066] Gripper pre-opening distance: Calculate the width that the gripper needs to open before closing based on the maximum outer diameter of the object to ensure that the object can be smoothly fitted.

[0067] Target clamping force: Set a safe and reliable clamping force threshold based on the material and fragility of the object. For example, use a smaller force when gripping glassware and a larger force when gripping metal tools.

[0068] S203: Position Adjustment and Pre-opening / closing

[0069] The host computer sends instructions containing the optimal clamping position and pre-opening distance to the actuator. The rotary drive body and the moving mechanism of the gripper work together to drive the electrically controlled rotary gripper to move directly above the target object. Subsequently, the built-in motor of the electrically controlled rotary gripper drives the first and second clamping parts to move along the slide rail, adjusting the opening of the gripper fingers to the pre-opening distance.

[0070] S204: Closed-loop force control clamping

[0071] The host computer issues a closing command. The electrically controlled rotating gripper controls the gripper to perform the closing action. During this process, the system monitors the motor current driving the gripper to calculate the actual clamping force in real time, forming a force closed-loop control. When the real-time monitored clamping force reaches the target clamping force set in S202, the host computer immediately issues a command to stop the motor rotation, maintaining the gripper's current clamping state. This method effectively prevents damage to the object due to over-clamping or slippage due to insufficient clamping force.

[0072] S205: Handling and Placement

[0073] After the target object is stably gripped, the host computer controls the actuator (such as a robotic arm or XYZ motion platform) to move the object to the target position. Once above the target position, the reverse placement action is performed: the gripper is slightly opened to just release the object but not fully open, and then the device is slightly raised to smoothly lower the object, completing one pick-up and drop operation.

[0074] Example 3: Specific implementation process of screwing on the bottle cap.

[0075] When the parsed task type is "screwing bottle cap", the system executes the following control flow to automatically open or tighten the bottle cap:

[0076] S301: Bottle Cap and Bottle Body Recognition and Positioning. The vision sensor identifies the bottle body and bottle cap. First, it locates the spatial pose of the bottle body (3D coordinates and tilt angle), then identifies the edge contour and geometric center of the bottle cap, and determines its specifications (diameter, height) and type (e.g., flat cap, serrated cap).

[0077] S302: Tightening Strategy Invocation and Parameter Determination. Based on the identified bottle cap information, the host computer invokes a specific bottle cap tightening strategy. This strategy is determined as follows:

[0078] Bottle cap gripping area: Determine the position where the gripping fingers should contact the side wall of the bottle cap to provide maximum friction and stability.

[0079] Clamping posture: Calculate the angle at which the gripper needs to rotate so that the gripper fingers fit perfectly against the side wall of the bottle cap.

[0080] Clamping force parameter: Set a clamping force that is sufficient to overcome static friction but will not crush the bottle cap.

[0081] S303: Closed-loop force-controlled bottle cap clamping. The electrically controlled rotary gripper, following instructions from the host computer, first adjusts its rotation angle to a predetermined clamping posture, then controls the parallel gripper to close with a set clamping force, clamping the side wall of the bottle cap. The clamping process also uses motor current feedback for closed-loop force control, ensuring the clamping force remains stable at the set value and preventing slippage or damage to the bottle cap.

[0082] S304: Bottle securing. Before the screwing action begins, an external auxiliary clamp holds the bottle firmly from below to prevent it from rotating or tipping over when the cap is screwed on. This step ensures the effectiveness and safety of the screwing action.

[0083] S305: Performs the tightening action. The host computer controls the rotary drive body to start rotating in a preset direction (clockwise for tightening, counterclockwise for unscrewing) and at a preset speed. The rotation speed is adjusted by the host computer according to the size and material of the bottle cap. For large-sized or tightly threaded bottle caps, a lower speed and higher torque are used, while for small-sized bottle caps, a higher speed can be used.

[0084] S306: Process Monitoring and Completion Determination. During the screwing process, the host computer monitors two key parameters in real time: Rotational Torque: The real-time output torque is calculated by monitoring the motor current of the rotary drive unit. Z-axis Displacement: The vertical displacement of the bottle cap is monitored by an encoder or external sensor.

[0085] For the unscrewing operation: when the bottle cap is completely unscrewed, the rotational torque will suddenly drop to near zero; at the same time, due to the disengagement of the threads, the bottle cap will have a slight upward displacement (in the positive Z-axis direction). When the "sudden drop in torque" and "Z-axis displacement reaching the preset unscrewing threshold" are detected, the host computer determines that the bottle cap has been unscrewed and immediately stops the rotation and lifting actions.

[0086] For the tightening operation: When the bottle cap is tightened to the bottle opening, the rotational torque will increase to a preset threshold (indicating that it is tightened); at the same time, the bottle cap will have a slight downward displacement (negative Z-axis direction) until it can no longer move. When the "torque reaches the preset threshold" and the "Z-axis displacement reaches the preset tightening threshold" are detected, the host computer determines that the bottle cap is tightened and immediately stops the rotation.

[0087] After the judgment is completed, the electronically controlled rotating gripper releases the bottle cap, the external auxiliary clamp releases the bottle body, the device returns to the standby state, and the screwing operation is completed.

[0088] Example 4:

[0089] This application also provides a control system for a task execution device for physical and chemical experimental operations, such as... Figure 2 As shown, it includes:

[0090] Visual sensor 1, connected to the host computer, is used to collect the position and orientation information of the collected object;

[0091] The rotary drive body 2 is mounted on the upper part of the vision sensor and is used to drive the gripper rotating part to move.

[0092] The electrically controlled rotating gripper 3 is connected to the rotating drive body and is used to grip objects or perform the action of twisting bottle caps.

[0093] The host computer is connected to the vision sensor, the rotary drive body, and the electrically controlled rotary gripper to generate and issue motion execution commands.

[0094] The electrically controlled rotary gripper 3 includes: a gripper rotating component 30, a first clamping part 31, a second clamping part 32, and a gripper finger 33. The gripper rotating component 30 is connected to the rotary drive body 2. A slide rail 34 is installed at one end of the gripper rotating component 30. The first clamping part 31 and the second clamping part 32 are respectively installed on the slide rail, and the first clamping part 31 and the second clamping part 32 move towards or away from each other. The gripper finger 33 is installed on the side wall of the first clamping part 31 and the second clamping part 32.

[0095] This specification also provides a computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform the multiple steps described in the above embodiments. If the constituent modules of the above-described electronic device are implemented as software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.

[0096] This specification also provides a computer program product, including a computer program that, when executed by a processor, implements the multiple steps described in the above embodiments.

[0097] Where there is no conflict, the technical features in this embodiment and implementation scheme can be combined arbitrarily.

[0098] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes multiple computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this specification are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center integrating multiple available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid-state drives (SSDs)).

[0099] When implemented through hardware or firmware, the aforementioned method flow is programmed into the hardware circuit to obtain the corresponding hardware circuit structure and achieve the corresponding function. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit, whose logic function is determined by the user programming the device. Designers can program a digital system onto a PLD themselves, eliminating the need for chip manufacturers to design and fabricate dedicated integrated circuit chips. Furthermore, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly implemented using "logic compiler" software, similar to the software compiler used in program development. The original code before compilation must also be written in a specific programming language, called a Hardware Description Language (HDL). There is not just one HDL, but many. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of the aforementioned hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logic method flow can be easily obtained.

[0100] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A control method for a task execution apparatus for a physical and chemical experiment operation, characterized by, The method comprises the following steps: Device initialization, visual sensor, electric control rotating clamp and host computer communication connection and parameter calibration; Receiving physical and chemical experiment operation task instruction, analyzing task type and target parameter, the task type includes clamping, taking and placing and screwing operation; Collecting spatial position, shape feature and material attribute information of task associated object by visual sensor and transmitting to host computer; Host computer generates task execution scheme including motion trajectory, clamping parameter and action sequence based on collected information and pre-stored experiment operation strategy library; Driving electric control rotating clamp to complete pose adjustment, target clamping and specified operation action according to execution scheme; In the task execution process, real-time monitoring of clamping force, rotating torque and displacement parameter, dynamic adjustment of execution mechanism action through closed loop feedback; When the monitoring parameter reaches the preset threshold value, it is determined that the corresponding operation is completed, and the next operation step is executed until the whole experiment task is completed. 2.The control method of the self-adaptive composite task execution device for physicochemical experiment operation according to claim 1, wherein, The clamping, taking and placing control process comprises the following steps: The visual sensor collects the position, appearance feature, material and attitude information of the target object, and transmits the collected information to the host computer; The host computer determines the optimal grasping scheme based on the received information and the pre-trained grasping strategy library, and the optimal grasping scheme includes the best clamping position, the pre-opening distance of the clamp and the target clamping force; The electric control rotating clamp moves to the target position according to the best clamping position instruction issued by the host computer, and adjusts the clamp to the pre-opening distance of the clamp; The electric control rotating clamp controls the clamp to perform closing action, and simultaneously monitors the clamping force in real time through motor current feedback, and when the clamping force reaches the target clamping force, the clamp stops closing and maintains the clamping state; The electric control rotating clamp drives the target object to perform the carrying or placing task, and completes the clamping, taking and placing operation. 3.The control method of the self-adaptive complex task execution device for physicochemical experiment operation according to claim 1, wherein, The screwing control process comprises the following steps: The visual sensor collects the spatial pose of the bottle body and the position and feature contour information of the bottle cap, and transmits the collected information to the host computer; The host computer determines the bottle cap clamping area, clamping attitude and clamping force parameters by calling the screwing bottle cap strategy based on the received information; The electric control rotating clamp controls the parallel clamp to close according to the determined bottle cap clamping area, clamping attitude and clamping force parameters, clamps the bottle cap, and maintains stable clamping through motor current closed loop force control during clamping; The external auxiliary clamp fixes the lower part of the bottle body; The electric control rotating clamp is controlled to perform screwing action; In the screwing process, the rotating torque and Z-axis displacement are monitored in real time, when the rotating torque drops to zero or reaches the preset threshold value, and the Z-axis displacement reaches the preset threshold value, it is determined that the bottle cap is completely unscrewed or tightened, and the rotating mechanism action and Z-axis direction displacement action are stopped.

4. The control method of the task execution apparatus for physicochemical experiment operations according to claim 1, wherein The pre-trained grasping strategy library is generated through a large number of object grasping experiments of different types, specifications and materials, and covers the grasping parameters of tubular objects, cylindrical objects, square objects and plate-shaped objects.

5. The control method of the task execution apparatus for physicochemical experiment operations according to claim 3, wherein In the screwing bottle cap control process, the electric control rotating clamp is controlled to perform screwing action; the rotating speed of the rotating drive body of the electric control rotating clamp is adjusted by the host computer according to the specifications and material of the bottle cap.

6. The control method of the task execution apparatus for physicochemical experiment operations according to claim 1, wherein In the clamping pick-and-place operation control flow, the opening action of the parallel clamping jaws is driven by a motor, and the driving current of the motor is controlled by closed-loop feedback to ensure the stability of the clamping force.

7. A control system that executes the control method of the task execution apparatus for a physical and chemical experiment operation according to any one of claims 1 to 6, characterized by The utility model relates to a kind of pick-and-place operation control system and method, including: Visual sensor, connected with host computer, for implementing collection article position attitude information collection; Rotary drive body, installed on the upper portion of visual sensor, for driving clamping jaw rotating piece to move; Electric control rotary clamping jaw, connected with rotary drive body, for clamping or performing screwing bottle cap action to object; Host computer, host computer is connected with visual sensor, rotary drive body and electric control rotary clamping jaw respectively, for generating and issuing action execution instruction.

8. The control system of a task execution device for physicochemical experiment operations according to claim 7, wherein Electric control rotary clamping jaw includes: clamping jaw rotating piece, first clamping part, second clamping part and clamping finger, clamping jaw rotating piece is connected with rotary drive body;Clamping jaw rotating piece one end is equipped with slide rail;First clamping part and second clamping part are installed on slide rail respectively, first clamping part and second clamping part move towards or away from each other;Clamping finger is installed on the side wall of first clamping part and second clamping part.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by a processor, implements the method performed by the system of any one of claims 1-6.

10. Computer program product comprising a computer program, characterized in that, The computer program, when executed by a processor, implements the method performed by the system of any one of claims 1-6.

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