Material conveying manipulator, material conveying device and material conveying method

Abstract

The material conveying mechanical arm comprises a mechanical arm and a clamp, the clamp comprises two clamping jaws and two optical sensors, and each optical sensor comprises a transmitting module and a receiving module which are arranged on the two jaw parts of the corresponding clamping jaw and used for detecting the luminous flux of the two clamping jaws when the two clamping jaws clamp products at the same time. The material conveying device comprises a material conveying mechanical arm and a control element, and the control element is used for controlling the mechanical arm to drive the clamp to rotate according to the difference value, detected by the two optical sensors, of luminous flux at the two clamping jaws and converted into an angle deviation value. The material conveying method comprises the steps that the luminous flux of the two clamping jaws when the two clamping jaws clamp products at the same time is detected through an optical sensor of the material conveying mechanical arm; calculating the difference value of the luminous fluxes at the two clamping jaws; the difference value of the luminous flux at the two clamping jaws is converted into an angle deviation value; and controlling the mechanical arm to drive the clamp to rotate according to the angle deviation value. The mechanical arm clamp can adapt to the deviation angle of the product in the height direction to control the mechanical arm clamp to rotate, so that it is guaranteed that the product is clamped in the accurate direction.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of material conveying, and particularly relates to a material conveying manipulator, a material conveying device and a material conveying method. BACKGROUND

[0002] On an assembly automatic production line, in order to realize the storage of more materials in a limited space, the materials are often arranged vertically and placed in multiple layers in a box. The placement state of the materials on the box is uncertain, and accurate grabbing of the materials is a prerequisite for assembly. To achieve this function, there are various schemes in the related art, for example, an industrial camera, a 3D image sensor and the like are used to position the materials.

[0003] However, the industrial camera can only realize the positioning of the materials in the plane direction, and cannot identify the offset in the height direction; the 3D image sensor can realize the contour recognition and positioning of the materials, but the cost is high and the technical threshold is high, which is not suitable for mass application. SUMMARY

[0004] The purpose of the embodiments of the application is to provide a material conveying manipulator, a material conveying device and a material conveying method, which can solve the problems of the inability to identify the offset in the height direction, the high cost of contour recognition and positioning, and the high technical threshold.

[0005] To solve the above technical problems, the application is implemented as follows:

[0006] In a first aspect, the embodiments of the application provide a material conveying manipulator, comprising: a mechanical arm and a clamp connected to the front end of the mechanical arm.

[0007] The clamp comprises two clamping jaws and two optical sensors, the two clamping jaws are arranged at intervals, and the two optical sensors are arranged on the two clamping jaws respectively.

[0008] Each clamping jaw comprises two jaw parts that can be relatively close or relatively far apart.

[0009] Each optical sensor comprises a transmitting module and a receiving module, the transmitting module and the receiving module are arranged on the two jaw parts of the clamping jaw corresponding to the optical sensor respectively, and are used to detect the light flux at the two clamping jaws when the two clamping jaws simultaneously clamp a product.

[0010] In a second aspect, the embodiments of the application provide a material conveying device, comprising a control element and the above-mentioned material conveying manipulator.

[0011] The control element is electrically connected to the material conveying manipulator, is used to convert the difference value of the light flux at the two clamping jaws detected by the two optical sensors into an angle deviation value, and control the mechanical arm to drive the clamp to rotate according to the angle deviation value.

[0012] In a third aspect, the present application provides a material conveying method applied to the material conveying device, and the material conveying method comprises the following steps:

[0013] detecting the light flux at the two clamping jaws by the two optical sensors respectively when the two clamping jaws clamp the product simultaneously;

[0014] calculating the difference between the light flux at the two clamping jaws;

[0015] converting the difference between the light flux at the two clamping jaws into an angle deviation value;

[0016] controlling the mechanical arm to drive the clamp to rotate according to the angle deviation value.

[0017] The product can be clamped by the two clamping jaws, and the light flux at each clamping jaw can be detected by the optical sensors arranged on the two clamping jaws when the clamping jaws clamp the product, so that the light flux at the two clamping jaws can be used to determine whether the clamp is tilted in the height direction, and the position accuracy of the clamp can be ensured by driving the clamp to rotate by the mechanical arm when the tilt occurs, so that the clamp can clamp the product in the accurate position. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The structural schematic diagram of the material conveying robot, the product and the box disclosed by the embodiment of the present application;

[0019] Figure 2 The structural schematic diagram of the material conveying robot disclosed by the embodiment of the present application;

[0020] Figure 3 The structural schematic diagram of the clamp and the camera element disclosed by the embodiment of the present application;

[0021] Figure 4 The structural schematic diagram of the clamping jaw and the optical sensor disclosed by the embodiment of the present application;

[0022] Figure 5 The flowchart of the material conveying process disclosed by the embodiment of the present application;

[0023] Figure 6 The schematic diagram of the points a and b on the product disclosed by the embodiment of the present application;

[0024] Figure 7 The schematic diagram of the relationship between the distance and the light flux disclosed by the embodiment of the present application;

[0025] Figure 8 The circuit principle schematic diagram disclosed by the embodiment of the present application.

[0026] Explanation of reference signs:

[0027] 01-Transfer robot

[0028] 10-robotic arm; 11-main arm; 12-first rotary arm; 13-second rotary arm; 14-base;

[0029] 20-gripper

[0030] 21-gripper jaw; 211-jaw portion; 22-optical sensor; 221-emission module; 222-reception module

[0031] 30-imaging element

[0032] 02-control element DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present application.

[0034] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a class, not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in a "or" relationship.

[0035] The embodiments of the present application will be described in detail below in conjunction with the drawings and specific examples and their application scenarios.

[0036] Reference Figures 1 to 8 The embodiments of the present application disclose a transfer robot 01 for clamping and conveying products. The products can be in a sheet structure, and the products can be arranged vertically in a box. The transfer robot 01 can take the products out of the box to facilitate conveying to other stations. The disclosed transfer robot 01 includes a robotic arm 10 and a gripper 20.

[0037] The mechanical arm 10 can provide a mounting and bearing base for the clamp 20, wherein the clamp 20 can be arranged at the front end of the mechanical arm 10 to be moved by the mechanical arm 10. Optionally, the mechanical arm 10 can be a multi-axis mechanical arm 10, which can move the clamp 20 in a three-dimensional space to meet the clamping and conveying requirements of the product.

[0038] The clamp 20 includes two clamping jaws 21 and two optical sensors 22, the two clamping jaws 21 are arranged in a spaced manner, and the two optical sensors 22 are arranged on the two clamping jaws 21 respectively. In this way, the two clamping jaws 21 can clamp the two sides of the product respectively to ensure the stability of clamping, and the two optical sensors 22 can also detect the product.

[0039] Each clamping jaw 21 can include two jaw parts 211 arranged oppositely and capable of approaching or moving away from each other, so as to clamp the product when approaching and release the product when moving away. Optionally, the clamping jaw 21 can be a pneumatic clamping jaw 21.

[0040] Each optical sensor 22 can include a transmitting module 221 and a receiving module 222 arranged on the two jaw parts 211 of the clamping jaw 21 corresponding to the optical sensor 22, respectively, for detecting the light flux at the two clamping jaws 21 when the two clamping jaws 21 clamp the product simultaneously.

[0041] Optionally, the transmitting module 221 can be arranged on one of the two jaw parts 211 and face the other, and the receiving module 222 can be arranged on the other of the two jaw parts 211 and face one of them. In this way, the transmitting module 221 and the receiving module 222 can be arranged oppositely, so that the light emitted by the transmitting module 221 can be received by the receiving module 222.

[0042] It should be noted that the light flux at the corresponding clamping jaw 21 can be obtained according to the condition that the receiving module 222 receives the light emitted by the transmitting module 221, so as to subsequently determine whether the two clamping jaws 21 are tilted by the light flux.

[0043] Based on the above arrangement, the two clamping jaws 21 can clamp the product, and the optical sensors 22 arranged on the two clamping jaws 21 respectively can detect the light flux at each clamping jaw 21 when the clamping jaws 21 clamp the product, so as to subsequently determine whether the clamp 20 is tilted in the height direction by the light flux at the two clamping jaws 21, and the position accuracy of the clamp 20 can be ensured by rotating the clamp 20 driven by the mechanical arm 10 when the tilt occurs, further ensuring that the clamp 20 can clamp the product at the accurate position.

[0044] ReferenceFigures 1 to 3 In some embodiments, the two clamping jaws 21 can be spaced apart along a first direction, and the two jaw portions 211 of each clamping jaw 21 can be relatively close or relatively far apart along a second direction, wherein the first direction and the second direction can be perpendicular to each other. In actual working conditions, the first direction can be the horizontal left-right direction, and the second direction can be the horizontal front-back direction; of course, in the case of an inclined clamp 20, the first direction and the second direction can both form a certain angle with the horizontal plane, while the first direction and the second direction are still perpendicular to each other.

[0045] Based on the above arrangement, the embodiments of the present application can clamp the two sides of the top end of the product respectively through the two clamping jaws 21 spaced apart along the first direction, so as to ensure the stability of clamping the product.

[0046] The optical sensor 22 can include a plurality of pairs of emitting modules 221 and receiving modules 222 arranged along a third direction, each pair of emitting modules 221 and receiving modules 222 being adapted to each other and arranged oppositely. Among them, the emitting modules 221 in the plurality of pairs are all arranged on one of the jaw portions 211, and the receiving modules 222 in the plurality of pairs are all arranged on the other jaw portion 211, so that the emitting modules 221 and the receiving modules 222 in the plurality of pairs are arranged one by one along the second direction, so as to emit light to the receiving modules 222 in the plurality of pairs through the emitting modules 221 in the plurality of pairs.

[0047] Based on the above arrangement, a plurality of light lines arranged along the third direction can be formed at each clamping jaw 21, and when each clamping jaw 21 moves to the position of clamping the product, the product is located between the two jaw portions 211 and at least part of the plurality of light lines at each clamping jaw 21 is shielded, so as to determine the light flux at each clamping jaw 21 according to the number of shielded light lines.

[0048] It should be noted here that when the number of light lines shielded by the product at the two clamping jaws 21 is the same, it indicates that the product is in a substantially horizontal state in the height direction; when the number of light lines shielded by the product at the two clamping jaws 21 is different, it indicates that the product is in an inclined state in the height direction. For example, when the number of light lines shielded by the left clamping jaw 21 is more than the number of light lines shielded by the right clamping jaw 21, it indicates that the left side of the product is higher than the right side; on the contrary, when the number of light lines shielded by the left clamping jaw 21 is less than the number of light lines shielded by the right clamping jaw 21, it indicates that the left side of the product is lower than the right side.

[0049] Optionally, the first direction, the second direction and the third direction can be perpendicular to each other. In actual working conditions, the first direction can be the left-right direction, the second direction can be the front-back direction, and the third direction can be the up-down direction (or the height direction).

[0050] In some more specific embodiments, the optical sensor 22 can be an array optical fiber sensor, through which light rays can be generated in the third direction to array at each jaw 21, so as to determine the light flux at each jaw 21 through the number of light rays blocked by the product. Of course, it is not limited to this type of sensor, but can also be other components that can meet the actual needs, which are not limited here.

[0051] With reference to the foregoing Figures 1 to 3 In some embodiments, the material conveying manipulator 01 can further include a camera element 30 arranged at the front end of the mechanical arm 10, which is used to shoot the offset amount and / or offset angle of the product in the horizontal plane, so as to subsequently adjust the positions of the two jaws 21 in the horizontal direction, thereby achieving good clamping of the product.

[0052] In actual cases, the product can extend in the left-right direction, and the control element 02 of the material conveying manipulator 01 can preset an initial image of the product, which can reflect the initial position of the product in the left-right direction.

[0053] When the product needs to be clamped, the mechanical arm 10 drives the clamp 20 to move above the product, and then the actual image of the product is obtained by shooting the product through the camera element 30. The control element 02 can compare the actual image with the initial image, thereby obtaining the offset amount of the product in the horizontal plane, so as to subsequently adjust the positions of the two jaws 21 in the horizontal plane by controlling the material conveying manipulator 01.

[0054] In addition, the control element 02 can compare the actual image with the initial image, thereby obtaining the offset angle of the product in the horizontal plane, so as to subsequently adjust the positions of the two jaws 21 in the horizontal plane by controlling the material conveying manipulator 01.

[0055] For example, the product is offset to the left by X in the horizontal plane, in which case the material conveying manipulator 01 can be controlled to offset the two jaws 21 to the left by X, so as to adapt to the offset amount of the product. Alternatively, the offset angle of the product in the horizontal plane is α, and the material conveying manipulator 01 can be controlled to rotate the two jaws 21 in the horizontal plane by an angle of α, so as to adapt to the offset angle of the product.

[0056] Exemplarily, the camera element 30 can be an industrial camera or the like.

[0057] With reference to the foregoing Figure 1 and Figure 2In some embodiments, the mechanical arm 10 can include a main arm 11, a first rotating arm 12, and a second rotating arm 13. The main arm 11 can be used to carry the first rotating arm 12 and the second rotating arm 13. One end of the first rotating arm 12 is rotatably connected to the main arm 11 about a first axis. The second rotating arm 13 is rotatably connected to the other end of the first rotating arm 12 about a second axis. The clamp 20 is rotatably connected to the second rotating arm 13 about a third axis.

[0058] The first axis extends along the extension direction of the first rotating arm 12. The extension direction of the second axis is perpendicular to the extension direction of the first rotating arm 12. The third axis extends along the extension direction of the second rotating arm 13. The first axis and the third axis are respectively perpendicular to the second axis.

[0059] Based on the above arrangement, when the clamp 20 needs to be adjusted, the clamp 20 can be rotated relative to the second rotating arm 13 about the third axis, the second rotating arm 13 can be rotated relative to the first rotating arm 12 about the second axis, or the first rotating arm 12 can be rotated relative to the main arm 11 about the first axis. In this way, multi-directional adjustment can be achieved to meet the clamping requirements of the product.

[0060] In actual working conditions, by rotating the clamp 20 relative to the second rotating arm 13 about the third axis, the azimuth angle of the two clamping jaws 21 in the horizontal plane can be adjusted so that the line connecting the two clamping jaws 21 is parallel to the arrangement direction of the product. By rotating the second rotating arm 13 relative to the first rotating arm 12 about the second axis, the position of the two clamping jaws 21 in the horizontal plane can be adjusted so that the two clamping jaws 21 can clamp different products. By rotating the first rotating arm 12 relative to the main arm 11 about the first axis, the relative height of the two clamping jaws 21 can be adjusted so that the height deviation value of the two clamping jaws 21 in the height direction is adapted to the height deviation value of the product on both sides.

[0061] In addition, the mechanical arm 10 can also include a base 14. The main arm 11 can also be rotatable relative to the base 14 about a fourth axis. The fourth axis is perpendicular to the first axis.

[0062] Based on the above material conveying manipulator 01, the application also discloses a material conveying device. The disclosed material conveying device includes a control element 02 and the above material conveying manipulator 01. The control element 02 is electrically connected to the material conveying manipulator 01. The control element 02 is used to convert the difference value of the light flux at the two clamping jaws 21 detected by the two optical sensors 22 into an angle deviation value, and control the mechanical arm 10 to drive the clamp 20 to rotate according to the angle deviation value.

[0063] Specifically, in the case that the two clamping jaws 21 clamp the product at the same time, the optical sensors 22 on the two clamping jaws 21 detect the light fluxes at the two clamping jaws 21 respectively, and send the information of the detected light fluxes to the control element 02. After being analyzed and processed by the control element 02, it is judged whether the light fluxes at the two clamping jaws 21 are the same. If yes, it is determined that the product is in a normal state, and if not, it is determined that the product is in an inclined state in the height direction. At this time, the difference value of the light fluxes needs to be converted into the deviation value in the height direction, and a control instruction is sent to the mechanical arm 10 to control the mechanical arm 10 to drive the clamp 20 to rotate to adjust the height difference of the two clamping jaws 21, so that the light fluxes at the two clamping jaws 21 are the same, thereby realizing the adjustment of the angle of the clamp 20 in the height direction, making the line connecting the two clamping jaws 21 parallel to the extension direction of the product, and further making the two clamping jaws 21 adapt to the product.

[0064] Further, the control element 02 can control the first rotating arm 12 of the mechanical arm 10 to rotate around the first axis relative to the main arm 11, so as to drive the second rotating arm 13 and the clamp 20 to rotate around the first axis together, thereby realizing the adjustment of the height difference of the two clamping jaws 21.

[0065] In some embodiments, the control element 02 can be used to calculate a first light flux difference value according to the standard light flux and the actual light flux of one of the two clamping jaws 21, and to calculate a second light flux difference value according to the standard light flux and the actual light flux of the other of the two clamping jaws 21.

[0066] The control element 02 is further used to calculate a first height deviation value according to the first light flux difference value and a height coefficient, and to calculate a second height deviation value according to the second light flux difference value and the height coefficient.

[0067] The control element 02 is further used to calculate an angle deviation value according to the first height deviation value, the second height deviation value and the distance between the two clamping jaws 21.

[0068] Specifically, as shown in Figure 6 and Figure 7 , taking point a as a reference point, the standard light fluxes of points a and b are x a and x b respectively, and x a =x b , the distance between points a and b is L; the actual light fluxes of points a and b obtained during work are x ′ a and x ′ b , and the height coefficient is K.

[0069] Therefore, the height deviation value H a of point a is x ′a -x a |·K, b point height deviation value H b = |x ′ b -x b |·K.

[0070] angle deviation value in height direction

[0071] It should be noted that the control element 02 can also convert the light flux of the two optical sensors 22 into angle deviation values according to different light shielding conditions of the product on the optical sensors 22, so as to control the mechanical arm 10 to drive the clamp 20 to rotate.

[0072] In some embodiments, the control element 02 is also used to control the mechanical arm 10 to drive the clamp 20 to move in the height direction according to the first height deviation value and the second height deviation value, so that the offset of the two clamping jaws 21 in the height direction can be adjusted, so that the clamp 20 can clamp the product.

[0073] Specifically, the control element 02 can control the main arm 11 in the mechanical arm 10 to rotate relative to the base 14 around the fourth axis, and of course, the second rotating arm 13 can also be controlled to rotate relative to the first rotating arm 12 around the second rotating shaft, so as to drive the clamp 20 to move in the height direction, thereby adjusting the offset of the two clamping jaws 21 in the height direction.

[0074] In some embodiments, the material conveying manipulator 01 can also include a camera element 30 arranged at the front end of the mechanical arm 10, and the camera element 30 is electrically connected with the control element 02, so that the control element 02 can be used to control the mechanical arm 10 to drive the clamp 20 to move in the horizontal plane according to the offset of the product in the horizontal plane captured by the camera element 30.

[0075] For example, the camera element 30 captures that the product is offset to the left by X in the horizontal plane, in which case the material conveying manipulator 01 can be controlled to offset the two clamping jaws 21 to the left by X respectively, so as to adapt to the offset of the product.

[0076] In other embodiments, the material conveying manipulator 01 can also include a camera element 30 arranged at the front end of the mechanical arm 10, and the camera element 30 is electrically connected with the control element 02, so that the control element 02 can be used to control the mechanical arm 10 to drive the clamp 20 to rotate in the horizontal plane according to the deflection angle of the product in the horizontal plane captured by the camera element 30.

[0077] For example, the camera element 30 captures that the deflection angle of the product in the horizontal plane is α, and the material conveying manipulator 01 can be controlled to rotate the two clamping jaws 21 in the horizontal plane by an angle of α, so as to adapt to the deflection angle of the product.

[0078] Based on the above material conveying device, the application further discloses a material conveying method applied to the above material conveying device, and the disclosed material conveying method comprises the following steps:

[0079] detecting the light fluxes at the two clamping jaws 21 when the two clamping jaws 21 simultaneously clamp the product through the two optical sensors 22;

[0080] calculating the difference between the light fluxes at the two clamping jaws 21;

[0081] converting the difference between the light fluxes at the two clamping jaws 21 into an angle deviation value;

[0082] controlling the mechanical arm 10 to drive the clamp 20 to rotate according to the angle deviation value.

[0083] Based on the above steps, the relative position of the two clamping jaws 21 in the height direction can be adjusted according to the angle deviation value between the two clamping jaws 21, so that the relative position between the two clamping jaws 21 can be adapted to the product, and the position accuracy in the product clamping and conveying process is ensured.

[0084] Optionally, converting the difference between the light fluxes at the two clamping jaws 21 into an angle deviation value comprises:

[0085] calculating a first light flux difference value according to the standard light flux and the actual light flux of one of the clamping jaws 21, and calculating a second light flux difference value according to the standard light flux and the actual light flux of the other clamping jaw 21;

[0086] calculating a first height deviation value according to the first light flux difference value and a height coefficient, and calculating a second height deviation value according to the second light flux difference value and the height coefficient;

[0087] calculating the angle deviation value according to the first height deviation value, the second height deviation value and the distance between the two clamping jaws 21.

[0088] Specifically, taking point a as a reference point, the standard light fluxes of points a and b are x a and x b , respectively, and x a =x b , and the distance between points a and b is L; let the actual light fluxes of points a and b obtained during work be x ′ a and x ′ b , and the height coefficient be K.

[0089] Thus, the height deviation value H a of point a is |x ′ a -x a |·K, and the height deviation value Hb = |x ′ b -x b |·K.

[0090] angular deviation value in the height direction

[0091] Optionally, the material conveying method further comprises:

[0092] According to the first height deviation value and the second height deviation value, the mechanical arm 10 drives the clamp 20 to move in the height direction, so that the offset of the two clamping jaws 21 in the height direction can be adjusted, so that the clamp 20 can clamp the product.

[0093] Specifically, the control element 02 can control the main arm 11 in the mechanical arm 10 to rotate around the fourth axis relative to the base 14, and of course, the second rotating arm 13 can also be controlled to rotate around the second rotating shaft relative to the first rotating arm 12, so as to drive the clamp 20 to move in the height direction, thereby adjusting the offset of the two clamping jaws 21 in the height direction.

[0094] In the embodiment of the present application, as shown in the control logic of the whole material conveying device is: Figure 5

[0095] The control element 02 controls the mechanical arm 10 to drive the clamp 20 to move above the product; the camera element 30 photographs the product and obtains the offset in the horizontal direction and the offset angle of the product, including the offset in the x direction, the offset in the y direction and the offset angle; the mechanical arm 10 drives the clamp 20 to move by the corresponding offset and rotate by the corresponding offset angle; the mechanical arm 10 drives the clamp 20 to descend to the position of clamping the product; the two optical sensors 22 detect the light flux at the two clamping jaws 21 respectively, and calculate the height difference and the angular deviation value of the two clamping jaws 21 in the height direction; the mechanical arm 10 drives the clamp 20 to move by the corresponding height difference and rotate by the corresponding angular deviation value; the two clamping jaws 21 clamp the product so as to convey the product to the downstream station; in addition, it can also be known whether the product in the box is taken out by photographing the product by the camera element 30, if it is taken out, it is ended, if it is not taken out, the mechanical arm 10 drives the clamp 20 to move above the material again, so as to lay the foundation for the next clamping and conveying of the product.

[0096] In summary, the embodiment of the present application adopts the combination of image recognition and light flux detection to judge the state of the product, obtains the offset in the horizontal plane and the offset angle of the product through image recognition, and obtains the angular deviation value in the height direction through light flux detection, so as to send the offset in the horizontal plane and the offset angle, and the angular deviation value in the height direction to the material conveying manipulator 01, so as to realize accurate grasping of the product and ensure the position accuracy of the product. ​

[0097] The embodiments of the present application are described above with reference to the accompanying drawings, but the present application is not limited to the above-described specific embodiments, and the above-described specific embodiments are merely illustrative, but not restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims.

Claims

1. A material transfer robot, characterized by, The utility model relates to a material conveying manipulator (01) and a control element (02) for controlling the material conveying manipulator (01). The material conveying manipulator (01) comprises a mechanical arm (10) and a clamp (20) connected to the front end of the mechanical arm (10). The clamp (20) comprises two clamping jaws (21) and two optical sensors (22), the two clamping jaws (21) are arranged at intervals, and the two optical sensors (22) are arranged on the two clamping jaws (21) respectively. Each of the clamping jaws (21) comprises two jaw parts (211) that can be relatively close or relatively far apart. Each of the optical sensors (22) comprises an emission module (221) and a receiving module (222), the emission module (221) and the receiving module (222) are arranged on the two jaw parts (211) of the clamping jaw (21) corresponding to the optical sensor (22) respectively, and are used for detecting the light flux at the two clamping jaws (21) when the two clamping jaws (21) clamp a product at the same time.

2. The material transfer robot of claim 1, wherein, The two clamping jaws (21) are arranged at intervals along a first direction, and the two jaw parts (211) of each of the clamping jaws (21) can be relatively close or relatively far apart along a second direction. The first direction and the second direction are perpendicular to each other.

3. The material transfer robot of claim 2, wherein, The optical sensor (22) comprises a plurality of pairs of matched emission modules (221) and receiving modules (222) arranged along a third direction, the emission modules (221) in the plurality of pairs are arranged on one of the jaw parts (211), the receiving modules (222) in the plurality of pairs are arranged on the other jaw part (211), and the emission modules (221) in the plurality of pairs are used for emitting light to the receiving modules (222) in the plurality of pairs respectively. The first direction, the second direction and the third direction are perpendicular to each other in pairs.

4. The material transfer robot of claim 1, wherein, The optical sensor (22) is an array optical fiber sensor.

5. The material transfer robot of claim 1, wherein, The material conveying manipulator (01) further comprises a camera element (30) arranged at the front end of the mechanical arm (10), which is used for shooting the offset amount and / or offset angle of the product in the horizontal plane.

6. A material transfer device, characterized by, The utility model relates to a material conveying manipulator (01) and a control element (02) for controlling the material conveying manipulator (01). The control element (02) is electrically connected with the material conveying manipulator (01), is used for converting the difference value of the light flux at the two clamping jaws (21) detected by the two optical sensors (22) into an angle deviation value, and controlling the mechanical arm (10) to drive the clamp (20) to rotate according to the angle deviation value. The control element (02) is used for calculating a first light flux difference value according to the standard light flux and the actual light flux of one of the clamping jaws (21), and calculating a second light flux difference value according to the standard light flux and the actual light flux of the other clamping jaw (21); 7. The material transfer device of claim 6, wherein, The control element (02) is used for calculating a first height deviation value according to the first light flux difference value and a height coefficient, and calculating a second height deviation value according to the second light flux difference value and the height coefficient; And the control element (02) is used for calculating the angle deviation value according to the first height deviation value, the second height deviation value and the distance between the two clamping jaws (21). ​ 8. The material transfer device of claim 7, wherein, The control element (02) is configured to control the mechanical arm (10) to move the clamp (20) in the height direction according to the first height deviation value and the second height deviation value.

9. The material transfer device of claim 6, wherein, The transfer manipulator (01) further comprises a camera element (30) arranged at the front end of the mechanical arm (10), and the camera element (30) is electrically connected to the control element (02). The control element (02) is further configured to control the mechanical arm (10) to move the clamp (20) in the horizontal plane according to the offset of the product in the horizontal plane captured by the camera element (30).

10. The material transfer device of claim 6, wherein, The transfer manipulator (01) further comprises a camera element (30) arranged at the front end of the mechanical arm (10), and the camera element (30) is electrically connected to the control element (02). The control element (02) is further configured to control the mechanical arm (10) to rotate the clamp (20) in the horizontal plane according to the deflection angle of the product in the horizontal plane captured by the camera element (30).

11. A material conveying method applied to the material conveying apparatus according to any one of claims 6 to 10, characterized by, The transfer method comprises: Detecting the light flux at the two clamping jaws (21) when the two clamping jaws (21) clamp the product at the same time through the two optical sensors (22); Calculating the difference between the light flux at the two clamping jaws (21); Converting the difference between the light flux at the two clamping jaws (21) into an angle deviation value; Controlling the mechanical arm (10) to rotate the clamp (20) according to the angle deviation value.

12. The material transfer method of claim 11, wherein, The conversion of the difference between the light flux at the two clamping jaws (21) into an angle deviation value comprises: Calculating a first light flux difference value according to the standard light flux and the actual light flux of one of the clamping jaws (21), and calculating a second light flux difference value according to the standard light flux and the actual light flux of the other clamping jaw (21); Calculating a first height deviation value according to the first light flux difference value and a height coefficient, and calculating a second height deviation value according to the second light flux difference value and the height coefficient; According to the first height deviation value, the second height deviation value, and the distance between the two clamping jaws (21), the angle deviation value is calculated.

13. The material transfer method of claim 12, wherein, The transfer method further comprises: Controlling the mechanical arm (10) to move the clamp (20) in the height direction according to the first height deviation value and the second height deviation value.

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