A doll machine grabbing mechanism steering wheel rotation angle precision control method

Abstract

The doll machine grabbing mechanism steering gear rotation angle precision control method provided by the application comprises the following steps: collecting the response delay time length of each steering gear after starting through an angle coding module, extracting the starting time interval between each steering gear from the response delay time length, and determining the starting sequence order table of each steering gear according to the starting time interval; the control driving signal of each steering gear is updated through the equal distribution step, the posture angle data of the gift in the process of being contacted by the claw strip is collected by using an angle detection device during the execution process of the control driving signal, the feedback correction strength of posture instability is evaluated when the real-time change of the gift posture angle exceeds the preset range, the compensation strength of the uneven load distribution is optimized according to the feedback correction strength, the force value distribution proportion of each claw strip is reconstructed from the compensation strength, and the final execution step of the uniform force of the gift is obtained.

Description

Technical Field

[0001] This invention relates to the field of information technology, and in particular to a method for precise control of the rotation angle of the servo motor of a claw machine's grasping mechanism. Background Technology

[0002] As a popular entertainment device, the performance of the claw mechanism in claw machines directly determines the player's sense of accomplishment and the operator's operational efficiency. In actual clawing, the stability and precision of the claws become the core factors affecting the success rate of winning prizes, and the quality of multi-motor coordinated control almost entirely determines the final performance of the entire claw mechanism. Currently, most claw machines use a control method that allows all claw motors to start moving simultaneously and reach the same angle with the exact same command. This seemingly uniform synchronization works reasonably well when unloaded or when the prizes are regularly shaped, but it reveals significant shortcomings in real-world clawing scenarios. Due to differences in resistance experienced by different claws during movement, accumulated mechanical backlash, and subtle differences in the motor's response speed, even with the same command, the actual arrival times of each claw at the target position still differ. This difference in timing is significantly amplified when grabbing prizes with uneven centers of gravity or irregular surfaces.

[0003] Specifically, when all four claws close inward simultaneously, the claw on the lighter-loaded side tends to contact the gift faster than the one on the heavier-loaded side. Once the lighter-loaded claw touches the gift first, it immediately exerts a pushing force on it. At this point, the heavier-loaded claw has not yet reached its position, causing the gift to shift due to the premature force from one side, or even be pushed directly away from the center of the claw. Once this shift occurs, even if the remaining claws continue to close, it is difficult to create a balanced wrapping force, causing the gift to become unstable and ultimately leading to a failed grasp. The root cause of this phenomenon is that the difference in the timing of contact between each claw and the gift directly interferes with the uniformity of force distribution, and this uneven force distribution further amplifies the positional shift, creating a vicious cycle.

[0004] How to effectively eliminate the timing deviation of contact caused by the difference in contact load of each claw bar while ensuring that the final closing angle of the claw bars is consistent, so as to avoid the prize from being significantly deviated and unstable in posture during the grabbing process, has become the key issue to improve the grabbing stability and success rate of claw machines. Summary of the Invention

[0005] This invention provides a method for precisely controlling the rotation angle of the servo motor of a claw machine's grasping mechanism, comprising:

[0006] The response delay time of each servo after startup is collected by the angle encoding module, the startup time interval between each servo is extracted from the response delay time, and the startup order table of each servo is determined according to the startup time interval.

[0007] The real-time angular position of each claw bar is obtained according to the sequence table. The difference in synchronous arrival speed of the claw bar movement trajectory is identified from the real-time angular position. When the arrival speed of at least one claw bar is lower than the preset range, a preliminary indication of uneven load distribution is obtained.

[0008] The force feedback signal of each claw bar when it comes into contact with the gift is collected by the force-sensitive detection module. The peak response intensity of each claw bar is extracted from the force feedback signal. Claw bars with peak response intensity lower than a preset threshold are identified as light-load claw bars. The risk level of the light-load claw bars arriving first is evaluated.

[0009] Based on the initial identification of uneven load distribution and the risk level of the light-load claw bar arriving first, the pre-trigger time interval value is adjusted, and the dynamic trigger execution steps of each servo motor are generated based on the pre-trigger time interval value to determine the balanced distribution steps of the claw bar contact load.

[0010] The control drive signals of each servo motor are updated through the equalization distribution step. The real-time changes of the gift attitude angle are monitored from the control drive signals. When the real-time changes exceed the preset range, the feedback correction strength for attitude instability is evaluated.

[0011] Based on the feedback correction strength, the compensation strength for uneven load distribution is optimized, and the force distribution ratio of each claw bar is reconstructed from the compensation strength to obtain the final execution step of uniform force on the gift.

[0012] The final execution step drives multiple servo motors to close synchronously, obtains the force feedback signal of the synchronous closure of multiple servo motors, verifies the uniform distribution of the force feedback signal, and determines the stability of the grasping process through the uniform distribution of the force feedback signal.

[0013] Preferably, the step of collecting force feedback signals when each claw bar contacts the gift via a force-sensitive detection module, extracting the peak response intensity of each claw bar from the force feedback signals, identifying claw bars with peak response intensity below a preset threshold as light-load claw bars, and assessing the pre-positioning risk level of the light-load claw bars includes:

[0014] The force-sensitive detection module collects the pressure generated by each claw bar when it comes into contact with the gift during the closing process in real time, obtains the force value feedback signal corresponding to each claw bar, and stores the force value feedback signal in association with the claw bar number according to the collection time to form the force value signal sequence of each claw bar.

[0015] Based on the force value change of each claw bar in the force value signal sequence at the moment of contact with the gift, the peak point from zero to the maximum value of the force value is extracted, and the force value data corresponding to the peak point is used as the peak response intensity of each claw bar.

[0016] The peak response intensity is compared with a preset threshold, and the claw strips with a peak response intensity lower than the preset threshold are marked as light-load claw strips;

[0017] Based on the difference between the peak response intensity of the light-load claw strip and the preset threshold, the light-load claw strip is divided into first-arrival risk levels. The difference is divided into multiple intervals, and each interval corresponds to a risk level. The larger the interval of the difference, the higher the first-arrival risk level, thus obtaining the first-arrival risk level of each light-load claw strip.

[0018] Preferably, the step of collecting the response delay duration after each servo motor is started via the angle encoding module, extracting the start-up time interval between each servo motor from the response delay duration, and determining the order table of start-up sequence of each servo motor based on the start-up time interval includes:

[0019] The angle encoding module collects the angle changes of each servo after sending the start command in real time, records the time from receiving the command to the start of the angle change of each servo, obtains the response delay time of each servo, and binds and stores the response delay time with the corresponding servo number to form the delay time record of each servo.

[0020] Based on the response delay duration of each servo in the delay duration record, calculate the difference in response delay duration between any two servos, use the difference as the start time interval, and pair the start time interval with the corresponding servo number for association and labeling to obtain the start time interval pairing table between each servo.

[0021] Based on the recorded delay duration, the servos are arranged in ascending order of response delay duration, and their numbers are written into the sequence table to determine the order of servo activation.

[0022] Preferably, the real-time angular position of each claw bar is obtained according to the sequence table, and the difference in synchronous arrival speed of the claw bar movement trajectory is identified from the real-time angular position. When the analysis shows that at least one claw bar's arrival speed is lower than a preset range, a preliminary indication of uneven load distribution is obtained, including:

[0023] According to the numbering order of each servo in the sequence table, the current angle of each servo corresponding to each claw bar is periodically read through the angle encoding module to obtain the real-time angle position of each claw bar during the movement process. The real-time angle position is recorded according to the sampling time to form the angle position sequence of each claw bar.

[0024] Based on the ratio of the change in angle position to the sampling time interval in the angle position sequence, the arrival speed of each claw bar at the current moment is obtained. The arrival speeds of each claw bar at the same sampling moment are compared, and the difference between the arrival speeds of each claw bar is calculated to obtain the synchronous arrival speed difference of each claw bar's motion trajectory.

[0025] If at least one claw has a lower arrival speed than a preset range in the synchronous arrival speed difference, it is determined that the load at the location of that claw is higher than that of the other claws, and the claw number is marked to obtain a preliminary indication of uneven load distribution.

[0026] Preferably, the pre-trigger time interval value is adjusted based on the initial identification of uneven load distribution and the risk level of the light-load claw bar arriving first. Dynamic triggering execution steps for each servo motor are generated based on the pre-trigger time interval value, and a balanced distribution step for the claw bar contact load is determined, including:

[0027] The load status of each claw bar is obtained based on the preliminary identification of uneven load distribution, and the claw bar number marked in the preliminary identification is associated and matched with the risk level of the corresponding light-load claw bar arriving first.

[0028] For light-load pawls with a higher risk level of arriving first, increase the pre-trigger interval value of their corresponding servo motors; for pawls with a lower risk level of arriving first, decrease the pre-trigger interval value of their corresponding servo motors to obtain the pre-trigger interval value of each servo motor.

[0029] The start time of each servo is set differently according to the pre-trigger time interval value. The start time of the servo corresponding to the light-load claw bar with high risk level is delayed, while the start time of the servo corresponding to other claw bars is executed according to the original time, forming a differentiated trigger time sequence for each servo.

[0030] According to the differentiated trigger time sequence, each servo is arranged in chronological order, and the number of each servo after arrangement is bound to the corresponding trigger time to form a dynamic trigger execution instruction table.

[0031] Preferably, the control drive signals of each servo motor are updated through the equalization allocation step, and the real-time changes in the attitude angle of the gift are monitored from the control drive signals. When the real-time changes exceed a preset range, the feedback correction strength for attitude instability is evaluated, including:

[0032] According to the differentiated trigger time of each servo, a control drive signal is sent to the corresponding servo. The control drive signal includes the start time and target closing angle of each servo, driving each claw bar to start closing movement and contact the gift at the set time.

[0033] An angle detection device is used to collect the attitude angle data of the gift during the contact process with the claw strip. The attitude angle data includes the tilt angle and rotation angle of the gift relative to the horizontal plane. The attitude angle data at adjacent sampling times are compared to obtain the real-time change of the gift's attitude angle.

[0034] If the real-time change exceeds the preset range, it is determined that the gift has become unstable during the current grasping process. The degree of attitude instability is determined based on the difference between the real-time change and the upper limit of the preset range, and the degree of attitude instability is divided into multiple level intervals.

[0035] The corresponding feedback correction intensity is determined based on the level range of the offset degree. The greater the offset degree, the higher the feedback correction intensity. The feedback correction intensity is associated with the claw bar number when attitude instability occurs.

[0036] Preferably, the final execution step of optimizing the compensation intensity for uneven load distribution based on the feedback correction intensity, reconstructing the force distribution ratio of each claw bar from the compensation intensity, and obtaining the uniform force on the gift includes:

[0037] The compensation intensity for uneven load distribution is adjusted based on the feedback correction intensity.

[0038] The optimized compensation intensity is obtained by multiplying the value of the feedback correction intensity by the time conversion coefficient and then summing it with the pre-trigger time interval value.

[0039] The force distribution ratio of each claw bar is reconstructed based on the optimized compensation strength. For claw bars with higher compensation strength, their proportion in the total clamping force is reduced, while for claw bars with lower compensation strength, their proportion in the total clamping force is increased, resulting in the reconstructed force distribution ratio.

[0040] The control commands of each servo are updated according to the reconstructed force distribution ratio, and the force distribution ratio of each claw bar is converted into the target closing angle and closing speed of the corresponding servo, forming the final execution step of uniform force distribution on the gift.

[0041] Preferably, the final execution step drives multiple servo motors to close synchronously, obtains force feedback signals of the synchronous closure of the multiple servo motors, verifies the uniform distribution of the force feedback signals, and determines the stability of the grasping process through the uniform distribution of the force feedback signals, including:

[0042] According to the target closing angle and closing speed of each servo in the final execution step, control commands are sent to the corresponding servo to drive multiple servos to perform synchronous closing motion according to the set parameters;

[0043] The force feedback signal of each claw bar when it comes into contact with the gift during the synchronous closing process is collected by the force-sensitive detection module, and the force feedback signal is grouped and recorded according to the claw bar number.

[0044] By comparing the numerical differences between the force feedback signals of each claw bar, if the differences between the force feedback signals of each claw bar are lower than a preset uniformity threshold, it is determined that the force feedback signals are uniformly distributed.

[0045] The stability of the grasping process is determined based on the uniform distribution of the force feedback signal.

[0046] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects:

[0047] This invention discloses a method for precise control of the rotation angle of the servo motors in a claw machine's grasping mechanism. Addressing issues such as uneven load distribution, insufficient claw synchronization, and unstable prize posture during the grasping process, this method utilizes angle encoding and force-sensitive detection technology to accurately collect servo motor response delays and claw force feedback. It analyzes the startup sequence, synchronization speed, and peak response intensity to identify risks associated with lightly loaded claws and adjust the pre-trigger time interval, generating dynamic triggering steps to achieve balanced load distribution. Simultaneously, by monitoring changes in prize posture in real time, this invention assesses instability risks and optimizes compensation intensity, reconstructing the force distribution ratio and ultimately driving multiple servo motors to synchronously close, ensuring uniform force distribution. This invention effectively improves the stability of the grasping process, solves the grasping failure problem caused by uneven load, and significantly enhances the adaptability and reliability of the mechanical claw in complex scenarios. Attached Figure Description

[0048] Figure 1 This is a flowchart of a method for precisely controlling the rotation angle of the servo motor of a claw machine grabbing mechanism according to the present invention.

[0049] Figure 2 This is a schematic diagram of a method for precisely controlling the rotation angle of the servo motor of a claw machine grabbing mechanism according to the present invention.

[0050] Figure 3 This is another schematic diagram of a method for precisely controlling the rotation angle of the servo motor of a claw machine grabbing mechanism according to the present invention. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] like Figures 1-3 This embodiment of a method for precisely controlling the rotation angle of the servo motor of a claw machine's grasping mechanism may specifically include:

[0053] Step S101: Collect the response delay time of each servo after startup through the angle encoding module, extract the startup time interval between each servo from the response delay time, and determine the startup order table of each servo based on the startup time interval.

[0054] The angle encoding module collects real-time data on the angle changes of each servo after sending a start command, recording the time from receiving the command to the start of angle change for each servo. The response delay duration for each servo is then obtained and bound to its corresponding servo number for storage, forming a delay duration record for each servo. Based on the response delay duration records, the difference between the response delay durations of any two servos is calculated and used as the start time interval. This start time interval is then paired and associated with its corresponding servo number to obtain a start time interval pairing table for each servo. Finally, based on the delay duration records, the servos are arranged in ascending order of response delay duration, and their numbers are sequentially written into a sequence table to determine the start order of each servo.

[0055] In one implementation, the angle encoding module uses a magnetic encoder or photoelectric encoder as the angle detection element, installed at the output shaft position of each servo. When the control unit sends a start command to each servo, the angle encoding module continuously reads the angle value of the servo's output shaft at a fixed sampling period. Due to differences in mechanical structure, motor characteristics, and load conditions among the servos, different delays will occur between receiving the command and the start of rotation of the output shaft. The angle encoding module detects the moment when the angle value begins to change from a stationary state and records the time difference between this moment and the moment the command is sent; this time difference is the response delay duration of the corresponding servo.

[0056] Specifically, the response delay is determined based on a threshold detection of angle changes. The angle encoding module records the initial angle value before the servo is started and continuously monitors the angle reading after the start command is sent. When the change in angle value exceeds a preset threshold within multiple consecutive sampling periods, such as three consecutive sampling periods, the servo is determined to have started responding. The difference between this point and the command sending time is the servo's response delay. The number of consecutive sampling periods can be determined based on actual debugging.

[0057] It should be noted that after the response delay duration of each servo is collected, the delay duration value of each servo is bound to its corresponding servo number to form a delay duration record. Based on this, the difference between the response delay durations of any two servos is calculated to obtain the start-up time interval between them, and this interval value is paired with the corresponding servo number for associated storage.

[0058] In one embodiment, taking a four-claw claw machine as an example, the four claws correspond to four servo motors, which are numbered sequentially. The servo motors are sorted from shortest to longest response delay, with the servo motor with the shortest delay at the beginning of the order list, and so on, with the servo motor with the longest delay at the end. Through this order list, the control unit can determine the actual response sequence of each servo motor under the same command, thus providing a timing reference for subsequent coordinated control.

[0059] Step S102: Obtain the real-time angular position of each claw bar according to the sequence table, identify the synchronous positioning speed difference of the claw bar movement trajectory from the real-time angular position, and analyze that when at least one claw bar's positioning speed is lower than the preset range, a preliminary indication of uneven load distribution is obtained.

[0060] According to the numbering order of each servo in the sequence table, the current angle of each servo corresponding to each claw bar is periodically read by the angle encoding module to obtain the real-time angle position of each claw bar during movement. The real-time angle positions are recorded according to the sampling time to form an angle position sequence of each claw bar. Based on the ratio of the angle position change at adjacent sampling times to the sampling time interval in the angle position sequence, the arrival speed of each claw bar at the current time is obtained. The arrival speeds of each claw bar at the same sampling time are compared, and the difference between the arrival speeds of each claw bar is calculated to obtain the synchronous arrival speed difference of each claw bar's movement trajectory. If the arrival speed of at least one claw bar is lower than a preset range in the synchronous arrival speed difference, it is determined that the load at the location of that claw bar is higher than that of other claw bars, and the number of that claw bar is marked to obtain a preliminary indication of uneven load distribution.

[0061] In one implementation, the angle encoding module continuously reads the output shaft angle of the servo corresponding to each claw bar according to a fixed sampling period. The sampling period is set to match the movement speed of the servo. The angle value obtained from each sampling is bound and recorded with the corresponding sampling time. As the servo movement continues, a sequence of angle positions for each claw bar is gradually formed.

[0062] Specifically, the arrival speed is calculated based on data from two adjacent sampling moments in the angular position sequence. Taking a certain claw as an example, there is a change between the angle value recorded at the first sampling moment and the angle value recorded at the second sampling moment. This change reflects the angular displacement of the claw during this time period. Dividing the angle change by the time interval between the two sampling moments yields the arrival speed of the claw in the current time period. The physical meaning of arrival speed is the angular magnitude by which the claw approaches the target position per unit time. A larger value indicates that the claw moves faster, and vice versa, the claw's movement is hindered and slowed down.

[0063] It should be noted that at the same sampling moment, the four claw bars correspond to four different positioning speed values. By comparing these four values ​​pairwise, the difference between any two claw bar positioning speeds is calculated, and the set of these differences constitutes the synchronous positioning speed difference.

[0064] In one embodiment, when the arrival speed of a certain claw strip is significantly lower than that of the other claw strips, it indicates that the claw strip experiences greater resistance during its movement. In claw machine scenarios, this resistance typically stems from a heavier prize load at the location of that claw strip. By setting a preset lower limit for the arrival speed, when the arrival speed of a certain claw strip falls below this lower limit, the claw strip's number is marked, forming a preliminary indication of uneven load distribution.

[0065] Understandably, by comparing the load of each gripper bar with a preset threshold to generate a preliminary identifier, this preliminary identifier indicates which grippers are carrying a large load and which are in a light load state during the current gripping process, thus providing a reference for load distribution for subsequent coordinated control.

[0066] Step S103: Collect the force feedback signal of each claw bar when it contacts the gift through the force-sensitive detection module, extract the peak response intensity of each claw bar from the force feedback signal, identify the claw bar with the peak response intensity lower than the preset threshold as the light-load claw bar, and assess the risk level of the light-load claw bar in place.

[0067] The force-sensitive detection module collects the pressure generated by each claw bar when it contacts the gift during the closing process in real time, obtaining the force feedback signal corresponding to each claw bar. These force feedback signals are then associated and stored according to the acquisition time and claw bar number, forming a force signal sequence for each claw bar. Based on the force value change of each claw bar at the moment of contact with the gift in the force signal sequence, the peak point from zero to the maximum force value is extracted. The force value data corresponding to the peak point is taken as the peak response intensity of each claw bar. If the peak response intensity is lower than a preset threshold, the claw bar is marked as a light-load claw bar. Based on the difference between the peak response intensity of the light-load claw bar and the preset threshold, the light-load claw bar is classified into several intervals, each interval corresponding to a risk level. The higher the interval of the difference, the higher the corresponding first-place risk level, thus obtaining the first-place risk level of each light-load claw bar.

[0068] In one embodiment, the force-sensitive detection module employs a thin-film pressure sensor or a strain gauge sensor, installed on the inner contact surface of each claw strip. When the claw strip contacts the surface of the gift during the closing process, the sensor is subjected to pressure and generates an electrical signal output. The amplitude of this electrical signal is positively correlated with the magnitude of the pressure exerted on the claw strip.

[0069] Specifically, the force-sensitive detection module continuously monitors the pressure state of each claw bar at a fixed sampling frequency. From the moment the claw bar begins its closing movement until it fully clamps the gift, it continuously records the changes in the force feedback signal, forming a force signal sequence for each claw bar.

[0070] It should be noted that the peak response intensity is extracted based on feature point identification in the force signal sequence. Before the claw strip contacts the gift, the force feedback signal remains near zero. The moment the claw strip first contacts the gift surface, the force value begins to rise rapidly from zero. As the claw strip continues to close inward and press the gift, the force value gradually increases to its maximum value and then stabilizes. The force value corresponding to this maximum value is the peak response intensity. The peak response intensity reflects the load carried by the claw strip; a higher value indicates a heavier load, and a lower value indicates a lighter load. By comparing the peak response intensity of each claw strip with a preset threshold, claw strips below the preset threshold are marked as light-load claw strips.

[0071] In one embodiment, the risk level classification for the first-to-arrive position is based on the difference between the peak response intensity of the light-load claw strip and a preset threshold. The difference range is divided into several continuous intervals, each interval corresponding to a risk level identifier. The larger the difference, the lighter the load carried by the claw strip, and the easier it is to reach the target position first during the closing process, resulting in a higher risk level for the first-to-arrive position.

[0072] Understandably, the level of risk of premature arrival directly reflects the likelihood that the light-load claw strip will prematurely contact the gift during the gripping process and exert a unilateral thrust on the gift.

[0073] Step S104: Adjust the pre-trigger time interval value based on the initial identification of uneven load distribution and the risk level of light-load claw bar arriving first; generate the dynamic trigger execution steps of each servo motor based on the pre-trigger time interval value; and determine the balanced distribution steps of claw bar contact load.

[0074] Based on the initial identification of uneven load distribution, the load status of each claw bar is obtained. The claw bar number marked in the initial identification is associated with the corresponding light-load claw bar's first-arrival risk level. For light-load claw bars with higher first-arrival risk levels, the pre-trigger interval value of their corresponding servo motors is increased; for claw bars with lower first-arrival risk levels, the pre-trigger interval value of their corresponding servo motors is decreased, thus obtaining the pre-trigger interval value for each servo motor. The start time of each servo motor is differentiated according to the pre-trigger interval value. The start time of the servo motor corresponding to the light-load claw bar with higher first-arrival risk level is delayed, while the start time of the servo motor corresponding to other claw bars is executed according to the original time, forming a differentiated trigger time sequence for each servo motor. The servos are arranged according to the differentiated trigger time sequence, and the number of each servo motor after arrangement is bound to its corresponding trigger time, forming a dynamic trigger execution command table. Start commands are sent sequentially to the corresponding servos according to the trigger times of each servo motor in the dynamic trigger execution command table, causing each claw bar to begin its closing movement according to the differentiated time, thus determining the balanced distribution steps of the claw bar contact load.

[0075] In one implementation, the unified start reference time refers to the unified start point of all servos adjusted based on the original time, and the pre-trigger time interval value refers to the delay or advance of each servo relative to the unified start reference time. This value is determined based on a comprehensive analysis of two dimensions: the initial indication of uneven load distribution and the risk level of the lightly loaded pawl reaching its position first.

[0076] Specifically, the adjustment of the pre-trigger time interval value follows these principles: When a certain claw is marked as a light-load claw and its risk level of arriving first is high, it indicates that the claw bears a smaller load and has lower motion resistance during the closing process. If it starts at the same time, it will reach the target position faster and contact the gift first than other claws. The formula for calculating the pre-trigger time interval value is ΔT = T base ×R level T base R is the basic unit of time interval. level R is the coefficient corresponding to the risk level of arrival. When the risk level is high, R... level When the value is relatively large, the risk level is medium. level When the value is moderate and the risk level is low, R levelThe value is relatively small. The pre-trigger time interval for each lightly loaded pawl is calculated using this formula. In this case, the pre-trigger time interval for the corresponding servo is increased, meaning the servo's start is delayed relative to the reference time. The delay duration is positively correlated with the risk level of arriving first; the higher the risk level, the longer the delay. Conversely, for pawls with heavier loads and greater motion resistance, their corresponding servos start at the original reference time without additional delay. This differentiated time interval setting ensures that faster-moving lightly loaded pawls start later, while slower-moving heavyly loaded pawls start earlier or start normally.

[0077] It should be noted that the differentiated trigger time sequence is formed by superimposing the pre-trigger time interval values ​​of each servo onto a unified start reference time. Assuming the unified start reference time is a fixed point in time, each servo offsets itself from this reference time based on its pre-trigger time interval value, and the offset time is the actual trigger time of that servo.

[0078] For example, taking a four-claw claw machine as an example, the four claws correspond to four servo motors. During a certain grasping process, pre-sequence detection reveals that claws 1 and 3 are lightly loaded, with claw 1 having a high risk level of arriving first and claw 3 having a medium risk level. Claws 2 and 4 are normally loaded. Based on the correspondence between risk level and time interval value, the pre-trigger time interval value for the servo motor corresponding to claw 1 is set to a large delay, the pre-trigger time interval value for the servo motor corresponding to claw 3 is set to a medium delay, and the pre-trigger time interval value for the servo motors corresponding to claws 2 and 4 is set to zero. These four time interval values ​​are superimposed on a unified start reference time to obtain the differentiated trigger times for each of the four servo motors. Furthermore, the construction of the dynamic trigger execution instruction table is a data structure formed by binding and storing the number of each servo motor with its corresponding trigger time. This instruction table arranges the servo motors according to the order of their trigger times, with servo motors with earlier trigger times listed first and servo motors with later trigger times listed last.

[0079] In one embodiment, when performing a grasping action, the control unit reads the dynamic trigger execution instruction table and sends start commands to the corresponding servos in sequence according to the trigger times of each servo in the instruction table. When the system clock reaches the trigger time of a certain servo, a start signal is immediately sent to that servo, and after receiving the signal, the servo begins to drive the corresponding claw bar to perform a closing motion.

[0080] Understandably, through the aforementioned differentiated start-up timing settings, the originally faster-moving light-load gripper is compensated for in time by its delayed start, while the originally slower-moving heavy-load gripper maintains its movement rhythm due to its normal start. When each gripper begins movement from its respective start-up time, the light-load gripper, although moving faster, starts later, while the heavy-load gripper, although moving slower, starts earlier or normally. The differences in both time and speed cancel each other out, allowing each gripper to reach its target position and contact the gift surface simultaneously at roughly the same time, resulting in a balanced distribution of gripper contact load.

[0081] Preferably, the balanced distribution step is a mechanism that dynamically optimizes the timing of servo motor actions through an algorithm. It is applicable to various grasping scenarios such as gift center of gravity shift, irregular shape, and uneven surface material. It adapts to different load distribution states by dynamically adjusting the triggering time of each servo motor.

[0082] Step S105: Update the control drive signals of each servo motor through the equalization distribution step. During the execution of the control drive signals, use the angle detection device to collect the attitude angle data of the gift during the contact process with the claw strip. When the real-time change of the gift's attitude angle exceeds the preset range, evaluate the feedback correction strength of attitude instability.

[0083] Control drive signals are sent to the corresponding servos according to their differentiated trigger times. These differentiated trigger times are calculated based on the center of gravity of the gift and the distribution of the claw bars. The control drive signals include the start time and target closing angle of each servo, driving each claw bar to begin its closing movement and contact the gift at the set time. During the execution of the control drive signals, an angle detection device collects the gift's attitude angle data during contact with the claw bars. This attitude angle data includes the gift's tilt angle and rotation angle relative to the horizontal plane. The attitude angle data from adjacent sampling times are compared to obtain the real-time change in the gift's attitude angle. If the real-time change exceeds a preset range, it is determined that the gift has experienced attitude instability during the current grasping process. The degree of attitude instability is determined based on the difference between the real-time change and the upper limit of the preset range, and this degree of instability is divided into several level intervals. The corresponding feedback correction intensity is determined based on the level interval of the degree of instability; the greater the degree of instability, the higher the feedback correction intensity. The feedback correction intensity is associated with the claw bar number at the time of attitude instability.

[0084] In one implementation, the transmission of control drive signals is based on a dynamic trigger execution instruction table determined in the preceding equalization allocation step. This instruction table is calculated and generated through the preceding steps, and its structure is an ordered list containing the differentiated trigger times of each servo, including a sequence of start instructions for each servo. The control unit sends start instructions sequentially according to the differentiated trigger times of each servo in the instruction table. Upon receiving the instructions, each claw bar begins to close inward and gradually contacts the gift surface.

[0085] Specifically, the attitude angle data is acquired through an angle detection device installed above or to the side of the gripping mechanism. This device continuously monitors the spatial attitude of the gift during contact with the gripper bar, recording the tilt angle of the gift relative to the horizontal reference plane and the rotation angle around the vertical axis. The tilt angle reflects whether the gift has a tendency to tip over in the forward / backward or left / right direction, while the rotation angle reflects whether the gift has twisted around its own central axis.

[0086] It should be noted that the real-time change is obtained based on the comparison of attitude angle data at two adjacent sampling times. At the first sampling time, the tilt angle and rotation angle of the gift are recorded as baseline values. At the second sampling time, the tilt angle and rotation angle of the gift are recorded again as current values. The difference between the current value and the baseline value is calculated to obtain the change in tilt angle and rotation angle. These two changes are combined, and the weighted sum is taken as the real-time change in the gift's attitude angle within that sampling period. The calculation formula is ΔA = w1 × Δθ. tilt +w2×Δθ rotate , where Δθ tilt Let Δθ be the change in tilt angle. rotate The rotation angle change is represented by w1 and w2, which are weighting coefficients and w1+w2=1. As the grasping process continues, the angle detection device continuously updates the reference value and the current value at a fixed sampling period, thereby achieving continuous tracking of the gift's posture change.

[0087] In one embodiment, the preset range is set based on the allowable amplitude of posture fluctuation of the gift during normal grasping. When each claw bar is in even contact with the gift and the force is evenly distributed, the change in the gift's posture angle should be kept within a small range. If the real-time change exceeds the upper limit of the preset range, it indicates that the gift has been subjected to uneven force during the current grasping process, causing its posture to deviate significantly or tilt, which is then determined to be posture instability.

[0088] For example, the degree of deviation is graded based on the magnitude of the real-time change exceeding the upper limit of a preset range. The excess is divided into several consecutive numerical intervals, each corresponding to a degree of deviation. When the real-time change just exceeds the upper limit of the preset range, the excess is small, and the corresponding degree of deviation is low; when the real-time change significantly exceeds the upper limit of the preset range, the excess is large, and the corresponding degree of deviation is high. The granularity of the degree of deviation is set according to the accuracy requirements of the actual grasping scenario; the finer the division, the more accurate the response to attitude instability. Furthermore, the determination of the feedback correction intensity is based on the mapping relationship between the degree of deviation and the correction force. The higher the degree of deviation, the more severe the attitude instability of the gift, the greater the required correction force, and the higher the corresponding feedback correction intensity value. The physical meaning of the feedback correction intensity is the adjustment magnitude or adjustment rate when subsequently adjusting the servo control parameters; high intensity means that a larger magnitude or faster speed adjustment is needed to correct the current attitude deviation.

[0089] Specifically, the feedback correction intensity S is mapped to the servo parameter adjustment through the formula S=a×L+b, where a is the proportional coefficient, L is the offset degree level, and b is the base offset value. Based on this, the servo rotation angle increment is adjusted to S×10% of the current angle, or the rotation speed is adjusted to S×base speed to achieve rapid attitude correction.

[0090] Understandably, associating the feedback correction strength with the number of each claw strip when attitude instability occurs clearly indicates which claw strips caused the attitude instability when contacting the gift. This association provides a basis for subsequent targeted adjustments to the control parameters of specific claw strips.

[0091] Preferably, by utilizing sensors to monitor and evaluate the attitude of the gift in real time, the grasping mechanism can perceive the attitude change of the gift in real time after the step of uniformly adjusting the grasping force according to the attitude data, and quantify the severity of attitude instability when it is detected, forming a feedback correction intensity with a clear numerical indication.

[0092] Step S106: Based on the feedback, the compensation intensity for uneven load distribution is optimized, and the force distribution ratio of each claw bar is reconstructed from the compensation intensity to obtain the final execution step of uniform force on the gift.

[0093] The compensation intensity for uneven load distribution is adjusted based on the feedback correction intensity. The pre-trigger time interval is a time parameter calculated based on the load distribution status and the risk level of arrival, used to adjust the compensation sequence. The value of the feedback correction intensity is multiplied by a time conversion coefficient and then accumulated with the pre-trigger time interval. The higher the feedback correction intensity, the larger the accumulated time interval, resulting in the optimized compensation intensity. The force distribution ratio of each claw is reconstructed based on the optimized compensation intensity. For claws with higher compensation intensity, their proportion in the total clamping force is reduced, while for claws with lower compensation intensity, their proportion in the total clamping force is increased, making the force distribution of each claw more balanced, resulting in the reconstructed force distribution ratio. The control commands of each servo are updated based on the reconstructed force distribution ratio, converting the force distribution ratio of each claw into the target closing angle and closing speed of the corresponding servo, forming the final execution step of uniform force distribution.

[0094] In one implementation, the optimization of the compensation intensity is based on the superposition of the feedback correction intensity on the original pre-trigger time interval value. The original pre-trigger time interval value is derived from the time interval values ​​of each servo motor calculated in step S104 based on the load distribution state and the first-arrival risk level. After the preceding step detects attitude instability in the gift and determines the corresponding feedback correction intensity, the value of this feedback correction intensity is multiplied by the time conversion coefficient T. conv This value is then added to the original pre-trigger time interval value, calculated using the formula ΔT. new =ΔT old +S×T conv T conv To convert the dimensionless intensity value into a time-dimensional conversion coefficient, the time interval value corresponding to the claw bar with more severe attitude instability is further increased, so that stronger delay compensation is applied to the claw bar in the next round of control.

[0095] Specifically, the force distribution ratio is reconstructed following a balancing principle. During the gripping process, the clamping force applied to the gift by each claw should be as evenly distributed as possible to avoid excessive force on one side causing the gift to shift. When the compensation strength of a certain claw is high, it indicates that the claw applied too much force to the gift or made contact with the gift too early during the previous gripping process. Therefore, during the force distribution ratio reconstruction, the proportion of that claw in the total clamping force is reduced. Correspondingly, the proportion of claws with lower compensation strength in the total clamping force is increased. Through this offsetting adjustment, the force distribution of each claw tends to be balanced.

[0096] It should be noted that the conversion from force distribution ratio to servo control command involves a mapping relationship between angle and force. The clamping force applied by the claw to the gift is positively correlated with the servo's closing angle; the larger the closing angle, the stronger the clamping force. Based on the reconstructed force distribution ratio, the target clamping force value corresponding to each claw is calculated, and then converted into the target closing angle of the servo through the linear mapping function F=kθ, where F is the clamping force, θ is the closing angle, and k is a constant calibrated by force sensor experiments. This open-loop mapping is based on a simplified mechanical structure and is economical and practical. Simultaneously, the closing speed setting is also related to the force distribution ratio; claws with a lower distribution ratio close at a slower speed, while claws with a higher distribution ratio close at a normal speed, and the speed difference is positively correlated with the distribution ratio difference.

[0097] It is understandable that the control command formed by the above conversion contains parameters in two dimensions: the target closing angle and the closing speed of each servo motor. This control command is the final execution step to achieve uniform force on the gift.

[0098] Step S107: Drive multiple servo motors to close synchronously through the final execution step, obtain the force feedback signal of the synchronous closure of multiple servo motors, verify the uniform distribution of the force feedback signal, and determine the stability of the grasping process through the uniform distribution of the force feedback signal.

[0099] Control commands are sent to the corresponding servos according to the target closing angle and closing speed of each servo in the final execution step, driving multiple servos to perform synchronous closing movements according to set parameters. This causes each claw to simultaneously retract towards the center of the gift and contact the gift surface at the adjusted time and speed. Force feedback signals from each claw contacting the gift during synchronous closing are collected by a force-sensitive detection module. These force feedback signals are grouped and recorded according to claw number. The numerical differences between the force feedback signals of each claw are compared. If the difference between the force feedback signals of each claw is lower than a preset uniformity threshold, the force feedback signals are determined to be uniformly distributed. The stability of the grasping process is determined based on the uniform distribution of the force feedback signals. If the force feedback signals are uniformly distributed, the current grasping process is determined to be stable, thus confirming the stability of the grasping process.

[0100] In one implementation, the synchronous closing of multiple servos is driven based on the final execution step determined by the preceding steps. The control unit sends control commands to the corresponding servos according to the target closing angle and closing speed of each servo in the final execution step. Upon receiving the commands, each claw bar begins its closing motion according to differentiated parameters and simultaneously contacts the gift surface.

[0101] Specifically, the uniform distribution verification of the force feedback signal is achieved by comparing the differences in force data between each claw bar. The force-sensitive detection module continuously collects force feedback signals after each claw bar contacts the gift, recording the force data of the four claw bars and comparing them pairwise. The absolute value of the difference between any two claw bar force values ​​is calculated, and the maximum value among all absolute differences is taken as the initial dispersion index; simultaneously, the standard deviation SD of the four force values ​​is calculated, where SD is the standard deviation, and the calculation formula is... Where xi represents each force value, mean represents the average value of each force, and n is 4. The standard deviation of the four force values ​​is used as the overall uniformity index. The maximum difference is compared with a preset difference threshold, and the SD is compared with a preset standard deviation threshold. If the maximum difference is lower than the difference threshold and the SD is lower than the standard deviation threshold, the force feedback signal of each claw bar is determined to be uniformly distributed; otherwise, the distribution is determined to be uneven.

[0102] It should be noted that the uniformity threshold is set based on the allowable force fluctuation range of the gift under stable gripping conditions. The specific value of this threshold is pre-calibrated by the manufacturer through experimental testing before leaving the factory, based on the material, weight, shape and other characteristics of the gifts grabbed by the claw machine. For example, the difference threshold for soft and lightweight gifts is 5N. Different types of gifts correspond to different difference thresholds and standard deviation thresholds according to their material, weight, shape and other characteristics.

[0103] In one embodiment, when the force feedback signal is determined to be uniformly distributed, it indicates that the clamping force applied to the gift by each claw is basically the same, and the forces acting on the gift in each direction are balanced. There is no obvious phenomenon of excessive or insufficient force on one side. At this time, the current grasping process is determined to be stable, and subsequent grasping actions are continued. If it is determined to be unevenly distributed, the claw angle or closing speed is adjusted according to the force deviation and the claws are closed again. If the deviation exceeds the threshold, the grasping is abandoned, thereby completing the determination of the stability of the grasping process.

[0104] If the technical solution of this application involves the processing of personal information, the relevant products have established a sound user authorization mechanism: before collecting, using, or sharing personal information, the obligation to inform is fulfilled in accordance with the law, and the individual's voluntary and explicit consent is obtained; if sensitive personal information is involved, the user's separate and explicit consent is further obtained. Specific measures include, but are not limited to: setting up prominent prompts in the information collection area, or clearly displaying the processing rules (including the processor, purpose, method, information type, etc.) through electronic interfaces such as pop-ups, checkboxes, and active submissions, to ensure that users voluntarily authorize based on their knowledge. All personal information processing activities strictly comply with national laws and regulations, especially the relevant provisions of the "Personal Information Protection Law of the People's Republic of China," to effectively safeguard the legitimate rights and interests of personal information subjects.

[0105] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A method for precisely controlling the rotation angle of a servo motor in a claw machine's grasping mechanism, characterized in that... include: The response delay time of each servo after startup is collected by the angle encoding module, the startup time interval between each servo is extracted from the response delay time, and the startup order table of each servo is determined according to the startup time interval. The real-time angular position of each claw bar is obtained according to the sequence table. The difference in synchronous arrival speed of the claw bar movement trajectory is identified from the real-time angular position. When the arrival speed of at least one claw bar is lower than the preset range, a preliminary indication of uneven load distribution is obtained. The force feedback signal of each claw bar when it comes into contact with the gift is collected by the force-sensitive detection module. The peak response intensity of each claw bar is extracted from the force feedback signal. Claw bars with peak response intensity lower than a preset threshold are identified as light-load claw bars. The risk level of the light-load claw bars arriving first is evaluated. Based on the preliminary identification of uneven load distribution obtained from the previous detection and the risk level adjustment of the light load claw bar first arrival, the dynamic trigger execution steps of each servo motor are generated according to the pre-trigger time interval value, and the balanced distribution steps of claw bar contact load are determined. The control drive signals of each servo motor are updated through the equalization distribution step. During the execution of the control drive signals, the attitude angle data of the gift during the contact process with the claw strip is collected by the angle detection device. When the real-time change of the gift attitude angle exceeds the preset range, the feedback correction strength of attitude instability is evaluated. Based on the feedback correction strength, the compensation strength for uneven load distribution is optimized, and the force distribution ratio of each claw bar is reconstructed from the compensation strength to obtain the final execution step of uniform force on the gift. The final execution step drives multiple servo motors to close synchronously, obtains the force feedback signal of the synchronous closure of multiple servo motors, verifies the uniform distribution of the force feedback signal, and determines the stability of the grasping process through the uniform distribution of the force feedback signal.

2. The method for precisely controlling the rotation angle of the servo motor of the claw machine's grasping mechanism according to claim 1, characterized in that, The process involves collecting force feedback signals from each claw bar when it contacts the gift using a force-sensitive detection module, extracting the peak response intensity of each claw bar from the force feedback signals, identifying claw bars with peak response intensity below a preset threshold as light-load claw bars, and assessing the pre-positioning risk level of the light-load claw bars, including: The force-sensitive detection module collects the pressure generated by each claw bar when it comes into contact with the gift during the closing process in real time, obtains the force value feedback signal corresponding to each claw bar, and stores the force value feedback signal in association with the claw bar number according to the collection time to form the force value signal sequence of each claw bar. Based on the force value change of each claw bar in the force value signal sequence at the moment of contact with the gift, the peak point from zero to the maximum value of the force value is extracted, and the force value data corresponding to the peak point is used as the peak response intensity of each claw bar. The peak response intensity is compared with a preset threshold, and the claw strips with a peak response intensity lower than the preset threshold are marked as light-load claw strips; Based on the difference between the peak response intensity of the light-load claw strip and the preset threshold, the light-load claw strip is divided into first-arrival risk levels. The difference is divided into multiple intervals, and each interval corresponds to a risk level. The larger the interval of the difference, the higher the first-arrival risk level, thus obtaining the first-arrival risk level of each light-load claw strip.

3. The method for precisely controlling the rotation angle of the servo motor of the claw machine's grasping mechanism according to claim 1, characterized in that, The process involves collecting the response delay time of each servo motor after startup via an angle encoding module, extracting the startup time interval between each servo motor from the response delay time, and determining the startup order table of each servo motor based on the startup time interval, including: The angle encoding module collects the angle changes of each servo after sending the start command in real time, records the time from receiving the command to the start of the angle change of each servo, obtains the response delay time of each servo, and binds and stores the response delay time with the corresponding servo number to form the delay time record of each servo. Based on the response delay duration of each servo in the delay duration record, calculate the difference in response delay duration between any two servos, use the difference as the start time interval, and pair the start time interval with the corresponding servo number for association and labeling to obtain the start time interval pairing table between each servo. Based on the recorded delay duration, the servos are arranged in ascending order of response delay duration, and their numbers are written into the sequence table to determine the order of servo activation.

4. The method for precisely controlling the rotation angle of the servo motor of the claw machine's grasping mechanism according to claim 1, characterized in that, The real-time angular position of each claw bar is obtained according to the sequence table. The synchronous arrival speed difference of the claw bar's movement trajectory is identified from the real-time angular position. If at least one claw bar's arrival speed is lower than a preset range, a preliminary indication of uneven load distribution is obtained, including: According to the numbering order of each servo in the sequence table, the current angle of each servo corresponding to each claw bar is periodically read through the angle encoding module to obtain the real-time angle position of each claw bar during the movement process. The real-time angle position is recorded according to the sampling time to form the angle position sequence of each claw bar. Based on the ratio of the change in angle position to the sampling time interval in the angle position sequence, the arrival speed of each claw bar at the current moment is obtained. The arrival speeds of each claw bar at the same sampling moment are compared, and the difference between the arrival speeds of each claw bar is calculated to obtain the synchronous arrival speed difference of each claw bar's motion trajectory. If at least one claw has a lower arrival speed than a preset range in the synchronous arrival speed difference, it is determined that the load at the location of that claw is higher than that of the other claws, and the claw number is marked to obtain a preliminary indication of uneven load distribution.

5. The method for precisely controlling the rotation angle of the servo motor of the claw machine's grasping mechanism according to claim 1, characterized in that, Based on the initial identification of uneven load distribution and the risk level of the light-load pawl arriving first, the pre-trigger time interval value is adjusted. Dynamic triggering execution steps for each servo motor are generated based on the pre-trigger time interval value. The steps for balancing the pawl contact load are determined, including: The load status of each claw bar is obtained based on the preliminary identification of uneven load distribution, and the claw bar number marked in the preliminary identification is associated and matched with the risk level of the corresponding light-load claw bar arriving first. For light-load pawls with a higher risk level of arriving first, increase the pre-trigger interval value of their corresponding servo motors; for pawls with a lower risk level of arriving first, decrease the pre-trigger interval value of their corresponding servo motors to obtain the pre-trigger interval value of each servo motor. The start time of each servo is set differently according to the pre-trigger time interval value. The start time of the servo corresponding to the light-load claw bar with high risk level is delayed, while the start time of the servo corresponding to other claw bars is executed according to the original time, forming a differentiated trigger time sequence for each servo. According to the differentiated trigger time sequence, each servo is arranged in chronological order, and the number of each servo after arrangement is bound to the corresponding trigger time to form a dynamic trigger execution instruction table.

6. The method for precisely controlling the rotation angle of the servo motor of the claw machine's grasping mechanism according to claim 1, characterized in that, The control drive signals of each servo motor are updated through the equalization distribution step. During the execution of the control drive signals, the attitude angle data of the gift during the contact process with the claw strip is collected using an angle detection device. When the real-time change of the gift's attitude angle exceeds the preset range, the feedback correction strength for attitude instability is evaluated, including: According to the differentiated trigger time of each servo, a control drive signal is sent to the corresponding servo. The control drive signal includes the start time and target closing angle of each servo, driving each claw bar to start closing movement and contact the gift at the set time. An angle detection device is used to collect the attitude angle data of the gift during the contact process with the claw strip. The attitude angle data includes the tilt angle and rotation angle of the gift relative to the horizontal plane. The attitude angle data at adjacent sampling times are compared to obtain the real-time change of the gift's attitude angle. If the real-time change exceeds the preset range, it is determined that the gift has become unstable during the current grasping process. The degree of attitude instability is determined based on the difference between the real-time change and the upper limit of the preset range, and the degree of attitude instability is divided into multiple level intervals. The corresponding feedback correction intensity is determined based on the level range of the offset degree. The greater the offset degree, the higher the feedback correction intensity. The feedback correction intensity is associated with the claw bar number when attitude instability occurs.

7. The method for precisely controlling the rotation angle of the servo motor of the claw machine's grasping mechanism according to claim 1, characterized in that, Based on the feedback correction strength optimization to compensate for uneven load distribution, the force distribution ratio of each claw bar is reconstructed from the compensation strength to obtain the final execution steps for uniform force distribution on the gift, including: The compensation intensity for uneven load distribution is adjusted based on the feedback correction intensity. The optimized compensation intensity is obtained by multiplying the value of the feedback correction intensity by the time conversion coefficient and then summing it with the pre-trigger time interval value. The force distribution ratio of each claw bar is reconstructed based on the optimized compensation strength. For claw bars with higher compensation strength, their proportion in the total clamping force is reduced, while for claw bars with lower compensation strength, their proportion in the total clamping force is increased, resulting in the reconstructed force distribution ratio. The control commands of each servo are updated according to the reconstructed force distribution ratio, and the force distribution ratio of each claw bar is converted into the target closing angle and closing speed of the corresponding servo, forming the final execution step of uniform force distribution on the gift.

8. The method for precise control of the rotation angle of the servo motor of the claw machine grasping mechanism according to claim 1, characterized in that, The final execution step drives multiple servo motors to close synchronously, obtains force feedback signals of the synchronous closure of the multiple servo motors, verifies the uniform distribution of the force feedback signals, and determines the stability of the grasping process through the uniform distribution of the force feedback signals, including: According to the target closing angle and closing speed of each servo in the final execution step, control commands are sent to the corresponding servo to drive multiple servos to perform synchronous closing motion according to the set parameters; The force feedback signal of each claw bar when it comes into contact with the gift during the synchronous closing process is collected by the force-sensitive detection module, and the force feedback signal is grouped and recorded according to the claw bar number. By comparing the numerical differences between the force feedback signals of each claw bar, if the differences between the force feedback signals of each claw bar are lower than a preset uniformity threshold, it is determined that the force feedback signals are uniformly distributed. The stability of the grasping process is determined based on the uniform distribution of the force feedback signal.

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