Clamping actuator and its control method and device, robot end effector

Abstract

This application provides a gripping actuator and its control method, apparatus, and robot end effector, relating to the field of robotics. It is applied to gripping actuators, which include multiple gripping components, at least one of which is an independently drivable active gripping component. The method includes: detecting an obstacle in the opening direction of the active gripping component; if an obstacle is detected, controlling the gripping actuator to move until its central axis faces a target position; for each active gripping component, controlling the active gripping component to open, with the target position located between the center of the target object and the edge of the target object near the obstacle; controlling the gripping actuator to move towards the target object; and controlling the active gripping component to retract until it grips the target object. Applying the solution provided in this application improves the flexibility of the gripping actuator.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a clamping actuator and its control method, device, and robot end effector. Background Technology

[0002] With the development of fields such as micro-automation, desktop robots, and precision small parts assembly, the market demand for small-sized, highly integrated clamping actuators is becoming increasingly urgent.

[0003] In related technologies, gripping actuators, taking grippers as an example, typically have one drive device connected to multiple gripper fingers. The drive device synchronously drives the multiple gripper fingers to move synchronously, resulting in poor gripping flexibility of the gripping actuator and easy collision with obstacles in the application scenario. Summary of the Invention

[0004] The purpose of this application is to provide a gripping actuator and its control method, device, and robot end effector to improve the flexibility of the gripping actuator and minimize collisions with obstacles. The specific technical solution is as follows:

[0005] In a first aspect, embodiments of this application provide a control method for a clamping actuator, applied to a clamping actuator including multiple clamping components, at least one of which is an independently drivable active clamping component. The method includes: detecting an obstacle in the opening direction of the active clamping component, wherein the distance between the obstacle and a target object is less than or equal to a preset distance; if the obstacle is detected, controlling the clamping actuator to move until its central axis faces the target position; for each active clamping component, controlling the active clamping component to open such that the end of the active clamping component faces the area between the target object and the obstacle, wherein the target position is located between the center of the target object and the edge of the target object near the obstacle; controlling the clamping actuator to move towards the target object until the target object is within the clamping range of the clamping actuator; and controlling the active clamping component to retract until it clamps the target object.

[0006] Secondly, embodiments of this application provide a clamping actuator control device, applied to a clamping actuator. The clamping actuator includes multiple clamping components, at least one of which is an independently drivable active clamping component. The device includes: an obstacle detection module for detecting obstacles in the direction in which the active clamping component opens, wherein the distance between the obstacle and the target object is less than or equal to a preset distance; a first clamping component control module for controlling the clamping actuator to move to a position where its central axis faces the target when the obstacle detection module detects the presence of an obstacle; for each active clamping component, controlling the opening of the active clamping component so that the end of the active clamping component faces the area between the target object and the obstacle, wherein the target position is located between the center of the target object and the edge of the target object near the obstacle; a mechanism control module for controlling the clamping actuator to move towards the target object until the target object is within the clamping range of the clamping actuator; and a clamping component retraction module for controlling the active clamping component to retract until it clamps the target object.

[0007] Thirdly, embodiments of this application provide a clamping actuator capable of executing any of the methods in the first aspect under the control of a controller. The clamping actuator includes: a connecting seat and a plurality of clamping components; each clamping component has a clamping part; at least one of the plurality of clamping components is an active clamping component; the active clamping component further includes a linkage structure and a drive motor; the linkage structure includes a fixed linkage and a drive linkage, the fixed linkage is fixedly connected to the connecting seat, and the end of the drive linkage is connected to the clamping part; the output shaft of the drive motor is connected to the fixed linkage, and the controller is capable of controlling the drive motor so that the drive motor can drive the drive linkage to move the clamping part connected to the drive linkage closer to or away from other clamping parts.

[0008] Fourthly, this application proposes a robot end effector, comprising: a robotic arm and a gripping actuator as described in any of the above embodiments, wherein the robotic arm is connected to a connecting seat of the gripping actuator. The robot end effector of this application has a more flexible gripping actuator, a simplified transmission link, higher gripping accuracy, and the ability to perform gripping with low force, thereby enhancing the application scenario compatibility, reducing its size, and increasing its gripping accuracy. It effectively improves the problems of increased positional deviation and insufficient precise positioning capability caused by the large size of the gripping actuator itself, long transmission link, and accumulated gap errors, and is compatible with the multi-degree-of-freedom linkage design of humanoid robot wrists.

[0009] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements any of the method steps in the first aspect.

[0010] In a sixth aspect, embodiments of this application also provide a computer program product containing instructions that, when run on a computer, cause the computer to perform any of the methods described in the first aspect.

[0011] The clamping actuator control method provided in this application includes an independently drivable active clamping component. Therefore, the active clamping component can move independently in a manner different from other clamping components, offering greater flexibility. When an obstacle is detected near the target object, the central axis of the clamping actuator is shifted towards the obstacle, bringing the entire clamping actuator closer to the obstacle. Because the active clamping component can move independently, the active clamping component closer to the obstacle does not need to move synchronously with other clamping components. It only needs to open a small amplitude to achieve eccentric clamping of the target object. Since the opening amplitude of the active clamping component is small, the possibility of collision with the obstacle is reduced. Furthermore, this application controls the end of each active clamping component to precisely align with the area between the target object and the obstacle, thereby minimizing the risk of collision between the active clamping component and the obstacle or target object during the movement of the clamping actuator towards the target object.

[0012] Of course, implementing any product or method of this application does not necessarily require achieving all of the above advantages at the same time. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0014] Figure 1 A flowchart illustrating the first clamping actuator control method provided in this application embodiment;

[0015] Figure 2 A flowchart illustrating a second clamping actuator control method provided in an embodiment of this application;

[0016] Figure 3 A flowchart illustrating the third clamping actuator control method provided in this application embodiment;

[0017] Figure 4 This is a schematic diagram of the structure of a clamping actuator control device provided in an embodiment of this application;

[0018] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0019] Figure 6 This is a schematic diagram of the clamping actuator according to an embodiment of this application. Figure 1 ;

[0020] Figure 7 This is a schematic diagram of the structure of the rotary motor in the embodiments of this application;

[0021] Figure 8 for Figure 6 A bottom view;

[0022] Figure 9 for Figure 6 A structural diagram of one screw is omitted;

[0023] Figure 10 This is a schematic diagram of the clamping actuator according to an embodiment of this application. Figure 2 ;

[0024] Figure 11 for Figure 9 A magnified view of part Q;

[0025] Figure 12 for Figure 6 A schematic diagram of the decomposed structure;

[0026] Figure 13 This is a schematic diagram of the clamping actuator according to an embodiment of this application. Figure 3 ;

[0027] Figure 14 This is a schematic diagram of the clamping actuator according to an embodiment of this application. Figure 4 ;

[0028] Figure 15 for Figure 14 A schematic diagram of the decomposed structure;

[0029] Figure 16 This is a graph showing the variation of the single-sided clamping force during the entire stroke when the input torque of the clamping actuator in this embodiment of the application is 0.18 N·m.

[0030] Figure 17 This is a clamping diagram of the robot end effector unit according to an embodiment of this application. Figure 1 ;

[0031] Figure 18 This is a clamping diagram of the robot end effector unit according to an embodiment of this application. Figure 2 .

[0032] Explanation of reference numerals in the attached drawings: Clamping actuator 10; robotic arm 20; camera 21; target object 30; connecting seat 100; clamping assembly 200; clamping part 201; active clamping assembly 210; linkage structure 211; fixed linkage 2111; through groove 21111; limiting protrusion 21112; drive linkage 2112; housing 21121; cover plate 21122; first auxiliary linkage 2113; second auxiliary linkage 2114; rotary motor 212; body 2121; output shaft 2122; connecting shaft 2123; connector 213; screw 214; rotating shaft 215; fixed clamping assembly 220; first connection point P1; second connection point P2; third connection point P3; fourth connection point P4; gap S; central shaft M. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0034] The clamping actuator according to the embodiments of this application can be used to clamp heavy objects such as bulk goods and industrial products, as well as light objects such as precision parts, daily necessities, and express deliveries. The clamping actuator can be installed at the end of a robotic arm to achieve fully automated clamping. The clamping actuator can contain two clamping components, which can be symmetrically arranged to improve clamping stability or asymmetrically arranged, as long as the object can be clamped. If the clamping actuator contains two or more clamping components, they can be evenly arranged along the circumference to improve clamping stability or non-uniformly arranged, as long as the object can be clamped. Each clamping component in the clamping actuator is an independently drivable active clamping component, thereby maximizing the flexibility of the active clamping components. Alternatively, some clamping components in the clamping actuator can be active clamping components, while others are fixed clamping components, thereby reducing the complexity of controlling the clamping actuator and lowering its cost.

[0035] See Figure 1 The embodiments of this application are applied to a clamping actuator, which includes multiple clamping components. At least one of the multiple clamping components is an active clamping component that can be driven independently. The above method includes the following steps S101-S104.

[0036] S101: Obstacle detection is performed in the direction in which the active gripping component opens.

[0037] The distance between the aforementioned obstacle and the target is less than or equal to a preset distance.

[0038] S102: When an obstacle is detected, control the clamping actuator to move to a position where its central axis is directly opposite the target; for each active clamping component, control the opening of the active clamping component so that the end of the active clamping component is directly opposite the area between the target and the obstacle.

[0039] The target location is between the center of the target object and the edge of the target object near the obstacle.

[0040] S103: Control the clamping actuator to move toward the target object until the target object is within the clamping range of the clamping actuator.

[0041] S104: Control the retraction of the active clamping component until it clamps the target object.

[0042] As can be seen from the above, the clamping actuator control method provided in this application includes an independently drivable active clamping component. Therefore, the active clamping component can move independently in a manner different from other clamping components, exhibiting high flexibility. When an obstacle is detected near the target object, the central axis of the clamping actuator is shifted towards the obstacle, bringing the entire clamping actuator closer to the obstacle. Since the active clamping component can move independently, the active clamping component closer to the obstacle does not need to move synchronously with other clamping components. It only needs to open a small amplitude to achieve eccentric clamping of the target object. Because the opening amplitude of the active clamping component is small, the possibility of collision with the obstacle can be reduced. Furthermore, in this application, the end of each active clamping component is precisely aligned with the area between the target object and the obstacle, thereby minimizing the possibility of collision between the active clamping component and the obstacle or the target object during the movement of the clamping actuator towards the target object.

[0043] In one possible embodiment, the aforementioned preset distance is greater than or equal to the distance between the central axis of the clamping actuator and the end of the active clamping component in the opening direction of the active clamping component when the active clamping component is opened to its maximum extent. That is, step S101 determines whether there are any obstacles within the maximum opening range of the active clamping component. Any object other than the target object that can block the extension of the active clamping component can be considered an obstacle, such as a wall, cabinet, etc.

[0044] In one example, if the clamping actuator has two symmetrically arranged clamping components, the clamping actuator can be controlled to rotate until the clamping components are arranged horizontally. In this case, the active clamping component opens in a horizontal direction, thereby improving clamping stability when horizontal clamping is used subsequently.

[0045] In one possible embodiment, when detecting an obstacle, the clamping actuator can face the target object. If an obstacle is detected, the clamping actuator is controlled to translate until its central axis faces the target. That is, the clamping component does not rotate during the translation, and the obstacle remains in the direction in which the active clamping component opens. If there is a fixed clamping component on the clamping actuator, after moving the clamping actuator, the end of the fixed clamping component should be positioned outside the edge of the target object, and there should be no other objects between its position and the edge of the target object.

[0046] In addition, the target location can be determined based on the distance between the obstacle and the target. The smaller the distance between the obstacle and the target, the closer the target location is to the obstacle. The larger the distance between the obstacle and the target, the closer the target location is to the center of the target.

[0047] In one possible embodiment, during the process of controlling the clamping actuator to move toward the target object, the clamping actuator can be controlled to move in a straight line, and the clamping actuator does not rotate during the movement. During the movement, the central axis of the clamping actuator is always facing the same position of the target object, so as to prevent the position of the end of the clamping component from shifting during the movement, causing it to collide with the target object or obstacle.

[0048] Alternatively, the clamping actuator may move along a curve and / or rotate during movement. In this case, the position of the end of the clamping component may change, requiring real-time adjustment of the end of the clamping actuator to ensure it is positioned between the target object and the obstacle. Furthermore, if a fixed clamping component is present on the clamping actuator, its end must be continuously monitored during movement, and the position of the clamping actuator adjusted so that the end of the fixed clamping component is outside the edge of the target object, and there are no other objects between its position and the edge of the target object.

[0049] In one possible embodiment, an image acquisition device can be configured on the clamping actuator to analyze the image acquired by the image acquisition device. If it is determined that the edge of the clamping component is in contact with the edge of the target object, it is determined that the target object is clamped.

[0050] For example, the execution subject in this application embodiment may be a controller that clamps the execution mechanism, or a data processing device that is communicatively connected to the clamping execution mechanism, such as a server or computer.

[0051] See Figure 2 It also includes the following step S105.

[0052] S105: When no obstacle is detected, control the clamping actuator to move to the center of the target object with its central axis facing the center of the target object. For each active clamping component, control the opening of the active clamping component so that the end of the active clamping component faces the area outside the target object.

[0053] The aforementioned central range includes the center of the target object.

[0054] As can be seen from the above, when there are no obstacles near the target object, the clamping actuator will not be blocked by obstacles during the clamping process. In this case, in the embodiment of this application, the clamping actuator is controlled to move to the center of the target object with the central axis facing the center, thereby achieving centered clamping and thus achieving a more stable clamping effect.

[0055] In one possible embodiment, the center of the central range is the center of the target object, and the central range can be a circular range or a square range.

[0056] In addition, when detecting obstacles, the clamping actuator can face the target object directly. If no obstacle is detected, the clamping actuator is controlled to translate to the same position within the center range of the target object with the central axis facing directly. That is, the clamping component does not rotate during the translation process.

[0057] When the central axis of the clamping actuator is aligned with the center of the target object, and all clamping components on the clamping actuator are active clamping components, each active clamping component can be controlled to open to the same extent until the ends of each active clamping component are aligned with the area outside the target object.

[0058] In another possible embodiment, if there is a fixed clamping component that cannot be moved on the clamping actuator, after the clamping actuator moves to the center range of the target object with the central axis facing it, if the position of the end of the fixed clamping component is inside the edge of the target object, then it is necessary to move the clamping actuator again in the direction of the fixed clamping component until the position of the fixed clamping component is outside the edge of the target object.

[0059] In another embodiment of this application, if no obstacle is detected, the clamping actuator can be controlled to move from the central axis to any position on the target object, and for each active clamping component, the active clamping component can be controlled to open so that the end of the active clamping component faces the area outside the target object. In this case, the opening range of different active clamping components may be different, but as long as clamping can be achieved.

[0060] In one possible embodiment, the above-mentioned control of opening the active clamping component can be achieved through the following steps A-C.

[0061] Step A: In the opening direction of the active clamping assembly, determine the first distance between the central axis of the clamping actuator and the edge of the target object.

[0062] Step B: Based on the first distance, determine the opening amplitude of the active clamping component.

[0063] The first distance is positively correlated with the opening range of the active clamping component.

[0064] Step C: Control the opening of the active clamping component according to the opening range.

[0065] As can be seen from the above, after determining the first distance between the central axis of the clamping actuator and the edge of the target object, the active clamping component can accurately calculate the opening range of the active clamping component based on the first distance. After the active clamping component opens according to the calculated opening range, the end of the active clamping component faces the area outside the target object, thereby achieving precise control of the active clamping component.

[0066] After obtaining the first distance, in one possible embodiment, based on the length of the active gripping component and using the Pythagorean theorem, the range of the angle between the central axis of the clamping actuator and the active gripping component can be calculated when the end of the active gripping component is facing the area outside the target object. Then, based on the current angle between the active gripping component and the central axis of the clamping actuator, the angle by which the active gripping component needs to further open is determined, resulting in the opening amplitude. In this case, the opening amplitude is the opening angle. In another possible embodiment, based on the third distance between the end of the active gripping component and the central axis of the clamping actuator, the distance difference between the first and third distances can be calculated, and the opening distance of the end of the active gripping component can be determined as the opening amplitude. If the opening amplitude is greater than the above distance difference, in this case, the opening amplitude is the opening distance of the end of the active gripping component.

[0067] In another embodiment of this application, an image acquisition device or a lidar may be installed on the clamping actuator. The image acquisition device or lidar continuously acquires environmental data, and the active clamping component slowly opens until it is determined from the environmental data that the end of the active clamping component is facing the area outside the target object. Then, the active clamping component is controlled to stop opening.

[0068] In one possible embodiment, the above-mentioned control of opening the active clamping component can be achieved through the following steps D-F.

[0069] Step D: In the opening direction of the active clamping assembly, determine the first distance between the central axis of the clamping actuator and the edge of the target object, and the second distance between the central axis and the obstacle.

[0070] Step E: Determine the opening amplitude of the active clamping component based on the first distance and the second distance.

[0071] Step F: Control the opening of the active clamping component according to the opening range.

[0072] As can be seen from the above, after determining the first distance between the central axis of the clamping actuator and the edge of the target object and the second distance between the central axis and the obstacle, the active clamping component can accurately calculate the opening range of the active clamping component based on the first and second distances, and then control the active clamping component to open according to the calculated opening range, thereby achieving precise control of the active clamping component.

[0073] An image acquisition device or a lidar can be installed on the aforementioned clamping actuator. The image acquisition device can collect image data of the environment as environmental data, and the lidar can collect laser point cloud data of the environment as environmental data. By analyzing the above environmental data, the first distance between the central axis of the clamping actuator and the edge of the target object, and the second distance between the central axis and the obstacle can be determined. The specific analysis method can adopt relevant technologies, and this application does not limit it.

[0074] After obtaining the first distance, in one possible embodiment, based on the length of the active gripping component and using the Pythagorean theorem, the first angle range between the central axis of the clamping actuator and the active gripping component can be calculated when the end of the active gripping component is facing an area outside the target object. The second angle range between the central axis of the clamping actuator and the active gripping component can also be calculated when the end of the active gripping component is facing an obstacle. The portion of the first gripping range outside the second gripping range constitutes the third angle range between the active gripping component and the central axis after it opens. Then, based on the current angle between the active gripping component and the central axis of the clamping actuator, the angle by which the active gripping component needs to further open when it is currently open to the third angle range is determined, resulting in the opening amplitude, which in this case is the opening angle. In another possible embodiment, the opening distance of the end of the active clamping component can be determined as the opening amplitude based on the third distance between the end of the active clamping component and the central axis of the clamping actuator, the first distance difference between the first distance and the third distance, and the second distance difference between the second distance and the third distance. In this case, the opening amplitude is the opening distance of the end of the active clamping component, and the opening amplitude is between the first distance difference and the second distance difference.

[0075] In another embodiment of this application, an image acquisition device or a lidar may be installed on the clamping actuator. The image acquisition device or lidar continuously acquires environmental data, and the active clamping component slowly opens until it is determined from the environmental data that the end of the active clamping component is facing the area between the target object and the obstacle. Then, the active clamping component is controlled to stop opening.

[0076] See Figure 3Before step S101, the steps S106 and S107 are also included.

[0077] S106: Acquire environmental data collected by an image acquisition device or lidar installed on the clamping actuator.

[0078] S107: Analyze environmental data.

[0079] As can be seen from the above, in this embodiment of the application, the environmental data of the environment near the clamping actuator can be determined by the image acquisition device or lidar installed on the clamping actuator. Since the data acquisition range of the image acquisition device or lidar is often wide, obstacles can be accurately identified based on this.

[0080] In one possible embodiment, the location of an obstacle can be identified from environmental data, and then it can be determined whether the distance between that location and the target object is less than or equal to a preset distance. If so, it is determined that an obstacle exists. Alternatively, the location of the target object can be identified from environmental data, and then a range in which the distance between the target object and the active gripping component in the opening direction is less than or equal to a preset distance can be determined. Within this range, it can then be determined whether an obstacle exists.

[0081] In one embodiment of this application, a pressure sensor is deployed on the clamping assembly, and the active clamping mechanism is clamped to the target object by the following step G.

[0082] Step G: If the pressure detected by the pressure sensor is greater than the preset pressure during the retraction of the active clamping component, it is determined that the active clamping mechanism has clamped the target object.

[0083] As can be seen from the above, after the clamping component successfully clamps the target object, the clamping component will apply pressure to the target object, and the target object will also apply a counterforce to the clamping component. If the pressure is greater than the preset pressure, it is determined that the current clamping component applies greater pressure to the target object and the clamping stability is higher. In this case, the contraction of the active clamping component can be stopped to achieve stable clamping of the target object.

[0084] In one possible embodiment, a pressure sensor is mounted on one side of the clamping assembly facing the clamping space enclosed by the clamping assemblies, and is able to contact the target object after the clamping assembly clamps the target object.

[0085] See Figure 4 A clamping actuator control device is applied to a clamping actuator, which includes multiple clamping components, at least one of which is an independently drivable active clamping component. The device includes:

[0086] The obstacle detection module 401 is used to detect obstacles in the direction in which the active gripping component opens, wherein the distance between the obstacle and the target object is less than or equal to a preset distance. The first gripping component control module 402 is used to control the gripping actuator to move to a position where its central axis faces the target when the obstacle detection module 401 detects an obstacle; for each active gripping component, it controls the opening of the active gripping component so that its end faces the area between the target object and the obstacle, wherein the target position is located between the center of the target object and the edge of the target object near the obstacle. The mechanism control module 403 is used to control the gripping actuator to move towards the target object until the target object is within the gripping range of the gripping actuator. The gripping component retraction module 404 is used to control the active gripping component to retract until it grips the target object.

[0087] As can be seen from the above, the technical solution provided by this application includes an independently drivable active gripping component. Therefore, the active gripping component can move independently in a manner different from other gripping components, exhibiting high flexibility. When an obstacle is detected near the target object, the central axis of the gripping actuator is shifted towards the obstacle, bringing the entire gripping actuator closer to the obstacle. Since the active gripping component can move independently, the active gripping component closer to the obstacle does not need to move synchronously with other gripping components. It only needs to open a small amplitude to achieve eccentric gripping of the target object. Because the opening amplitude of the active gripping component is small, the possibility of collision with the obstacle can be reduced. Furthermore, in this application, the end of each active gripping component is precisely aligned with the area between the target object and the obstacle, thereby minimizing the risk of collision between the active gripping component and the obstacle or target object during the movement of the gripping actuator towards the target object.

[0088] In another embodiment of this application, the above-mentioned device further includes: a second clamping component control module 405, which is used to control the clamping actuator to move to the center range of the target object when the obstacle detection module 401 detects that there is no obstacle, and to control the opening of each active clamping component so that the end of the active clamping component faces the area outside the target object, and the center range includes the center of the target object.

[0089] As can be seen from the above, when there are no obstacles near the target object, the clamping actuator will not be blocked by obstacles during the clamping process. In this case, in the embodiment of this application, the clamping actuator is controlled to move to the center of the target object with the central axis facing the center, thereby achieving centered clamping and thus achieving a more stable clamping effect.

[0090] In one possible embodiment, the second clamping component control module 405 is specifically configured to: for each active clamping component, determine a first distance between the central axis of the clamping actuator and the edge of the target object in the opening direction of the active clamping component; determine the opening amplitude of the active clamping component based on the first distance, wherein the first distance is positively correlated with the opening amplitude of the active clamping component; and control the opening of the active clamping component according to the opening amplitude, so that the end of the active clamping component faces the area outside the target object.

[0091] As can be seen from the above, after determining the first distance between the central axis of the clamping actuator and the edge of the target object, the active clamping component can accurately calculate the opening range of the active clamping component based on the first distance. After the active clamping component opens according to the calculated opening range, the end of the active clamping component faces the area outside the target object, thereby achieving precise control of the active clamping component.

[0092] In one possible embodiment, the first clamping component control module 402 is specifically configured to: for each active clamping component, in the opening direction of the active clamping component, determine a first distance between the central axis of the clamping actuator and the edge of the target object, and a second distance between the central axis and the obstacle; based on the first distance and the second distance, determine the opening amplitude of the active clamping component; and control the opening of the active clamping component according to the opening amplitude, so that the end of the active clamping component is directly facing the area between the target object and the obstacle.

[0093] As can be seen from the above, after determining the first distance between the central axis of the clamping actuator and the edge of the target object and the second distance between the central axis and the obstacle, the active clamping component can accurately calculate the opening range of the active clamping component based on the first and second distances, and then control the active clamping component to open according to the calculated opening range, thereby achieving precise control of the active clamping component.

[0094] In one possible embodiment, the above-mentioned device further includes: an environmental data acquisition module for acquiring environmental data collected by an image acquisition device or lidar installed on the clamping actuator; and a data analysis module for analyzing the environmental data.

[0095] As can be seen from the above, in this embodiment of the application, the environmental data of the environment near the clamping actuator can be determined by the image acquisition device or lidar installed on the clamping actuator. Since the data acquisition range of the image acquisition device or lidar is often wide, obstacles can be accurately identified based on this.

[0096] In one possible embodiment, a pressure sensor is deployed on the clamping assembly, and the clamping determination module determines that the active clamping assembly clamps the target object; the clamping determination module is used to determine that the active clamping assembly clamps the target object if the pressure detected by the pressure sensor is greater than a preset pressure during the retraction of the active clamping assembly.

[0097] As can be seen from the above, after the clamping component successfully clamps the target object, the clamping component will apply pressure to the target object, and the target object will also apply a counterforce to the clamping component. If the pressure is greater than the preset pressure, it is determined that the current clamping component applies greater pressure to the target object and the clamping stability is higher. In this case, the contraction of the active clamping component can be stopped to achieve stable clamping of the target object.

[0098] like Figure 5 As shown in the embodiments of this application, an electronic device is also provided, such as... Figure 5 As shown, it includes a processor 501, a communication interface 502, a memory 503, and a communication bus 504. The processor 501, the communication interface 502, and the memory 503 communicate with each other through the communication bus 504. The memory 503 is used to store computer programs. When the processor 501 executes the program stored in the memory 503, it implements any of the method steps of the aforementioned clamping actuator control method.

[0099] As can be seen from the above, the technical solution provided by this application includes an independently drivable active gripping component. Therefore, the active gripping component can move independently in a manner different from other gripping components, exhibiting high flexibility. When an obstacle is detected near the target object, the central axis of the gripping actuator is shifted towards the obstacle, bringing the entire gripping actuator closer to the obstacle. Since the active gripping component can move independently, the active gripping component closer to the obstacle does not need to move synchronously with other gripping components. It only needs to open a small amplitude to achieve eccentric gripping of the target object. Because the opening amplitude of the active gripping component is small, the possibility of collision with the obstacle can be reduced. Furthermore, in this application, the end of each active gripping component is precisely aligned with the area between the target object and the obstacle, thereby minimizing the risk of collision between the active gripping component and the obstacle or target object during the movement of the gripping actuator towards the target object.

[0100] On the other hand, when there are no obstacles near the target object, the clamping actuator will not be blocked by obstacles during the clamping process. In this case, in the embodiment of this application, the clamping actuator is controlled to move to the center of the target object with the central axis facing the center of the target object, so as to achieve centered clamping and thus achieve a more stable clamping effect.

[0101] Furthermore, after determining the first distance between the central axis of the clamping actuator and the edge of the target object, the active clamping component can accurately calculate the opening range of the active clamping component based on the first distance. After the active clamping component opens according to the calculated opening range, the end of the active clamping component faces the area outside the target object, thereby achieving precise control of the active clamping component.

[0102] Furthermore, after determining the first distance between the central axis of the clamping actuator and the edge of the target object, and the second distance between the central axis and the obstacle, the active clamping component can accurately calculate the opening range of the active clamping component based on the first and second distances, and then control the active clamping component to open according to the calculated opening range, thereby achieving precise control of the active clamping component.

[0103] Furthermore, in this embodiment of the application, the environmental data of the environment near the clamping actuator can be determined by an image acquisition device or a lidar installed on the clamping actuator. Since the data acquisition range of the image acquisition device or lidar is often wide, obstacles can be accurately identified based on this.

[0104] In addition, after the clamping component successfully clamps the target object, the clamping component will apply pressure to the target object, and the target object will also apply a counterforce to the clamping component. If the pressure is greater than the preset pressure, it is determined that the current clamping component is applying greater pressure to the target object and the clamping stability is higher. In this case, the retraction of the active clamping component can be stopped to achieve stable clamping of the target object.

[0105] The aforementioned communication bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not indicate that there is only one bus or one type of bus.

[0106] The communication interface is used for communication between the aforementioned terminal and other devices.

[0107] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0108] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0109] like Figure 6 and Figure 7 As shown, this application provides a clamping actuator 10, which applies any of the aforementioned clamping actuator control methods. The clamping actuator 10 includes a connecting seat 100 and a plurality of clamping components 200; each clamping component 200 has a clamping portion 201; at least one of the plurality of clamping components 200 is an active clamping component 210; the active clamping component 210 further includes a linkage structure 211 and a drive motor 212; the linkage structure 211 includes a fixed linkage 212. 111 and drive link 2112, fixed link 2111 is fixedly connected to connecting seat 100, and the end of drive link 2112 is connected to clamping part 201; the body 2121 of drive motor 212 is at least partially located inside drive link 2112, and the output shaft 2122 of drive motor 212 is connected to fixed link 2111. Drive motor 212 can drive drive link 2112 to move clamping part 201 connected to drive link 2112 closer to or away from other clamping parts 201.

[0110] The clamping actuator 10 of this application embodiment includes an active clamping component 210 comprising a drive motor 212, enabling each active clamping component 210 to move independently under the drive of its respective drive motor 212, thereby improving the flexibility of the clamping actuator 10 and enhancing its compatibility with various application scenarios. The output shaft 2122 of the drive motor 212 is connected to the fixed connecting rod 2111 of the linkage structure 211, and the body 2121 of the drive motor 212 is at least partially located within the drive connecting rod 2112, thus... When the output shaft 2122 rotates, the body 2121 of the drive motor 212 can directly drive the drive linkage 2112 to move, thereby driving the clamping part 201 connected to the drive linkage 2112 to move. The drive linkage 2112 is directly used as the core bearing component for torque transmission, realizing the direct transmission of output torque to the clamping part 201. There is no transmission structure between the output shaft 2122 and the linkage structure 211, which simplifies the transmission link and improves the directness of torque transmission, thereby improving the clamping accuracy of the clamping actuator 10.

[0111] In one possible embodiment, the drive motor 211 is a rotary motor.

[0112] Meanwhile, the simplification of the transmission link makes the overall structure of the clamping actuator 10 more concise, and the transmission matching between the drive device and the clamping part 201 is better. Compared with the lead screw drive and the gear and rack drive, the linkage drive requires less torque, and the simplification of the transmission link can avoid some mechanical losses, thereby avoiding scratches, structural damage or accuracy deviations to the workpiece (target object) caused by excessive clamping force.

[0113] Furthermore, in the clamping actuator 10 of this application embodiment, the main body 2121 of the drive motor 212 is at least partially located within the drive link 2112, that is, the drive device is integrated within the drive link 2112. The drive device directly serves as the link in the link structure 211, and the drive link 2112 directly serves as the drive source. By adopting an integrated structural design of the drive device and the link structure 211, the structure of the clamping actuator 10 is more compact, which helps to reduce the overall volume of the clamping actuator 10. It can be adapted to the narrow installation space of micro-automation equipment and small operating terminals, and can meet the integration requirements of small-size application scenarios. The clamping accuracy is improved under small size, and the occurrence of limited opening and closing stroke due to the larger overall size of the clamping actuator 10 is reduced. It balances lightweight and structural strength, and can meet the compact installation and stable clamping requirements of micro-operation scenarios.

[0114] The clamping actuator 10 in this embodiment is a small-sized gripper driven by a linkage, and each clamping component 200 is a single gripper finger.

[0115] In this embodiment, as Figure 6 and Figure 7As shown, the clamping actuator 10 includes two clamping components 200, both of which are active clamping components 210. Each active clamping component 210 includes two fixed connecting rods 2111. In the extension direction of the output shaft 2122, the two fixed connecting rods 2111 are arranged opposite to each other on both sides of the body 2121 of the drive motor 212. One end of the body 2121 of the drive motor 212 has the output shaft 2122 exposed at the base end of the drive connecting rod 2112. The two sides of the body 2121 are respectively provided with the output shaft 2122 and the connecting shaft 2123. The output shaft 2122 and the connecting shaft 2123 are coaxially arranged and are respectively connected to the two fixed connecting rods 2111. During the operation of the active clamping component 210, the output shaft 2122 rotates relative to the body 2121 and is fixed relative to the fixed link 2111 connected thereto. The connecting shaft 2123 is fixed relative to the body 2121 and rotates relative to the body 2121 and the fixed link 2111 connected thereto.

[0116] For example, such as Figure 6 As shown, the fixed connecting rod 2111 can be fixedly connected to the connecting seat 100 by screws 214, and the driving connecting rod 2112 can be fixedly connected to the body 2121 of the drive motor 212 by screws 214. The driving connecting rod 2112 may include a housing 21121 and a cover plate 21122, and the housing 21121 has a receiving space for accommodating the drive motor 212.

[0117] In some embodiments of this application, such as Figure 8 and Figure 9As shown, the output shaft 2122 and the fixed connecting rod 2111 are connected at the first connection point P1; the connecting rod structure 211 also includes a first auxiliary connecting rod 2113 and a second auxiliary connecting rod 2114; the first auxiliary connecting rod 2113 has its first end fixedly connected to the clamping part 201 at the second connection point P2, and its second end hinged to the end of the driving connecting rod 2112 at the third connection point P3; the second auxiliary connecting rod 2114 has its base end hinged to the connecting seat 100 at the fourth connection point P4, and its end hinged to the first end of the first auxiliary connecting rod 2113 at the second connection point P2; the first connection point P1, the second connection point P2, the third connection point P3 and the fourth connection point P4 are distributed according to the four vertices of a parallelogram, and the extension directions of all clamping parts 201 are parallel to each other. Utilizing the principle of a parallelogram mechanism, the positions of the first connection point P1 and the fourth connection point P4 remain unchanged. Therefore, regardless of how the active clamping assembly 210 moves, the first auxiliary link 2113 remains parallel to the line connecting the first connection point P1 and the fourth connection point P4. Consequently, the tilt angle of the first auxiliary link 2113 remains unchanged. Since the clamping part 201 is fixedly connected to the first auxiliary link 2113, the included angle between them remains fixed. With the tilt angle of the first auxiliary link 2113 remaining unchanged, the extension direction of the clamping part 201 also remains unchanged. Thus, the extension directions of all clamping parts 201 remain parallel to each other, thereby achieving parallel clamping. Parallel clamping has the advantage of high clamping stability, thereby improving the clamping stability of the clamping actuator 10.

[0118] It should be noted that parallel clamping means that during the opening or closing movement of the clamping assembly 200, the extension direction of the clamping part 201 always remains parallel.

[0119] For example, such as Figure 8 and Figure 9 As shown, the clamping surface of the clamping part 201 can be a plane, and the clamping part 201 can be integrated with the first auxiliary link 2113. The first auxiliary link 2113, the drive link 2112, and the second auxiliary link 2114 can be connected by a rotating shaft 215, and the second auxiliary link 2114 and the connecting seat 100 can be connected by a rotating shaft.

[0120] In some embodiments of this application, such as Figure 9 As shown, there are two active clamping components 210, symmetrically arranged on the connecting seat 100. The clamping function can be achieved by two symmetrically arranged active clamping components 210. The structure is simple, and the symmetrical arrangement facilitates processing and the calculation of the rotation angle of each active clamping component 210 during the control process.

[0121] The axis of symmetry of the above-mentioned symmetrical arrangement is the central axis M of the clamping actuator 10. The central axis M of the clamping actuator 10 refers to the center line of the clamping actuator 10 in terms of structure. It is usually the geometric axis of symmetry formed by its mounting base and the direction of movement. It can also be understood as the extended center line after the clamping actuator 10 is connected to the wrist of the robotic arm 20.

[0122] In some embodiments of this application, the clamping assembly 200 is controlled by a controller (not shown in the figure). The controller can control the output shaft 2122 of the drive motor 212 of all active clamping assemblies 210 to rotate, so that the clamping actuator 10 is in a centered clamping state with the clamping center located on the central axis M of the clamping actuator 10. The clamping center is the theoretical center point of the space enclosed by the clamping parts 201 when the clamping actuator 10 is in the clamping state. Centered clamping has the advantages of high stability and high positioning accuracy, which can reduce the risk of workpiece slippage, tilting or falling due to torque imbalance during the handling process, and the overall operation safety and reliability are high.

[0123] For example, when there are multiple active clamping components 210, the controller controls the output shaft 2122 of the drive motor 212 of all active clamping components 210 to rotate by the same amount, so that the active clamping components 210 rotate by the same amount, thereby achieving centered clamping.

[0124] In some embodiments of this application, such as Figure 10 As shown, the clamping assembly 200 is controlled by a controller. The controller can control the output shaft 2122 of the drive motor 212 of at least one active clamping assembly 210 to rotate, so that the clamping actuator 10 is in an eccentric clamping state with the clamping center located outside the central axis M of the clamping actuator 10. The clamping center is the theoretical center point of the space enclosed by the clamping part 201 when the clamping actuator 10 is in the clamping state. When the operating space is small, for example, when the distance between the target object and the obstacle is too small, the central axis M of the clamping actuator 10 cannot move to be aligned with the center point of the target object. In this case, each active clamping assembly 210 is driven individually, and the rotation amplitude of each active clamping assembly 210 is determined according to the requirements. The opening amplitude of all active clamping assemblies 210 is not the same, thereby achieving an eccentric clamping (oblique clamping) state to be suitable for more application scenarios.

[0125] In some embodiments of this application, such as Figure 11 and Figure 12As shown, the fixed connecting rod 2111 has a through groove 21111, and the inner wall of the through groove 21111 has a limiting protrusion 21112; the output shaft 2122 of the drive motor 212 has a connector 213 at the end away from the body 2121, and the connector 213 is inserted into the through groove 21111 and can abut against the limiting protrusion 21112. By abutting against the limiting protrusion 21112 and the connector 213, the output shaft 2122 and the fixed connecting rod 2111 can remain relatively fixed during the operation of the active clamping component 210, so as to achieve precise cooperation and transmission between the drive connecting rod 2112 and the fixed connecting rod 2111, ensuring that there is no additional gap loss in the torque transmission process, ensuring the stability, accuracy and efficiency of torque transmission, and the structure is simple.

[0126] For example, the output shaft 2122 can be fixedly connected to the connector 213 by fasteners.

[0127] In some embodiments of this application, such as Figure 11 and Figure 12 As shown, before the active clamping assembly 210 is activated, there is a gap S between the target side of the connector 213 and the limiting protrusion 21112; during the activation of the active clamping assembly 210, the target side abuts against the limiting protrusion 21112; the target side is the leading edge of the connector 213 as it rotates with the output shaft 2122 during the activation of the active clamping assembly 210. Since the drive motor 212 has a free stroke when it starts, the gap S provides movement space for the rotation of the output shaft 2122 during the free stroke, thereby preventing the drive motor 212 from jamming and improving the working stability of the clamping actuator 10.

[0128] In this embodiment, there are two connectors 213, which are arranged opposite to each other and are an integral structure. There are also two limiting protrusions 21112, which are arranged opposite to each other and intersect with the two connectors 213.

[0129] by Figure 11 The state shown is taken before the active clamping component 210 is activated. The output shaft 2122 will rotate counterclockwise, and the connecting piece 213 will rotate counterclockwise with the output shaft 2122, thereby eliminating... Figure 12 The gap S between the target side of the connector 213 and the limiting protrusion 21112 creates a gap S between the side of the connector 213 opposite to the target side and the limiting protrusion 21112, preparing for the subsequent clockwise rotation of the output shaft 2122.

[0130] In other embodiments of this application, the connector 213 and the fixed connecting rod 2111 may also be fitted by a keyway structure, a spline structure or an irregularly shaped mating surface, and this application does not limit this.

[0131] In other embodiments of this application, such as Figure 13 As shown, the multiple clamping assemblies 200 include an active clamping assembly 210 and a fixed clamping assembly 220, with the clamping portion 201 of the fixed clamping assembly 220 remaining relatively fixed to the connecting seat 100. Compared to the clamping actuator 10 which only has the active clamping assembly 210, the clamping actuator 10 with the fixed clamping assembly 220 has a simpler structure, fewer parts, lower failure rate and cost, and a simpler control process.

[0132] In some other embodiments of this application, such as Figure 14 and Figure 15 As shown, the extending direction of the clamping part 201 of the active clamping assembly 210 is always consistent with the extending direction of the drive link 2112, and the extending directions of the clamping parts 201 of any two active clamping assemblies 210 can be in a non-parallel state. The drive motor 212 can transmit power to the clamping part 201 through only a single drive link 2112, realizing single-finger drive, which simplifies the structure. Non-parallel clamping is suitable for workpieces with irregular contours and can adaptively fit the surface of workpieces with different contours. Compared with parallel clamping, it is suitable for more complex workpiece surfaces, improving the adaptability and firmness of clamping irregular parts.

[0133] It should be noted that non-parallel clamping refers to the fact that the extension direction of the clamping part 201 is not parallel during the opening or closing movement of the clamping assembly 200.

[0134] In this embodiment, as Figure 15 As shown, the clamping part 201 of the active clamping assembly 210 and the drive linkage 2112 are integrally formed.

[0135] In some other embodiments of this application, the base end of the clamping part 201 of the active clamping component 210 and the end of the drive link 2112 can also be directly fixedly connected, and this application does not limit this.

[0136] Figure 15 In the embodiment shown, the connection method between the output shaft 2122 and the fixed connecting rod 2111 is the same as... Figure 11 The embodiments shown are the same and will not be described again here.

[0137] In some other embodiments of this application, the clamping surface of the clamping part 201 may be arc-shaped, thereby making it suitable for workpieces with arc-shaped outer surfaces.

[0138] For example, a flexible covering layer (not shown in the figure) can be provided on the clamping surface of the clamping part 201, so that when the clamping part 201 clamps irregularly shaped workpieces or fragile parts, it can better fit with the surface of the workpiece, thereby improving the firmness and stability of the clamping, and effectively preventing the workpiece from sliding or falling off during clamping and transportation.

[0139] like Figure 16 As shown, Figure 16 This is a graph showing the change in unilateral clamping force during the entire stroke of the clamping actuator 10 in this embodiment of the application when the input torque is 0.18 N·m. The horizontal axis represents time in seconds (sec), and the vertical axis represents unilateral clamping force in N. When the input torque is set to 0.18 N·m, taking the clamping actuator 10 as a two-finger gripper with only two active clamping components 210 as an example, the single-sided clamping force is always greater than or equal to 3 N throughout the entire stroke, and there is no situation where the single-sided clamping force is equal to 0. Moreover, the curve is smooth. The two-finger gripper can achieve a stable small clamping force of 3 N through an input torque of 0.18 N·m. It can be seen that the single-sided clamping force of the clamping actuator 10 in this embodiment of the application exhibits excellent mechanical stability. The clamping force parameter can be adapted to various working conditions requiring small-force clamping, and can meet the clamping needs of precision operation scenarios such as precision component assembly, micro-small part gripping, and fragile lightweight part handling. While achieving effective clamping, it can avoid surface scratches, structural damage, or accuracy deviations of the workpiece due to excessive clamping force, ensuring the safety and reliability of the precision operation process. Meanwhile, the input torque parameters can be flexibly adjusted according to actual operation needs to achieve precise control of different clamping force levels, adapting to various working conditions from micro-force fine clamping to conventional flexible clamping.

[0140] The number of active gripping components 210 in the gripping actuator 10 of this application embodiment can be one or more. That is, the gripping actuator 10 of this application embodiment can be a single-finger gripper with one active claw finger or a multi-finger gripper with multiple active claw fingers, etc. Depending on the needs of different scenarios, taking two-finger and three-finger parallel grippers as examples, two-finger parallel grippers are generally suitable for gripping regular workpieces, while three-finger electric grippers can adapt to irregularly shaped objects. By applying the above-mentioned integrated structural design of the drive device and linkage structure 211, the overall structural volume can be effectively reduced by relying on this integrated torque transmission design, overcoming the spatial limitations of traditional transmission structures, significantly improving the flexibility of gripping operations and the efficiency of action response, and significantly enhancing the spatial adaptability, ease of operation, and scenario compatibility of various grippers.

[0141] For example, the number of active gripping components 210 is one single-finger gripper, and a fixed gripping component 220 can be set to cooperate with the active gripping component 210 to achieve gripping; when the number of gripping components 200 is three or more, all gripping components 200 can be arranged in a circumferentially evenly distributed manner on the connecting seat 100.

[0142] The active clamping component 210 in this embodiment features a precise torque transmission structure that ensures efficient transmission of the torque output from the drive motor 212 to the clamping part 201. Whether in underdriven adaptive clamping or multi-point contact clamping in an envelope state, it guarantees uniform distribution and precise control of the clamping force, avoiding clamping failure due to torque transmission lag or loss. Based on existing underdriven and envelope linkage adaptations, it can be expanded to adapt to various types of linkages, including rigid transmission linkages, flexible envelope linkages, and multi-segment articulated linkages. When adapted to rigid transmission linkages, it meets the requirements for high-strength and high-precision clamping, suitable for gripping and assembling precision rigid parts in industrial applications. When adapted to flexible envelope linkages, it further enhances the clamping buffer performance, adapting to ultra-thin, fragile, and smooth-surfaced micro-parts. When adapted to multi-segment articulated linkages, it further optimizes the envelope clamping effect, adapting to the clamping of more complex irregular contour workpieces, achieving a flexible application mode of integrated structure and multi-link adaptation, reducing subsequent modification and upgrade costs.

[0143] Based on the lightweight and compact structural design of the gripping actuator 10 in this application embodiment, and its adjustable gripping force parameters, it can be expanded into multiple fields beyond existing industrial scenarios and humanoid robot daily operation scenarios. In the industrial field, it can be extended to sub-scenarios such as precision assembly of electronic components, maintenance of micro-instruments, and sorting of small parts, adapting to miniaturized and refined production line layouts. In the humanoid robot field, it can be extended to humanoid robot medical assistance operations, such as grasping lightweight medical devices and sorting medicines; it can be extended to household service operations, such as organizing small household items and picking up food; and it can be extended to special environment assistance operations, such as grasping lightweight items in confined spaces. Simultaneously, by adjusting the linkage size and optimizing the torque transmission parameters, it can be adapted to different specifications of humanoid robot hands, small industrial robotic arms, and collaborative robots, achieving flexible adaptation across devices and fields. The gripping actuator 10 in this application embodiment can achieve low-force gripping, with a smoother force control curve and better recognition performance. The expandable design of the clamping actuator 10 takes into account structural compatibility, scenario adaptability, and functional intelligence.

[0144] The clamping actuator 10 of this application embodiment can be adapted to a variety of functional modules. According to actual operation needs, various auxiliary functional modules can be flexibly expanded to further improve the clamping accuracy, intelligence level and safety. The core expansion direction is fingertip tactile related modules, and it can also be combined with other auxiliary modules.

[0145] Regarding the expansion of the fingertip tactile sensing module, the gripper fingertips can be replaced with soft or hard fingertips depending on the usage scenario, and miniature tactile sensors and pressure sensors can be added to achieve real-time acquisition and feedback of fingertip tactile signals during the gripping process. This allows for precise detection of parameters such as gripping force, workpiece surface hardness, and gripping fit, preventing workpiece damage or slippage due to excessive or insufficient gripping force. It is also compatible with humanoid robot collaborative operation scenarios, realizing closed-loop control of "tactile sensing - torque adjustment" and improving the level of intelligence in precision operations.

[0146] Regarding the expansion of the auxiliary detection module, position sensors and displacement sensors can be added to detect the opening and closing angle and displacement of the claw fingers in real time, accurately control the clamping stroke, and adapt to the precise clamping of workpieces of different sizes.

[0147] Regarding the expansion of the control module, a wireless communication module and an intelligent control module can be added to realize remote control and automated linkage control of the gripper's clamping action, adapting to industrial automated production lines and humanoid robot collaborative control systems, further improving operational efficiency and convenience.

[0148] In another embodiment provided in this application, the clamping actuator can execute any of the aforementioned clamping actuator control methods under the control of a controller. The clamping actuator includes: a connecting seat and a plurality of clamping components; each clamping component has a clamping part; at least one of the plurality of clamping components is an active clamping component; the active clamping component further includes a linkage structure and a drive motor; the linkage structure includes a fixed linkage and a drive linkage, the fixed linkage is fixedly connected to the connecting seat, and the end of the drive linkage is connected to the clamping part; the output shaft of the drive motor is connected to the fixed linkage, and the controller can control the drive motor so that the drive motor can drive the drive linkage to move the clamping part connected to the drive linkage closer to or away from other clamping parts.

[0149] In another embodiment provided in this application, such as Figure 17 and Figure 18 As shown, a robot end effector unit is also provided, including: a robotic arm 20 and a gripping actuator 10 as described above, wherein the robotic arm 20 is connected to a connecting seat 100 of the gripping actuator 10. The robot end effector unit of this embodiment has a more flexible gripping actuator 10, a simplified transmission link, higher gripping accuracy, and the ability to achieve low-force gripping, thereby enhancing the compatibility of the robot end effector unit with different application scenarios, reducing its size, and increasing the gripping accuracy of the target object 30. It effectively improves the problems of increased positional deviation and insufficient precise positioning ability caused by the large size of the gripping actuator 10 itself, long transmission link, and accumulated gap error, and is compatible with the multi-degree-of-freedom linkage design of humanoid robot wrists.

[0150] Figure 17The target object 30 in the example is a water bottle, which is only one example and the application does not limit the target object 30.

[0151] Figure 11 and Figure 12 Only the end joint of the robotic arm 20 is shown. The end joint can be equipped with vision sensors such as a camera 21. The controller controls the gripping actuator 10 based on the data captured by the vision sensors. Figure 11 The clamping actuator 10 shown is in a parallel clamping state. Figure 12 The clamping actuator 10 shown is in a non-parallel clamping state.

[0152] The robot's end joint, combined with the gripping actuator 10 in this embodiment, which boasts advantages such as small size, compact layout, and stable transmission, can be used for precision gripping or manipulation in miniaturized, lightweight, and confined spaces. It can be applied in fields such as industrial, scientific research, education, and consumer robotics, precisely matching the usage characteristics of delicate grippers. Applicable scenarios cover three core areas: precision operations, industrial adaptation, and humanoid robot collaboration. Among these, precision operation scenarios include: precision component assembly, micro-part gripping, and gripping of fragile or lightweight parts, avoiding excessive gripping force that could cause workpiece scratches, structural damage, or precision deviations; industrial flexible gripping scenarios include: enveloping gripping of irregularly shaped or cylindrical parts in industrial production lines, and under-driven adaptive gripping of small-load workpieces, adaptable to lightweight production line layouts without additional drive, balancing gripping stability and operational efficiency; and retail scenarios such as snack shops, enabling automated vending, replenishment, and snack sorting, adapting to the gripping needs of snacks with different packaging specifications, and ensuring packaging integrity.

[0153] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described clamping actuator control methods.

[0154] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the clamping actuator control methods described above.

[0155] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., a solid-state disk (SSD)).

[0156] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0157] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, computer-readable storage media, and computer program products are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0158] The above are merely preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A method for controlling a clamping actuator, characterized in that, The method is applied to a clamping actuator, the clamping actuator including a plurality of clamping components, at least one of the plurality of clamping components being an independently drivable active clamping component, the method comprising: Obstacle detection is performed in the direction in which the active clamping component opens, wherein the distance between the obstacle and the target is less than or equal to a preset distance; If the obstacle is detected, the clamping actuator is controlled to move until its central axis is directly facing the target position; for each active clamping component, the active clamping component is controlled to open so that the end of the active clamping component is directly facing the area between the target object and the obstacle, wherein the target position is located between the center of the target object and the edge of the target object near the obstacle; Control the clamping actuator to move toward the target object until the target object is within the clamping range of the clamping actuator; Control the active clamping component to retract until it clamps the target object.

2. The method according to claim 1, characterized in that, The method further includes: If no obstacle is detected, the clamping actuator is controlled to move to a position where its central axis is directly opposite the center of the target object. For each active clamping component, the active clamping component is controlled to open so that the end of the active clamping component is directly opposite the area outside the target object, and the central range includes the center of the target object.

3. The method according to claim 2, characterized in that, The control of opening the active clamping assembly includes: In the opening direction of the active clamping assembly, a first distance is determined between the central axis of the clamping actuator and the edge of the target object; Based on the first distance, the opening range of the active clamping component is determined, wherein the first distance is positively correlated with the opening range of the active clamping component; The active clamping component is opened according to the opening range.

4. The method according to any one of claims 1 to 3, characterized in that, The control of opening the active clamping assembly includes: In the opening direction of the active clamping assembly, a first distance between the central axis of the clamping actuator and the edge of the target object, and a second distance between the central axis and the obstacle are determined; Based on the first distance and the second distance, the opening range of the active clamping component is determined; The active clamping component is opened according to the opening range.

5. The method according to any one of claims 1 to 4, characterized in that, Before performing the step of detecting obstacles in the direction in which the active gripping assembly is opened, the method further includes: Acquire environmental data collected by an image acquisition device or lidar installed on the clamping actuator; Analyze the environmental data.

6. The method according to any one of claims 1 to 5, characterized in that, The clamping assembly is equipped with a pressure sensor, which determines that the active clamping assembly is clamping the target object in the following manner: If the pressure detected by the pressure sensor is greater than the preset pressure during the retraction of the active clamping component, it is determined that the active clamping component has clamped the target object.

7. A control device for a clamping actuator, characterized in that, An apparatus for use in a clamping actuator, the clamping actuator comprising a plurality of clamping components, at least one of the plurality of clamping components being an independently drivable active clamping component, the apparatus comprising: An obstacle detection module is used to detect obstacles in the direction in which the active clamping component opens, wherein the distance between the obstacle targets is less than or equal to a preset distance; The first clamping component control module is used to control the clamping actuator to move to a target position with its central axis facing the target when the obstacle detection module detects the presence of the obstacle; and to control the opening of each active clamping component so that the end of the active clamping component faces the area between the target and the obstacle, wherein the target position is located between the center of the target and the edge of the target near the obstacle. The mechanism control module is used to control the clamping actuator to move toward the target object until the target object is within the clamping range of the clamping actuator; The clamping component retraction module is used to control the retraction of the active clamping component until it clamps the target object.

8. A clamping actuator, characterized in that, The clamping actuator (10) is capable of performing the method of any one of claims 1 to 6 under the control of the controller. The clamping actuator (10) includes: a connecting seat (100) and a plurality of clamping components (200); each clamping component (200) has a clamping part (201); at least one of the plurality of clamping components (200) is an active clamping component (210); the active clamping component (210) further includes a linkage structure (211) and a drive motor (212). The linkage structure (211) includes a fixed linkage (2111) and a driving linkage (2112). The fixed linkage (2111) is fixedly connected to the connecting seat (100), and the end of the driving linkage (2112) is connected to the clamping part (201). The body (2121) of the drive motor (212) is at least partially located inside the drive link (2112). The output shaft (2122) of the drive motor (212) is connected to the fixed link (2111). The drive motor (212) can drive the drive link (2112) to move the clamping part (201) connected to the drive link (2112) closer to or away from other clamping parts (201).

9. A robot end effector, characterized in that, include: The robotic arm (20) and the clamping actuator (10) as described in claim 8 are connected to the connecting seat (100) of the clamping actuator (10).

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method steps of any one of claims 1 to 6.

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