A signal detection method, unlocking method and system of an electronic clamp jaw

Abstract

This application relates to the field of robotics technology and discloses a signal detection method, unlocking method, and system for an electronic gripper, applied to a robot body. The robot body includes an electronic gripper, a gripper controller, a robotic arm, and a robotic arm controller. The method includes: in response to detecting an anomaly in the robot body, acquiring the communication status between the electronic gripper and the robotic arm, the communication status including a communication connection status or a communication disconnection status; in response to the communication connection status, acquiring an unlocking control signal through the robotic arm controller; wherein the unlocking control signal includes at least one of a hardware unlocking trigger signal based on a physical button, a software unlocking trigger signal based on a communication command, and a disconnection unlocking trigger signal; in response to the communication disconnection status, acquiring the unlocking control signal through the gripper controller. This application can avoid problems caused by human error and operational delays.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more specifically, to a signal detection method, unlocking method, and system for an electronic gripper. Background Technology

[0002] As a key component for performing core actions such as grasping, handling, and assembly, the operational stability of the robot's end effector directly determines the robot's work efficiency, safety, and the integrity of the grasped items. Therefore, the electronic gripper unlocking control and signal detection of industrial robots are particularly important.

[0003] In related technologies, the unlocking control and signal detection of electronic grippers for industrial robots are mainly achieved through manual operation. The detection and unlocking logic is usually as follows: when the robot body malfunctions, it is necessary to manually investigate the cause of the malfunction, determine the communication status between the electronic gripper and the robotic arm, and then manually trigger the unlocking action of the electronic gripper.

[0004] However, manual inspection is prone to accidental triggering, which can directly cause the grippers to release the item, resulting in loss of personnel or equipment. At the same time, the delay of manual operation can also exacerbate safety hazards. Summary of the Invention

[0005] In view of this, this application provides a signal detection method, unlocking method and system for electronic grippers to solve the problem of accidental triggering during manual detection operations.

[0006] In a first aspect, this application provides a signal detection method for an electronic gripper, applied to a robot body. The robot body includes an electronic gripper, a gripper controller, a robotic arm, and a robotic arm controller. The method includes: in response to detecting an abnormality in the robot body, acquiring the communication status between the electronic gripper and the robotic arm, the communication status including a communication connection status or a communication disconnection status; in response to the communication status being a communication connection status, acquiring an unlocking control signal through the robotic arm controller; wherein the unlocking control signal includes at least one of a hardware unlocking trigger signal based on a physical button, a software unlocking trigger signal based on a communication command, and a disconnection unlocking trigger signal; and in response to the communication status being a communication disconnection status, acquiring the unlocking control signal through the gripper controller.

[0007] The signal detection method for the electronic gripper provided in this application automatically detects the communication status between the electronic gripper and the robotic arm without manual intervention when the robot body malfunctions. The detection result is directly linked to the acquisition of the unlocking control signal. When communication is connected, the unlocking control signal is automatically acquired through the robotic arm controller; when communication is disconnected, the unlocking control signal is automatically acquired through the gripper controller. This achieves automated detection and detection-unlocking linkage, completely breaking the current situation where manual detection and manual unlocking are disconnected. It allows the detection result to provide accurate support for the unlocking operation and avoids problems caused by human misjudgment and operation delay.

[0008] In one optional implementation, in response to a communication connection state, an unlock control signal is acquired through a robotic arm controller, including: sampling the high and low level change characteristics corresponding to the unlock button; if the number of samples taken within a preset time range is not less than a preset number, the unlock control signal is acquired through the robotic arm controller; wherein, the high and low level change characteristics in a single sample indicate that the high level is within a first preset time range and the low level is within a second preset time range; if the number of samples taken within the preset time range is less than the preset number, the number of samples is cleared, and the step of sampling the high and low level change characteristics corresponding to the unlock button is re-executed.

[0009] The signal detection method for the electronic gripper provided in this application requires no manual intervention by automatically zeroing and resampling. The robotic arm controller can quickly return to the sampling standby state without affecting the efficiency of subsequent operators in performing the unlocking operation in a standardized manner. At the same time, this rule only resets the sampling count for hardware unlocking and will not interfere with the normal communication between the gripper and the robotic arm or the detection of abnormal states of the robot body. While enhancing the security of hardware unlocking, it also ensures the convenience of unlocking operation and the stability of equipment operation.

[0010] In one optional implementation, the robot body further includes a robot control unit, and in response to detecting an abnormality in the robot body, acquiring the communication status between the electronic gripper and the robotic arm, including: detecting whether the gripper controller receives a heartbeat frame sent by the robot control unit; if the gripper controller receives a heartbeat frame sent by the robot control unit, the communication status is determined to be a communication connection status; if the gripper controller does not receive a heartbeat frame sent by the robot control unit, the communication status is determined to be a communication disconnection status.

[0011] The signal detection method for the electronic gripper provided in this application triggers heartbeat frame reception detection only after detecting an abnormality in the robot body. This avoids the resource consumption of the controller caused by meaningless continuous detection, and can quickly and accurately identify the communication connection or disconnection status between the electronic gripper and the robotic arm through a simple and direct frame reception / disconnection determination logic, thereby improving the response efficiency of communication detection after an anomaly. At the same time, the gripper controller autonomously completes heartbeat frame detection and status determination without the intervention of the robotic arm controller. Even in the extreme case of communication disconnection, it can independently complete status identification, providing an accurate and reliable basis for subsequent automatic control switching and autonomous acquisition of unlocking signals by the gripper controller. This ensures the smooth start of the unlocking process under disconnection failure and effectively avoids the problem of the gripper being unable to unlock due to communication status determination failure, which could lead to damage to the gripper or the grasped object.

[0012] Secondly, this application provides an unlocking method for an electronic gripper, which is applied to a robot body. The method includes: acquiring an unlocking control signal using the signal detection method for the electronic gripper described in the first aspect; acquiring relevant unlocking data of the electronic gripper based on the unlocking control signal; determining the unlocking level corresponding to the electronic gripper based on the relevant unlocking data; determining the unlocking operation corresponding to the unlocking level based on the unlocking level; and controlling the electronic gripper to perform the unlocking operation.

[0013] The electronic gripper unlocking method provided in this application retrieves unlocking-related data corresponding to the electronic gripper through an unlocking control signal. The obtained unlocking data is used as a basis to accurately classify the unlocking level of the electronic gripper. The corresponding unlocking operation content is matched according to the determined unlocking level. Finally, an instruction is issued to control the electronic gripper to perform the corresponding unlocking operation, thereby improving the security of the unlocking operation.

[0014] In one possible implementation, the relevant unlocking data includes: anomaly type data, clamping state data, and slip detection data. Based on the relevant unlocking data of the electronic gripper, the unlocking level of the electronic gripper is determined, including: determining the corresponding anomaly level based on the anomaly type data, wherein the anomaly type data includes the motor operating state and drive state of the electronic gripper; determining the corresponding load level based on the clamping state data, wherein the clamping state data includes clamping force and motor load current; determining the corresponding slip risk level based on the slip detection data, wherein the slip detection data includes the displacement of the electronic gripper, the rate of displacement change, and the clamping force fluctuation; determining a target risk coefficient based on at least one of the anomaly level, load level, and slip risk level; and determining the unlocking level of the electronic gripper based on the target risk coefficient and a preset matching relationship, wherein the preset matching relationship is the matching relationship between a preset risk coefficient and a preset unlocking level.

[0015] The electronic gripper unlocking method provided in this application no longer uses a single judgment condition for simple judgment in the process of determining the unlocking level of the electronic gripper. Instead, it collects multi-dimensional unlocking-related data as the basis for the entire unlocking judgment, specifically including three core working condition data: anomaly type data, gripping status data, and slip detection data. When determining the level, the anomaly type data is analyzed separately. By detecting the motor operating status and motor drive status of the electronic gripper, it accurately identifies whether the equipment currently has various fault conditions such as operational anomalies or drive anomalies, and quantifies the corresponding anomaly level accordingly. Simultaneously, the gripping status data is analyzed independently. By obtaining the current gripping force and motor load current value, it accurately determines the actual gripping load of the gripper, classifies the corresponding load level according to the difference in load weight, and truly reflects the force state and load condition of the gripper's current gripping operation. Furthermore, it combines slip detection data to conduct risk assessment. By monitoring three dynamic parameters during the gripper's operation—displacement, displacement change rate, and gripping force fluctuation—it determines whether the object gripped by the gripper shows signs of loosening, sliding, or positional displacement, and defines the corresponding slip risk level accordingly. That is, after completing independent assessments of the three dimensions of anomaly level, load level, and slippage risk level, at least one valid parameter from the above three levels is integrated to accurately determine the unlock level.

[0016] In one possible implementation, the anomaly level corresponding to the anomaly type data is determined based on the anomaly type data, including: when both the motor operating state and the drive state are in a normal state, the anomaly level is determined as the first anomaly level; when any of the following conditions are met, the anomaly level is determined as the second anomaly level: the motor current in the motor operating state exceeds the current threshold and the duration is less than a first preset duration; the number of times the motor stalls in the motor operating state is less than a first preset number; and the delay time of the control command corresponding to the drive state is less than a second preset duration; when any of the following conditions are met, the anomaly level is determined as the third anomaly level: the motor current in the motor operating state exceeds the current threshold and the duration is not less than a first preset duration; the number of times the motor stalls in the motor operating state is not less than a first preset number; and the number of times the drive signal is interrupted in the drive state is not less than a second preset number; when any of the following conditions are met, the anomaly level is determined as the fourth anomaly level: the duration of no change in motor position in the motor operating state is not less than a third preset duration; an emergency stop signal is triggered; a drive module fault signal is set; and the number of consecutive missing control commands is not less than a third preset number; wherein, the drive state includes an emergency stop signal, a drive module fault signal, and control commands.

[0017] The electronic gripper unlocking method provided in this application embodiment sets a four-layer gradient judgment standard for judging the abnormality level of electronic gripper abnormality data. The entire process is based on two core data categories: motor operating status and drive status, for refined hierarchical judgment. The drive status specifically includes emergency stop signals, drive module fault signals, and control command-related statuses. During the judgment process, the basic operating status of the equipment is identified. When both the motor operating status and drive status are detected as being in normal working condition, the current equipment abnormality level is directly determined to be the lowest risk level, the first abnormality level. If the equipment exhibits a slight abnormal condition, meeting any of the following conditions: the motor operating current exceeds the set current threshold but the overcurrent duration does not reach the first preset duration; the number of motor stall occurrences is less than the first preset number; or the delay time of the control command corresponding to the drive status is less than the second preset duration, the equipment is judged to have a slight operational abnormality and is classified as the second abnormality level. This accurately identifies various short-term, slight deviations in operating conditions that do not affect basic operation. When the abnormal operating conditions of the equipment worsen, and any of the following occurs—such as a motor overcurrent duration greater than or equal to the first preset duration, a motor stall count reaching or exceeding the first preset count, or a drive signal interruption count not less than the second preset count—it indicates that the equipment is experiencing continuous and frequent operational and drive abnormalities. Based on this, it is classified as the third abnormality level, which has a higher risk level, accurately distinguishing moderate fault conditions. When the equipment experiences severe faults or emergency abnormalities, and meets any of the following high-risk conditions—such as a motor position remaining unchanged for an extended period reaching the third preset duration, an emergency stop signal being triggered, a drive module fault signal being set, or a control command interruption count not less than the third preset count—it is directly classified as the fourth abnormality level, which has the highest risk. This accurately identifies severe faults such as equipment jamming, emergency shutdown, drive module failure, and widespread command interruption. In other words, based on the abnormality level determination, the corresponding unlocking operation can be further determined, thereby improving the security of electronic gripper unlocking.

[0018] In one possible implementation, the corresponding slip risk level is determined based on slip detection data, including: when the displacement is less than a first displacement threshold, the rate of change of displacement is less than a first rate threshold, and the fluctuation of clamping force is less than a first force threshold, the slip risk level is determined to be a first slip risk level; when the displacement is not less than the first displacement threshold and less than a second displacement threshold, and / or the rate of change of displacement is not less than the first rate threshold and less than the second rate threshold, or the fluctuation of clamping force is not less than the first force threshold and less than the second force threshold, the slip risk level is determined to be a second slip risk level; when the displacement is not less than the second displacement threshold, and / or the rate of change of displacement is not less than the second rate threshold, and / or the fluctuation of clamping force is not less than the second force threshold, the slip risk level is determined to be a third slip risk level.

[0019] The electronic gripper unlocking method provided in this application collects and compares the real-time values ​​of three monitoring data with corresponding preset thresholds. When the real-time displacement of the gripper is less than a first displacement threshold, the displacement change rate is less than a first rate threshold, and the clamping force fluctuation is less than a first force threshold, it indicates that the gripper's clamping state is stable, with no displacement deviation, no rate fluctuation, and no clamping force oscillation. The overall clamping condition is stable and there is no risk of slippage, thus it is determined to be the first slippage risk level with the lowest risk. When the monitoring data shows slight anomalies, satisfying any one or more of the following conditions: displacement between the first and second displacement thresholds, displacement change rate between the first and second rate thresholds, and clamping force fluctuation between the first and second force thresholds, it indicates that the gripper's clamping state has slight fluctuations, resulting in small displacement deviation, rate fluctuation, or unstable clamping force, indicating a low degree of slippage risk. This is determined to be the second slippage risk level, accurately capturing slight slippage anomalies. When the monitoring data shows serious anomalies, if any one of the following three conditions is met—displacement greater than or equal to the second displacement threshold, displacement change rate greater than or equal to the second rate threshold, or clamping force fluctuation greater than or equal to the second force threshold—it indicates that the gripper has significant displacement deviation, abnormal dynamic operating rate, or violent fluctuation in clamping force. The clamping stability is greatly reduced, and there is an extremely high risk of slippage and detachment. It is directly judged as the third slippage risk level, which is the highest risk level. In other words, the slippage risk level can be accurately divided according to the classification method, effectively identifying different degrees of clamping deviation risks, thereby improving the security of electronic gripper unlocking.

[0020] In one possible implementation, the corresponding load level is determined based on the clamping state data, including: when the clamping force is less than a first clamping force threshold and the motor load current is less than a first current threshold, the load level is determined to be a first load level; when the clamping force is not less than the first clamping force threshold and less than a second clamping force threshold, and / or the motor load current is not less than the first current threshold and less than the second current threshold, the load level is determined to be a second load level; when the clamping force is not less than the second clamping force threshold and / or the motor load current is not less than the second current threshold, the load level is determined to be a third load level.

[0021] The electronic gripper unlocking method provided in this application collects clamping force data and motor load current data during device operation, and performs tiered discrimination and judgment by comparing them with preset two-level thresholds. When the real-time clamping force value is detected to be less than the first clamping force threshold, and the synchronously monitored motor load current is less than the first current threshold, it indicates that the current clamping load of the electronic gripper is small, the device operating load is sufficient, the working condition is easy and stable, and there is no risk of overload operation. Therefore, the current device is determined to be at the first load level. When the equipment's operating conditions change, and the clamping force falls between the first and second clamping force thresholds, or the motor load current falls between the first and second current thresholds, or both parameters fall within their respective ranges, it indicates that the electronic gripper is currently bearing a medium clamping load. The equipment is operating under normal full-load conditions, with increased load pressure but not yet reaching the overload threshold. This is thus classified as the second load level, accurately identifying the equipment's normal load operating state. When either the clamping force value is greater than or equal to the second clamping force threshold, or the motor load current is greater than or equal to the second current threshold, it indicates that the electronic gripper's current clamping load has reached a critical or overload state. The equipment is operating under high load conditions, posing a potential risk of overload. This is directly classified as the third load level. In other words, the load level can be determined by classifying the load using both clamping force and load current parameters, accurately distinguishing different load conditions and improving the unlocking accuracy of the electronic gripper.

[0022] In one possible implementation, the method further includes: detecting the degree of slippage of the item held by the electronic gripper during the unlocking process; if the degree of slippage does not exceed a preset slippage threshold, then continuing the unlocking operation; if the degree of slippage exceeds the preset slippage threshold, then pausing the unlocking process and controlling the electronic gripper to retract and clamp until the degree of slippage returns to within the preset slippage threshold, and then continuing the unlocking operation.

[0023] The electronic gripper unlocking method provided in this application dynamically controls the unlocking progress by detecting the degree of slippage of the gripped object during the unlocking operation. If the detected value does not exceed a preset slippage threshold, it indicates that the object is securely gripped and will not slip or fall off, allowing the predetermined unlocking process to continue. If the slippage exceeds the threshold, it means that the gripping stability has decreased and there is a risk of the object slipping off. The unlocking action is immediately stopped, and the electronic gripper is simultaneously controlled to retract in the opposite direction and tighten the gripping force. The gripping state is continuously adjusted until the slippage returns to within the threshold range and the gripping state returns to a safe standard before resuming the subsequent unlocking operation. This ensures the orderly progress of the unlocking work and effectively avoids damage caused by the object slipping off during the unlocking process.

[0024] In one possible implementation, determining the unlocking operation corresponding to the unlocking level based on the unlocking level includes: matching a corresponding current range based on the unlocking level, wherein the lower limit of the current range is a first control current and the upper limit is a second control current; selecting a target current from the current range to determine the unlocking operation corresponding to the unlocking level based on the target current.

[0025] The electronic gripper unlocking method provided in this application, by matching the unlocking level with the corresponding current range, can use the selected target current as the control reference to determine the unlocking operation mode that is compatible with the current unlocking level, thereby ensuring the stability of the unlocking operation.

[0026] Thirdly, this application provides a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the electronic gripper detection method of the first aspect or any corresponding embodiment and the electronic gripper unlocking method of the second aspect or any corresponding embodiment.

[0027] Fourthly, this application provides a computer-readable storage medium storing computer instructions for causing a computer to execute the electronic gripper detection method of the first aspect or any corresponding embodiment thereof, and the electronic gripper unlocking method of the second aspect or any corresponding embodiment thereof.

[0028] Fifthly, this application provides a computer program product, including computer instructions for causing a computer to execute the electronic gripper detection method of the first aspect or any corresponding embodiment thereof, and the electronic gripper unlocking method of the second aspect or any corresponding embodiment thereof. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0030] Figure 1 This is a schematic flowchart of a signal detection method for an electronic gripper according to an embodiment of this application; Figure 2 This is a schematic flowchart of another signal detection method for an electronic gripper according to an embodiment of this application; Figure 3This is a flowchart illustrating another signal detection method for an electronic gripper according to an embodiment of this application; Figure 4 This is a flowchart illustrating the unlocking method of the electronic gripper according to an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic gripper unlocking system according to an embodiment of this application; Figure 6 This is a structural block diagram of the signal detection device for the electronic gripper according to an embodiment of this application; Figure 7 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of this application. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0032] Based on relevant technologies, the unlocking control and signal detection of electronic grippers in industrial robots are mainly achieved through manual operation. The detection and unlocking logic is usually as follows: when the robot body malfunctions, it is necessary to manually investigate the cause of the malfunction, determine the communication status between the electronic gripper and the robotic arm, and then manually trigger the unlocking action of the electronic gripper.

[0033] However, manual inspection is prone to accidental triggering, which can directly cause the grippers to release the item, resulting in loss of personnel or equipment. At the same time, the delay of manual operation can also exacerbate safety hazards.

[0034] Based on this, this application provides a signal detection method for an electronic gripper. When the robot body malfunctions, the communication status between the electronic gripper and the robotic arm is automatically detected without manual intervention. The detection result is directly linked to the acquisition of the unlocking control signal. When communication is established, the unlocking control signal is automatically acquired through the robotic arm controller. When communication is lost, the unlocking control signal is automatically acquired through the gripper controller. This achieves automated detection and detection-unlocking linkage, completely breaking the current situation where manual detection and manual unlocking are disconnected. The detection result provides accurate support for the unlocking operation, avoiding problems caused by human misjudgment and operation delay.

[0035] According to an embodiment of this application, a signal detection method for an electronic gripper is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0036] This embodiment provides a signal detection method for an electronic gripper, which can be used in a robot body. The robot body may include an electronic gripper, a gripper controller, a robotic arm, and a robotic arm controller. Figure 1 This is a flowchart of a signal detection method for an electronic gripper according to an embodiment of this application, as shown below. Figure 1 As shown, the process includes the following steps: Step S101: In response to detecting an abnormality in the robot body, the communication status between the electronic gripper and the robotic arm is obtained. The communication status includes a communication connection status or a communication disconnection status.

[0037] Abnormalities in the robot body can be indicated as malfunctions in the robot body or electronic grippers that affect normal gripping and opening / closing. Specifically, these can include malfunctions such as system program abnormalities causing the electronic grippers to become stuck and unable to open the gripped object, or gripper movement becoming sluggish.

[0038] The electronic gripper communicates with the robotic arm to control the gripper to hold and open / close items.

[0039] The signal interaction state between the gripper controller of the electronic gripper and the robot control unit and robot arm controller of the robotic arm can be a communication state, which can be divided into a communication connection state (e.g., normal signal interaction) and a communication disconnection state (e.g., no signal interaction).

[0040] Specifically, if an abnormality is detected in the robot itself, a communication status detection needs to be initiated to obtain the communication status between the electronic gripper and the robotic arm.

[0041] As an example, the communication status between the electronic gripper and the robotic arm can be determined by whether a heartbeat frame sent by the robot control unit can be received (receiving a heartbeat frame = communication connection status, not receiving a heartbeat frame = communication disconnection status).

[0042] In one possible implementation, when an anomaly is detected in the robot body, it is also necessary to check whether the robot system is idle. When both conditions are met, the communication status between the electronic gripper and the robotic arm is obtained.

[0043] Step S102: In response to the communication state being a communication connection state, an unlock control signal is obtained through the robotic arm controller; wherein, the unlock control signal includes at least one of a hardware unlock trigger signal based on a physical button, a software unlock trigger signal based on a communication command, and a disconnection unlock trigger signal.

[0044] When the communication status is connected, the control of the electronic gripper is dominated by the robotic arm controller. The unlocking control signal needs to be received and verified by the robotic arm controller before being forwarded to the gripper controller. The robotic arm controller is the main body for acquiring and forwarding the unlocking control signal.

[0045] The unlock control signal can specifically include a hardware unlock trigger signal based on a physical button, a software unlock trigger signal based on a communication command, and a disconnection unlock trigger signal. Among them, the hardware unlock trigger signal based on a physical button is obtained after the unlock button at the end of the robotic arm is triggered according to rules. The unlock button transmits the hardware signal to the robotic arm controller through input / output communication. After the controller verifies that the signal meets the rules, it is determined to be a valid hardware unlock trigger signal.

[0046] In step S103, in response to the communication status being disconnected, an unlock control signal is obtained through the gripper controller.

[0047] The unlock control signal based on communication commands is obtained by triggering a soft button on the front-end interface. Specifically, the unlock command is remotely sent from the cloud (cloud server module protocol). The signal is transmitted to the robot body via network or local communication. After the robotic arm controller receives and verifies the validity of the protocol, it is determined to be a valid software unlock trigger signal.

[0048] When communication is lost, the gripper controller determines the loss of connection by "not receiving a heartbeat frame" and automatically completes the control switch (from the robotic arm controller to the gripper control board or gripper controller). At this time, the gripper controller becomes the main body for obtaining the unlocking control signal, and generates and obtains the autonomous unlocking control signal on its own without the need for intervention from the robotic arm side, thus realizing the autonomous unlocking trigger after the loss of connection.

[0049] In a feasible scenario, a six-axis robotic arm on an automotive parts production line experiences a system program glitch, causing its electronic gripper to clamp onto a metal workpiece and fail to open. The robot detects this anomaly, and the gripper controller receives a heartbeat frame from the robot control unit to determine the communication connection status. The robotic arm control system detects a lack of action feedback after issuing a gripper movement command, determining that the robot itself is malfunctioning. The gripper controller continuously receives heartbeat frames, outputs the communication connection status result, and synchronizes it to the robotic arm controller. After discovering the fault, the on-site operator triggers the hardware unlock button at the end of the robotic arm according to the rules (pressed intermittently 3 times within 4 seconds, each time with a high level of 300ms and a low level of 300ms). The unlock button transmits the hardware signal to the robotic arm controller via input / output communication. After verifying that the signal conforms to the feature sampling rules, the controller obtains a valid hardware unlock control signal and then forwards the hardware unlock control signal to the gripper controller, triggering the subsequent unlocking action.

[0050] In a feasible scenario, a smart warehouse palletizing robot arm experiences a jam when its electronic gripper holds a carton, preventing it from opening. Simultaneously, the communication line between the robot arm and the gripper is damaged by external force. The robot body detects the gripper jamming abnormality, and the gripper controller does not receive a heartbeat frame for an extended period, determining a communication disconnection. The robot arm's position sensor detects that the gripper is not opening or closing as instructed, indicating a robot body malfunction. If the gripper controller does not receive a heartbeat frame within 10 seconds, it triggers a disconnection determination. After determining the disconnection, the gripper controller automatically switches control (from the robot arm controller to the gripper control board), and then the gripper controller generates and acquires an autonomous unlocking control signal.

[0051] The signal detection method for the electronic gripper provided in this embodiment automatically detects the communication status between the electronic gripper and the robotic arm without manual intervention when the robot body malfunctions. It directly links the detection result with the acquisition of the unlocking control signal. When communication is connected, the unlocking control signal is automatically acquired through the robotic arm controller; when communication is disconnected, the unlocking control signal is automatically acquired through the gripper controller. This achieves automated detection and detection-unlocking linkage, completely breaking the current situation where manual detection and manual unlocking are disconnected. It allows the detection result to provide accurate support for the unlocking operation and avoids problems caused by human misjudgment and operation delay.

[0052] This embodiment provides a signal detection method for an electronic gripper, which can be used on a robot body. The robot body has an unlock button on its robotic arm and / or electronic gripper. Figure 2 This is a flowchart of a signal detection method for an electronic gripper according to an embodiment of this application, as shown below. Figure 2 As shown, the process includes the following steps: Step S201: In response to detecting an anomaly in the robot body, the communication status between the electronic gripper and the robotic arm is acquired. The communication status includes either a connected communication status or a disconnected communication status. For details, please refer to [link to relevant documentation]. Figure 1 Step S101 of the illustrated embodiment will not be described again here.

[0053] In step S202, in response to the communication state being a communication connection state, an unlock control signal is obtained through the robotic arm controller.

[0054] Specifically, step S202 includes: Step S2021: Sample the high and low level change characteristics corresponding to the unlock button.

[0055] The unlock button can be a physical unlock button located at the end of the robotic arm / on the side of the gripper. It is a hardware unlock trigger component and is connected to the end of the robotic arm via input / output communication. When the unlock button is pressed, it can generate an electrical signal that changes between high and low levels.

[0056] The level change characteristic can indicate the change pattern of the electrical signal state transmitted through input-output communication when the unlock button is pressed and / or released. Pressing corresponds to a high level and releasing corresponds to a low level, which is used to determine whether the hardware unlock signal is valid.

[0057] After the robot detects an anomaly and determines that the gripper and robotic arm are in a communication connection state, the robotic arm controller monitors the electrical signal status of the unlock button in real time through the input / output communication link and enters a level feature sampling standby state. When the operator presses the unlock button, the unlock button generates a high-level signal, and the robotic arm controller starts timing and collects the duration of this high-level signal. When the operator releases the unlock button, the signal switches to a low-level signal, and the controller continues timing and collects the duration of this low-level signal. After the controller completes one "high-level and low-level" duration acquisition, it completes one high-low level change feature sampling and immediately verifies whether the high and low level durations of this sampling fall within the first and second preset duration ranges (200~500ms / 200~500ms), respectively. Only samples that pass the verification are counted as valid samples, and invalid samples are not included in the count and the timing is not started.

[0058] In one example, if the first sample is a valid sample, the robotic arm controller immediately starts a countdown of 5 seconds within a preset time range to prepare for the determination of the number of subsequent samples.

[0059] Step S2022: If the number of samples taken within the preset time range is not less than the preset number, the unlocking control signal is obtained through the robotic arm controller; wherein, the high and low level change characteristics in a single sampling indicate that the high level is within the first preset time range and the low level is within the second preset time range.

[0060] The first preset duration range can be the effective duration of the high-level signal after the unlock button is triggered, for example, 200~500ms. The second preset duration range can be the effective duration of the low-level signal after the unlock button is released, for example, 200~500ms. The preset time range can indicate the effective trigger time threshold of the hardware unlock signal.

[0061] Specifically, the robotic arm controller can continuously and effectively sample the high and low level changes of the unlock button within a 5-second countdown and accumulate the number of valid sample groups. If the cumulative number of valid sample groups is ≥3 before the 5-second countdown ends, the robotic arm controller determines that the hardware unlock signal is triggered effectively and immediately generates and acquires the hardware unlock control signal. If the cumulative number of valid sample groups is <3 before the 5-second countdown ends, or the duration of the high or low level exceeds the preset range, or a single sample is incomplete, the controller determines that the hardware unlock signal is triggered invalid, clears all sampling counts and countdowns, and returns to the level feature sampling standby state. After acquiring the valid hardware unlock control signal, the robotic arm controller forwards the signal to the gripper controller through the communication link to trigger the subsequent gripper force-position hybrid control unlocking action.

[0062] In a feasible scenario, a six-axis industrial robotic arm's electronic gripper clamps a metal workpiece due to a system program malfunction. The robot detects the anomaly, and the communication connection between the gripper and the robotic arm remains normal. The operator on-site unlocks the gripper via a physical button. The robotic arm controller listens for the unlock button press via input / output communication. When the operator presses the button for the first time, it remains pressed for 300ms (first preset duration) and then released, followed by a low-level signal for 350ms (second preset duration). The controller completes the first set of valid samples and starts a 5-second countdown. During the countdown, the operator sequentially completes the second (high 380ms + low 280ms) and third (high 250ms + low 400ms) valid samples. The total duration of the three sets of valid samples is 3.2 seconds (≤5 seconds). The robotic arm controller determines that the number of samples is greater than or equal to the preset number, immediately generates and acquires the hardware unlock control signal, and then forwards it to the gripper controller to trigger unlocking.

[0063] Step S2023: If the number of samples taken within the preset time range is less than the preset number, clear the number of samples and re-execute the step of sampling the high and low level change features corresponding to the unlock button.

[0064] The robot detects an anomaly, and the electronic gripper and robotic arm are in a communication connection state. The robotic arm controller has started sampling the high and low level changes of the unlock button and simultaneously started a 5-second countdown within a preset time range, entering the effective sampling accumulation counting stage. During the 5-second countdown, the robotic arm controller continuously accumulates the number of effective sample groups. If the accumulated number of effective samples is always less than 3 preset groups before the countdown ends (e.g., only 1 or 2 groups of effective samples are collected, or there are no effective samples), the hardware unlock trigger is determined to be an invalid operation. After being determined to be an invalid trigger, the robotic arm controller immediately performs a sample count clearing operation, resetting the accumulated number of effective sample groups to 0, and simultaneously resetting the 5-second countdown within the preset time range, eliminating all sampling records of this trigger, and restoring to the level feature sampling standby state. After clearing, the robotic arm controller will restart real-time sampling and monitoring of the high and low level changes of the unlock button, waiting for the operator's next unlock button trigger operation. The new trigger operation will restart the sampling count and the 5-second countdown.

[0065] Step S203: In response to the communication status being disconnected, an unlock control signal is obtained through the gripper controller. For details, please refer to [link to details]. Figure 1 Step S103 of the illustrated embodiment will not be described again here.

[0066] The signal detection method for the electronic gripper provided in this application requires no manual intervention by automatically zeroing and resampling. The robotic arm controller can quickly return to the sampling standby state without affecting the efficiency of subsequent operators in performing the unlocking operation in a standardized manner. At the same time, this rule only resets the sampling count for hardware unlocking and will not interfere with the normal communication between the gripper and the robotic arm or the detection of abnormal states of the robot body. While enhancing the security of hardware unlocking, it also ensures the convenience of unlocking operation and the stability of equipment operation.

[0067] This embodiment provides a signal detection method for an electronic gripper, which can be used in the aforementioned robot body. Figure 3 This is a flowchart of a signal detection method for an electronic gripper according to an embodiment of this application, as shown below. Figure 3 As shown, the process includes the following steps: Step S301: In response to detecting an abnormality in the robot body, detect whether the gripper controller has received a heartbeat frame sent by the robot control unit.

[0068] The robot control unit is the core control unit of the robotic arm and the main sender of heartbeat frames. The robot body monitors the gripper's movement status in real time (such as encoder data, motor current, and gripper opening / closing command feedback). Upon detecting abnormal states such as gripper jamming or gripping an object while powered on, it immediately sends an abnormal trigger signal to the gripper controller. Upon receiving the abnormal trigger signal, the gripper controller immediately activates the heartbeat frame reception and detection mechanism, initiating real-time listening to the heartbeat frames sent by the robot control unit. The listening duration is executed according to a preset communication detection threshold (e.g., 1s, 3s, which can be adjusted according to actual working conditions). The robot control unit uses a fixed transmission frequency as a baseline (e.g., 100ms / frame) to determine whether a valid heartbeat frame can be received within the preset listening duration.

[0069] Step S302: In response to the gripper controller receiving a heartbeat frame sent by the robot control unit, the communication status is determined to be a communication connection status.

[0070] If the gripper controller successfully receives at least one valid heartbeat frame (without frame loss or frame data errors) within the preset heartbeat frame listening time, it indicates that the communication link between the gripper controller and the robot control unit is smooth and the signals can be exchanged normally. The gripper controller immediately determines that the communication status between the electronic gripper and the robotic arm is a communication connection status and synchronizes this communication connection status to the robotic arm controller. The subsequent unlocking process will be led by the robotic arm controller to obtain the unlocking control signal.

[0071] Step S303: In response to the gripper controller not receiving a heartbeat frame sent by the robot control unit, the communication status is determined to be a communication disconnection state.

[0072] If the gripper controller does not receive any heartbeat frames within the preset heartbeat frame listening time, or if all received heartbeat frames are invalid (frame loss, data error), it indicates that the communication link between the gripper controller and the robot control unit is interrupted (e.g., line damage, network failure), and the signals cannot be exchanged normally. The gripper controller immediately determines that the communication status between the electronic gripper and the robotic arm is disconnected. There is no need to synchronize the status with the robotic arm controller. Subsequently, the control switch will be completed automatically, and the gripper controller will autonomously obtain the unlock control signal.

[0073] The signal detection method for the electronic gripper provided in this application triggers heartbeat frame reception detection only after detecting an abnormality in the robot body. This avoids the resource consumption of the controller caused by meaningless continuous detection, and can quickly and accurately identify the communication connection or disconnection status between the electronic gripper and the robotic arm through a simple and direct frame reception / disconnection determination logic, thereby improving the response efficiency of communication detection after an anomaly. At the same time, the gripper controller autonomously completes heartbeat frame detection and status determination without the intervention of the robotic arm controller. Even in the extreme case of communication disconnection, it can independently complete status identification, providing an accurate and reliable basis for subsequent automatic control switching and autonomous acquisition of unlocking signals by the gripper controller. This ensures the smooth start of the unlocking process under disconnection failure and effectively avoids the problem of the gripper being unable to unlock due to communication status determination failure, which could lead to damage to the gripper or the grasped object.

[0074] According to an embodiment of this application, an unlocking method for an electronic gripper is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here. The unlocking method for the electronic gripper is applied to a robot body and can employ the signal detection method for the electronic gripper described above.

[0075] Figure 4 This is a flowchart of an unlocking method for an electronic gripper according to an embodiment of this application. Figure 4 As shown, the unlocking method of this electronic gripper may include the following steps: Step S401: When the unlock control signal is obtained, the relevant unlock data of the electronic gripper is obtained based on the unlock control signal.

[0076] Relevant unlocking data can be understood as the data used by the electronic gripper when unlocking. This data includes all operational information used to determine the unlocking level. Specifically, relevant unlocking data can include anomaly type data, gripping status data, and slip detection data.

[0077] Abnormal data can include motor operating status, drive status, emergency stop signal, drive module fault signal, and control command status.

[0078] Clamping status data may include clamping force and motor load current.

[0079] Slip detection data can include displacement, displacement rate of change, and clamping force fluctuation.

[0080] Specifically, once a valid unlocking control signal is obtained through the signal detection process, the unlocking data acquisition phase immediately begins. Three types of relevant unlocking data are simultaneously acquired from the gripper controller, encoder module, current acquisition unit, and drive status feedback module. The first type is abnormal data, the second is clamping status data, and the third is slip detection data. Based on these three types of data, the relevant unlocking data can be constructed.

[0081] Step S402: Based on the relevant unlocking data of the electronic gripper, determine the unlocking level corresponding to the electronic gripper.

[0082] The unlock level can be understood as the level at which the electronic gripper unlocks the device.

[0083] Specifically, after determining the relevant unlocking data of the electronic gripper, the corresponding unlocking level of the electronic gripper can be further determined.

[0084] As an example, the anomaly level is determined based on anomaly type data, categorized into four levels (Level 1 to Level 4) based on motor current, stall counts, signal delay, emergency stop, and fault signals. Next, the load level is determined based on clamping status data, categorized into three levels (Level 1 to Level 3) based on clamping force and load current. Then, the slippage risk level is determined based on slippage detection data, categorized into three levels (Level 1 to Level 3) based on displacement, displacement rate, and clamping force fluctuations. Subsequently, at least one of the anomaly level, load level, and slippage risk level is weighted and fused to calculate the target risk coefficient. Finally, according to a preset risk coefficient-unlocking level matching relationship, the target risk coefficient is mapped to the corresponding unlocking level.

[0085] Step S403: Based on the unlock level, determine the unlock operation corresponding to the unlock level.

[0086] Specifically, after determining the unlock level, the unlocking process can be further defined.

[0087] As an example, a corresponding current range is matched according to the unlocking level. This range has a first control current as the lower limit and a second control current as the upper limit. Different unlocking levels correspond to different current value ranges. Then, within the matched current range, an appropriate target current is selected according to the unlocking level. The lower the level, the closer it is to the first control current, and the higher the level, the closer it is to the second control current. Finally, the complete unlocking operation is determined: the electronic gripper is switched from position control mode to force-position hybrid control mode, the target current is used to drive the motor, and the encoder position is used as the closed-loop condition to execute the unlocking drive action until the unlocking position is reached.

[0088] Step S404: Control the electronic gripper to perform the unlocking operation.

[0089] The electronic gripper's control mode is switched from the conventional position control mode to a hybrid force-position control mode specifically for unlocking, allowing the gripper to exceed normal position limitations and apply force. A predetermined target current is then output to drive the gripper motor. Simultaneously, the electronic gripper's position is monitored in real-time by an encoder to determine if the unlocking position (encoder threshold zero point) has been reached. If it has, the current output stops, and unlocking is complete. If the target current has reached the second maximum control current and the unlocking position has not yet been reached, the maximum current is maintained until the gripper reaches the unlocking position, ensuring that the jammed state can be forcibly released.

[0090] The electronic gripper unlocking method provided in this application retrieves unlocking-related data corresponding to the electronic gripper through an unlocking control signal. The obtained unlocking data is used as a basis to accurately classify the unlocking level of the electronic gripper. The corresponding unlocking operation content is matched according to the determined unlocking level. Finally, an instruction is issued to control the electronic gripper to perform the corresponding unlocking operation, thereby improving the security of the unlocking operation.

[0091] In one possible implementation, the relevant unlocking data includes: anomaly type data, clamping state data, and slip detection data. In step S402 above, based on the relevant unlocking data of the electronic gripper, the unlocking level corresponding to the electronic gripper is determined, including: Step a1: Determine the corresponding anomaly level based on the anomaly type data; whereby the anomaly type data includes the motor operating status and drive status of the electronic gripper. Anomaly level can be understood as the severity of anomalies classified according to the type of anomaly data.

[0092] Specifically, after identifying the type of abnormal data, the level of abnormality can be further determined.

[0093] As an example, the severity of faults in the electronic gripper is graded based on anomaly type data. Anomaly type data includes motor operating status and drive status. Motor operating status includes motor current, number of stalled cycles, and duration of motor position changes; drive status includes emergency stop signals, drive module fault signals, and number of delayed / missing control commands. The system uses a four-level standard for assessment: Level 1 anomaly indicates both motor and drive are normal; Level 2 anomaly indicates any of the following: slight overcurrent, short delay, or a small number of stalled cycles; Level 3 anomaly indicates any of the following: continuous overcurrent, frequent stalled cycles, or intermittent signal loss; and Level 4 anomaly indicates any of the following: prolonged motor position stagnation, emergency stop triggering, drive failure, or continuous command loss.

[0094] Step a2: Determine the corresponding load level based on the clamping status data; wherein, the clamping status data includes clamping force and motor load current; The load rating can be understood as the load level classified according to the clamping force and the motor load current.

[0095] Clamping force can be understood as the force exerted by the electronic gripper on the object being clamped.

[0096] Specifically, after determining the clamping status data, the corresponding load level can be further determined.

[0097] As an example, when the clamping force is less than the first clamping force threshold and the load current is less than the first current threshold, the load level is determined to be a Class I load; when the clamping force is between the first and second thresholds, or the load current is between the first and second thresholds, it is a Class II load; when the clamping force is ≥ the second threshold or the load current is ≥ the second threshold, it is a Class III load. For example, a clamping force of 25N (between the first and second thresholds) and a motor load current of 1.6A (between the first and second current thresholds) meet the conditions for a Class II load, and the load level is determined to be a Class II load. As another example, a clamping force of 60N ≥ the second clamping force threshold and a load current of 3.0A ≥ the second current threshold meet either condition, and the load level is determined to be a Class III load.

[0098] Step a3: Determine the corresponding slip risk level based on the slip detection data; wherein, the slip detection data includes the displacement of the electronic gripper, the rate of displacement change, and the fluctuation of the clamping force.

[0099] The slippage risk level can be understood as the likelihood of loosening when an electronic gripper is holding an item. Specifically, the slippage risk level can include the amount of displacement of the electronic gripper, the rate of displacement change, and the fluctuation in gripping force.

[0100] Specifically, after determining the slip detection data, the corresponding slip risk level can be further determined.

[0101] As an example, if the displacement, displacement rate, and clamping force fluctuation of the electronic gripper are all less than their respective thresholds (i.e., the M threshold), then the slippage risk level can be determined as Level 1 slippage risk. If any one of the electronic gripper's displacement, displacement rate, and clamping force fluctuation is between the M threshold and the N threshold, then the slippage risk level can be determined as Level 2 slippage risk. Where N is greater than M, and the threshold of any one of the electronic gripper's displacement, displacement rate, and clamping force fluctuation is ≥ the N threshold, then the slippage risk level can be determined as Level 3 slippage risk.

[0102] Step a4: Determine the target risk coefficient based on at least one of the anomaly level, load level, and slip risk level; The target risk coefficient can be understood as a risk indicator when the electronic gripper performs an unlocking operation. Specifically, the target risk coefficient can be determined based on at least one of the following: anomaly level, load level, and slippage risk level.

[0103] In other words, Option A1 determines the target risk coefficient based on the anomaly level. Option A2 determines the target risk coefficient based on the load level. Option A3 determines the target risk coefficient based on the slippage risk level. Option A4 determines the target risk coefficient based on both the anomaly level and the load level. Option A5 determines the target risk coefficient based on both the load level and the slippage risk level. Option A6 determines the target risk coefficient based on all three factors: anomaly level, load level, and slippage risk level.

[0104] Specifically, for scheme A1, the anomaly level is determined based on the motor operating status and drive status in the anomaly type data, thus obtaining the current anomaly level of the electronic gripper. Subsequently, this anomaly level is directly used as the sole criterion for numerical mapping, and the anomaly level value is directly assigned to the target risk coefficient, thereby determining the target risk coefficient.

[0105] For scheme A2, the load level is determined based on the clamping force and motor load current in the clamping status data, thus obtaining the current load level of the electronic gripper. Subsequently, using the load level as a single criterion, and according to the preset correspondence between load level and risk coefficient, the load level value is directly used as the target risk coefficient to complete the calculation of the target risk coefficient.

[0106] For scheme A3, the slip risk level is determined based on the displacement, displacement change rate, and clamping force fluctuation in the slip detection data, thus obtaining the slip risk level corresponding to the current clamping condition. Subsequently, the slip risk level is used as the sole calculation basis, and the level value of the slip risk level is directly mapped to the target risk coefficient.

[0107] For Scheme A4, the anomaly level and load level are determined independently, yielding corresponding anomaly level and load level values. These two levels are then combined and calculated using an arithmetic mean, weighted average, or maximum value method. When using the arithmetic mean, the anomaly level and load level are added together and divided by 2; the result is used as the target risk coefficient. If the result is a decimal, the final integer target risk coefficient is determined according to the nearest integer rule.

[0108] For Scheme A5, the load level and slippage risk level are determined separately, and their corresponding values ​​are obtained. Then, the load level and slippage risk level values ​​are comprehensively calculated, and the target risk coefficient can be determined using a weighted sum, arithmetic mean, or taking the maximum value. When using the arithmetic mean method, the two level values ​​are added together, divided by 2, and the result is rounded down to obtain the final target risk coefficient.

[0109] For the A6 scheme, the first step is to determine the three levels: anomaly level, load level, and slippage risk level, obtaining corresponding level values ​​for each. Then, these three level values ​​are used as a comprehensive calculation factor, and are fused using the arithmetic mean, weighted average, or maximum value selection method. When using the arithmetic mean method, the three level values ​​are added together and divided by 3, then the result is rounded up or rounded to the nearest integer to obtain the final target risk coefficient that can be used to match the unlocking level.

[0110] Step a5: Determine the unlocking level corresponding to the electronic gripper based on the target risk coefficient and the preset matching relationship; wherein, the preset matching relationship is the matching relationship between the preset risk coefficient and the preset unlocking level.

[0111] The preset matching relationship can be understood as the matching relationship between the preset risk coefficient and the preset unlock level.

[0112] Specifically, after determining the target risk coefficient, the risk coefficient corresponding to the target risk coefficient can be determined from the preset risk coefficients, and then the preset unlocking level corresponding to the risk coefficient can be determined, and the preset risk level can be set as the unlocking level corresponding to the electronic gripper.

[0113] The electronic gripper unlocking method provided in this application no longer uses a single judgment condition for simple judgment in the process of determining the unlocking level of the electronic gripper. Instead, it collects multi-dimensional unlocking-related data as the basis for the entire unlocking judgment, specifically including three core working condition data: anomaly type data, gripping status data, and slip detection data. When determining the level, the anomaly type data is analyzed separately. By detecting the motor operating status and motor drive status of the electronic gripper, it accurately identifies whether the equipment currently has various fault conditions such as operational anomalies or drive anomalies, and quantifies the corresponding anomaly level accordingly. Simultaneously, the gripping status data is analyzed independently. By obtaining the current gripping force and motor load current value, it accurately determines the actual gripping load of the gripper, classifies the corresponding load level according to the difference in load weight, and truly reflects the force state and load condition of the gripper's current gripping operation. Furthermore, it combines slip detection data to conduct risk assessment. By monitoring three dynamic parameters during the gripper's operation—displacement, displacement change rate, and gripping force fluctuation—it determines whether the object gripped by the gripper shows signs of loosening, sliding, or positional displacement, and defines the corresponding slip risk level accordingly. That is, after completing independent assessments of the three dimensions of anomaly level, load level, and slippage risk level, at least one valid parameter from the above three levels is integrated to accurately determine the unlock level.

[0114] In one possible implementation, determining the corresponding exception level based on the exception type data in step a1 above may include the following steps: Step a11: When both the motor operating state and the drive state are in normal condition, the abnormality level is determined to be the first abnormality level.

[0115] The first level of abnormality can be understood as the electronic gripper showing no abnormalities and being in a normal state.

[0116] Specifically, the motor operating status and drive status of the electronic gripper are collected. When it is detected that the motor operating status has no overcurrent, no stall, and normal position change, and the drive status has no emergency stop, no fault, and no delay or missing command, it is determined that the electronic gripper has no abnormality and the abnormality level is determined as the first abnormality level.

[0117] Step a12: When any of the following conditions are met, the abnormality level is determined to be the second abnormality level: the motor current in the motor running state exceeds the current threshold and the duration is less than the first preset duration; the number of times the motor stalls in the motor running state is less than the first preset number; and the delay time of the control command corresponding to the drive state is less than the second preset duration.

[0118] The second level of abnormality can be understood as occasional abnormalities or short-term malfunctions of the electronic gripper.

[0119] The first preset duration can be understood as the time threshold for judging short-term and continuous overcurrent.

[0120] The first preset number of times can be understood as the threshold number of times to determine whether the motor stalls frequently.

[0121] The second preset duration can be understood as the time threshold for determining whether the control command is slightly delayed.

[0122] The second preset number of times can be understood as the threshold number of times to determine whether the driving signal is interrupted or missing.

[0123] Specifically, the operating and driving status data of the electronic gripper's motor are collected, and each of the three judgment conditions is verified. When any one of the following three conditions is detected, the electronic gripper is determined to be in a slight, short-term, and occasional abnormal state, and the abnormality level is determined to be the second abnormality level.

[0124] The specific judgment conditions are as follows: Real-time monitoring of the motor current during motor operation; if the motor current exceeds a preset current threshold, but the duration of the overcurrent condition is less than a first preset duration, then the conditions for the second abnormal level are met; Statistics on the number of times the motor stalls during motor operation; if the number of times the motor stalls within a preset statistical period is less than a first preset number, then the conditions for the second abnormal level are met; Monitoring the delay time of control commands during drive operation; if the delay time of control commands is less than a second preset duration, then the conditions for the second abnormal level are met.

[0125] For example, if the motor current is detected to momentarily exceed the current threshold, but the overcurrent state only lasts for 150ms, which is less than the first preset duration of 300ms, and there is no stall or command delay, the condition that the motor current exceeds the current threshold and the duration is less than the first preset duration is met. Therefore, the abnormality level is determined to be the second abnormality level.

[0126] Step a13: When any of the following conditions are met, the abnormality level is determined to be the third abnormality level: the motor current in the motor running state exceeds the current threshold and the duration is not less than the first preset duration; the number of times the motor stalls in the motor running state is not less than the first preset number; and the number of times the drive signal corresponding to the drive state is interrupted and missing is not less than the second preset number. The third abnormality level can be understood as the level of continuous failure of the electronic gripper, multiple failures, and severe failure.

[0127] Specifically, parameters related to the motor operating status and drive status of the electronic gripper are collected and analyzed. Threshold judgments and logical decisions are made for three key indicators: motor current, number of times the motor stalls, and number of times the drive signal is interrupted or missing. When any one of the following three conditions is met, the electronic gripper is determined to be in a continuous, frequent, recoverable but severe abnormal state, and the abnormality level is determined to be the third abnormality level.

[0128] The specific judgment conditions are as follows: Real-time monitoring and duration statistics of motor current during motor operation; if the motor current exceeds the preset current threshold and the duration of the overcurrent state is greater than or equal to the first preset duration, the condition for the third abnormal level is determined to be met; Periodic statistics of the number of times the motor stalls during motor operation; if the number of times the motor stalls within the set statistical period is greater than or equal to the first preset number, the condition for the third abnormal level is determined to be met; Continuous monitoring of the drive signal during drive operation; if intermittent missing drive signals are detected and the number of missing signals is greater than or equal to the second preset number, the condition for the third abnormal level is determined to be met.

[0129] For example, if the motor current exceeds the current threshold and the overcurrent state lasts for 400ms, which is greater than or equal to the first preset duration of 300ms, and the motor does not frequently stall or the drive signal does not become interrupted, the condition of motor current exceeding the threshold and duration ≥ the first preset duration is met. Therefore, the abnormality level is determined to be the third abnormality level.

[0130] Step a14: When any of the following conditions are met, the abnormality level is determined to be the fourth abnormality level: the duration of no change in motor position during motor operation is not less than the third preset duration, an emergency stop signal is triggered, a drive module fault signal is set, and the number of consecutive missing control commands is not less than the third preset number; wherein, the drive state includes emergency stop signal, drive module fault signal, and control commands.

[0131] The third preset duration can be understood as the time threshold for determining whether the motor is stuck and unable to move.

[0132] The third preset number of times can be understood as the number of times to determine whether control commands are continuously and severely missing.

[0133] Specifically, the system collects and analyzes parameters related to the motor operating status and drive status of the electronic gripper, and performs real-time monitoring and judgment on the motor position holding time, emergency stop signal status, drive module fault signals, and continuous missing control commands. When any one of the following four conditions is detected, the electronic gripper is determined to be in a high-risk state of serious malfunction, mechanical jamming, drive failure, or control interruption, and the abnormality level is determined to be the fourth abnormality level.

[0134] The specific judgment conditions are as follows: Continuous monitoring of the motor position during motor operation; if the motor position remains unchanged for a duration greater than or equal to the third preset duration, the conditions for the fourth abnormal level are met; real-time detection of emergency stop signals during drive operation; if an emergency stop signal is detected as being triggered, indicating that the equipment has entered an emergency stop state, the conditions for the fourth abnormal level are met; detection of drive module fault signals during drive operation; if a drive module fault signal is detected as being set, indicating a hardware or software fault in the drive unit, the conditions for the fourth abnormal level are met; continuous monitoring of control commands during drive operation; if control commands are continuously lost, and the number of consecutive missing commands is greater than or equal to the third preset number, indicating that the control link has been interrupted, the conditions for the fourth abnormal level are met.

[0135] For example, if the encoder monitors the motor position and detects that the motor position has not changed for 500 ms, this duration is greater than or equal to the third preset duration of 500 ms. If no emergency stop is triggered, there is no drive fault, and no commands are continuously missing, the condition of no change in motor position for ≥ the third preset duration is met. Therefore, the anomaly level is determined to be the fourth anomaly level. As another example, if a drive module fault signal is detected as set, the drive unit reports a fault status, the motor position is normal, the emergency stop is not triggered, and the control commands are normal, meeting the condition of the drive module fault signal being set. Therefore, the anomaly level is determined to be the fourth anomaly level.

[0136] The electronic gripper unlocking method provided in this application embodiment sets a four-layer gradient judgment standard for judging the abnormality level of electronic gripper abnormality data. The entire process is based on two core data categories: motor operating status and drive status, for refined hierarchical judgment. The drive status specifically includes emergency stop signals, drive module fault signals, and control command-related statuses. During the judgment process, the basic operating status of the equipment is identified. When both the motor operating status and drive status are detected as being in normal working condition, the current equipment abnormality level is directly determined to be the lowest risk level, the first abnormality level. If the equipment exhibits a slight abnormal condition, meeting any of the following conditions: the motor operating current exceeds the set current threshold but the overcurrent duration does not reach the first preset duration; the number of motor stall occurrences is less than the first preset number; or the delay time of the control command corresponding to the drive status is less than the second preset duration, the equipment is judged to have a slight operational abnormality and is classified as the second abnormality level. This accurately identifies various short-term, slight deviations in operating conditions that do not affect basic operation. When the abnormal operating conditions of the equipment worsen, and any of the following occurs—such as a motor overcurrent duration greater than or equal to the first preset duration, a motor stall count reaching or exceeding the first preset count, or a drive signal interruption count not less than the second preset count—it indicates that the equipment is experiencing continuous and frequent operational and drive abnormalities. Based on this, it is classified as the third abnormality level, which has a higher risk level, accurately distinguishing moderate fault conditions. When the equipment experiences severe faults or emergency abnormalities, and meets any of the following high-risk conditions—such as a motor position remaining unchanged for an extended period reaching the third preset duration, an emergency stop signal being triggered, a drive module fault signal being set, or a control command interruption count not less than the third preset count—it is directly classified as the fourth abnormality level, which has the highest risk. This accurately identifies severe faults such as equipment jamming, emergency shutdown, drive module failure, and widespread command interruption. In other words, based on the abnormality level determination, the corresponding unlocking operation can be further determined, thereby improving the security of electronic gripper unlocking.

[0137] In one possible implementation, the step a2 above, which determines the corresponding slip risk level based on the slip detection data, may include the following steps: Step a21: When the displacement is less than the first displacement threshold, the displacement change rate is less than the first rate threshold, and the clamping force fluctuation is less than the first force threshold, the slip risk level is determined to be the first slip risk level.

[0138] The displacement can be understood as the magnitude of the positional shift that occurs during the gripping process of the electronic gripper.

[0139] The first displacement threshold can be understood as the critical displacement value for determining whether there is significant slippage.

[0140] The rate of change of displacement can be understood as how quickly the amount of displacement changes per unit time.

[0141] The first rate threshold can be understood as the rate critical value for determining whether there is an obvious slipping trend.

[0142] The fluctuation of clamping force can be understood as the range of change of clamping force during the process.

[0143] The first force threshold can be understood as the critical value for judging whether the clamping force is stable.

[0144] The first slip risk level can be understood as the level with no slippage, stable clamping, and the lowest risk.

[0145] Specifically, the displacement, displacement rate of change, and clamping force fluctuation are obtained from the slip detection data. When the displacement is less than a first displacement threshold, the displacement rate of change is less than a first rate threshold, and the clamping force fluctuation is less than a first force threshold, it indicates that the clamping position is stable, there is no slippage tendency, and the clamping force has no significant fluctuation. Therefore, the slippage risk level is determined to be the first slippage risk level. For example, the first displacement threshold = 0.2 mm, the first rate threshold = 0.1 mm / s, and the first force threshold = 3 N. If the detected displacement = 0.1 mm < 0.2 mm, the displacement rate of change = 0.05 mm / s < 0.1 mm / s, and the clamping force fluctuation = 2 N < 3 N, all three conditions are met. Therefore, the slippage risk level is determined to be the first slippage risk level.

[0146] Step a22: When the displacement is not less than the first displacement threshold and less than the second displacement threshold, and / or the displacement change rate is not less than the first rate threshold and less than the second rate threshold, or the clamping force fluctuation is not less than the first force threshold and less than the second force threshold, the slip risk level is determined to be the second slip risk level.

[0147] The second slip risk level can characterize the presence of slight slippage, small slippage trend, and small fluctuations in clamping force, indicating a moderate level of risk.

[0148] Specifically, the displacement, displacement rate of change, and clamping force fluctuation are obtained from the slip detection data. When the displacement is not less than a first displacement threshold and less than a second displacement threshold, and / or the displacement rate of change is not less than a first rate threshold and less than a second rate threshold, or the clamping force fluctuation is not less than a first force threshold and less than a second force threshold, satisfying any one or more of these conditions indicates a slight shift, slight slippage tendency, or slight force fluctuation in the clamping mechanism. Therefore, the slippage risk level is determined to be the second slippage risk level. For example, the first displacement threshold = 0.2 mm, the second displacement threshold = 0.5 mm; the first rate threshold = 0.1 mm / s, the second rate threshold = 0.3 mm / s; the first force threshold = 3 N, the second force threshold = 8 N. A displacement of 0.35 mm is detected, falling within the range of ≥0.2 mm and <0.5 mm, satisfying the conditions. Therefore, the slippage risk level is determined to be the second slippage risk level.

[0149] Step a23: When the displacement is not less than the second displacement threshold, and / or the displacement change rate is not less than the second rate threshold, and / or the clamping force fluctuation is not less than the second force threshold, the slip risk level is determined to be the third slip risk level.

[0150] The third slip risk level can be characterized by obvious slippage, fast sliding speed, and violent fluctuations in clamping force, representing the highest level of risk.

[0151] Specifically, the displacement, displacement rate of change, and clamping force fluctuation are acquired from the slip detection data. If the displacement is not less than the second displacement threshold, and / or the displacement rate of change is not less than the second rate threshold, and / or the clamping force fluctuation is not less than the second force threshold, then any one of these conditions indicates significant clamping deviation, rapid sliding, or violent fluctuations in clamping force, posing a risk of detachment. Therefore, the slip risk level is determined to be the third slip risk level. For example, the second displacement threshold = 0.5 mm, the second rate threshold = 0.3 mm / s, and the second force threshold = 8 N. If a displacement of 0.6 mm ≥ 0.5 mm is detected, satisfying any one of these conditions, the slip risk level is determined to be the third slip risk level.

[0152] The electronic gripper unlocking method provided in this application collects and compares the real-time values ​​of three monitoring data with corresponding preset thresholds. When the real-time displacement of the gripper is less than a first displacement threshold, the displacement change rate is less than a first rate threshold, and the clamping force fluctuation is less than a first force threshold, it indicates that the gripper's clamping state is stable, with no displacement deviation, no rate fluctuation, and no clamping force oscillation. The overall clamping condition is stable and there is no risk of slippage, thus it is determined to be the first slippage risk level with the lowest risk. When the monitoring data shows slight anomalies, satisfying any one or more of the following conditions: displacement between the first and second displacement thresholds, displacement change rate between the first and second rate thresholds, and clamping force fluctuation between the first and second force thresholds, it indicates that the gripper's clamping state has slight fluctuations, resulting in small displacement deviation, rate fluctuation, or unstable clamping force, indicating a low degree of slippage risk. This is determined to be the second slippage risk level, accurately capturing slight slippage anomalies. When the monitoring data shows serious anomalies, if any one of the following three conditions is met—displacement greater than or equal to the second displacement threshold, displacement change rate greater than or equal to the second rate threshold, or clamping force fluctuation greater than or equal to the second force threshold—it indicates that the gripper has significant displacement deviation, abnormal dynamic operating rate, or violent fluctuation in clamping force. The clamping stability is greatly reduced, and there is an extremely high risk of slippage and detachment. It is directly judged as the third slippage risk level, which is the highest risk level. In other words, the slippage risk level can be accurately divided according to the classification method, effectively identifying different degrees of clamping deviation risks, thereby improving the security of electronic gripper unlocking.

[0153] In one possible implementation, determining the corresponding load level based on the clamping state data in step a3 above may include the following steps: Step a31: When the clamping force is less than the first clamping force threshold and the motor load current is less than the first current threshold, the load level is determined to be the first load level.

[0154] The first clamping force threshold can be understood as the critical value of clamping force for judging light load conditions. The first current threshold can be understood as the critical value of current for judging light load conditions.

[0155] Specifically, the clamping force and motor load current are collected from the clamping status data. When the clamping force is less than the first clamping force threshold and the motor load current is simultaneously less than the first current threshold, it indicates that the electronic gripper is currently in a light-load clamping state, and the motor load is relatively small. Therefore, the load level is determined to be the first load level. For example, the first clamping force threshold = 20N, and the first current threshold = 1.5A. If the clamping force = 15N < 20N and the motor load current = 1.2A < 1.5A is detected, both conditions are met simultaneously, therefore the load level is determined to be the first load level.

[0156] Step a32: When the clamping force is not less than the first clamping force threshold and less than the second clamping force threshold, and / or the motor load current is not less than the first current threshold and less than the second current threshold, the load level is determined to be the second load level.

[0157] The second clamping force threshold can be understood as the critical value of clamping force for judging medium and heavy loads.

[0158] The second current threshold can be understood as the critical current value for judging medium load and heavy load.

[0159] Specifically, the clamping force and motor load current are collected. When the clamping force is not less than a first clamping force threshold and less than a second clamping force threshold, and / or the motor load current is not less than a first current threshold and less than a second current threshold, satisfying either condition or both conditions simultaneously indicates that the electronic gripper is in a medium clamping load state, and therefore the load level is determined to be the second load level. For example, the first clamping force threshold = 20N, the second clamping force threshold = 50N; the first current threshold = 1.5A, the second current threshold = 2.5A. If a clamping force of 35N is detected, which is within the range of ≥20N and <50N, and a motor load current of 2.0A is detected, which is within the range of ≥1.5A and <2.5A, the conditions are met, and therefore the load level is determined to be the second load level.

[0160] Step a33: When the clamping force is not less than the second clamping force threshold and / or the motor load current is not less than the second current threshold, the load level is determined to be the third load level.

[0161] Specifically, the clamping force and motor load current are collected. If either the clamping force is not less than the second clamping force threshold and / or the motor load current is not less than the second current threshold, then the electronic gripper is under heavy load or overload, indicating a large motor load. Therefore, the load level is determined to be the third load level. For example, the second clamping force threshold is 50N, and the second current threshold is 2.5A. If a clamping force of 60N ≥ 50N is detected, satisfying either condition, the load level is determined to be the third load level.

[0162] The electronic gripper unlocking method provided in this application collects clamping force data and motor load current data during device operation, and performs tiered discrimination and judgment by comparing them with preset two-level thresholds. When the real-time clamping force value is detected to be less than the first clamping force threshold, and the synchronously monitored motor load current is less than the first current threshold, it indicates that the current clamping load of the electronic gripper is small, the device operating load is sufficient, the working condition is easy and stable, and there is no risk of overload operation. Therefore, the current device is determined to be at the first load level. When the equipment's operating conditions change, and the clamping force falls within the range of the first and second clamping force thresholds, or the motor load current falls within the range of the first and second current thresholds, or both parameters fall within the corresponding ranges simultaneously, it indicates that the electronic gripper is currently bearing a medium clamping load. The equipment is operating under normal full-load conditions, and the load pressure has increased but has not reached the overload threshold. Based on this, the system determines it to be at the second load level, accurately identifying the equipment's normal load operating state. When either the clamping force value is greater than or equal to the second clamping force threshold, or the motor load current is greater than or equal to the second current threshold, it means that the electronic gripper's current clamping load has reached the critical or overload state, and the equipment is operating under high load conditions, posing a potential risk of overload. It is directly determined to be at the third load level. In other words, the system can classify and determine the load level through the dual parameters of clamping force and load current, accurately distinguishing different load conditions and improving the unlocking accuracy of the electronic gripper.

[0163] In one possible implementation, the above method also includes: Step c1: During the unlocking process, detect the degree of slippage of the item held by the electronic gripper.

[0164] Slippage can be used as a comprehensive quantitative indicator to characterize the positional shift, sliding trend, and clamping stability of the clamped item during the unlocking process.

[0165] Specifically, throughout the entire unlocking process of the electronic gripper, the system continuously and in real-time collects the degree of slippage of the gripped item, dynamically detects the degree of slippage, and determines whether the gripping state is stable. For example, when the electronic gripper begins to perform the unlocking action, the motor drives the gripper to slowly open. The encoder collects the displacement, the rate of displacement change, and the fluctuation of the gripping force in real time, and calculates the current degree of slippage of the gripped item based on this data, thus realizing the monitoring of the slippage state during the unlocking process.

[0166] Step c2: If the sliding distance does not exceed the preset sliding threshold, continue with the unlocking operation.

[0167] The preset slip threshold can be understood as a pre-set safety threshold for the degree of slippage, used to determine whether there is a risk of an item slipping.

[0168] Specifically, the detected degree of slippage is compared with a preset slippage threshold. If the slippage is less than or equal to the preset slippage threshold, it indicates that the current clamping state of the item is stable, the risk of slippage is within a safe range, and there will be no problem of the item falling off. The current unlocking action remains unchanged, and the unlocking operation continues normally. For example, if the preset slippage threshold is 0.5mm, and the system detects that the item slippage is 0.2mm, which does not exceed the preset slippage threshold, the clamping is determined to be stable. Therefore, the electronic gripper continues to be controlled to perform the unlocking and opening action with the target current.

[0169] Step c3: If the sliding degree exceeds the preset sliding threshold, the unlocking is paused and the electronic gripper is controlled to retract and clamp until the sliding degree returns to within the preset sliding threshold, and then the unlocking operation is continued.

[0170] Specifically, if the detected slippage exceeds a preset slippage threshold, it indicates that the item has significantly slipped and is at risk of falling off. In this case, the unlocking process is immediately paused, and the grippers are no longer released. Simultaneously, the electronic grippers are controlled to retract and tighten slightly to re-secure the item. The slippage is continuously monitored until it returns to within the preset slippage threshold, and the gripping state is restored to safety. Once this is achieved, the unlocking operation resumes. For example, if the preset slippage threshold is 0.5mm, and the detected slippage reaches 0.7mm during the unlocking process, exceeding the threshold, the system immediately pauses unlocking and controls the electronic grippers to retract and tighten by 0.2mm. After tightening, if the slippage is again detected at 0.2mm, returning to within the threshold, the system continues the unlocking operation until completion.

[0171] The electronic gripper unlocking method provided in this application dynamically controls the unlocking progress by detecting the degree of slippage of the gripped object during the unlocking operation. If the detected value does not exceed a preset slippage threshold, it indicates that the object is securely gripped and will not slip or fall off, allowing the predetermined unlocking process to continue. If the slippage exceeds the threshold, it means that the gripping stability has decreased and there is a risk of the object slipping off. The unlocking action is immediately stopped, and the electronic gripper is simultaneously controlled to retract in the opposite direction and tighten the gripping force. The gripping state is continuously adjusted until the slippage returns to within the threshold range and the gripping state returns to a safe standard before resuming the subsequent unlocking operation. This ensures the orderly progress of the unlocking work and effectively avoids damage caused by the object slipping off during the unlocking process.

[0172] In one possible implementation, the step S403 above, which determines the unlocking operation corresponding to the unlocking level based on the unlocking level, may include the following steps: Step d1: Based on the unlock level, match the corresponding current range, with the lower limit of the current range being the first control current and the upper limit being the second control current.

[0173] Step d2: Select a target current from the current range to determine the unlocking operation corresponding to the unlocking level based on the target current.

[0174] The electronic gripper unlocking method provided in this application, by matching the unlocking level with the corresponding current range, can use the selected target current as the control reference to determine the unlocking operation mode that is compatible with the current unlocking level, thereby ensuring the stability of the unlocking operation.

[0175] This embodiment provides an unlocking system for an electronic gripper. Figure 5 This is a schematic diagram of the structure of an electronic gripper unlocking system according to an embodiment of this application; combined with Figure 5As shown, the unlocking system of the electronic gripper is a robot body, which includes an electronic gripper (not shown), a robotic arm (not shown), an unlock button 501, a robot control unit 507, a robotic arm controller 502, and a gripper controller 503. The unlock button 501 is located at the end of the robotic arm and / or on the side of the electronic gripper, and is connected to the robotic arm controller 502 via input / output communication. It is used to trigger a hardware unlock trigger signal, allowing the robot body to sample the high and low level changes. The robot control unit 507 is communicatively connected to the gripper controller 503 and is used to send a heartbeat frame to the gripper controller 503, so that the gripper controller 503 can determine the communication status between the electronic gripper and the robotic arm based on the heartbeat frame reception status. The robotic arm controller 502 is communicatively connected to the unlock button 501 and is used to acquire the hardware unlock trigger signal and generate and send an unlock control signal when the communication status is connected. The gripper controller 503 is used to directly acquire the unlock control signal when the communication status is disconnected. The electronic gripper is used to execute the unlock control action according to the unlock control signal.

[0176] In one possible implementation, combining Figure 5As shown, the robot body also includes a front-end interaction module 509, a local machine terminal 508, a gripper control board 504, an encoder 506, and an electronic gripper actuator 505. The front-end interaction module 509 is equipped with a software unlock soft button and is communicatively connected to the local machine terminal 508 to generate and issue software unlock commands. The local machine terminal 508 is communicatively connected to the front-end interaction module 509 and the robotic arm controller 502, and is used to forward the software unlock commands issued by the front-end interaction module 509 to the robotic arm controller 502. The robotic arm controller 502 is communicatively connected to the unlock button 501, the local machine terminal 508, and the gripper controller 503, and is used to collect the level change characteristics of the unlock button 501, receive the software unlock commands forwarded by the local machine terminal 508, sample the level change characteristics, and forward the unlock control signal to the gripper controller 503. The gripper controller 503 is communicatively connected to the robotic arm controller 505. The arm controller 502, robot control unit 507, gripper control board 504, encoder 506, and electronic gripper actuator 505 are communicatively connected to detect the communication status between the electronic gripper and the robotic arm, adjust the target current of the electronic gripper, and receive position information fed back by the encoder 506. The gripper control board 504 is communicatively connected to the gripper controller 503 and the electronic gripper actuator 505 to issue an unlocking command to the electronic gripper actuator 505 when the gripper controller 503 determines that the communication is disconnected. The encoder 506 is connected to the gripper controller 503 to collect the position information of the electronic gripper in real time and feed the position information back to the gripper controller 503. The electronic gripper actuator 505 is communicatively connected to the gripper controller 503 and the gripper control board 504 to receive the unlocking command and, in conjunction with the position information fed back by the encoder 506, execute the corresponding unlocking action.

[0177] Combination Figure 5In this application, the unlock button 501 is located at the end of the robotic arm and / or on the side of the electronic gripper. It is connected to the robotic arm controller 502 via input / output communication, triggering a hardware unlock signal and providing a sampling source for high and low level changes. It serves as the physical trigger for hardware unlocking. The front-end interaction module 509 is configured with a software unlock soft button, communicating with the local machine terminal 508 to generate and issue initial unlock commands for software unlocking, supporting software triggering methods such as remote unlocking via the cloud. The local machine terminal 508 connects the front-end interaction module 509 and the robotic arm controller 502, acting as a relay for software unlock commands and establishing a command transmission link from the front end to the robotic arm controller 502. The robot control unit 507 communicates with the gripper controller 503, continuously sending heartbeat frames as the core basis for the gripper controller 503 to determine the connection / disconnection status between the electronic gripper and the robotic arm. The robotic arm controller 502 connects to the unlock button 501, the local machine terminal 508, and the gripper controller 503. It samples and counts the high and low level changes of the unlock button 501 to determine the validity of the hardware unlock trigger signal, forwards the software unlock command, and sends an unlock command to the gripper controller 503 when the hardware or software unlock trigger signal is valid. The gripper controller 503, as the core control component, connects to the robotic arm controller 502 and the robot control unit. 507, the gripper control board 504, the encoder 506, and the electronic gripper actuator 505 can detect the communication status between the electronic gripper and the robotic arm, complete the switching of the electronic gripper from position mode to force-position hybrid control mode, and adjust the target current during the unlocking process. After determining a communication failure, the unlocking control is switched to the gripper control board 504. The gripper control board 504 connects the gripper controller 503 and the electronic gripper actuator 505. After the gripper controller 503 determines a communication failure, it becomes a backup module for unlocking control, sending a communication failure unlocking control signal to the electronic gripper actuator 505 to achieve autonomous unlocking after a communication failure. The encoder 506 is connected to the gripper controller 503. The system collects the physical position data of the electronic gripper in real time, uses the zero point of the encoder 506 as the unlocking position determination benchmark, and provides position closed-loop feedback to the gripper controller 503 to determine whether the electronic gripper has completed forced unlocking. The electronic gripper actuator 505, as the final execution component, receives the unlocking control signal sent by the gripper controller 503 or the gripper control board 504, and, in combination with the position data collected by the encoder 506, executes unlocking control actions such as force-position hybrid control, current adjustment, and continuous force application, ultimately realizing the forced unlocking of the electronic gripper. At the same time, the gripper controller 503 also records the current, time, vibration and other data of each abnormal unlocking, providing data support for fault prediction and early warning.

[0178] This embodiment also provides a signal detection device for an electronic gripper, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0179] This embodiment provides a signal detection device for an electronic gripper, such as... Figure 6 As shown, it includes: a first acquisition module 601, used to acquire the communication status between the electronic gripper and the robotic arm in response to detecting an abnormality in the robot body, the communication status including a communication connection status or a communication disconnection status; a second acquisition module 602, used to acquire an unlocking control signal through the robotic arm controller in response to the communication status being a communication connection status; and a third acquisition module 603, used to acquire an unlocking control signal through the gripper controller in response to the communication status being a communication disconnection status.

[0180] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0181] In this embodiment, the signal detection device of the electronic gripper is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0182] This application also provides a computer device having the above-described features. Figure 6 The signal detection device for the electronic gripper shown.

[0183] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of this application, such as... Figure 7As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 7 Take a processor 10 as an example.

[0184] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLC), or a combination thereof.

[0185] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0186] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0187] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0188] The computer device also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 40 can be connected via a bus or other means. Figure 7 Taking the example of a connection between China and Israel via a bus.

[0189] Input device 30 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0190] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A method for unlocking an electronic gripper, characterized in that, The unlocking method is applied to the robot body, and the method includes: Obtain the unlock control signal; Based on the unlocking control signal, relevant unlocking data of the electronic gripper is acquired; wherein, the relevant unlocking data includes: anomaly type data, gripping status data, and slip detection data; Based on the anomaly type data, the corresponding anomaly level is determined; wherein, the anomaly type data includes the motor operating status and drive status of the electronic gripper; Based on the clamping status data, the corresponding load level is determined; wherein, the clamping status data includes clamping force and motor load current; Based on the slip detection data, the corresponding slip risk level is determined; wherein, the slip detection data includes the displacement of the electronic gripper, the rate of displacement change, and the fluctuation of the clamping force; The target risk coefficient is determined based on at least one of the anomaly level, the load level, and the slip risk level; Based on the target risk coefficient and the preset matching relationship, the unlocking level corresponding to the electronic gripper is determined; wherein, the preset matching relationship is the matching relationship between the preset risk coefficient and the preset unlocking level; Based on the unlock level, determine the unlock operation corresponding to the unlock level; Control the electronic gripper to perform the unlocking operation.

2. The unlocking method for the electronic gripper according to claim 1, characterized in that, The step of determining the corresponding anomaly level based on the anomaly type data includes: When both the motor's operating state and drive state are in a normal state, the abnormality level is determined to be the first abnormality level; The anomaly level is determined to be the second anomaly level when any of the following conditions are met: The motor current in the motor operating state exceeds the current threshold and the duration is less than the first preset duration; the number of times the motor stalls in the motor operating state is less than the first preset number; and the delay time of the control command corresponding to the drive state is less than the second preset duration. The anomaly level is determined to be the third anomaly level when any of the following conditions are met: The motor current in the motor operating state exceeds the current threshold and the duration is not less than the first preset duration; the number of times the motor stalls in the motor operating state is not less than the first preset number; and the number of times the drive signal corresponding to the drive state is interrupted and missing is not less than the second preset number. The anomaly level is determined to be the fourth anomaly level when any of the following conditions are met: The motor operating state includes the following conditions: the motor position remains unchanged for a duration not less than a third preset duration; an emergency stop signal is triggered; a drive module fault signal is set; and the number of consecutive missing control commands is not less than a third preset number. The drive state includes an emergency stop signal, a drive module fault signal, and control commands.

3. The unlocking method for the electronic gripper according to claim 1, characterized in that, The step of determining the corresponding slip risk level based on the slip detection data includes: When the displacement is less than a first displacement threshold, the displacement change rate is less than a first rate threshold, and the clamping force fluctuation is less than a first force threshold, the slip risk level is determined to be the first slip risk level. When the displacement is not less than the first displacement threshold and less than the second displacement threshold, and / or the displacement change rate is not less than the first rate threshold and less than the second rate threshold, or the clamping force fluctuation is not less than the first force threshold and less than the second force threshold, the slip risk level is determined to be the second slip risk level. When the displacement is not less than the second displacement threshold, and / or the displacement change rate is not less than the second rate threshold, and / or the clamping force fluctuation is not less than the second force threshold, the slip risk level is determined to be the third slip risk level.

4. The unlocking method for the electronic gripper according to claim 1, characterized in that, The step of determining the corresponding load level based on the clamping state data includes: When the clamping force is less than the first clamping force threshold and the motor load current is less than the first current threshold, the load level is determined to be the first load level. When the clamping force is not less than the first clamping force threshold and is less than the second clamping force threshold, and / or the motor load current is not less than the first current threshold and is less than the second current threshold, the load level is determined to be the second load level. When the clamping force is not less than the second clamping force threshold and / or the motor load current is not less than the second current threshold, the load level is determined to be the third load level.

5. The unlocking method for the electronic gripper according to claim 1, characterized in that, Also includes: The degree of slippage of the item held by the electronic gripper is detected during the unlocking process; If the degree of slippage does not exceed the preset slippage threshold, the unlocking operation continues. If the degree of slippage exceeds the preset slippage threshold, the unlocking process is paused and the electronic gripper is controlled to retract and clamp until the degree of slippage returns to within the preset slippage threshold before the unlocking operation continues.

6. The unlocking method for the electronic gripper according to claim 1, characterized in that, The step of determining the unlocking operation corresponding to the unlocking level based on the unlocking level includes: Based on the unlocking level, a corresponding current range is matched, wherein the lower limit of the current range is a first control current and the upper limit is a second control current; A target current is selected from the current range to determine the unlocking operation corresponding to the unlocking level based on the target current.

7. The unlocking method for the electronic gripper according to claim 1, characterized in that, The robot body includes an electronic gripper, a gripper controller, a robotic arm, and a robotic arm controller. The acquisition of the unlock control signal includes: In response to detecting an abnormality in the robot body, the communication status between the electronic gripper and the robotic arm is obtained, including a communication connection status or a communication disconnection status; In response to the communication state being the communication connection state, an unlocking control signal is obtained through the robotic arm controller; wherein, the unlocking control signal includes at least one of a hardware unlocking trigger signal based on a physical button, a software unlocking trigger signal based on a communication command, and a disconnection unlocking trigger signal; In response to the communication state being the communication disconnection state, an unlocking control signal is obtained through the gripper controller.

8. The unlocking method for the electronic gripper according to claim 7, characterized in that, The robotic arm and / or the electronic gripper are equipped with an unlock button. The response to the communication state being the communication connection state, obtaining the unlock control signal through the robotic arm controller includes: The high and low level change characteristics corresponding to the unlock button are sampled; If the number of samples taken within the preset time range is not less than the preset number, the unlocking control signal is obtained through the robotic arm controller; wherein, the high and low level change characteristics in a single sample indicate that the high level is within the first preset time range and the low level is within the second preset time range. If the number of samples taken within the preset time range is less than the preset number, the number of samples is cleared, and the step of sampling the high and low level change features corresponding to the unlock button is re-executed.

9. The unlocking method of the electronic gripper according to any one of claims 7-8, characterized in that, The robot body also includes a robot control unit, wherein the step of obtaining the communication status between the electronic gripper and the robotic arm in response to detecting an abnormality in the robot body includes: In response to detecting an abnormality in the robot body, the gripper controller detects whether it receives a heartbeat frame sent by the robot control unit. In response to the gripper controller receiving a heartbeat frame sent by the robot control unit, the communication state is determined to be a communication connection state. In response to the gripper controller not receiving a heartbeat frame from the robot control unit, the communication status is determined to be a communication disconnection state.

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