CN108127666A - A kind of grasping means of mechanical arm, system and mechanical arm - Google Patents
A kind of grasping means of mechanical arm, system and mechanical arm Download PDFInfo
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- CN108127666A CN108127666A CN201711489946.9A CN201711489946A CN108127666A CN 108127666 A CN108127666 A CN 108127666A CN 201711489946 A CN201711489946 A CN 201711489946A CN 108127666 A CN108127666 A CN 108127666A
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- Prior art keywords
- mechanical arm
- target item
- actuating station
- reaction force
- grip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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Abstract
The application is suitable for technical field of automation, provides a kind of grasping means of mechanical arm, system and mechanical arm, including：Spatial position according to where the fetching instruction obtains target item, calculating machine arm capture the mobile route during target item；The mechanical arm is moved along the mobile route, until the actuating station of mechanical arm touches the target item；Grip of the actuating station to the target item is determined according to reaction force, to complete the crawl of target item according to the grip.Actuating station is made accurately to move according to the mobile route of calculating during this, and place's crawl target item in place；Then the reaction force according to suffered by actuating station is determined to the suitable grip of current goal article, during ensure that crawl target item, both will not be fallen target item since grasping force is small, and will not be damaged target item due to dynamics is excessive.
Description
Technical field
The application belongs to a kind of technical field of automation more particularly to grasping means of mechanical arm, system and mechanical arm.
Background technology
Mechanical arm is a kind of mechanical structure for imitating human hand, such as planar multiple-articulation robot, stacking machine etc. are general to have
There are multiple joint arms and the actuating station being arranged on most end joint arm, various execution units are installed in actuating station, by automatic
Change control, actuating station is spatially moved to the coordinate specified, realize the function that execution unit is provided, such as write, take
The functions such as take, test.Mechanical arm is when performing crawl task, due to the difference of the shape, quality and material of article etc., machinery
Arm is when capturing article, it is difficult to grasp the dynamics of crawl, be crawled article for example, being easily damaged when grasping force is excessive, dynamics
It is too small and be easy to cause coming off for object, it is difficult to realize intelligent clamping.
Invention content
In view of this, the embodiment of the present application provides a kind of grasping means of mechanical arm, system and mechanical arm, existing to solve
There is in technology mechanical arm when capturing object, it is impossible to the problem of different grasp forces are applied according to object self-characteristic.
The first aspect of the embodiment of the present application provides a kind of grasping means of mechanical arm, the grasping means of the mechanical arm
Including：
Fetching instruction is received, the spatial position according to where the fetching instruction obtains target item；
The mobile route during target item is captured according to the spatial position calculating machine arm；
The mechanical arm is moved along the mobile route, until the actuating station of mechanical arm touches the object to be captured,
Wherein, the actuating station is used to capture object；
The reaction force suffered by the actuating station is detected, determines actuating station to the object according to the reaction force
The grip of product；
The mechanical arm is controlled to complete the crawl of target item with the grip.
The second aspect of the embodiment of the present application provides a kind of grasping system of mechanical arm, the grasping system of the mechanical arm
Including：
Position acquisition unit, for receiving fetching instruction, the space according to where the fetching instruction obtains target item
Position；
Computing unit, for capturing the mobile route during target item according to the spatial position calculating machine arm；
Detection unit for detecting the reaction force suffered by the actuating station, determines to perform according to the reaction force
Hold the grip to the target item；
Control unit, for moving the mechanical arm along the mobile route, until the actuating station of mechanical arm touches institute
Object to be captured is stated, wherein, the actuating station is used to capture object；It is additionally operable to that the mechanical arm is controlled to complete mesh with the grip
Mark the crawl of article.
The third aspect of the embodiment of the present application provides a kind of mechanical arm, including memory, processor and is stored in institute
The computer program that can be run in memory and on the processor is stated, the processor performs real during the computer program
Now such as the step of any one of the grasping means of mechanical arm the method.
The fourth aspect of the embodiment of the present application provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, realizes that the grasping means such as the mechanical arm is appointed when the computer program is executed by processor
The step of one the method.
Mechanical arm detects detection target after fetching instruction is received according to fetching instruction in the embodiment that the application provides
Spatial position where article, then shifting during spatial position calculating machine arm crawl target item according to where target item
Dynamic path, control machinery arm are moved along the mobile route calculated, until the actuating station on mechanical arm touches target item.
After the actuating station touches target item, the reaction force from target item that actuating station is subject to is detected, according to described anti-
Active force determines grip of the actuating station to target item, then actuating station is controlled to complete target item according to identified grip
Crawl.During this, actuating station can be made accurately to move according to the mobile route of calculating, and place's crawl in place
Target item；Then the reaction force according to suffered by actuating station determines, to the suitable grip of current goal article, to ensure that and grab
During taking target item, both target item will not be fallen since grasping force is small, will not be damaged due to dynamics is excessive
Target item.
Description of the drawings
It, below will be to embodiment or description of the prior art in order to illustrate more clearly of the technical solution in the embodiment of the present application
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some of the application
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is that the embodiment of the present application provides a kind of realization flow diagram of the grasping means of mechanical arm；
Fig. 2 is the schematic diagram of the mechanical arm crawl object of claw-like structures actuating station provided by the embodiments of the present application；
Fig. 3 is the realization flow diagram of step S12 in Fig. 1 provided by the embodiments of the present application；
Fig. 4 is a kind of schematic diagram of the grasping system of mechanical arm provided by the embodiments of the present application；
Fig. 5 is the schematic diagram of mechanical arm provided by the embodiments of the present application.
Specific embodiment
In being described below, in order to illustrate rather than in order to limit, it is proposed that such as tool of particular system structure, technology etc
Body details, to understand thoroughly the embodiment of the present application.However, it will be clear to one skilled in the art that there is no these specifically
The application can also be realized in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
Road and the detailed description of method, in case unnecessary details interferes the description of the present application.
Mechanical arm detects detection target after fetching instruction is received according to fetching instruction in the embodiment that the application provides
Spatial position where article, then shifting during spatial position calculating machine arm crawl target item according to where target item
Dynamic path, control machinery arm are moved along the mobile route calculated, until the actuating station on mechanical arm touches target item.
After the actuating station touches target item, the reaction force from target item that actuating station is subject to is detected, according to described anti-
Active force determines grip of the actuating station to target item, then actuating station is controlled to complete target item according to identified grip
Crawl.
In order to illustrate technical solution described herein, illustrated below by specific embodiment.
Embodiment one：
Fig. 1 shows a kind of realization flow diagram of the grasping means of mechanical arm provided by the embodiments of the present application, is described in detail
It is as follows：
Step S11 receives fetching instruction, the spatial position according to where the fetching instruction obtains target item；
Mechanical arm is after the fetching instruction for receiving user's transmission in the embodiment that the application provides, according to the gripping finger
Analysis is enabled to determine the relevant information of target item to be crawled, such as the type of target item, material, size；Then it detects
Spatial position residing for target item.
Wherein, actuating station is installed, actuating station is used to capture target item on the mechanical arm.The actuating station can be
Claw-like can also be sucker shape, the schematic diagram of the mechanical arm crawl object with claw-like structures actuating station as shown in Figure 2, machine
Tool arm (main body is not shown) is fixed target item by the actuating station of mechanical arm, then when capturing target item 21
It picks up；Optionally, the actuating station is grabbed 22 and is formed by two or more.Target is obtained by way of visual identity
The spatial position of article, for example, detecting the position where target item by camera；Further, the target item can
Comprising multiple objects, at this point, obtaining the spatial position of each object, the target item is formed by the spatial position of each object
Spatial position, crawl when, each object is captured one by one.
Step S12 captures the mobile route during target item according to the spatial position calculating machine arm；
The position being presently in the step according to the spatial position of the target item identified and mechanical arm calculates
The actuating station of mechanical arm is moved to the mobile route of target item.For example, direction and actuating station when calculating machine arm moves
Capture crawl angle of target item etc..
Optionally, coordinate origin can be preselected when calculating and establish coordinate system, then according to the coordinate origin of selection
The coordinate of target item and the coordinate that actuating station is current are calculated, so that it is determined that mobile road during actuating station crawl target item
Diameter.Certainly, user can also preset the method for calculating mobile route so that mechanical arm can accurately grab target item.
Step S13 moves the mechanical arm along the mobile route, until the actuating station of mechanical arm touches the target
Article, wherein, the actuating station is used to capture substance；
Control machinery arm is moved along the mobile route calculated in the embodiment that the application provides, in moving process
Whether the middle monitoring actuating station touches target item；If monitoring, the actuating station has touched target item, stops
The movement of mechanical arm.Wherein, the mobile route includes mechanical arm and is moved to target substance position mistake by current location
Path and actuating station in journey touch the crawl path during target item.
Further, when determining whether the actuating station touches target item, it again may be by visual identity
Mode, obtains the photo of the two, and judges whether actuating station touches target item；Or by detect actuating station whether by
Reaction force from target item, and determine whether actuating station touches target substance according to the size of reaction force.
Optionally, during mechanical arm movement, detect on the mobile route whether barrier occur；There is barrier
During appearance, the shape and size of the barrier are detected；Cut-through object is determined according to the shape of the barrier and size
Path, and control machinery arm bypasses the barrier according to the path of calculating.After mechanical arm bypasses the barrier, according to machine
The degree of the mobile route is deviateed in tool arm current location, and control machinery arm is moved on the mobile route, in the shifting
Mechanical arm is continued to move on dynamic path.Step S14 detects the reaction force suffered by the actuating station, according to the reaction
Power determines grip of the actuating station to the target item；
In the step, after the actuating station touches target item, the reaction force suffered by actuating station is detected；Actuating station
When capturing target item, grip is applied to target item at the two contact position, to capture the target item, accordingly
Actuating station is simultaneously by the reaction force from target item；The reaction force is identical with the size of the grip.In order to true
Determine, to the suitable grip of current goal article, to detect the reaction force suffered by actuating station；If detecting, the reaction force reaches
To the corresponding force value of the target item, it is determined that the grip that current actuating station applies target item is should suitable for crawl
The dynamics of target item.
Step S15 controls the mechanical arm to complete the crawl of target item with the grip.
Specifically, according to the grip determined in step S14, control machinery arm captures target item with identified grip.
Mechanical arm detects detection target after fetching instruction is received according to fetching instruction in the embodiment that the application provides
Spatial position where article, then shifting during spatial position calculating machine arm crawl target item according to where target item
Dynamic path, control machinery arm are moved along the mobile route calculated, until the actuating station on mechanical arm touches target item.
After the actuating station touches target item, the reaction force from target item that actuating station is subject to is detected, according to described anti-
Active force determines grip of the actuating station to target item, then actuating station is controlled to complete target item according to identified grip
Crawl.During this, actuating station can be made accurately to move according to the mobile route of calculating, and place's crawl in place
Target item；Then the reaction force according to suffered by actuating station determines, to the suitable grip of current goal article, to ensure that and grab
During taking target item, both target item will not be fallen since grasping force is small, will not be damaged due to dynamics is excessive
Target item.
Optionally, Fig. 3 shows the realization flow diagram of the above-mentioned steps S12 provided in another embodiment of the application,
Including：
Step S31 calculates crawl angle of the actuating station to the target item according to the spatial position；
In the step, the current position in spatial position and actuating station according to residing for target item and state, calculating are held
Crawl angle during row end in contact target item, such as：Actuating station rotate up 30 degree with relatively current state after again as target
Object article moves.
Step S32, according to the moving direction and distance of the crawl angle-determining mechanical arm；
Specifically, after the crawl angle for calculating actuating station, determining that actuating station captures herein needs mobile distance under angle
And direction.
Step S33, according to the mobile route of mechanical arm described in the moving direction and distance and the crawl angle-determining.
Optionally, the mechanical arm is moved along the mobile route described in another embodiment of the application offer, directly
Actuating station to mechanical arm touches the object to be captured, including：
During moving the mechanical arm along the mobile route, the reaction force suffered by the actuating station is detected；
If the reaction force suffered by the actuating station is more than the first preset value, it is described to judge that the actuating station touches
Target item.
It is real in mechanical arm moving process when determining whether the actuating station of mechanical arm touches target item in the step
When monitoring actuating station whether by the reaction force from target item；If there are reaction force, the reaction force is judged
With the relationship of the first preset value；When the reaction force that actuating station is subject to is more than the first preset value, determine that actuating station touches mesh
Mark article.
Optionally, the reaction force described in another embodiment of the application offer suffered by the detection actuating station,
Grip of the actuating station to the target item is determined according to the reaction force, including：
After the actuating station touches the target item, increase the grip of the actuating station step by step；
Detect the reaction force from the target item that the actuating station is subject to；
If the reaction force reaches the second preset value, the corresponding grip of actuating station at this time is obtained；It is held at this time with described
The corresponding grip in row end is as the grip for capturing the target item.
In the step, after actuating station touches target item, actuating station is gradually increased to target with certain frequency
The grip of article such as with the frequency of 5N per second, increases the grip of actuating station.Meanwhile the reaction force suffered by actuating station is detected,
Judge whether the reaction force suffered by actuating station reaches the second preset value, when reaching the second preset value, record performs at this time
The grip applied to target item is held, and using grip at this time as the crawl suitable grip of target item.
Optionally, the grasping means of mechanical arm described in another embodiment of the application offer further includes：
It obtains mechanical arm to capture when object is captured, the second preset value of the reaction force suffered by actuating station, wherein, it is described
Second preset value is determined according to the characteristic information of target item；
Embodiment two：
Corresponding to the grasping means of the mechanical arm described in foregoing embodiments, Fig. 4 shows machine provided by the embodiments of the present application
The structure diagram of the grasping system of tool arm for convenience of description, illustrates only and the relevant part of the embodiment of the present application.
With reference to Fig. 4, the grasping system of the mechanical arm includes：Position acquisition unit 41, computing unit 42, detection unit 43,
Control unit 44, wherein：
Position acquisition unit 41, for receiving fetching instruction, the sky according to where the fetching instruction obtains target item
Between position；
Computing unit 42, for capturing the mobile road during target item according to the spatial position calculating machine arm
Diameter；
Detection unit 43 for detecting the reaction force suffered by the actuating station, determines to hold according to the reaction force
Row end is to the grip of the target item；
Control unit 44, for moving the mechanical arm along the mobile route, until the actuating station of mechanical arm touches
The object to be captured, wherein, the actuating station is used to capture object；It is additionally operable to that the mechanical arm is controlled to complete with the grip
The crawl of target item.
Further, the computing unit 42, including：
Angle calculation module is captured, the target item is grabbed for calculating the actuating station according to the spatial position
Take angle；
Moving direction determining module, for the moving direction according to the crawl angle-determining mechanical arm；
Mobile route determining module, for the shifting of the mechanical arm according to the moving direction and the crawl angle-determining
Dynamic path.
Further, the detection unit 43, including：
Exert a force module, after touching the target item in the actuating station, increases the actuating station step by step
Grip；
Reaction force detection module, for detecting the reaction force from the target item that the actuating station is subject to；
Handling module, for when the reaction force reaches the second preset value, obtaining the corresponding grip of actuating station at this time；
Using the corresponding grip of the actuating station at this time as the grip for capturing the target item.
Further, described control unit 44, including：
Mobile module, for during the mechanical arm is moved along the mobile route, detecting the actuating station institute
The reaction force being subject to；
Determination module, for when the reaction force suffered by the actuating station is more than the first preset value, being held described in judgement
Row end touches the target item.
Further, the grasping system of the mechanical arm further includes：
Second preset value acquiring unit is captured for obtaining mechanical arm when object is captured, the reaction suffered by actuating station
Second preset value of power, wherein, second preset value is determined according to the characteristic information of target item.
It should be understood that the size of the serial number of each step is not meant to the priority of execution sequence, each process in above-described embodiment
Execution sequence should determine that the implementation process without coping with the embodiment of the present application forms any limit with its function and internal logic
It is fixed.
Embodiment three：
Fig. 5 is the schematic diagram for the mechanical arm that one embodiment of the application provides.As shown in figure 5, the mechanical arm 5 of the embodiment wraps
It includes：Processor 50, memory 51 and it is stored in the computer that can be run in the memory 51 and on the processor 50
Program 52,.The processor 50 realizes the grasping means embodiment of above-mentioned each mechanical arm when performing the computer program 52
In step, such as step S11 to S15 shown in FIG. 1.Alternatively, reality when the processor 50 performs the computer program 52
The function of each module/unit in existing above-mentioned each device embodiment, such as the function of module 41 to 44 shown in Fig. 4.
Illustratively, the computer program 52 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 51, and are performed by the processor 50, to complete the application.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 52 in the mechanical arm 5 is described.For example, the computer program 52 can be divided
Into：Position acquisition unit, computing unit, detection unit, control unit, wherein：
Position acquisition unit, for receiving fetching instruction, the space according to where the fetching instruction obtains target item
Position；
Computing unit, for capturing the mobile route during target item according to the spatial position calculating machine arm；
Detection unit for detecting the reaction force suffered by the actuating station, determines to perform according to the reaction force
Hold the grip to the target item；
Control unit, for moving the mechanical arm along the mobile route, until the actuating station of mechanical arm touches institute
Object to be captured is stated, wherein, the actuating station is used to capture object；It is additionally operable to that the mechanical arm is controlled to complete mesh with the grip
Mark the crawl of article.
Further, the computing unit, including：
Angle calculation module is captured, the target item is grabbed for calculating the actuating station according to the spatial position
Take angle；
Moving direction determining module, for the moving direction according to the crawl angle-determining mechanical arm；
Mobile route determining module, for the shifting of the mechanical arm according to the moving direction and the crawl angle-determining
Dynamic path.
Further, the detection unit, including：
Exert a force module, after touching the target item in the actuating station, increases the actuating station step by step
Grip；
Reaction force detection module, for detecting the reaction force from the target item that the actuating station is subject to；
Handling module, for when the reaction force reaches the second preset value, obtaining the corresponding grip of actuating station at this time；
Using the corresponding grip of the actuating station at this time as the grip for capturing the target item.
Further, described control unit, including：
Mobile module, for during the mechanical arm is moved along the mobile route, detecting the actuating station institute
The reaction force being subject to；
Determination module, for when the reaction force suffered by the actuating station is more than the first preset value, being held described in judgement
Row end touches the target item.
Further, the grasping system of the mechanical arm further includes：
Second preset value acquiring unit is captured for obtaining mechanical arm when object is captured, the reaction suffered by actuating station
Second preset value of power, wherein, second preset value is determined according to the characteristic information of target item.
The mechanical arm may include, but be not limited only to, processor 50, memory 51.It will be understood by those skilled in the art that
Fig. 5 is only the example of mechanical arm 5, does not form the restriction to mechanical arm 5, can be included than illustrating more or fewer portions
Part either combines certain components or different components, such as the mechanical arm can also include input-output equipment, network
Access device, bus etc..
Alleged processor 50 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), application-specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng.
The memory 51 can be the internal storage unit of the mechanical arm 5, such as the hard disk or memory of mechanical arm 5.
The memory 51 can also be the External memory equipment of the mechanical arm 5, such as the plug-in type being equipped on the mechanical arm 5 is hard
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, the memory 51 can also both include the internal storage unit of the mechanical arm 5 or wrap
Include External memory equipment.The memory 51 is used to store the computer program and other programs needed for the mechanical arm
And data.The memory 51 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each work(
Can unit, module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device are divided into different functional units or module, more than completion
The all or part of function of description.Each functional unit, module in embodiment can be integrated in a processing unit, also may be used
To be that each unit is individually physically present, can also two or more units integrate in a unit, it is above-mentioned integrated
The form that hardware had both may be used in unit is realized, can also be realized in the form of SFU software functional unit.In addition, each function list
Member, the specific name of module are not limited to the protection domain of the application also only to facilitate mutually distinguish.Above system
The specific work process of middle unit, module can refer to the corresponding process in preceding method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may realize that each exemplary lists described with reference to the embodiments described herein
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is performed with hardware or software mode, specific application and design constraint depending on technical solution.Professional technician
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
Scope of the present application.
In embodiment provided herein, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of division of logic function can have other dividing mode in actual implementation, such as
Multiple units or component may be combined or can be integrated into another system or some features can be ignored or does not perform.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be by some interfaces, device
Or the INDIRECT COUPLING of unit or communication connection, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical unit, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the application can be integrated in a processing unit, it can also
That each unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated module/unit realized in the form of SFU software functional unit and be independent product sale or
In use, it can be stored in a computer read/write memory medium.Based on such understanding, the application realizes above-mentioned implementation
All or part of flow in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method..Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Computer-readable Jie
Matter can include：Can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk,
Magnetic disc, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It is it should be noted that described
The content that computer-readable medium includes can carry out appropriate increasing according to legislation in jurisdiction and the requirement of patent practice
Subtract, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and
Telecommunication signal.
Embodiment described above is only to illustrate the technical solution of the application, rather than its limitations；Although with reference to aforementioned reality
Example is applied the application is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each
Technical solution recorded in embodiment modifies or carries out equivalent replacement to which part technical characteristic；And these are changed
Or replace, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution should all
Within the protection domain of the application.
Claims (10)
1. a kind of grasping means of mechanical arm, which is characterized in that the grasping means of the mechanical arm includes：
Fetching instruction is received, the spatial position according to where the fetching instruction obtains target item；
The mobile route during target item is captured according to the spatial position calculating machine arm；
The mechanical arm is moved along the mobile route, until the actuating station of mechanical arm touches the target item, wherein, institute
Actuating station is stated for capturing object；
The reaction force suffered by the actuating station is detected, determines actuating station to the target item according to the reaction force
Grip；
The mechanical arm is controlled to complete the crawl of target item with the grip.
2. the grasping means of mechanical arm as described in claim 1, which is characterized in that described according to the spatial position computer
Tool arm captures the mobile route during target item, including：
Crawl angle of the actuating station to the target item is calculated according to the spatial position；
According to the moving direction of the crawl angle-determining mechanical arm；
According to the mobile route of mechanical arm described in the moving direction and the crawl angle-determining.
3. the grasping means of mechanical arm as described in claim 1, which is characterized in that it is described moved along the mobile route it is described
Mechanical arm, until the actuating station of mechanical arm touches the object to be captured, including：
During moving the mechanical arm along the mobile route, the reaction force suffered by the actuating station is detected；
If the reaction force suffered by the actuating station is more than the first preset value, judge that the actuating station touches the target
Article.
4. such as the grasping means of claim 1-3 any one of them mechanical arms, which is characterized in that the detection actuating station
Suffered reaction force determines grip of the actuating station to the target item according to the reaction force, including：
After the actuating station touches the target item, increase the grip of the actuating station step by step；
Detect the reaction force from the target item that the actuating station is subject to；
If the reaction force reaches the second preset value, the corresponding grip of actuating station at this time is obtained；With the actuating station at this time
Corresponding grip is as the grip for capturing the target item.
5. the grasping means of mechanical arm as claimed in claim 4, which is characterized in that the grasping means of the mechanical arm is also wrapped
It includes：
It obtains mechanical arm to capture when object is captured, the second preset value of the reaction force suffered by actuating station, wherein, described second
Preset value is determined according to the characteristic information of target item.
6. a kind of grasping system of mechanical arm, which is characterized in that the grasping system of the mechanical arm includes：
Position acquisition unit, for receiving fetching instruction, the spatial position according to where the fetching instruction obtains target item；
Computing unit, for capturing the mobile route during target item according to the spatial position calculating machine arm；
For detecting the reaction force suffered by the actuating station, actuating station pair is determined according to the reaction force for detection unit
The grip of the target item；
Control unit, for moving the mechanical arm along the mobile route, until the actuating station of mechanical arm touches described treat
Object is captured, wherein, the actuating station is used to capture object；It is additionally operable to that the mechanical arm is controlled to complete object with the grip
The crawl of product.
7. the grasping system of mechanical arm as claimed in claim 6, which is characterized in that the computing unit, including：
Angle calculation module is captured, for calculating crawl angle of the actuating station to the target item according to the spatial position
Degree；
Moving direction determining module, for the moving direction according to the crawl angle-determining mechanical arm；
Mobile route determining module, for the mobile road of the mechanical arm according to the moving direction and the crawl angle-determining
Diameter.
8. the grasping system of mechanical arm as claimed in claims 6 or 7, which is characterized in that the detection unit, including：
Exert a force module, after touching the target item in the actuating station, increases the grip of the actuating station step by step；
Reaction force detection module, for detecting the reaction force from the target item that the actuating station is subject to；
Handling module, for when the reaction force reaches the second preset value, obtaining the corresponding grip of actuating station at this time；With institute
The corresponding grip of actuating station at this time is stated as the grip for capturing the target item.
9. a kind of mechanical arm, including memory, processor and it is stored in the memory and can transports on the processor
Capable computer program, which is characterized in that the processor realizes such as claim 1 to 5 times when performing the computer program
The step of one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of realization such as any one of claim 1 to 5 the method.
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