CN116038666A

CN116038666A - Double-arm robot device integrated with multiple sensors and cooperative compliant operation method thereof

Info

Publication number: CN116038666A
Application number: CN202310092466.8A
Authority: CN
Inventors: 李智军; 赵树弥; 夏海生; 黄金; 杨启静
Original assignee: Institute of Artificial Intelligence of Hefei Comprehensive National Science Center
Current assignee: Institute of Artificial Intelligence of Hefei Comprehensive National Science Center
Priority date: 2023-01-18
Filing date: 2023-01-18
Publication date: 2023-05-02

Abstract

The invention provides a double-arm manipulator device integrating multiple sensors and a cooperative flexible operation method thereof, comprising the multiple sensors, a control circuit and a robot; the control circuit is arranged on the robot; the robot comprises a robot claw; the multiple sensors are deployed on fingers of the robot paw, and simulate the touch sensing function of the finger; the multiple sensors sense the target object to obtain touch sense information; and the control circuit controls the robot finger to output preset force to carry out compliant operation on the target object according to the touch sensing information. The double-arm robot hand device has the bionic human body structure design, the fingers are integrated with flexible multiple sensors, and the double-arm robot hand device can simulate the touch sensing function of sensing pressure and temperature by the fingers of the human hand and feed back the pressure and the temperature in real time in operation.

Description

Double-arm robot device integrated with multiple sensors and cooperative compliant operation method thereof

Technical Field

The invention relates to the technical field of flexible sensor and double-arm manipulator operation, in particular to a double-arm manipulator device integrated with multiple sensors and a cooperative flexible operation method thereof.

Background

Along with development of robot technology, except for multi-joint manipulators or multi-degree-of-freedom machine devices in the industrial field, robots are rapidly developed in working scenes such as daily life, but the existing robots are fixed in use scenes, the automation equipment level of the robots is not high, and requirements on force feedback, local temperature sensing and load action of the robots are higher and higher in use occasions such as different assembly, maintenance and local information sensing, and requirements on flexibility of the mobile composite robots are higher and higher. The Chinese patent publication No. CN107756376A discloses a space station maintenance method using a humanoid robot, which utilizes a head-mounted display and a kinect body sensor to realize immersed remote control of the robot. The kinect or inertial sensor is utilized to capture the motion of the human body, the contact condition in the operation engineering of the double-arm robot cannot be effectively returned, namely, no force feedback exists, so that an operator cannot sense the field contact force, and an operation object or the robot is easy to damage. In addition, the absence of force feedback means that an operator performs idle operation, and the operator keeps action without force feedback, so that fatigue is easily caused, the operation experience is reduced, and the error probability is improved.

The Chinese patent document with publication number of CN114248283A discloses a Bluetooth-perceived exoskeleton maintenance robot, which mainly comprises a power-assisted exoskeleton perceived glove, a sensing measurement unit and a multi-finger exoskeleton paw, wherein a plurality of sensors are adopted to perceive finger movement information, a main control module is used for recognizing finger movement intention, a Bluetooth sensor is used for receiving and transmitting instructions, a rope flexible structure is adopted as a tendon-like body, and the reciprocating movement of a linear actuator is used for replacing contraction and expansion of muscles, so that the fingers can move according to the requirements of users.

The Chinese patent document with publication number of CN111319026A discloses an immersive double-arm robot humanoid remote control method, which adopts data acquired by an angular displacement sensor of each degree of freedom of a motion catcher of a wearable exoskeleton to calculate the arm gesture of an operator; transmitting the arm gesture of the operator to the double-arm robot through remote communication, so that the synchronous action of the double arms of the double-arm robot and the arm of the operator is realized; the stress condition of each joint of the double-arm robot is detected through a moment sensor equipped on the double arms of the double-arm robot; the stress condition of each joint of the double-arm robot obtained by the moment sensor is calculated to be force feedback which is generated by each degree of freedom of the wearable exoskeleton motion catcher; the force feedback is provided for the arm of the operator by controlling the torque motor output torque of each degree of freedom configured in the wearable exoskeleton motion capture device.

The control of the force simply changes the output torque through the adjustment of the motor driving parameters so as to realize the flexible operation of the manipulator, which has obvious defects. On the other hand, taking fruit grabbing as an example, in order to avoid damaging fruits, a passive flexible control method is generally adopted in the prior art, rubber and nylon materials are used for wrapping the inner side parts of fingers, and the method cannot realize active adjustment of clamping force.

The Chinese patent publication No. CN112123341A discloses a robot double-arm coordinated motion control method, a device and electronic equipment, wherein a kinematic model of a master arm and a slave arm is obtained; acquiring a coordinate transformation matrix of a master arm and a slave arm; acquiring a motion trail of a main arm; calculating the motion trail of the slave arm from the motion trail of the master arm; acquiring contact force data measured by a six-dimensional force sensor; calculating the rigidity of the carried object according to the tail end position of the slave arm and the contact force data; acquiring self-adaptive stress control parameters according to the rigidity and BP neural network prediction model; when the slave arm is controlled to move along the movement track of the slave arm, the actual movement track of the slave arm is corrected by adopting a position-based self-adaptive force control method according to preset expected contact force, measured contact force data and self-adaptive force control parameters; therefore, the excessive or insufficient acting force of the two mechanical arms on the object to be carried caused by the position tracking error of the robot can be avoided.

Compliant control refers to taking a control signal from a force sensor, using this signal to control the robot to operate in response to this change. Objects with fragile surfaces such as fruits are sensitive to grabbing force of a manipulator, grabbing failure is easy to occur due to insufficient grabbing force, damage to the surfaces is easy to occur due to excessive grabbing force, and the optimal grabbing force requirements of objects with different properties or the same property and different structural dimensions are different.

The Chinese patent document with publication number of CN113858178A discloses a movable double-arm composite assembly robot, a material positioning platform is fixedly connected to the left side of the upper surface of a robot control box, and the double-arm robot is arranged on the right side of a movable base; the double-arm robot comprises a double-arm support, a first robot arm and a second robot arm are respectively installed on the left side and the right side of the double-arm support through robot connecting flanges, parallel finger intelligent holders are fixedly installed at the tail end of the first robot arm, and an expansion intelligent holder is fixedly installed at the tail end of the second robot arm. The double-arm cooperative joint robot is adopted, the double robots are respectively provided with the parallel intelligent holders and the expansion intelligent holders, and meanwhile complete information feedback is provided, so that the information feedback can be implemented when the robot is used, the flexibility is high, and various complex use requirements are met. The Chinese patent document with publication number of CN110682321A discloses a flexible manipulator and a grabbing operation method thereof, which can control the clamping force according to the relation between the clamping force and the micro-positioning rotation angle of a torque adjusting motor on the premise of not changing the driving parameters of the motor, realize flexible positioning of grabbing operation without depending on external force signals, and greatly simplify the system structure.

Chinese patent publication No. CN106737875a discloses a multi-joint robot transfer device. The multi-joint manipulator transfer device adopts a traction device to coordinate with the manipulator, and the traction device provides additional lifting force and transfer force for the manipulator.

Aiming at the prior art, the inventor considers that the conventional common robot has rough equipment integration, reliable stability, poor flexibility and complex action operation, and the mobile robot is manually completed, only is used for fixedly transporting goods or is used for picking and placing, has single equipment function, cannot be compatible with the requirement of expanding multiple functions, has no multi-information feedback, and cannot accurately realize the precision operation requirement. And can not sense temperature information in addition to mechanical information like a human hand.

Disclosure of Invention

In view of the drawbacks of the prior art, an object of the present invention is to provide a dual arm robot device integrating multiple sensors and a co-compliant method of operation thereof.

The invention provides a double-arm robot arm device integrated with multiple sensors, which comprises multiple sensors, a control circuit and a robot;

the control circuit is arranged on the robot;

the robot comprises a robot claw;

the multiple sensors are deployed on fingers of the robot paw, and simulate the touch sensing function of the finger;

the multiple sensors sense the target object to obtain touch sense information;

and the control circuit controls fingers of the robot paw to output preset force according to the touch sensing information so as to carry out compliant operation on the target object.

Preferably, the robot further comprises a mechanical arm, a mechanical arm bracket, a robot head and a robot body;

the mechanical arm support is arranged on the robot body;

the robot head is rotatably arranged on the mechanical arm bracket;

one end of the mechanical arm is respectively arranged at two sides of the mechanical arm bracket;

the other end of the mechanical arm is connected with a robot claw.

Preferably, the multiple sensor is a flexible sensor;

the multiple sensor comprises a contact object temperature sensing unit, a pressure sensing unit and an environment temperature sensing unit which are arranged in a stacked mode;

the contact object temperature sensing unit and the temperature environment sensing unit are respectively arranged at two sides of the pressure sensing unit;

the environmental temperature sensing unit contacts fingers of the robot claw;

the contact object temperature sensing unit senses the temperature of a target object contacted by the robot paw;

the environment temperature sensing unit senses environment temperature and is used for comparing the environment temperature with the temperature of a target object contacted with the robot paw;

the pressure sensing unit senses contact pressure and is used for judging whether acting force exists between the robot claw and the target object.

Preferably, the robot claw bionic hand structure is provided with a five-finger structure of a hand and is used for grasping a tool.

Preferably, the robot is provided with a visual sensing system;

the vision sensing system acquires control position information of the robot claw and spatial position information of a target object;

the control circuit controls the robot claw to reach the spatial position point of the corresponding target object according to the acquired spatial position information of the target object and the control position information of the robot arm.

Preferably, the mechanical arm comprises a forearm, a rear arm, an elbow motor, a wrist motor and a shoulder motor;

one end of the front arm and one end of the rear arm are connected through an elbow motor to perform bending rotation;

the other end of the forearm is connected with the robot claw through a wrist motor for bending and rotating;

the other end of the rear arm is connected to the mechanical arm bracket through a shoulder motor for bending and rotating;

a finger motor is arranged in the robot paw; the finger motor is used for controlling the bending and straightening movement of the fingers of the robot paw;

the elbow motor, the wrist motor, the shoulder motor and the finger motor are all controlled by a control circuit to move.

Preferably, the range of the pressure sensing unit is 0 to 2 kg force, and the ranges of the contact object temperature sensing unit and the environment temperature sensing unit are-10 ℃ to 100 ℃.

Preferably, the robot head is connected with the mechanical arm bracket through a neck motor;

the neck motor drives the robot head to rotate on the mechanical arm bracket;

the neck motor is controlled to move by a control circuit.

Preferably, the vision sensing system comprises a multi-view camera or a vision camera.

According to the method for collaborative compliance operation of the double-arm manipulator device integrated with multiple sensors, which is provided by the invention, the double-arm manipulator device integrated with multiple sensors is applied, and the method comprises the following steps:

a tactile sensation step: the multiple sensors sense the target object to obtain touch sense information;

the control step: the control circuit controls fingers of the robot paw to output preset force to carry out compliant operation on the target object according to the touch sensing information.

Compared with the prior art, the invention has the following beneficial effects:

1. the double-arm robot hand device has the advantages that the bionic human body structure design is realized, the flexible multiple sensors are integrated on the fingers, the touch sensing function of sensing pressure and temperature by the bionic human fingers can be realized, and real-time feedback is realized in operation;

2. the robot performs compliant operation by adopting multi-sensing information fusion such as vision, touch sense and the like, and expands the limitation of realizing compliant operation by controlling the traditional single information;

3. the device and the sensor implement information feedback when in use, can adjust and control operation in real time, can avoid overlarge or insufficient acting force of the two mechanical arms on the transported object caused by position tracking error of the robot, has high operation flexibility, and meets various complex use requirements.

Drawings

Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a diagram of a dual arm robot apparatus incorporating multiple sensors;

FIG. 2 is a diagram of a multiple sensor configuration;

FIG. 3 is a flow chart of a method for controlling compliant operation of a dual arm robot;

FIG. 4 is a diagram of a two-arm robot operating in compliance for computer maintenance.

Reference numerals:

the robot claw 1 contacts the object temperature sensor 61 and the finger motor 74

Neck motor 75 of robot finger 11 pressure sensor 62

Control circuit 8 of environmental temperature sensor 63 of mechanical arm 2

Motor 7 tool 9 of mechanical arm bracket 3

Robot head 4 wrist motor 71 target object 10

Robot body 5 elbow motor 72

Multiple sensor 6 shoulder motor 73

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.

The embodiment of the invention discloses a double-arm robot device integrated with multiple sensors, which is shown in fig. 1, wherein the hardware structure of the double-arm robot device integrated with the multiple sensors comprises multiple sensors 6, a robot claw 1, a mechanical arm 2, a mechanical arm bracket 3, a robot head 4, a robot body 5 and a control circuit 8. The robot claw 1 is of a bionic human hand structure design, has a five-finger structure of a human hand, and can grasp different tools 9; the left and right robot claws 1 are arranged on the left and right mechanical arms 2; the mechanical arm 2 is arranged on a mechanical arm bracket 3, the upper side of the bracket is connected with a robot head 4, and the lower side of the bracket is connected with a robot body 5. I.e. the robot arm support 3 is arranged on the robot body 5; the robot head 4 is rotatably arranged on the mechanical arm bracket 3; one end of the mechanical arm 2 is respectively arranged at two sides of the mechanical arm bracket 3; the other end of the mechanical arm 2 is connected with the robot claw 1. The robot arm simulates the structural design of a human arm. The control circuit 8 is arranged in the robot body.

The double-arm robot device integrates a motion motor 7, a sensor signal acquisition circuit and a motion control circuit, wherein the sensor signal acquisition circuit obtains touch perception information, and the motion control circuit controls a robot finger to output preset force to carry out compliant operation on a target object 10 according to the touch perception information.

The robot head 4 is provided with a vision sensing system, and can acquire the appearance and appearance characteristics of an object and extract structural dimension parameters. Knowing the size and shape of the object facilitates the robot to approach and adopt two-finger grabbing or three-finger grabbing or full-finger grabbing. The vision sensing system acquires control position information of the robot claw 1 and spatial position information of the target object 10; the control circuit 8 controls the robot hand 1 to reach the spatial position point of the corresponding target object 10 based on the acquired spatial position information of the target object 10 and the control position information of the robot hand. The motion control circuit controls the robot gripper 1 to reach the corresponding spatial position point of the target object 10. The vision sensor system acquires information of deformation of the target object 10 during the operation, such as that the target object slides in the robot gripper 1 during the gripping process, leaves a set gripping position point, or the target object is extruded and deformed by the force applied by the robot gripper 1.

The control circuit 8 is arranged on the robot; the multiple sensors 6 are arranged on fingers (robot fingers 11) of the robot claw 1, and simulate the touch sensing function of the fingers; the multiple sensors 6 sense the target object 10 to obtain touch sense information; the control circuit 8 controls the fingers of the robot claw 1 to output preset force to carry out compliant operation on the target object 10 according to the tactile sensation information.

The multiple sensor 6 is a flexible sensor, has two temperature sensing units and one pressure sensing unit, can detect the ambient temperature, the contact pressure and the contact object temperature simultaneously, is integrated on the finger of the robot paw 1, and imitates the touch sensing function of a human finger.

Specifically, the multiple sensor 6 includes a contact object temperature sensing unit, a pressure sensing unit, and an environmental temperature sensing unit that are stacked; the contact object temperature sensing unit and the temperature environment sensing unit are respectively arranged at two sides of the pressure sensing unit; the ambient temperature sensing unit contacts the finger of the robot claw 1, and keeps consistent with the ambient temperature since the robot finger itself does not generate heat.

The contact object temperature sensing unit senses the temperature of the target object 10 contacted by the robot hand 1 for sensing the temperature characteristic of the object contacted by the robot hand 1.

The environmental temperature sensing unit senses the environmental temperature and is used for comparing the temperature of the target object 10 in contact with the robot claw 1 with the environmental temperature and comparing whether the object in contact with the robot claw 1 is different from the environmental temperature.

The pressure sensing unit senses the contact pressure for determining whether there is a force in contact between the robot hand 1 and the target object 10, such as whether the gripping object is still in gripping, not has fallen.

As shown in fig. 1 and 2, the two-arm manipulator device integrated with multiple sensors is designed to simulate a human body structure, and the manipulator arm 2 comprises a front arm and a rear arm, wherein the two arms can rotate in a bending way, but the manipulator arm is not limited to only two arms and can comprise a plurality of arms; one end of the mechanical arm 2 is arranged on the mechanical arm bracket 3 and is connected with the motor 7 to rotate; the other end of the mechanical arm 2 is provided with a mechanical gripper 1 which can bend and rotate.

Specifically, the robot arm 2 includes a forearm, a rear arm, an elbow motor 72, a wrist motor 71, and a shoulder motor 73; one end of the front arm and one end of the rear arm are connected by an elbow motor 72 for bending rotation; the other end of the forearm is connected with the robot claw 1 through a wrist motor 71 for bending and rotating; a finger motor 74 is arranged in the robot paw 1 and can control the bending and straightening motions of fingers; the other end of the rear arm is connected to the mechanical arm bracket 3 by a shoulder motor 73 for bending and rotating; each motor 7 is uniformly controlled to move by a motion control circuit.

The bionic hand structure design of the robot paw 1 is provided with a five-finger structure, five fingers are arranged on a palm, the five fingers can simulate various functional actions such as hand grasping and the like under the control of a motor 7, wherein flexible multiple sensors 6 are embedded or attached to the tail ends of a thumb and an index finger, but the bionic hand structure design is not limited to the tail ends of the thumb and the index finger, the multiple sensors 6 are arranged, and the tail ends of other fingers can be arranged.

The multiple sensor 6 specifically includes contact object temperature sensing unit, pressure sensing unit, ambient temperature sensing unit, by flexible material with the integrated flexible multiple sensor 6 as an organic whole of sensor of three kinds of functions, multiple sensor 6 is integrated on the robot finger, press close to the sensor that the finger surface is inboard and detect ambient temperature, when the robot hand contact object, contact object's surface outside sensor detects contact object's temperature, when the robot hand applied force acts on the object, mechanical sensor detects the atress information. As shown in fig. 2, the multiple sensor 6 is made of flexible materials, the flexible materials are high molecular elastic polymer materials such as PDMS, PET, PVC, PI, TPU, the sensor structure is divided into an upper layer, a middle layer and a lower layer, the middle layer is a pressure sensing unit, the upper layer and the lower layer are temperature sensing units, the pressure sensing unit ranges from 0 to 2 kg force, and the temperature sensing unit ranges from-10 ℃ to 100 ℃. The sensor substrate is made of flexible materials, such as polymers of PDMS, PI, PET and the like, the temperature sensing unit is made of temperature sensitive materials such as copper paste and silver paste, and the pressure sensing unit is made of carbon-based materials. Each sensing unit is respectively arranged on the flexible substrate and respectively forms a contact object temperature sensor 61, a pressure sensor 62 and an environment temperature sensor 63.

As shown in fig. 1, the robot head 4 can be rotated by different angles through the connection between the robot arm support 3 and the robot head 4 by the neck motor 75. Specifically, the robot head 4 is connected with the mechanical arm bracket 3 through a neck motor 75; the neck motor 75 drives the robot head 4 to rotate on the mechanical arm bracket 3; the neck motor 75 is controlled in motion by the control circuit 8.

The robot head 4 is equipped with a vision sensor system, which may be a vision system device such as a multi-camera, a depth camera, etc. that can acquire physical dimensional parameters and spatial positions of the target object 10.

The vision sensing system can also acquire control position information of the robot, further control the robot to reach a spatial position point of a corresponding target object according to the acquired spatial position information of the target object 10, and further acquire information of object deformation in the operation process.

The embodiment of the invention also discloses a cooperative flexible operation method of the double-arm manipulator device integrated with multiple sensors, wherein firstly, a vision system acquires the position and structural size information of an operation target object 10, then the manipulator approaches to the target object 10, and when the manipulator contacts the target object 10, the multiple sensors 6 acquire the mechanical information during operation and the temperature information of the target object 10, especially the feedback information according to the stress of the contact object; according to the feedback force information, the force control adjustment of the robot finger is timely carried out through a multi-information fusion algorithm, proper force is output to the target object 10, and finally the fingers of the double-arm robot hand device are controlled to carry out flexible operation. Namely, the multiple sensor 6 senses the target object 10 to obtain touch sense information; the control circuit 8 controls the fingers of the robot claw 1 to output preset force to carry out compliant operation on the target object 10 according to the tactile sensation information.

The multi-information fusion algorithm in the cooperative compliance operation method of the double-arm manipulator device is that the visual sensor and the touch sensor are mutually matched, a certain force and position threshold value can be set in the mutually matched use method, the force is analyzed in real time through visual real-time observation in operation, and when the force and the position information have larger deviation, the output force information is timely adjusted or the operation is stopped; if the computer wire is aged and the heating wire is overhauled, the wire needing to be overhauled is obtained through a temperature sensor, a robot arm is separated by force, and then the tool 9 is used for disassembling and connecting.

As shown in fig. 4, the collaborative compliance operation method of the device is that under the mutual cooperation of the vision system and the multiple sensors 6, the vision system obtains the position and structure size information of the operation object, the multiple sensors 6 obtain the mechanical information during operation and the temperature information of the target object 10, especially according to the feedback information of the stress of the contact object, and then the fingers of the double-arm manipulator device are controlled to output proper force to perform the compliance operation on the target object 10, for example, the two hands together complete the line maintenance of computer aging and heating.

The principle of the invention is as follows: the double-arm robot hand device has the bionic human body structure design, and the flexible multiple sensors 6 are integrated on the fingers, so that the pressure and temperature touch sensing functions of the bionic human fingers can be sensed. The robot adopts a vision system to acquire the position and structural size information of an operation object, the multiple sensors 6 acquire mechanical information and object temperature information during operation, and particularly, the robot performs flexible operation through fusion of multiple sensing information such as vision, touch and the like according to feedback information of stress of a contact object, and the sensors implement information feedback during use, so that control operation can be adjusted in real time.

The vision system acquires the position information and the structural size information of the target object 10, and then transmits the information to the motion control circuit; according to the position information of the target object 10, the motion control circuit controls the robot arm to reach the position point of the target object 10; the robot hand gripping tool 9 operates the target object 10, the multiple sensors 6 acquire mechanical information during operation and temperature information of the target object 10, and then the motion control circuit controls the finger motor 74 to bend the finger to grip the target object 10, so that flexible operation is realized.

In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.

The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.

Claims

1. A double-arm robot device integrated with multiple sensors, characterized by comprising multiple sensors (6), a control circuit (8) and a robot;

the control circuit (8) is arranged on the robot;

the robot comprises a robot claw (1);

the multiple sensors (6) are arranged on the fingers of the robot paw (1) and simulate the touch sensing function of the fingers;

the multiple sensors (6) sense the target object (10) to obtain touch sense information;

the control circuit (8) controls the fingers of the robot paw (1) to output preset force according to the touch sensing information to carry out flexible operation on the target object (10).

2. The multi-sensor integrated double arm robot hand apparatus according to claim 1, wherein the robot further comprises a robot arm (2), a robot arm support (3), a robot head (4) and a robot body (5);

the mechanical arm support (3) is arranged on the robot body (5);

the robot head (4) is rotatably arranged on the mechanical arm bracket (3);

one end of the mechanical arm (2) is respectively arranged at two sides of the mechanical arm bracket (3);

the other end of the mechanical arm (2) is connected with the mechanical gripper (1).

3. The multi-sensor integrated double arm robot apparatus according to claim 1, characterized in that the multi-sensor (6) is a flexible sensor;

the multiple sensor (6) comprises a contact object temperature sensing unit, a pressure sensing unit and an environment temperature sensing unit which are arranged in a stacked mode;

the environment temperature sensing unit contacts with fingers of the robot paw (1);

the contact object temperature sensing unit senses the temperature of a target object (10) contacted by the robot claw (1);

the environment temperature sensing unit senses environment temperature and is used for comparing the environment temperature with the temperature of a target object (10) contacted with the robot paw (1);

the pressure sensing unit senses contact pressure and is used for judging whether acting force exists between the contact of the robot claw (1) and the target object (10).

4. The multi-sensor integrated double arm robot hand device according to claim 1, characterized in that the robot claw (1) is a biomimetic human hand structure with a five-finger structure of a human hand for gripping a tool (9).

5. The multi-sensor integrated dual arm robotic device of claim 1, wherein the robot is equipped with a vision sensing system;

the vision sensing system acquires control position information of the robot claw (1) and spatial position information of the target object (10);

the control circuit (8) controls the robot claw (1) to reach the spatial position point of the corresponding target object (10) according to the acquired spatial position information of the target object (10) and the control position information of the robot.

6. The multi-sensor integrated double arm robot apparatus according to claim 2, wherein the robot arm (2) comprises a forearm, a rear arm, an elbow motor (72), a wrist motor (71) and a shoulder motor (73);

one end of the front arm and one end of the rear arm are connected through an elbow motor (72) to perform bending rotation;

the other end of the forearm is connected with the robot claw (1) through a wrist motor (71) for bending and rotating;

the other end of the rear arm is connected to the mechanical arm bracket (3) through a shoulder motor (73) for bending and rotating;

a finger motor (74) is arranged in the robot claw (1); the finger motor (74) is used for controlling the finger bending and straightening movement of the robot paw (1);

the elbow motor (72), the wrist motor (71), the shoulder motor (73) and the finger motor (74) are all controlled to move by the control circuit (8).

7. The multi-sensor integrated double arm robot apparatus according to claim 3, wherein the pressure sensing unit ranges from 0 to 2 kg force, and the contact object temperature sensing unit and the ambient temperature sensing unit ranges from-10 ℃ to 100 ℃.

8. The multi-sensor integrated double arm robot apparatus according to claim 2, wherein the robot head (4) is connected to the arm support (3) by a neck motor (75);

the neck motor (75) drives the robot head (4) to rotate on the mechanical arm bracket (3);

the neck motor (75) is controlled in motion by a control circuit (8).

9. The multi-sensor integrated dual arm robotic device of claim 5, wherein the vision sensing system comprises a multi-view camera or a vision camera.

10. A method of co-operating compliance of a multi-sensor integrated dual arm robot apparatus, characterized in that the multi-sensor integrated dual arm robot apparatus of any one of claims 1-9 is applied, comprising the steps of:

a tactile sensation step: the multiple sensors (6) sense the target object (10) to obtain touch sense information;

the control step: the control circuit (8) controls the fingers of the robot claw (1) to output preset force according to the touch sensing information to carry out flexible operation on the target object (10).