WO2021012108A1 - 夹爪装置及其控制方法、移动设备 - Google Patents

夹爪装置及其控制方法、移动设备 Download PDF

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Publication number
WO2021012108A1
WO2021012108A1 PCT/CN2019/096866 CN2019096866W WO2021012108A1 WO 2021012108 A1 WO2021012108 A1 WO 2021012108A1 CN 2019096866 W CN2019096866 W CN 2019096866W WO 2021012108 A1 WO2021012108 A1 WO 2021012108A1
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WO
WIPO (PCT)
Prior art keywords
signal
motor
control signal
clamping jaw
detection
Prior art date
Application number
PCT/CN2019/096866
Other languages
English (en)
French (fr)
Inventor
陈旭
刘海旗
陈鸿滨
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980009234.3A priority Critical patent/CN111683795A/zh
Priority to PCT/CN2019/096866 priority patent/WO2021012108A1/zh
Publication of WO2021012108A1 publication Critical patent/WO2021012108A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed

Definitions

  • This application relates to the field of control technology, in particular to a clamping jaw device, a control method thereof, and mobile equipment.
  • the clamping jaw device can clamp the object by driving the clamping jaw mechanism by a motor.
  • the clamping jaw device with multiple degrees of freedom can realize actions with different degrees of freedom through different motors.
  • the opening and closing actions and the translation actions of the gripper mechanism can be realized by different motors.
  • the motor drive mode for each degree of freedom is different, and each degree of freedom is usually addressed individually through instructions.
  • the current clamping jaw device does not support self-inspection or adopts complex self-inspection methods, which increases the cost of self-inspection.
  • the embodiments of the present application provide a clamping jaw device, a control method thereof, and mobile equipment.
  • the control method of the embodiment of the present application is used for a clamping jaw device.
  • the clamping jaw device includes a clamping jaw mechanism, a controller, a driving mechanism, and a detection mechanism.
  • the controller is connected to the driving mechanism and the detection mechanism.
  • the device includes a first interface and a second interface.
  • the driving mechanism includes a first motor and a second motor. The first motor is used to drive the claws of the gripper mechanism to open and close, and the second motor is used to drive the The clamping jaw mechanism moves, and the detection mechanism is used to detect the moving position of the clamping jaw mechanism; wherein,
  • the control method includes:
  • Control the first interface to output a first control signal used to drive one of the first motor and the second motor to operate, and the second interface output to drive the first motor and the second motor The second control signal for the operation of the other one of the motors;
  • the detection signal it is determined that the first interface outputs the first control signal for driving the first motor, and the second interface outputs the second control signal for driving the second motor Or, determining that the first interface outputs the first control signal used to drive the second motor, and the second interface outputs the second control signal used to drive the first motor.
  • the channel interface to which the first motor and the second motor are connected can be determined by acquiring the detection signal of the detection mechanism, so that the corresponding control signal can be automatically configured to drive and control the motor corresponding to the channel interface respectively, ensuring Normal operation of the clamping jaw device.
  • the clamping jaw device of the embodiment of the present application includes a clamping jaw mechanism, a controller, a driving mechanism and a detection mechanism, the controller is connected to the driving mechanism and the detection mechanism, and the controller includes a first interface and a second interface,
  • the driving mechanism includes a first motor and a second motor.
  • the first motor is used to drive the jaws of the clamping jaw mechanism to open and close
  • the second motor is used to drive the jaw mechanism to move
  • the detection mechanism For detecting the moving position of the clamping jaw mechanism
  • the controller is used for controlling the first interface to output a first control signal for driving one of the first motor and the second motor to operate
  • the The second interface outputs a second control signal used to drive the other of the first motor and the second motor to operate, and is used in the case of outputting the first control signal or the second control signal , Acquiring the detection signal of the detection mechanism, and determining, according to the detection signal, that the first interface outputs the first control signal for driving the first motor, and the second interface outputs the The second control signal for driving the second motor; or, determining that the first interface outputs the first control signal for driving the second motor, and the second interface outputs the first control signal for driving the second motor The second control signal of the first motor.
  • the channel interface to which the first motor and the second motor are connected can be determined by acquiring the detection signal of the detection mechanism, so that the corresponding control signal can be automatically configured to drive and control the motor corresponding to the channel interface. Ensure the normal operation of the clamping jaw device.
  • the mobile device of the embodiment of the present application includes a mobile platform and the clamping jaw device described in the above embodiment, and the clamping jaw device is provided on the mobile platform.
  • the detection signal of the detection mechanism can be obtained to determine the channel interface to which the first motor and the second motor are connected, so that the corresponding control signal can be automatically configured to drive and control the motor corresponding to the channel interface. Normal operation of the clamping jaw device.
  • FIG. 1 is a schematic flowchart of a control method for a clamping jaw device according to an embodiment of the present application
  • Figure 2a is a schematic structural diagram of a gripper device according to an embodiment of the present application.
  • 2b is a schematic diagram of a three-dimensional structure of a driving mechanism according to an embodiment of the present application.
  • 2c is another three-dimensional structural diagram of a driving mechanism according to an embodiment of the present application.
  • 2d is a schematic plan view of a driving mechanism according to an embodiment of the present application.
  • 2e is a schematic plan view of another driving mechanism according to an embodiment of the present application.
  • FIG. 3 is a schematic diagram of partial modules of the clamping jaw device of the embodiment of the present application.
  • FIG. 4 is another schematic flow chart of the control method for the clamping jaw device according to the embodiment of the present application.
  • Fig. 5 is another schematic flow chart of the control method for the clamping jaw device according to the embodiment of the present application.
  • Fig. 6 is a schematic diagram of still another flow chart of the control method for the clamping jaw device according to the embodiment of the present application.
  • first and second are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of the features. In the description of this application, “multiple” means two or more than two, unless otherwise specifically defined.
  • connection should be interpreted broadly unless otherwise clearly specified and limited.
  • it can be a fixed connection or a detachable connection.
  • Connected or integrally connected it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction of two components relationship.
  • connection should be interpreted broadly unless otherwise clearly specified and limited.
  • it can be a fixed connection or a detachable connection.
  • Connected or integrally connected it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction of two components relationship.
  • the clamping jaw device 100 includes a clamping jaw mechanism 10, a controller 20, a driving mechanism 30 and a detection mechanism 40.
  • the controller 20 connects the driving mechanism 30 and the detection mechanism 40.
  • the controller 20 includes a first interface 22 and a second interface 24.
  • the driving mechanism 30 includes a first motor 32 and a second motor 34.
  • the first motor 32 is used to drive the claw 12 of the clamping jaw mechanism 10 to open and close, and the second motor 34 is used to drive the clamping jaw mechanism 10 to move.
  • the detection mechanism 40 is used to detect the position where the gripper mechanism 10 moves.
  • the driving mechanism 30 of the clamping jaw device 100 can drive the clamping jaw mechanism 10 to perform a clamping action, lifting or lowering.
  • the schematic diagram of the structure of the clamping jaw device 100 is shown in Figs. 2a-2e.
  • the clamping jaw mechanism 10 includes a first clamping jaw 122 and a second clamping jaw 124.
  • the driving mechanism 30 can drive the first clamping jaw 122 and the second clamping jaw 124 to perform a clamping action.
  • the clamping action includes a process of the first clamping jaw 122 and the second clamping jaw 124 from closing to opening and/or from opening to closing.
  • the driving mechanism 30 can drive the first clamping jaw 122 and the second clamping jaw 124 to raise or lower.
  • FIG. 2b, FIG. 2c, and FIG. 2d can be taken as examples for illustration. 2b, 2c and 2d
  • the driving mechanism 30 includes two connecting members 310 and a power mechanism 320.
  • the two connecting members 310 are respectively located on both sides of the power mechanism 320.
  • the connecting member 310 includes a rack portion 312, a rack
  • the part 312 is connected to the power mechanism 320.
  • the power mechanism 320 includes a second motor 34 and a transmission assembly 322.
  • the second motor 34 includes a motor shaft 342, and the transmission assembly 322 includes a worm 3222 provided on the motor shaft 342 and a gear assembly 3224 respectively connected with the worm 3222 and the rack portion 312.
  • the number of the gear assembly 3224 is two.
  • the two gear assemblies 3224 are respectively located on both sides of the worm 3222, and each gear assembly 3224 is connected to the worm 3222 and the connecting member 310 respectively.
  • each gear assembly 3224 includes a first gear 32242 and a second gear 32244 coaxially arranged and fixedly connected, and the two are coaxially arranged and fixedly connected.
  • the first gear 32242 is connected to the worm 3222
  • the second gear 32244 is connected to the rack portion 312.
  • the driving mechanism 30 adopts a combination of worm gear transmission and rack-and-pinion transmission for transmission, so that the driving mechanism 30 has transmission self-locking performance, and can effectively protect the second motor 34 when working to lift heavy objects, reducing the damage
  • the performance requirement of the locked-rotor protection of the second motor 34 reduces energy consumption, and can also reduce the size of the power mechanism 320 and expand the application range of the drive mechanism 30.
  • symmetrical transmission chains are arranged on both sides of the worm 3222, so that the power output can be symmetrically transmitted to both sides, and the transmission chain and the connecting piece 320 are uniformly stressed, thereby ensuring the stability and reliability of the driving mechanism 30 up and down.
  • the driving mechanism 30 includes a driving part, and the driving part can drive the first clamping jaw 122 and the second clamping jaw 124 to perform an opened operation of putting down an object or a closed clamping operation.
  • the driving part may be any driving structure in the prior art.
  • the driving part may be an air cylinder. Wherein, the piston rod of the air cylinder is along the direction parallel to the straight line where the first clamping jaw 122 and the second clamping jaw 124 are arranged, and is fixed to the first clamping jaw 122.
  • the piston installed in the cylinder barrel will reciprocate in the cylinder along the axis of the cylinder under the drive of the gas, so that the piston rod connected to the piston also moves along the axis of the cylinder.
  • the reciprocating movement drives the first clamping jaw 122 fixed therewith to move along the aforementioned linear direction, so that the first clamping jaw 122 and the second clamping jaw 124 cooperate to clamp or put down the object.
  • the driving part may be a first motor 32, and the first motor 32 may be a linear motor.
  • the motor shaft of the first motor 32 is parallel to the linear direction in which the first clamping jaw 122 and the second clamping jaw 124 are arranged, and is fixed to the first clamping jaw 122.
  • the linear motor When the linear motor is started, its stator will generate an excitation magnetic field to drive the mover to rotate. Because the mover and the motor shaft are threaded, the motor shaft is driven to move linearly, thereby driving the first jaw 122 along The linear movement makes the first clamping jaw 122 and the second clamping jaw 124 cooperate to clamp or put down an object.
  • the driving mechanism 30 may also include a lead screw and a first motor 32.
  • FIG. 2e is taken as an example for illustration. 2e
  • the first clamping jaw 122 includes a first clamping arm 1222 and a second clamping arm 1224
  • the second clamping jaw 124 includes a third clamping arm 1242 and a fourth clamping arm 1244.
  • the screw 362 of the screw is drivingly connected with the motor shaft of the first motor 32, and the nut 364 provided on the screw is fixed to the first clamping jaw 122.
  • the screw 362 of the lead screw can be sleeved and fixed on the motor shaft of the first motor 32 to realize the driving connection between the screw 362 and the motor shaft of the first motor 32.
  • the motor shaft of the first motor 32 drives the screw 362 connected with it to rotate, and then drives the nut 364 installed on the screw 362 to move linearly along the axis of the screw 362, and then drives the nut 364.
  • the fixed first jaw 122 moves in a linear direction. By controlling the forward and reverse rotation of the motor, it is very convenient to drive the first clamping jaw 122 to reciprocate along the axis of the screw 362 through the nut 364 to clamp or put down an object.
  • control method of the embodiment of the present application includes:
  • Step S12 Control the first interface 22 to output a first control signal for driving one of the first motor 32 and the second motor 34 to operate, and the second interface 24 to output a first control signal for driving the first motor 32 and the second motor 34 The second control signal of another operation;
  • Step S14 In the case of outputting the first control signal or the second control signal, obtain the detection signal of the detection mechanism 40;
  • Step S16 According to the detection signal, determine that the first interface 22 outputs a first control signal for driving the first motor 32, and the second interface 24 outputs a second control signal for driving the second motor 34; or, determine the first interface 22 outputs a first control signal for driving the second motor 34, and the second interface 24 outputs a second control signal for driving the first motor 32.
  • the channel interface to which the first motor 32 and the second motor 34 are connected can be determined by acquiring the detection signal of the detection mechanism 40, so that the corresponding control signal can be automatically configured to drive the motor corresponding to the channel interface. Control to ensure the normal operation of the clamping jaw device 100.
  • the control method of the embodiment of the present application can be implemented by the gripper device 100 of the embodiment of the present application, and specifically, is implemented by the controller 20 of the gripper device 100.
  • the jaw mechanism 10 of the jaw device 100 can move in multiple degrees of freedom.
  • the first motor 32 and the second motor 34 respectively drive the clamping jaw mechanism 10 to move in different degrees of freedom.
  • the first motor 32 is used to drive the claw 12 of the clamping jaw mechanism 10 to open and close
  • the second motor 34 is used to drive the clamping jaw mechanism 10 to move
  • the detection mechanism 40 is used to detect the position of the clamping jaw mechanism 10, that is, The detection mechanism 40 is used to detect the position where the gripper mechanism 10 is driven by the second motor 34 to move.
  • the clamping jaw mechanism 10 can move in two degrees of freedom, horizontal and vertical.
  • the first motor 32 drives the claws 12 of the clamping claw mechanism 10 to open and close, which means that the first motor 32 drives the claws 12 of the clamping claw mechanism 10 to open and close in horizontal degrees of freedom, that is, the first motor 32 drives the clamping claw mechanism 10 to perform clamping.
  • the second motor 34 drives the clamping jaw mechanism 10 to move, which means that the second motor 34 drives the clamping jaw mechanism 10 to move up and down in the vertical degree of freedom, that is, the second motor 34 drives the clamping jaw mechanism 10 to rise or fall.
  • the detection mechanism 40 may include a limit switch. The limit switch is installed in the vertical direction of the clamping jaw device 100.
  • the clamping jaw mechanism 10 can trigger the limit switch, thereby changing the state of the limit switch to enable the detection mechanism 40 Output detection signal.
  • the detection mechanism 40 includes two limit switches, which are separately provided at the upper and lower ends of the clamping jaw device 100 in the vertical direction, or other suitable positions, such as a position close to the upper and lower ends, or an intermediate position.
  • the number of limit switches is only an exemplary description, which is not limited here.
  • the gripper device 100 is controlled by the upper computer 200, and the upper computer 200 can send a control command to the controller 20 of the gripper device 100.
  • the controller 20 includes a control unit 26 and a first interface 22 and a second interface 24 connected to the control unit 26.
  • the control unit 26 is configured to receive a control instruction from the host computer 200 and control the first interface 22 to output a first control signal according to the control instruction, and the second interface 24 to output a second control signal.
  • the host computer 200 may send the first lever amount instruction to make the control unit 26 control the first interface 22 to output the first control signal, and send the second lever amount instruction to make the control unit 26 control the second interface 24 to output the second control signal.
  • the control unit 26 may include an MCU (Microcontroller Unit).
  • the detection signal of the detection mechanism 40 is obtained, and in the case of outputting the second control signal, the detection signal of the detection mechanism 40 is also obtained. If the first interface 22 is connected to the first motor 32 and the second interface 24 is connected to the second motor 34; when the first control signal is output, the detection signal cannot be obtained, and when the second control signal is output, it can be obtained To the detection signal. If the first interface 22 is connected to the second motor 34 and the second interface 24 is connected to the first motor 32; when the first control signal is output, the detection signal can be obtained, and when the second control signal is output, the detection signal cannot be obtained. To the detection signal.
  • the channel interface connecting the first motor 32 and the second motor 34 can be judged by whether the detection signal of the detection mechanism 40 can be obtained, and then the first lever amount command (first control signal) and the second lever amount command ( The mapping between the second control signal) and the first motor 32 and the second motor 34 to complete the channel adaptation.
  • the control of the upper computer 200 on the gripper device 100 can be compatible with the two situations in which the controller 20 is connected to the drive mechanism 30, and the corresponding control signals can be automatically configured to drive and control the motors corresponding to the channel interface respectively, so as to ensure that the gripper device 100 The normal work and meet the needs of users for DIY or blind connection.
  • the clamping jaw device 100 can be configured online without disassembling the structure.
  • control method further includes: determining that the clamping jaw device 100 is malfunctioning in the case that the detection signal is not obtained within a preset time period of respectively outputting the first control signal and the second control signal.
  • the clamping jaw device 100 is provided with a detection mechanism 40.
  • the detection mechanism 40 includes limit switches arranged in the vertical direction of the clamping jaw device 100, for example, the number of limit switches is two. Separately arranged at the upper and lower ends of the clamping jaw device 100 in the vertical direction, the second motor 34 drives the clamping jaw mechanism 10 to move up and down in the vertical degree of freedom. In the normal working state of the clamping jaw device 100, when the second motor 34 drives the clamping jaw mechanism 10 to move vertically up and down, the limit switches at the upper and lower ends will be triggered, and the detection mechanism 40 will output two detection signals.
  • the first control signal is used to drive the second motor 34
  • the detection signal is not obtained within the preset time period of outputting the first control signal
  • the second control signal is used to drive the second motor 34
  • the detection signal is not obtained within the preset time period of outputting the second control signal
  • the preset duration may be 3 seconds to 5 seconds, and preferably, the preset duration is 4 seconds. Of course, the preset duration can also be other durations, and there is no specific limitation here.
  • the failure of the clamping jaw device 100 refers to damage to the structure and/or the circuit, such as structural jamming, structural loss, gear jamming, circuit disconnection, limit switch damage, etc.
  • control method includes:
  • Step S22 output the first control signal and the second control signal in order
  • Step S23 Obtain a detection signal, and obtain a stall signal of the first motor 32 and the second motor 34;
  • Step S24 Determine whether the clamping jaw device 100 is malfunctioning according to the detection signal and/or the stall signal.
  • step S24 includes: determining that the clamping jaw device 100 is malfunctioning in the case that the locked rotor signal is not obtained within the preset time period of outputting the first control signal and/or the second control signal.
  • the first motor 32 can drive the first clamping jaw 122 and the second clamping jaw 124 to open the object in the horizontal direction or close the clamping operation;
  • the second motor 34 can drive the first clamping jaw 122 and the second clamping jaw 124 to rise or fall in the vertical direction.
  • the motor is locked, so it can be judged by judging whether the locked-rotor signal is obtained Whether the gripper device 100 is malfunctioning.
  • the clamping jaw device 100 includes a first motor sensor (not shown) and a second motor sensor (not shown).
  • the first motor sensor is used to obtain the electrical signal of the first motor 32
  • the second motor sensor is used to obtain the electrical signal of the second motor 34.
  • the control method includes: obtaining a locked-rotor signal according to the electrical signal of the first motor 32 and the electrical signal of the second motor 34.
  • the locked-rotor signal of the first motor 32 is obtained according to the electrical signal of the first motor 32
  • the locked-rotor signal of the second motor 34 is obtained according to the electrical signal of the second motor 34.
  • the electrical signal can be a current signal.
  • the motor sensor is a current sensor.
  • the locked-rotor signal will not be triggered.
  • the failure of the clamping jaw device 100 may also be damage to the structure and/or wiring, such as structure jam, structure drop, gear jam, line disconnection, limit switch damage, etc., which are not limited here.
  • step S24 includes: in the case that the locked rotor signal is acquired within the preset time period of outputting the first control signal and the second control signal, judging that the preset value of the first control signal and/or the second control signal is output Whether the detection signal is obtained within the time period;
  • the detection signal is not obtained within the preset time period for outputting the first control signal and the second control signal, it is determined that the clamping jaw device 100 is malfunctioning.
  • the locked-rotor signal is obtained within the preset time period of outputting the first control signal and the second control signal, it is further judged whether the clamping jaw device 100 is malfunctioning by judging whether the detection signal is obtained.
  • the detection signal is not acquired within the preset time period of outputting the first control signal, and the detection signal is not acquired within the preset time period of outputting the second control signal, it can be determined that the clamping jaw device 100 is malfunctioning.
  • the detection signal when the detection signal is acquired at least once, the detection signal may be further used to determine the channel where the clamping jaw device 100 is malfunctioning.
  • the channel connecting the first motor 32 and the second motor 34 can be determined by the detection signal Interface to complete the channel adaptation. Specifically, when the detection signal is acquired within the preset time period of outputting the first control signal, it is determined that the first interface 22 outputs the first control signal for driving the second motor 34, and the second interface 24 outputs the first control signal for driving the second motor 34.
  • a second control signal of the motor 32 when the detection signal is acquired within the preset time period of outputting the second control signal, it is determined that the first interface 22 outputs the first control signal for driving the first motor 32, and the second interface 24 outputs a second control signal for driving the second motor 34.
  • the first control signal includes a first forward signal and a first reverse signal.
  • Step S22 includes:
  • Step S222 output a first forward signal, and determine whether a detection signal or a stall signal is acquired;
  • Step S224 output the first reverse signal when the detection signal or the locked-rotor signal is acquired, or the detection signal or the locked-rotor signal is not acquired within the preset time period;
  • Step S226 In the case of outputting the first reverse signal, determine whether a detection signal or a locked rotor signal is acquired;
  • Step S228 Stop outputting the first reverse signal when the detection signal or the locked-rotor signal is acquired, or the detection signal or the locked-rotor signal is not acquired within the preset time period.
  • the second control signal includes a second forward signal and a second reverse signal.
  • Step S22 includes:
  • Step S221 output a second forward signal, and determine whether a detection signal or a stall signal is acquired;
  • Step S223 output a second reverse signal when the detection signal or the locked-rotor signal is acquired, or the detection signal or the locked-rotor signal is not acquired within the preset time period;
  • Step S225 In the case of outputting the second reverse signal, determine whether a detection signal or a locked rotor signal is acquired;
  • Step S227 Stop outputting the second reverse signal when the detection signal or the locked-rotor signal is acquired, or the detection signal or the locked-rotor signal is not acquired within the preset time period.
  • the first positive signal is used to drive the paws 12 of the gripper mechanism 10 to open or close
  • the first reverse signal is used to drive the pawl 12 of the clamping jaw mechanism 10 to close or open to obtain the locked-rotor signal of the first motor 32
  • the second positive signal is used to drive the clamping jaw mechanism 10 to move vertically upward or Moving downward
  • the second reverse signal is used to drive the gripper mechanism 10 to move vertically downward or upward to obtain the detection signal and the locked-rotor signal of the second motor 34.
  • the first control signal is used to drive the second motor 34
  • the second control signal is used to drive the first motor 32
  • the first control signal is used to drive the first motor 32
  • the second control signal is used to drive the second motor 34.
  • step S24 includes: the locked rotor signal is not acquired within the preset time period of outputting the first forward signal and the first reverse signal and within the preset time period of outputting the second forward signal and the second reverse signal If the locked-rotor signal is not obtained, it is determined that the gripper device 100 is malfunctioning.
  • the clamping jaw device can be determined 100 failures.
  • step S24 includes:
  • the locked rotor signal is acquired within the preset time period of outputting the first forward signal and the first reverse signal, it is determined whether the first forward signal and/or the first reverse signal are output within the preset time period Obtain the detection signal;
  • the locked rotor signal is acquired within the preset time period of outputting the second forward signal and the second reverse signal, it is determined whether the second forward signal and/or the second reverse signal are output within the preset time period Obtain the detection signal;
  • the detection signal is not acquired within the preset time period of outputting the first forward signal and/or the first reverse signal and the detection signal is not acquired within the preset time period of outputting the second forward signal and/or the second reverse signal In the case of the signal, it is determined that the gripper device 100 is malfunctioning.
  • the detection signal is not acquired within the preset time period of outputting the first forward signal
  • at least one of the detection signals is not acquired within the preset time period of outputting the first reverse signal
  • the second forward signal is output
  • the detection signal is not acquired within the preset time period of outputting the second reverse signal
  • at least one of the detection signals is not acquired within the preset time period of outputting the second reverse signal
  • the detection signal is not acquired within the preset time period of outputting the first forward signal and the detection signal is not acquired within the preset time period of outputting the second reverse signal, it can be determined that the clamping jaw device 100 is malfunctioning.
  • control method includes:
  • the first interface 22 outputs the first control signal for driving the second motor 34, and the second interface 24 Output a second control signal for driving the first motor 32;
  • the detection signal is acquired within the preset time period of outputting the second forward signal and the second reverse signal, it is determined that the first interface 22 outputs the first control signal for driving the first motor 32, and the second interface 24 The second control signal for driving the second motor 34 is output.
  • the malfunctioning channel of the gripper device 100 can be further determined, that is, it is judged that the gripper device 100 is faulty.
  • the mechanism 10 fails in the structure related to the opening and closing movement of the horizontal degree of freedom, or the structure related to the vertical degree of freedom movement of the gripper mechanism 10 fails.
  • the detection mechanism 40 includes two limit switches separately provided at the upper and lower ends of the clamping jaw device 100 in the vertical direction. Under normal working conditions, when the second motor 34 drives the clamping jaw mechanism 10 to move vertically up and down, the upper and lower limits will be triggered. The position switch causes the detection mechanism 40 to output two detection signals.
  • the number of acquired detection signals may be further determined. Specifically, when two detection signals are acquired, it can be determined that the structure related to the vertical freedom of the gripper mechanism 10 is normal. When a detection signal is acquired once, it can be determined that the gripper mechanism 10 is in the vertical degree of freedom. The movement-related structure is malfunctioning.
  • the first motor 32 and the second motor 34 are first controlled to drive the gripper mechanism 10 to move, and then the gripper device 100 is determined based on the detection signal and/or the locked-rotor signal acquired during the movement. Whether it is faulty or not, the channel interface connecting the first motor 32 and the second motor 34 is determined according to the detection signal.
  • the channel adaptation and self-check (detection failure) of the clamping jaw device 100 can be completed according to the detection signal and the locked rotor signal acquired during the movement of the clamping jaw mechanism 10, and the operation is convenient and quick.
  • control method further includes: generating prompt information when it is determined that the clamping jaw device 100 is malfunctioning. Prompt information is used to indicate failure.
  • the prompt information includes at least one of voice information, text information, and screen information.
  • the clamping jaw device 100 further includes a reminder alarm.
  • the alarm reminder may be a speaker to send out a voice message to prompt the gripper device 100 to be faulty, or a display to prompt the gripper device 100 to be faulty by displaying text information and/or screen information.
  • text information and/or screen information can be used to prompt the user that the failure is related to the opening and closing movement of the gripper mechanism 10 in the horizontal degree of freedom and/or the structure related to the vertical movement of the gripper mechanism 10 in the vertical degree of freedom. structure.
  • the reminder alarm can also be an independent device, connected to the clamping jaw device 100 in a wired or wireless manner.
  • the clamping jaw device 100 of the embodiment of the present application includes a clamping jaw mechanism 10, a controller 20, a driving mechanism 30, and a detection mechanism 40.
  • the controller 20 connects the driving mechanism 30 and the detection mechanism 40.
  • the controller 20 includes a first interface 22 and a second interface 24.
  • the driving mechanism 30 includes a first motor 32 and a second motor 34.
  • the first motor 32 is used to drive the claw 12 of the clamping claw mechanism 10 to open and close.
  • the second motor 34 is used to drive the gripper mechanism 10 to move.
  • the detection mechanism 40 is used to detect the position where the gripper mechanism 10 moves.
  • the controller 20 is used to control the first interface 22 to output a first control signal for driving one of the first motor 32 and the second motor 34 to operate, and the second interface 24 to output a first control signal for driving the first motor 32 and the second motor 34
  • the second control signal of the other operation in the second control signal and used to obtain the detection signal of the detection mechanism 40 in the case of outputting the first control signal or the second control signal, and used to determine the output of the first interface 22 according to the detection signal
  • the first control signal for driving the first motor 32, the second interface 24 outputs the second control signal for driving the second motor 34; or, it is determined that the first interface 22 outputs the first control signal for driving the second motor 34 Signal, the second interface 24 outputs a second control signal for driving the first motor 32.
  • the channel interface to which the first motor 32 and the second motor 34 are connected can be determined by acquiring the detection signal of the detection mechanism 40, so that the corresponding control signal can be automatically configured for the motor corresponding to the channel interface.
  • the drive control is performed to ensure the normal operation of the clamping jaw device 100.
  • control method of the foregoing embodiment can be implemented by the gripper device 100 of the embodiment of the present application.
  • the explanations and beneficial effects of the control method of the foregoing embodiment are also applicable to the clamping jaw device 100 of the embodiment of the present application. To avoid redundancy, the detailed description is omitted here.
  • the controller 20 is configured to determine that the clamping jaw device 100 is malfunctioning when the detection signal is not obtained within a preset time period of respectively outputting the first control signal and the second control signal.
  • the controller 20 is used to output the first control signal and the second control signal in sequence, to obtain the detection signal, and to obtain the stall signal of the first motor 32 and the second motor 34, and to use Based on the detection signal and/or the locked rotor signal, it is determined whether the clamping jaw device 100 is malfunctioning.
  • the first control signal includes a first forward signal and a first reverse signal.
  • the controller 20 is used for outputting the first positive signal to determine whether a detection signal or a locked rotor signal is acquired, and for when the detection signal or a locked rotor signal is acquired, or the detection signal or a locked rotor signal is not acquired within a preset period of time In the case of outputting the first reverse signal, and used to determine whether the detection signal or the locked-rotor signal is acquired in the case of outputting the first reverse signal, and used to determine whether the detection signal or the locked-rotor signal is acquired, or If the detection signal or the locked-rotor signal is not obtained within the preset time period, stop outputting the first reverse signal.
  • the second control signal includes a second forward signal and a second reverse signal.
  • the controller 20 is used for outputting a second positive signal to determine whether a detection signal or a locked-rotor signal is acquired, and used for acquiring a detection signal or a locked-rotor signal, or not acquiring a detection signal or a locked-rotor signal within a preset period of time In the case of outputting a second reverse signal, and for determining whether a detection signal or a locked-rotor signal is acquired in the case of outputting a second reverse signal, and for determining whether a detection signal or a locked-rotor signal is acquired, or If the detection signal or the locked rotor signal is not obtained within the preset time period, stop outputting the second reverse signal.
  • the controller 20 is configured to determine that the clamping jaw device 100 is malfunctioning when the stall signal is not acquired within the preset time period of outputting the first control signal and/or the second control signal.
  • the controller 20 is configured to determine that the locked-rotor signal is output during the output of the first control signal and/or the second control signal when the locked rotor signal is acquired within the preset time period of outputting the first control signal and the second control signal. Whether the detection signal is obtained within the preset time period of the control signal, and used to determine that the clamping jaw device 100 is malfunctioning when the detection signal is not obtained within the preset time period of outputting the first control signal and the second control signal.
  • the controller 20 is configured to determine that the first interface 22 outputs the first control signal for driving the second motor 34 when the detection signal is acquired within the preset time period of outputting the first control signal,
  • the second interface 24 outputs a second control signal for driving the first motor 32, and is used for determining that the first interface 22 outputs a second control signal for driving the first motor when the detection signal is acquired within a preset time period of outputting the second control signal.
  • a first control signal of the motor 32, and the second interface 24 outputs a second control signal for driving the second motor 34.
  • the clamping jaw device 100 includes a first motor sensor and a second motor sensor.
  • the first motor sensor is used to obtain the electrical signal of the first motor 32
  • the second motor sensor is used to obtain the electrical signal of the second motor 34.
  • the controller 20 is configured to obtain a locked-rotor signal according to the electrical signal of the first motor 32 and the electrical signal of the second motor 34.
  • the gripper device 100 includes a prompt alarm, which is used to generate prompt information when it is determined that the gripper device 100 is malfunctioning, and the prompt information is used to prompt the malfunction.
  • the prompt information includes at least one of voice information, text information, and screen information.
  • the mobile device of the embodiment of the present application includes a mobile platform and the gripper device 100 of any of the above embodiments.
  • the clamping jaw device 100 is arranged on a mobile platform.
  • the channel interface to which the first motor 32 and the second motor 34 are connected can be determined by acquiring the detection signal of the detection mechanism 40, so that the corresponding control signal can be automatically configured to drive the motor corresponding to the channel interface. Control to ensure the normal operation of the clamping jaw device 100.
  • the clamping jaw device 100 is provided on a mobile platform, and the movement of the mobile platform can drive the clamping jaw device 100 to move.
  • the mobile platform can be any structure and type of mobile platform in the prior art, such as unmanned aerial vehicles, mobile vehicles, remote control vehicles, robots, and so on.
  • the structure and function of the clamping jaw device 100 are the same as those in the above-mentioned embodiment. For details, please refer to the above-mentioned embodiment, which will not be repeated here.
  • logic and/or steps represented in the flowchart or described in other ways herein, for example, can be considered as a sequenced list of executable instructions for executing logic functions, and can be specifically executed in any computer-readable medium, For use by instruction execution systems, devices, or equipment (such as computer-based systems, systems including processors, or other systems that can fetch instructions from instruction execution systems, devices, or equipment and execute instructions), or combine these instruction execution systems, devices Or equipment.
  • instruction execution systems, devices, or equipment such as computer-based systems, systems including processors, or other systems that can fetch instructions from instruction execution systems, devices, or equipment and execute instructions
  • each part of this application can be executed by hardware, software, firmware or a combination thereof.
  • multiple steps or methods can be executed by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a logic gate circuit for performing logic functions on data signals
  • Discrete logic circuits Discrete logic circuits
  • application-specific integrated circuits with suitable combinational logic gates
  • FPGA field programmable gate array
  • a person of ordinary skill in the art can understand that all or part of the steps carried in the above-mentioned implementation method can be performed by a program instructing relevant hardware to complete.
  • the program can be stored in a computer-readable storage medium, and the program can be When it includes one of the steps of the method embodiment or a combination thereof.
  • the functional units in the various embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module.
  • the above-mentioned integrated modules can be executed in the form of hardware or software function modules. If the integrated module is executed in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.
  • the aforementioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

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Abstract

一种夹爪装置(100)及其控制方法、移动设备。夹爪装置(100)包括夹爪机构(10)、控制器(20)、驱动机构(30)和检测机构(40)。控制器(20)包括第一接口(22)和第二接口(24)。驱动机构(30)包括第一电机(32)和第二电机(34)。控制方法包括：控制第一接口(22)输出用于驱动第一电机(32)和第二电机(34)中的一个运行的第一控制信号，第二接口(24)输出用于驱动第一电机(32)和第二电机(34)中的另一个运行的第二控制信号；在输出第一控制信号或第二控制信号的情况下，获取检测机构(40)的检测信号；根据检测信号，确定第一接口(22)输出用于驱动第一电机(32)的第一控制信号，第二接口(24)输出用于驱动第二电机(34)的第二控制信号；或者，确定第一接口(22)输出用于驱动第二电机(34)的第一控制信号，第二接口(24)输出用于驱动第一电机(32)的第二控制信号。

Description

夹爪装置及其控制方法、移动设备 技术领域
本申请涉及控制技术领域，特别涉及一种夹爪装置及其控制方法、移动设备。
背景技术
相关技术中，夹爪装置可以通过电机驱动夹爪机构来夹取物体。其中，具有多自由度的夹爪装置可以通过不同电机实现不同自由度的动作。例如，夹爪机构的开合动作和平移动作可以分别由不同电机来实现。一般地，每个自由度的电机驱动方式不同，通常通过指令的方式对每个自由度进行单独编址。然而这就需要在出厂时确定好不同电机的连接方式，不同的电机与对应自由度的电路通道连接出错时需要重新进行组装，这样会影响夹爪装置的装配效率。此外，目前的夹爪装置不支持自检或采用复杂的自检方法，增加自检成本。
发明内容
本申请的实施方式提供一种夹爪装置及其控制方法、移动设备。
本申请实施方式的控制方法用于夹爪装置，所述夹爪装置包括夹爪机构、控制器、驱动机构和检测机构，所述控制器连接所述驱动机构和所述检测机构，所述控制器包括第一接口和第二接口，所述驱动机构包括第一电机和第二电机，所述第一电机用于驱动所述夹爪机构的爪子开合，所述第二电机用于驱动所述夹爪机构移动，所述检测机构用于检测所述夹爪机构移动的位置；其中，
所述控制方法包括：
控制所述第一接口输出用于驱动所述第一电机和所述第二电机中的一个运行的第一控制信号，所述第二接口输出用于驱动所述第一电机和所述第二电机中的另一个运行的第二控制信号；
在输出所述第一控制信号或所述第二控制信号的情况下，获取所述检测机构的检测信号；
根据所述检测信号，确定所述第一接口输出用于驱动所述第一电机的所述第一控制信号，所述第二接口输出用于驱动所述第二电机的所述第二控制信号；或者，确定所述第一接口输出用于驱动所述第二电机的所述第一控制信号，所述第二接口输出用于驱动所述第一电机的所述第二控制信号。
本申请实施方式的控制方法中，可以通过获取检测机构的检测信号判断第一电机和第二电机连接的通道接口，从而可以自动配置相应的控制信号分别对通道接口对应的电机进 行驱动控制，保证夹爪装置的正常工作。
本申请实施方式的夹爪装置包括夹爪机构、控制器、驱动机构和检测机构，所述控制器连接所述驱动机构和所述检测机构，所述控制器包括第一接口和第二接口，所述驱动机构包括第一电机和第二电机，所述第一电机用于驱动所述夹爪机构的爪子开合，所述第二电机用于驱动所述夹爪机构移动，所述检测机构用于检测所述夹爪机构移动的位置，所述控制器用于控制所述第一接口输出用于驱动所述第一电机和所述第二电机中的一个运行的第一控制信号，所述第二接口输出用于驱动所述第一电机和所述第二电机中的另一个运行的第二控制信号，及用于在输出所述第一控制信号或所述第二控制信号的情况下，获取所述检测机构的检测信号，以及用于根据所述检测信号，确定所述第一接口输出用于驱动所述第一电机的所述第一控制信号，所述第二接口输出用于驱动所述第二电机的所述第二控制信号；或者，确定所述第一接口输出用于驱动所述第二电机的所述第一控制信号，所述第二接口输出用于驱动所述第一电机的所述第二控制信号。
本申请实施方式的夹爪装置中，可以通过获取检测机构的检测信号判断第一电机和第二电机连接的通道接口，从而可以自动配置相应的控制信号分别对通道接口对应的电机进行驱动控制，保证夹爪装置的正常工作。
本申请实施方式的移动设备包括移动平台和上述实施方式所述的夹爪装置，所述夹爪装置设置在所述移动平台。
本申请实施方式的移动设备中，可以通过获取检测机构的检测信号判断第一电机和第二电机连接的通道接口，从而可以自动配置相应的控制信号分别对通道接口对应的电机进行驱动控制，保证夹爪装置的正常工作。
本申请的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实施方式的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本申请实施方式的用于夹爪装置的控制方法的流程示意图；
图2a是本申请实施方式的夹爪装置的结构示意图；
图2b是本申请实施例的一种驱动机构的立体结构示意图；
图2c是本申请实施例的一种驱动机构的另一立体结构示意图；
图2d是本申请实施例的一种驱动机构的平面结构示意图；
图2e是本申请实施例的另一种驱动机构的平面结构示意图；
图3是本申请实施方式的夹爪装置的部分模块示意图；
图4是本申请实施方式的用于夹爪装置的控制方法的另一流程示意图；
图5是本申请实施方式的用于夹爪装置的控制方法的又一流程示意图；
图6是本申请实施方式的用于夹爪装置的控制方法的再一流程示意图。
具体实施方式
下面详细描述本申请的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在本申请的描述中，需要理解的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
下文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本申请提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
下面详细描述本申请的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
请参阅图1-图3，本申请实施方式的控制方法用于夹爪装置100。夹爪装置100包括夹爪机构10、控制器20、驱动机构30和检测机构40。控制器20连接驱动机构30和检测机构40。控制器20包括第一接口22和第二接口24。驱动机构30包括第一电机32和第二电机34。第一电机32用于驱动夹爪机构10的爪子12开合，第二电机34用于驱动夹爪机构10移动。检测机构40用于检测夹爪机构10移动的位置。
可以理解，夹爪装置100的驱动机构30可以带动夹爪机构10实施夹取动作、抬升或下降。在某些实施方式中，夹爪装置100的结构示意图如图2a-图2e所示。请参阅图2a，夹爪机构10包括第一夹爪122、第二夹爪124。在某些实施例中，驱动机构30可以带动第一夹爪122和第二夹爪124实施夹取动作。具体地，夹取动作包括第一夹爪122和第二夹爪124从闭合到张开和/或从张开到闭合的过程。
在某些实施方式中，驱动机构30可以带动第一夹爪122和第二夹爪124进行抬升或下降，具体可以图2b、图2c、图2d为例进行举例说明。请结合图2b、图2c和图2d，驱动机构30包括两个连接件310和动力机构320，两个连接件310分别位于动力机构320的两侧，连接件310包括齿条部312，齿条部312与动力机构320连接。动力机构320包括第二电机34和传动组件322。第二电机34包括电机轴342，传动组件322包括设在电机轴342的蜗杆3222以及分别与蜗杆3222和齿条部312连接的齿轮组件3224。齿轮组件3224的数量为两个，两个齿轮组件3224分别位于蜗杆3222的两侧，每个齿轮组件3224分别与蜗杆3222和连接件310连接。其中，以蜗杆3222一侧的齿轮组件3224举例，每个齿轮组件3224均包括同轴设置且固定连接的第一齿轮32242和第二齿轮32244，两者同轴设置且固定连接。第一齿轮32242与蜗杆3222连接，第二齿轮32244与齿条部312连接。
可以理解，驱动机构30采用蜗杆齿轮传动与齿轮齿条传动结合的方式进行传动，从而使得驱动机构30具备传动自锁性，在工作抬升重物时能够有效的保护第二电机34，降低了对第二电机34的堵转保护的性能需求，降低了能耗，而且也能缩小动力机构320的体积，扩大驱动机构30的应用范围。同时，在蜗杆3222的两侧设置对称的传动链，可以使动力输出时对称传向两侧，传动链和连接件320受力均匀，从而保证驱动机构30上下升降的稳定性和可靠性。
在某些实施方式中，驱动机构30包括驱动部，驱动部可以带动第一夹爪122和第二夹爪124进行张开的放下物体操作或闭合的夹取操作。驱动部可以是现有技术中的任意驱动结构。在一个实施例中，驱动部可以是气缸。其中，气缸的活塞杆沿着平行于设置第一夹爪122和第二夹爪124的直线方向，并与第一夹爪122固定。当气缸启动后，安装在气缸的缸筒内的活塞会在气体的驱动下在缸筒内沿着缸筒的轴线做往复运动，使得与该活塞连接的活塞杆也沿着缸筒的轴线做往复运动，从而带动与其固定的第一夹爪122沿着上述直线方向运动，进而使第一夹爪122和第二夹爪124配合以夹取或者放下物体。
在另一实施例中，驱动部可以是第一电机32，第一电机32可以是直线电机。其中，第一电机32的电机轴平行于设置第一夹爪122和第二夹爪124的直线方向、并与第一夹爪122固定。当直线电机启动时，其定子会产生励磁磁场，从而驱动动子旋转，由于动子与电机轴之间为螺纹配合结构，进而驱动电机轴做直线运动，以此带动第一夹爪122沿着直 线方向运动，使得第一夹爪122与第二夹爪124配合以夹取或者放下物体。
在其他实施方式中，驱动机构30也可以包括丝杠以及第一电机32，具体以图2e为例进行举例说明。请参阅图2e，第一夹爪122包括第一夹紧臂1222和第二夹紧臂1224，第二夹爪124包括第三夹紧臂1242和第四夹紧臂1244。丝杠的螺杆362与第一电机32的电机轴传动连接，丝杠上设置的螺母364与第一夹爪122固定。在具体装配时，可以将丝杠的螺杆362套设并固定在第一电机32的电机轴上，以实现螺杆362与第一电机32的电机轴的传动连接。当第一电机32启动后，第一电机32的电机轴带动与其传动连接的螺杆362转动，继而驱动安装在螺杆362上的螺母364沿着螺杆362的轴线方向作直线运动，进而驱动与螺母364固定的第一夹爪122沿直线方向运动。通过控制电机正反转，可以非常方便的通过螺母364驱动第一夹爪122沿着螺杆362的轴线作往复运动，以夹取或者放下物体。
请参阅图1，本申请实施方式的控制方法包括：
步骤S12：控制第一接口22输出用于驱动第一电机32和第二电机34中的一个运行的第一控制信号，第二接口24输出用于驱动第一电机32和第二电机34中的另一个运行的第二控制信号；
步骤S14：在输出第一控制信号或第二控制信号的情况下，获取检测机构40的检测信号；
步骤S16：根据检测信号，确定第一接口22输出用于驱动第一电机32的第一控制信号，第二接口24输出用于驱动第二电机34的第二控制信号；或者，确定第一接口22输出用于驱动第二电机34的第一控制信号，第二接口24输出用于驱动第一电机32的第二控制信号。
本申请实施方式的控制方法中，可以通过获取检测机构40的检测信号判断第一电机32和第二电机34连接的通道接口，从而可以自动配置相应的控制信号分别对通道接口对应的电机进行驱动控制，保证夹爪装置100的正常工作。
本申请实施方式的控制方法可由本申请实施方式的夹爪装置100来实现，具体地，由夹爪装置100的控制器20实现。
可以理解，夹爪装置100的夹爪机构10可以多自由度移动。第一电机32和第二电机34分别驱动夹爪机构10在不同自由度运动。第一电机32用于驱动夹爪机构10的爪子12开合，第二电机34用于驱动夹爪机构10移动，而检测机构40用于检测夹爪机构10移动的位置，也即是说，检测机构40用于检测第二电机34驱动夹爪机构10移动的位置。
在图示的夹爪装置100中，夹爪机构10可以在水平和垂直两个自由度运动。第一电机32驱动夹爪机构10的爪子12开合，指的是第一电机32驱动夹爪机构10的爪子12在水 平自由度开合，也即第一电机32驱动夹爪机构10实施夹取动作。第二电机34驱动夹爪机构10移动，指的是第二电机34驱动夹爪机构10在垂直自由度上下移动，也即第二电机34驱动夹爪机构10抬升或下降。检测机构40可以包括限位开关。限位开关安装在夹爪装置100的垂直方向，当第二电机34驱动夹爪机构10垂直上下移动时，夹爪机构10可以触发限位开关，从而改变限位开关的状态以使检测机构40输出检测信号。在一种实施方式中，检测机构40包括两个限位开关，分设在夹爪装置100的垂直方向的上下两端，或者其他合适的位置，例如靠近上下两端的位置，或者中间位置等。此外，限位开关的数量仅为示例性说明，在此不作限定。
在将控制器20与驱动机构30连接时，可能出现两种情况。第一种情况是：第一接口22连接第一电机32，第二接口24连接第二电机34。第二种情况是：第一接口22连接第二电机34，第二接口24连接第一电机32。一般情况下，夹爪装置100通过上位机200控制，上位机200可以发送操控指令至夹爪装置100的控制器20。控制器20包括控制单元26及连接控制单元26的第一接口22和第二接口24。控制单元26用于接收来自上位机200的操控指令并根据操控指令控制第一接口22输出第一控制信号，第二接口24输出第二控制信号。例如，上位机200可以发送第一杆量指令以使控制单元26控制第一接口22输出第一控制信号，发送第二杆量指令以使控制单元26控制第二接口24输出第二控制信号。控制单元26可以包括MCU(Microcontroller Unit)。
在输出第一控制信号的情况下，去获取检测机构40的检测信号，在输出第二控制信号的情况下，也去获取检测机构40的检测信号。若第一接口22连接第一电机32，第二接口24连接第二电机34；则在输出第一控制信号的情况下，无法获取到检测信号，在输出第二控制信号的情况下，能够获取到检测信号。若第一接口22连接第二电机34，第二接口24连接第一电机32；则在输出第一控制信号的情况下，能够获取到检测信号，在输出第二控制信号的情况下，无法获取到检测信号。
因此，可以通过能否获取到检测机构40的检测信号来判断第一电机32和第二电机34连接的通道接口，然后建立第一杆量指令(第一控制信号)及第二杆量指令(第二控制信号)与第一电机32及第二电机34之间的映射，以完成通道适配。如此，上位机200对夹爪装置100的控制可以兼容控制器20与驱动机构30连接的两种情况，可以自动配置相应的控制信号分别对通道接口对应的电机进行驱动控制，保证夹爪装置100的正常工作和满足用户对于DIY或盲接的需求。夹爪装置100可以在线进行通道设配，不必拆卸结构。
在某些实施方式中，控制方法还包括：在分别输出第一控制信号和第二控制信号的预设时长内均未获取到检测信号的情况下，确定夹爪装置100出现故障。
可以理解，夹爪装置100设有检测机构40，在图示的实施方式中，检测机构40包括 设置在夹爪装置100的垂直方向上的限位开关，例如限位开关的数量为两个，分设在夹爪装置100的垂直方向的上下两端，第二电机34驱动夹爪机构10在垂直自由度上下移动。当夹爪装置100正常工作状态下，当第二电机34驱动夹爪机构10垂直上下移动时会触发上下两端的限位开关，使检测机构40输出两次检测信号。因此，在第一控制信号用于驱动第二电机34的情况下，若输出第一控制信号的预设时长内未能获取到检测信号，可以确定夹爪装置100出现故障。在第二控制信号用于驱动第二电机34的情况下，若输出第二控制信号的预设时长内未能获取到检测信号，也可以确定夹爪装置100出现故障。预设时长可以是3秒-5秒，较佳地，预设时长为4秒。当然，预设时长还可以是其他时长，在此不作具体限制。
需要说明的是，夹爪装置100故障是指结构和/或线路损坏，例如结构卡死、结构掉件、齿轮卡死、线路断开、限位开关损坏等。
请参阅图4，在某些实施方式中，控制方法包括：
步骤S22：按顺序输出第一控制信号和第二控制信号；
步骤S23：获取检测信号，以及获取第一电机32和第二电机34的堵转信号；
步骤S24：根据检测信号和/或堵转信号确定夹爪装置100是否出现故障。
在一些实施例中，步骤S24包括：在输出第一控制信号和/或第二控制信号的预设时长内未获取到堵转信号的情况下，确定夹爪装置100出现故障。
可以理解，当夹爪装置100正常工作状态下，第一电机32可以带动第一夹爪122和第二夹爪124在水平方向进行张开的放下物体操作或闭合的夹取操作；第二电机34可以带动第一夹爪122和第二夹爪124在垂直方向进行抬升或下降。当第一夹爪122和第二夹爪124运动到极限位置处时，由于第一电机32或第二电机34被外力卡死，电机发生堵转，因此通过判断是否获取到堵转信号可以判断夹爪装置100是否出现故障。
具体地，夹爪装置100包括第一电机传感器(图未示)和第二电机传感器(图未示)。第一电机传感器用于获取第一电机32的电信号，第二电机传感器用于获取第二电机34的电信号。控制方法包括：根据第一电机32的电信号和第二电机34的电信号获取堵转信号。如此，根据第一电机32的电信号获取第一电机32的堵转信号，根据第二电机34的电信号获取第二电机34的堵转信号。当电机发生堵转时，电机的电流可以达到电机额定电流的4-7倍，因此电信号可以是电流信号，根据电流信号的大小判断电机是否发生堵转从而获取堵转信号。对应地，电机传感器为电流传感器。
在一种实施方式中，当第一夹爪122或者第二夹爪124的结构损坏，例如出现螺纹连接件中的螺牙无法咬合，致使螺纹连接无法拧紧的情况时，不会触发堵转信号，从而确定夹爪装置100出现故障。当然，夹爪装置100的故障也可能是结构和/或线路损坏，例如结 构卡死、结构掉件、齿轮卡死、线路断开、限位开关损坏等，在此不作限定。
进一步地，步骤S24包括：在输出第一控制信号和第二控制信号的预设时长内均获取到堵转信号的情况下，判断在输出第一控制信号和/或第二控制信号的预设时长内是否获取到检测信号；
在输出第一控制信号和第二控制信号的预设时长内均未获取到检测信号的情况下，确定夹爪装置100出现故障。
可以理解，当在输出第一控制信号和第二控制信号的预设时长内均获取到堵转信号时，进一步通过判断是否获取到检测信号来判断夹爪装置100是否故障。当输出第一控制信号的预设时长内未获取到检测信号，输出第二控制信号的预设时长内也未获取到检测信号时，可以确定夹爪装置100出现故障。
在一种实施方式中，当获取到至少一次检测信号时，可以进一步通过检测信号来确定夹爪装置100出现故障的通道。
当输出第一控制信号的预设时长内获取到检测信号或输出第二控制信号的预设时长内获取到检测信号时，可以通过检测信号来判断第一电机32和第二电机34连接的通道接口，以完成通道适配。具体地，在输出第一控制信号的预设时长内获取到检测信号的情况下，确定第一接口22输出用于驱动第二电机34的第一控制信号，第二接口24输出用于驱动第一电机32的第二控制信号；在输出第二控制信号的预设时长内获取到检测信号的情况下，确定第一接口22输出用于驱动第一电机32的第一控制信号，第二接口24输出用于驱动第二电机34的第二控制信号。
在某些实施方式中，请参阅图5，第一控制信号包括第一正向信号和第一反向信号。步骤S22包括：
步骤S222：输出第一正向信号，判断是否获取到检测信号或堵转信号；
步骤S224：在获取到检测信号或堵转信号，或预设时长内未获取到检测信号或堵转信号的情况下，输出第一反向信号；
步骤S226：在输出第一反向信号的情况下，判断是否获取到检测信号或堵转信号；
步骤S228：在获取到检测信号或堵转信号，或预设时长内未获取到检测信号或堵转信号的情况下，停止输出第一反向信号。
请参阅图6，第二控制信号包括第二正向信号和第二反向信号。步骤S22包括：
步骤S221：输出第二正向信号，判断是否获取到检测信号或堵转信号；
步骤S223：在获取到检测信号或堵转信号，或预设时长内未获取到检测信号或堵转信号的情况下，输出第二反向信号；
步骤S225：在输出第二反向信号的情况下，判断是否获取到检测信号或堵转信号；
步骤S227：在获取到检测信号或堵转信号，或预设时长内未获取到检测信号或堵转信号的情况下，停止输出第二反向信号。
如此，在第一控制信号用于驱动第一电机32，第二控制信号用于驱动第二电机34的情况下，第一正向信号用于驱动夹爪机构10的爪子12张开或闭合，对应地，第一反向信号用于驱动夹爪机构10的爪子12闭合或张开，以获取第一电机32的堵转信号；第二正向信号用于驱动夹爪机构10垂直向上移动或向下移动，对应地，第二反向信号用于驱动夹爪机构10垂直向下移动或向上移动，以获取第二电机34的检测信号和堵转信号。第一控制信号用于驱动第二电机34，第二控制信号用于驱动第一电机32的情况与第一控制信号用于驱动第一电机32，第二控制信号用于驱动第二电机34的情况类似，在此不再赘述。
当第一控制信号包括第一正向信号和第一反向信号，第二控制信号包括第二正向信号和第二反向信号时，分别获取到四组信号对应输出的可能包含有堵转信号、检测信号的信号数据，进一步地，对上述四组信号对应输出的信号数据进行判断，以确定夹爪装置100是否出现故障。具体地，步骤S24包括：在输出第一正向信号和第一反向信号的预设时长内未获取到堵转信号以及在输出第二正向信号和第二反向信号的预设时长内未获取到堵转信号的情况下，确定夹爪装置100出现故障。
也即是说，在输出第一正向信号、第一反向信号、第二正向信号、第二反向信号的预设时长内，均未获取到堵转信号时，可以确定夹爪装置100故障。
进一步地，步骤S24包括：
在输出第一正向信号和第一反向信号的预设时长内均获取到堵转信号的情况下，判断在输出第一正向信号和/或第一反向信号的预设时长内是否获取到检测信号；
在输出第二正向信号和第二反向信号的预设时长内均获取到堵转信号的情况下，判断在输出第二正向信号和/或第二反向信号的预设时长内是否获取到检测信号；
在输出第一正向信号和/或第一反向信号的预设时长内未获取到检测信号及在输出第二正向信号和/或第二反向信号的预设时长内未获取到检测信号的情况下，确定夹爪装置100出现故障。
可以理解，当在输出第一正向信号和第一反向信号的预设时长内、第二正向信号和第二反向信号的预设时长内，获取到堵转信号时，进一步通过判断是否获取到检测信号来判断夹爪装置100是否故障。当满足在输出第一正向信号的预设时长内未获取到检测信号，在输出第一反向信号的预设时长内未获取到检测信号中的至少一个，及在输出第二正向信号的预设时长内未获取到检测信号，在输出第二反向信号的预设时长内未获取到检测信号中的至少一个时，可以确定夹爪装置100出现故障。例如，在输出第一正向信号的预设时长内未获取到检测信号及在输出第二反向信号的预设时长内均未获取到检测信号时，可以 确定夹爪装置100出现故障。
更进一步地，控制方法包括：
在输出第一正向信号和第一反向信号的预设时长内均获取到检测信号的情况下，确定第一接口22输出用于驱动第二电机34的第一控制信号，第二接口24输出用于驱动第一电机32的第二控制信号；
在输出第二正向信号和第二反向信号的预设时长内均获取到检测信号的情况下，确定第一接口22输出用于驱动第一电机32的第一控制信号，第二接口24输出用于驱动第二电机34的第二控制信号。
在一种实施方式中，当根据运动过程中获取到的检测信号和/或堵转信号判断夹爪装置100出现故障时，可以进一步判断夹爪装置100出现故障的通道，即判断是与夹爪机构10在水平自由度开合运动相关的结构发生故障，还是与夹爪机构10在垂直自由度上下移动相关的结构发生故障。例如，检测机构40包括分设在夹爪装置100的垂直方向的上下两端的两个限位开关，正常工作状态下，当第二电机34驱动夹爪机构10垂直上下移动时会触发上下两端的限位开关，使检测机构40输出两次检测信号。当第一控制信号包括第一正向信号和第一反向信号时，在输出第一控制信号的预设时长内获取到检测信号的情况下，可以进一步判断获取到的检测信号的次数。具体地，当获取到两次检测信号时，可以确定与夹爪机构10在垂直自由度上下移动相关的结构正常，当获取到一次检测信号时，可以确定与夹爪机构10在垂直自由度上下移动相关的结构出现故障。
需要说明的是，在本实施方式中，先控制第一电机32和第二电机34驱动夹爪机构10运动，然后根据运动过程中获取到的检测信号和/或堵转信号判断夹爪装置100是否故障，再根据检测信号判断第一电机32和第二电机34连接的通道接口。夹爪装置100的通道适配和自检(检测故障)可以根据在控制夹爪机构10运动的过程中所获取到的检测信号和堵转信号完成，操作方便快捷。
在某些实施方式中，控制方法还包括：在确定夹爪装置100出现故障的情况下，生成提示信息。提示信息用于提示故障。
具体地，提示信息包括语音信息、文字信息、画面信息中的至少一种。可以理解，夹爪装置100还包括提示报警器。报警提示器可以是扬声器以发出语音信息提示夹爪装置100故障，也可以显示器，通过显示文字信息和/或画面信息提示夹爪装置100故障。例如，可以通过文字信息和/或画面信息用于提示用户出现故障的是与夹爪机构10在水平自由度开合运动相关的结构和/或与夹爪机构10在垂直自由度上下移动相关的结构。当然，提示报警器也可以是独立的装置，通过有线或无线的方式与夹爪装置100连接。
请参阅图2和图3，本申请实施方式的夹爪装置100包括夹爪机构10、控制器20、驱 动机构30和检测机构40。控制器20连接驱动机构30和检测机构40。控制器20包括第一接口22和第二接口24。驱动机构30包括第一电机32和第二电机34。第一电机32用于驱动夹爪机构10的爪子12开合。第二电机34用于驱动夹爪机构10移动。检测机构40用于检测夹爪机构10移动的位置。控制器20用于控制第一接口22输出用于驱动第一电机32和第二电机34中的一个运行的第一控制信号，第二接口24输出用于驱动第一电机32和第二电机34中的另一个运行的第二控制信号，及用于在输出第一控制信号或第二控制信号的情况下，获取检测机构40的检测信号，以及用于根据检测信号，确定第一接口22输出用于驱动第一电机32的第一控制信号，第二接口24输出用于驱动第二电机34的第二控制信号；或者，确定第一接口22输出用于驱动第二电机34的第一控制信号，第二接口24输出用于驱动第一电机32的第二控制信号。
本申请实施方式的夹爪装置100中，可以通过获取检测机构40的检测信号判断第一电机32和第二电机34连接的通道接口，从而可以自动配置相应的控制信号分别对通道接口对应的电机进行驱动控制，保证夹爪装置100的正常工作。
需要说明的是，上述实施方式的控制方法可由本申请实施方式的夹爪装置100实现。上述实施方式的控制方法的解释说明和有益效果也适用于本申请实施方式的夹爪装置100，为避免冗余，在此不再详细展开。
在某些实施方式中，控制器20用于在分别输出第一控制信号和第二控制信号的预设时长内均未获取到检测信号的情况下，确定夹爪装置100出现故障。
在某些实施方式中，控制器20用于按顺序输出第一控制信号和第二控制信号，及用于获取检测信号，以及获取第一电机32和第二电机34的堵转信号，以及用于根据检测信号和/或堵转信号确定夹爪装置100是否出现故障。
在某些实施方式中，第一控制信号包括第一正向信号和第一反向信号。控制器20用于输出第一正向信号，判断是否获取到检测信号或堵转信号，及用于在获取到检测信号或堵转信号，或预设时长内未获取到检测信号或堵转信号的情况下，输出第一反向信号，及用于在输出第一反向信号的情况下，判断是否获取到检测信号或堵转信号，以及用于在获取到检测信号或堵转信号，或预设时长内未获取到检测信号或堵转信号的情况下，停止输出第一反向信号。
在某些实施方式中，第二控制信号包括第二正向信号和第二反向信号。控制器20用于输出第二正向信号，判断是否获取到检测信号或堵转信号，及用于在获取到检测信号或堵转信号，或预设时长内未获取到检测信号或堵转信号的情况下，输出第二反向信号，及用于在输出第二反向信号的情况下，判断是否获取到检测信号或堵转信号，以及用于在获取到检测信号或堵转信号，或预设时长内未获取到检测信号或堵转信号的情况下，停止输出 第二反向信号。
在某些实施方式中，控制器20用于在输出第一控制信号和/或第二控制信号的预设时长内未获取到堵转信号的情况下，确定夹爪装置100出现故障。
在某些实施方式中，控制器20用于在输出第一控制信号和第二控制信号的预设时长内均获取到堵转信号的情况下，判断在输出第一控制信号和/或第二控制信号的预设时长内是否获取到检测信号，及用于在输出第一控制信号和第二控制信号的预设时长内均未获取到检测信号的情况下，确定夹爪装置100出现故障。
在某些实施方式中，控制器20用于在输出第一控制信号的预设时长内获取到检测信号的情况下，确定第一接口22输出用于驱动第二电机34的第一控制信号，第二接口24输出用于驱动第一电机32的第二控制信号，及用于在输出第二控制信号的预设时长内获取到检测信号的情况下，确定第一接口22输出用于驱动第一电机32的第一控制信号，第二接口24输出用于驱动第二电机34的第二控制信号。
在某些实施方式中，夹爪装置100包括第一电机传感器和第二电机传感器。第一电机传感器用于获取第一电机32的电信号，第二电机传感器用于获取第二电机34的电信号。控制器20用于根据第一电机32的电信号和第二电机34的电信号获取堵转信号。
在某些实施方式中，夹爪装置100包括提示报警器，提示报警器用于在确定夹爪装置100出现故障的情况下，生成提示信息，提示信息用于提示故障。
在某些实施方式中，提示信息包括语音信息、文字信息、画面信息中的至少一种。
本申请实施方式的移动设备包括移动平台和上述任一实施方式的夹爪装置100。夹爪装置100设置在移动平台。
本申请实施方式的移动设备中，可以通过获取检测机构40的检测信号判断第一电机32和第二电机34连接的通道接口，从而可以自动配置相应的控制信号分别对通道接口对应的电机进行驱动控制，保证夹爪装置100的正常工作。
可以理解，夹爪装置100设置在移动平台，移动平台移动可以带动夹爪装置100移动。移动平台可以是现有技术的任意结构和类型的移动平台，如无人飞行器、移动小车、遥控车、机器人等。夹爪装置100的结构与功能与上述实施方式相同，具体可参见上述实施方式，在此不再赘述。
在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于执行特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的执行，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施方式所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于执行逻辑功能的可执行指令的定序列表，可以具体执行在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。
应当理解，本申请的各部分可以用硬件、软件、固件或它们的组合来执行。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来执行。例如，如果用硬件来执行，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来执行：具有用于对数据信号执行逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解执行上述实施方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施方式的步骤之一或其组合。
此外，在本申请各个实施方式中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式执行，也可以采用软件功能模块的形式执行。所述集成的模块如果以软件功能模块的形式执行并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本申请的实施方式，可以理解的是，上述实施方式是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施方式进行变化、修改、替换和变型。

Claims (23)

  1. 一种用于夹爪装置的控制方法，其特征在于，所述夹爪装置包括夹爪机构、控制器、驱动机构和检测机构，所述控制器连接所述驱动机构和所述检测机构，所述控制器包括第一接口和第二接口，所述驱动机构包括第一电机和第二电机，所述第一电机用于驱动所述夹爪机构的爪子开合，所述第二电机用于驱动所述夹爪机构移动，所述检测机构用于检测所述夹爪机构移动的位置；其中，
    所述控制方法包括：
    控制所述第一接口输出用于驱动所述第一电机和所述第二电机中的一个运行的第一控制信号，所述第二接口输出用于驱动所述第一电机和所述第二电机中的另一个运行的第二控制信号；
    在输出所述第一控制信号或所述第二控制信号的情况下，获取所述检测机构的检测信号；
    根据所述检测信号，确定所述第一接口输出用于驱动所述第一电机的所述第一控制信号，所述第二接口输出用于驱动所述第二电机的所述第二控制信号；或者，确定所述第一接口输出用于驱动所述第二电机的所述第一控制信号，所述第二接口输出用于驱动所述第一电机的所述第二控制信号。
  2. 根据权利要求1所述的控制方法，其特征在于，所述控制方法还包括：
    在分别输出所述第一控制信号和所述第二控制信号的预设时长内均未获取到所述检测信号的情况下，确定所述夹爪装置出现故障。
  3. 根据权利要求1所述的控制方法，其特征在于，所述控制方法还包括：
    按顺序输出所述第一控制信号和所述第二控制信号；
    获取所述检测信号，以及获取所述第一电机和所述第二电机的堵转信号；
    根据所述检测信号和/或所述堵转信号确定所述夹爪装置是否出现故障。
  4. 根据权利要求3所述的控制方法，其特征在于，所述第一控制信号包括第一正向信号和第一反向信号，所述按顺序输出所述第一控制信号和所述第二控制信号及所述获取所述检测信号，以及获取所述第一电机和所述第二电机的堵转信号，包括：
    输出所述第一正向信号，判断是否获取到所述检测信号或所述堵转信号；
    在获取到所述检测信号或所述堵转信号，或预设时长内未获取到所述检测信号或所述堵转信号的情况下，输出所述第一反向信号；
    在输出所述第一反向信号的情况下，判断是否获取到所述检测信号或所述堵转信号；
    在获取到所述检测信号或所述堵转信号，或所述预设时长内未获取到所述检测信号或所述堵转信号的情况下，停止输出所述第一反向信号。
  5. 根据权利要求3所述的控制方法，其特征在于，所述第二控制信号包括第二正向信号和第二反向信号，所述按顺序输出所述第一控制信号和所述第二控制信号及所述获取所述检测信号，以及获取所述第一电机和所述第二电机的堵转信号，包括：
    输出所述第二正向信号，判断是否获取到所述检测信号或所述堵转信号；
    在获取到所述检测信号或所述堵转信号，或预设时长内未获取到所述检测信号或所述堵转信号的情况下，输出所述第二反向信号；
    在输出所述第二反向信号的情况下，判断是否获取到所述检测信号或所述堵转信号；
    在获取到所述检测信号或所述堵转信号，或所述预设时长内未获取到所述检测信号或所述堵转信号的情况下，停止输出所述第二反向信号。
  6. 根据权利要求3所述的控制方法，其特征在于，所述根据所述检测信号和/或所述堵转信号确定所述夹爪装置是否出现故障，包括：
    在输出所述第一控制信号和/或所述第二控制信号的所述预设时长内未获取到所述堵转信号的情况下，确定所述夹爪装置出现故障。
  7. 根据权利要求6所述的控制方法，其特征在于，所述根据所述检测信号和/或所述堵转信号确定所述夹爪装置是否出现故障，包括：
    在输出所述第一控制信号和所述第二控制信号的所述预设时长内均获取到所述堵转信号的情况下，判断在输出所述第一控制信号和/或所述第二控制信号的所述预设时长内是否获取到所述检测信号；
    在输出所述第一控制信号和所述第二控制信号的所述预设时长内均未获取到所述检测信号的情况下，确定所述夹爪装置出现故障。
  8. 根据权利要求7所述的控制方法，其特征在于，所述控制方法包括：
    在输出所述第一控制信号的所述预设时长内获取到所述检测信号的情况下，确定所述第一接口输出用于驱动所述第二电机的所述第一控制信号，所述第二接口输出用于驱动所述第一电机的所述第二控制信号；
    在输出所述第二控制信号的所述预设时长内获取到所述检测信号的情况下，确定所述 第一接口输出用于驱动所述第一电机的所述第一控制信号，所述第二接口输出用于驱动所述第二电机的所述第二控制信号。
  9. 根据权利要求3所述的控制方法，其特征在于，所述夹爪装置包括第一电机传感器和第二电机传感器，所述第一电机传感器用于获取所述第一电机的电信号，所述第二电机传感器用于获取所述第二电机的电信号，所述控制方法包括：
    根据所述第一电机的电信号和所述第二电机的电信号获取所述堵转信号。
  10. 根据权利要求2-9任一项所述的控制方法，其特征在于，所述控制方法还包括：
    在确定所述夹爪装置出现故障的情况下，生成提示信息，所述提示信息用于提示所述故障。
  11. 根据权利要求10所述的控制方法，其特征在于，所述提示信息包括语音信息、文字信息、画面信息中的至少一种。
  12. 一种夹爪装置，其特征在于，包括夹爪机构、控制器、驱动机构和检测机构，所述控制器连接所述驱动机构和所述检测机构，所述控制器包括第一接口和第二接口，所述驱动机构包括第一电机和第二电机，所述第一电机用于驱动所述夹爪机构的爪子开合，所述第二电机用于驱动所述夹爪机构移动，所述检测机构用于检测所述夹爪机构移动的位置，所述控制器用于控制所述第一接口输出用于驱动所述第一电机和所述第二电机中的一个运行的第一控制信号，所述第二接口输出用于驱动所述第一电机和所述第二电机中的另一个运行的第二控制信号，及用于在输出所述第一控制信号或所述第二控制信号的情况下，获取所述检测机构的检测信号，以及用于根据所述检测信号，确定所述第一接口输出用于驱动所述第一电机的所述第一控制信号，所述第二接口输出用于驱动所述第二电机的所述第二控制信号；或者，确定所述第一接口输出用于驱动所述第二电机的所述第一控制信号，所述第二接口输出用于驱动所述第一电机的所述第二控制信号。
  13. 根据权利要求12所述的夹爪装置，其特征在于，所述控制器用于在分别输出所述第一控制信号和所述第二控制信号的预设时长内均未获取到所述检测信号的情况下，确定所述夹爪装置出现故障。
  14. 根据权利要求12所述的夹爪装置，其特征在于，所述控制器用于按顺序输出所述 第一控制信号和所述第二控制信号，及用于获取所述检测信号，以及获取所述第一电机和所述第二电机的堵转信号，以及用于根据所述检测信号和/或所述堵转信号确定所述夹爪装置是否出现故障。
  15. 根据权利要求14所述的夹爪装置，其特征在于，所述第一控制信号包括第一正向信号和第一反向信号，所述控制器用于输出所述第一正向信号，判断是否获取到所述检测信号或所述堵转信号，及用于在获取到所述检测信号或所述堵转信号，或预设时长内未获取到所述检测信号或所述堵转信号的情况下，输出所述第一反向信号，及用于在输出所述第一反向信号的情况下，判断是否获取到所述检测信号或所述堵转信号，以及用于在获取到所述检测信号或所述堵转信号，或所述预设时长内未获取到所述检测信号或所述堵转信号的情况下，停止输出所述第一反向信号。
  16. 根据权利要求14所述的夹爪装置，其特征在于，所述第二控制信号包括第二正向信号和第二反向信号，所述控制器用于输出所述第二正向信号，判断是否获取到所述检测信号或所述堵转信号，及用于在获取到所述检测信号或所述堵转信号，或预设时长内未获取到所述检测信号或所述堵转信号的情况下，输出所述第二反向信号，及用于在输出所述第二反向信号的情况下，判断是否获取到所述检测信号或所述堵转信号，以及用于在获取到所述检测信号或所述堵转信号，或所述预设时长内未获取到所述检测信号或所述堵转信号的情况下，停止输出所述第二反向信号。
  17. 根据权利要求14所述的夹爪装置，其特征在于，所述控制器用于在输出所述第一控制信号和/或所述第二控制信号的所述预设时长内未获取到所述堵转信号的情况下，确定所述夹爪装置出现故障。
  18. 根据权利要求17所述的夹爪装置，其特征在于，所述控制器用于在输出所述第一控制信号和所述第二控制信号的所述预设时长内均获取到所述堵转信号的情况下，判断在输出所述第一控制信号和/或所述第二控制信号的所述预设时长内是否获取到所述检测信号，及用于在输出所述第一控制信号和所述第二控制信号的所述预设时长内均未获取到所述检测信号的情况下，确定所述夹爪装置出现故障。
  19. 根据权利要求18所述的夹爪装置，其特征在于，所述控制器用于在输出所述第一控制信号的所述预设时长内获取到所述检测信号的情况下，确定所述第一接口输出用于驱 动所述第二电机的所述第一控制信号，所述第二接口输出用于驱动所述第一电机的所述第二控制信号，及用于在输出所述第二控制信号的所述预设时长内获取到所述检测信号的情况下，确定所述第一接口输出用于驱动所述第一电机的所述第一控制信号，所述第二接口输出用于驱动所述第二电机的所述第二控制信号。
  20. 根据权利要求14所述的夹爪装置，其特征在于，所述夹爪装置包括第一电机传感器和第二电机传感器，所述第一电机传感器用于获取所述第一电机的电信号，所述第二电机传感器用于获取所述第二电机的电信号，所述控制器用于根据所述第一电机的电信号和所述第二电机的电信号获取所述堵转信号。
  21. 根据权利要求13-20任一项所述的夹爪装置，其特征在于，所述夹爪装置包括提示报警器，所述提示报警器用于在确定所述夹爪装置出现故障的情况下，生成提示信息，所述提示信息用于提示所述故障。
  22. 根据权利要求21所述的夹爪装置，其特征在于，所述提示信息包括语音信息、文字信息、画面信息中的至少一种。
  23. 一种移动设备，其特征在于，包括移动平台和权利要求12-22任一项所述的夹爪装置，所述夹爪装置设置在所述移动平台。
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