TWI820454B - Clamping device and method for clamping target object - Google Patents

Abstract

A clamping device includes a main body, vacuum pump, and a plurality of sucking modules. The main body includes a leaning portion and a fixing portion connected to a first end of the leaning portion. An included angle is included between the leaning portion and the fixing portion. The leaning portion and the fixing portion are configured to contact two adjacent surface of a target object. A vacuum pump is disposed on the main body and configured to provide vacuum force. The sucking modules are disposed on the leaning portion and the fixing portion respectively and coupled to the vacuum pump, so as to suck and fix the two adjacent surface of the target object to the main body.

Description

Clamping device and method of clamping target object

The invention relates to a clamping device and a method for clamping a target object.

In the logistics industry, objects often need to be extracted and clamped to move and carry them. However, the working environment of the traditional logistics industry lacks appropriate automation equipment for automatic picking and handling of objects, so a large amount of manpower is required to operate. However, if the object is moved manually, the larger the size of the object, the more likely it is to cause occupational injuries to the movers, and the risk of the objects falling, causing concerns about the safety of the movers or cost losses caused by damage to the objects. , thereby reducing logistics efficiency, increasing the possibility of artificial damage to objects and reducing product quality.

The present invention provides a clamping device and method, which can realize automatic clamping and transportation of objects, thereby improving logistics efficiency.

A clamping device of the present invention includes a clamp body, a vacuum pump and a plurality of suction cup modules. The clamp body includes a supporting part and a fixed part connected to the first end of the supporting part. The fixed part and the supporting part form an angle and are used to respectively support two adjacent surfaces of the target object. . A vacuum pump is disposed on the clamp body and configured to provide vacuum suction. A plurality of suction cup modules are respectively provided on the supporting part and the fixing part, and are coupled to the vacuum pump to use the suction force to attract and fix the two adjacent surfaces of the target object.

A method for clamping a target object according to the present invention includes the following steps. Sensing multiple distances from multiple objects to a reference point. The target object among the plurality of objects is determined according to the plurality of distances. Move the clamp body to the position of the target object. The suction cup module on the clamp body is used to provide suction force to attract and fix two adjacent surfaces of the target object. Move the clamp body fixing the target object to a target position. Drop said target object.

Based on the above, the clamping device and method of the present invention first uses the suction cup module to attract and fix the target object, and then uses the actuating mechanism to drive the clamping jaw to expand, contract and rotate to drive the clamping jaw to the appropriate clamping position to hold the target object. Perform clamping. Therefore, the clamping device and method of the present invention can automate the clamping and transporting of target objects, thereby effectively improving the efficiency of clamping and transporting target objects.

The aforementioned and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of each embodiment with reference to the drawings. Directional terms mentioned in the following embodiments, such as "up", "down", "front", "back", "left", "right", etc., refer to the directions in the attached drawings. Accordingly, the directional terms used are illustrative and not limiting of the invention. In addition, in the following embodiments, the same or similar elements will use the same or similar numbers.

Figure 1 is a schematic diagram of a clamping device according to an embodiment of the present invention. Please refer to Figure 1 first. The clamping device 10 of the present invention can be configured to clamp and transport multiple objects from an initial position to a target position. That is to say, the clamping device 10 can be applied to multiple objects in any working environment. Automated loading and/or unloading. In some embodiments, the clamping device 10 may include a clamping module 100, a robotic arm 200, a sensing module 300, and a processor 400 coupled to the clamping module 100, the robotic arm 200, and the sensing module 300. . The clamping module 100 can be disposed at one end of the robotic arm 200 . In some embodiments, the clamping module 100 can be regarded as an end effector of the robotic arm 200 for clamping the target object 22 . The clamping module 100 is attached to the end of the robot arm 300 so that the robot arm 300 can shuttle between the initial position and the target position to transport the target object 22 clamped on the clamping module 100 . The sensing module 300 may, for example, be disposed in front of the base of the robot arm 300 to sense the distance from the sensing module 300 to the target object 22 .

Figure 2 is a schematic perspective view of a clamping device according to an embodiment of the present invention. FIG. 3 is a perspective view of the clamping device of FIG. 2 from another angle. Please refer to FIGS. 2 and 3 simultaneously. In some embodiments, the clamping module 100 may include a clamp body 110 , a plurality of suction cup modules 120 and a vacuum pump 126 . The clamp body 110 includes a fixed part 112 and a supporting part 114. In some implementations, the fixed part 112 is connected to the first end E1 of the supporting part 114 and forms an angle (for example, a right angle) with the supporting part 114. With this configuration, the fixing part 112 and the supporting part 114 can respectively support (contact) two adjacent surfaces (such as the side surface and the upper surface) of the target object 22 . In this embodiment, the fixing part 112 may be a vertical member, that is to say, the main surface of the fixing part 112 extends along the vertical direction to abut the vertical surface (eg, side surface) of the target object 22 . The supporting portion 114 may be a horizontal member, that is to say, the main surface of the supporting portion 114 extends along the horizontal direction to abut a horizontal surface (eg, an upper surface) of the target object 22 adjacent to the vertical surface.

In certain embodiments, vacuum pump 126 is coupled to clamp body 110 and configured to provide vacuum suction. The plurality of suction cup modules 120 are respectively disposed on the supporting part 114 and the fixing part 112, and are coupled to the vacuum pump 126 to use the vacuum suction force provided by the vacuum pump 126 to attract and fix two adjacent surfaces (such as side surfaces and upper surfaces) of the target object 22. surface). In this embodiment, two suction cup modules 120 are provided on the inner surface of the supporting part 114 (ie, the surface facing the target object 22 ), and one suction cup module is provided on the inner surface of the fixing part 112 . Of course, the present invention is not limited to this. The fixing part 112 and the supporting part 114 may be respectively provided with more or less suction cup modules 120 according to actual product requirements (eg, suction power requirements). In this embodiment, after the clamping module 100 is controlled to move to the vicinity of the target object 22 through the robot arm, the suction cup module 120 provided on the fixed part 112 and the supporting part 114 can use suction to suck the target object. 22, for example, the target object 22 can be laterally moved to abut against the fixing part 112 and the supporting part 114, thereby separating the target object 22 from other objects 20 to facilitate subsequent clamping of the target object 22. In this embodiment, the suction force provided by the vacuum pump 126/suction cup module 120 may be approximately greater than or substantially equal to 498 Newtons or more. , which can be used to absorb target objects weighing about 30 to 35 kilograms. However, this embodiment is not limited to this.

FIG. 4 is a schematic diagram of a clamping claw of a clamping device in a stowed position according to an embodiment of the present invention. FIG. 5 is a schematic diagram of a clamping claw of a clamping device in a clamping position according to an embodiment of the present invention. In some embodiments, the clamping device 100 may further include a clamping jaw module 130 . For example, the jaw module 130 may include a rotatable jaw 132 and an actuating mechanism 134 . In this embodiment, the actuating mechanism 134 can be disposed on the supporting portion 114 . For example, the actuating mechanism 134 may be disposed on the lower surface of the supporting portion 114 . The clamping jaw 132 can be disposed on the supporting portion 114 via the actuating mechanism 134 . Specifically, the clamping claw 132 may be located at the second end E2 of the supporting portion 114 relative to the first end E1 of the connection fixing portion 112 . The actuating mechanism 134 is configured to drive the clamping jaw 132 to rotate relative to the supporting portion 114 between the stowed position shown in FIG. 4 and the clamping position shown in FIG. 5 . In some embodiments, when the weight of the target object 22 to be picked up by the clamping device 100 is approximately greater than a preset weight (for example, greater than the suction force provided by the vacuum pump 126/suction cup module 120), the clamping device 100 can be started. The clamping jaw module 130 clamps and fixes the target object 22 .

Figure 6 is a schematic diagram of a clamping device from another perspective according to an embodiment of the present invention. FIG. 7 is an exploded schematic diagram of some components of a clamping jaw module according to an embodiment of the present invention. FIG. 8 is a schematic diagram of partial component assembly of a clamping jaw module according to an embodiment of the present invention. Please refer to FIGS. 6-7 simultaneously. In some embodiments, the actuating mechanism 134 may include a driving shaft 1321, a sleeve 1341, a cylinder 1343, and a pivot joint 1344. The driving shaft 1321 is connected to the clamping jaw 132, and the sleeve 1341 is sleeved on the driving shaft 1321. The drive shaft 1321 has a turning thread 1322, which can surround at least part of the outer diameter of the drive shaft 1321 as shown in FIG. Threaded 1322 structural fit. Specifically, the protrusion 1342 is slidably disposed on the steering thread 1322 so as to slide within the steering thread 1322 along the direction of the steering thread 1322 . Under such a structural configuration, when the driving shaft 1321 is driven to move relative to the sleeve 1341 in the moving direction D1, the protruding point 1342 of the sleeve 1341 slides along the steering thread 1322, thereby driving the driving shaft 1321 to rotate in the rotation direction R1, and then The clamping jaw 132 is driven to rotate between the storage position and the clamping position.

In some embodiments, the cylinder 1343 is coupled to the drive shaft 1321 to drive the drive shaft 1321 to move in the moving direction D1, and the pivot joint 1344 can be connected between the cylinder 1343 and the drive shaft 1321 to make the drive shaft 1321 suitable It rotates relative to the cylinder 1343 through the pivot joint 1344. In this embodiment, the pivot joint may include a universal joint or other joints suitable for rotation. Generally speaking, a piston can be provided in the cylinder 1343, which is a cylinder sliding in the cylinder 1343. The outer diameter of the piston is approximately equal to the inner diameter of the cylinder 1343. It usually reciprocates in the cylinder 1343 at a very high speed, and with The function of the rapid relative motion friction between the cylinder walls is to change the volume enclosed by the cylinder 1343, or to transmit the pressure exerted by the fluid in the cylinder 1343. With this configuration, the pressure generated by the cylinder 1343 can be used to drive the driving shaft 1321 to move in the moving direction D1 away from or close to the fixed portion 112 between the extended position and the retracted position as shown in FIG. 5 .

In this embodiment, the turning thread 1322 may include a straight portion 1322a and a turning portion 1322b connected to each other. Specifically, the straight portion 1322a can be a linear groove parallel to the moving direction D1, and the turning portion 1322b can be an arc-shaped groove connecting the linear grooves. When the cylinder 1343 pushes the driving shaft 1321 to move in the moving direction D1, the protruding point 1342 of the sleeve 1341 slides along the straight portion 1322a, thus driving the driving shaft 1321 to move in the direction of the straight portion 1322a (ie, the moving direction D1), and then The clamping jaw 132 is driven to extend forward or contract backward. Then, the protrusion 1342 continues to slide along the straight portion 1322a to the turning portion 1322b, thus driving the driving shaft 1321 to turn in the direction of the turning portion 1322b, thereby driving the clamping jaw 132 to rotate.

In this embodiment, the clamping jaw 132 may be L-shaped, but this embodiment is not limited thereto. Any shape that can be used to clamp objects is within the scope of protection of the present invention. In this embodiment, the number of clamping jaw modules 130 may be multiple. For example, the number of the jaw modules 130 can be two, which can move between the extended position and the retracted position simultaneously or sequentially along the movement direction D1 through the same configuration, and can rotate simultaneously or sequentially to the storage position. position and between the clamping positions.

Figure 9 is a schematic diagram of a suction cup module according to an embodiment of the present invention. Please refer to FIG. 4 and FIG. 9 simultaneously. In some embodiments, the suction cup module 120 may include a sealed cavity 124 and a buffer layer 122 . The buffer layer 122 can be disposed on the fixing part 112 and cover the sealed cavity 124 . The buffer layer 122 may include a plurality of pores 1221 extending through the buffer layer 122 and in fluid communication with the closed cavity 124 . In this embodiment, the vacuum pump 126 is coupled to the suction cup module 120 to provide suction force. Sealed cavity 124 may be connected to vacuum pump 126 via vacuum tubing. With this configuration, when the vacuum pump 126 is started, the air in the sealed cavity 124 is instantly pumped away to generate suction to attract the target object to move toward the suction cup module 120. When the target object is attracted by the suction force and leans against the fixed part 112, the target object The object blocks the pores 1221 of the buffer layer 122 , and the air in the pore-sealed cavity 124 is continuously sucked away to form a vacuum state, so that the target object can be firmly attached to the suction cup module 120 . In some embodiments, the buffer layer 122 includes sponge, mesh, rubber, or any combination thereof. The suction cup module 120 can take advantage of the soft and sealing properties of the buffer layer 122 and can change its shape according to the different shapes of the object. Therefore, the contact surface between the buffer layer 122 and the object can achieve the best effect, whether it is a plate, a box or other objects. Irregular contact surfaces can be sucked.

Figure 10 is a schematic diagram of a usage scenario of a clamping device according to an embodiment of the present invention. Please refer to Figure 1 and Figure 10 at the same time. In some embodiments, the above-mentioned clamping module 100 can be disposed on the robot arm 200. Furthermore, the robot arm 200 can be connected to the clamp body 110 of the clamping module 100. The clamping module 100 is moved to the position of the target object 22 under control. In some embodiments, the sensing module 300 is elevatingly disposed in front of the base 210 of the robot arm 200 and is configured to sense the distance from the sensing module 300 to the target object 22 . In this embodiment, the sensing module 300 may include a light radar (lidar). Generally speaking, lidar is an optical remote sensing technology that calculates the distance of a target object by illuminating a beam of light, usually a pulse laser, at the target object and measuring the time interval between the sent and received pulse signals.

Generally speaking, the clamping device usually uses an image sensing module placed above the object to sense its distance. However, this approach can easily cause image distortion due to the large vertical distance difference between the topmost object and the bottommost object. There is an error in the sensing result of the sensing module (for example, the vertical distance difference is greater than the zoom range of the image sensing module). This embodiment uses optical radar as the sensing module 300, and the sensing module 300 is disposed on the same plane as the target object 22 to measure the horizontal distance between the sensing module 300 and the target object 22, so it can This avoids the above problems and improves the accuracy of distance sensing. In this way, the processor 400 can determine the target object 22 based on the distance sensed by the sensing module 300, and can control the robot arm 200 to move the clamping module 100 to the position of the target object 22. In this embodiment, the processor 400 may include a computer, which may include or be coupled to a programmable logic controller (PLC) or other suitable type of controller.

FIG. 11 is a schematic block flow diagram of a method for clamping a target object according to an embodiment of the present invention. Please refer to FIG. 1 , FIG. 2 and FIG. 11 at the same time. In some embodiments, the method of using the above-mentioned clamping device 10 to clamp the target object 22 may include the following steps. First, step S110 is performed, and the sensing module 300 is used to sense multiple distances from the multiple objects 20 to the reference point. For example, multiple objects 20 to be transported can be stacked on each other as shown in FIG. 1 , and the sensing module 300 can scan the multiple objects 20 in a lifting and lowering manner, for example, along the lifting direction D2 to obtain the respective positions of the multiple objects 20 . Multiple distances to reference points (eg, the location of the sensing module 300).

Next, step S120 is performed, and the processor 400 determines the target object 22 among the plurality of objects 20 according to the plurality of distances sensed by the sensing module 300 . For example, if the multiple distances sensed by the sensing module 300 are all the same, which means that multiple objects facing the sensing module 300 have not been transported, the processor 400 can determine that the target object 22 is the top-most object. Any of 20. If the multiple distances sensed by the sensing module 300 are different, it means that multiple objects facing the sensing module 300 have been transported, and the object with a larger distance represents that the object in front of the object has been moved. Therefore, the processor 400 can determine that the target object 22 is an object with a larger distance, so that the clamping device 10 can sequentially clamp and transport the objects. Of course, the above embodiment is an example, and the processor 400 can arrange the picking and carrying sequence of objects according to other suitable rules.

Next, step S130 is executed, and the robot arm 200 is controlled to move the clamping module 100 (including the clamp body 110 ) to the position of the target object 22 . In some embodiments, after the processor 400 determines the target object 22 , it can control the robot arm 200 to move the clamping module 100 to the position of the target object 22 . More specifically, the clamping module 100 can move to a position close to the actual position of the target object 22 (for example, separated by a preset distance).

Next, step S140 is performed, and the suction cup module 120 on the clamp body 110 is used to provide suction force to attract and fix the target object 22 . In some embodiments, when the clamping module 100 moves near the target object 22 , the processor 400 can start the vacuum pump 126 and provide suction force through the vacuum pump 126 / suction cup module 120 to suck the target object 22 , so that the target object 22 can be sucked. The object 22 may, for example, move laterally to abut against the clamp body 110 , thereby separating the target object 22 from other objects 20 so that the clamping claw 132 can suck the target object 22 .

Next, step S150 is executed to move the clamping module 100 that clamps the target object 22 to the target position to be transported. In some embodiments, the processor 400 can perform coordinate conversion to convert the coordinates of multiple objects at the initial position into the coordinate system of the target position to obtain the coordinates of the target position where the target object 22 is to be transported, and control the robot arm. 200 transports the clamping module 100 clamping the target object 22 to the target position.

After that, step S160 is executed to put down the target object 22 , that is, the clamping and transportation of the target object 22 is completed. In some embodiments, the method of lowering the target object 22 may include using the actuating mechanism 134 to drive the clamping jaw 132 to move in a direction away from the clamp body 110 to loosen and release the target object 22 , and then moving the clamping jaw 132 relative to the clamp. The main body 110 rotates to the storage position. In some embodiments, if the target object 22 is not the first object to be transported, that is, when other objects have been transported at the target location, the clamping module 100 can first move the target object 22 to near the actual target position (for example, separated by a preset distance) in order to extract the clamping module 100 . After putting down the target object 22 and retracting the clamping jaws 132 , the clamp body 110 is used to push the target object 22 (for example, the suction force of the suction cup module 120 is used to push the target object 22 ) to the actual target position (for example, in contact with an adjacent object). Location). At this point, the clamping and transportation of the target object 22 can be regarded as completed. Then, the above steps can be repeated until all objects 20 are transported to the target location.

In some embodiments, when the weight of the target object is approximately greater than a preset weight (for example, greater than the suction force provided by the vacuum pump 126/suction cup module 120), the clamping device 100 can activate the gripper module 130 to press the target object. Object 22 is clamped and fixed. Please refer to FIG. 1 and FIG. 6 at the same time. The method of activating the gripper module 130 may include the following steps. First, the clamping jaw 132 on the clamp body 110 is driven to move in the moving direction D1 away from the clamp body 110 , and the clamping jaw 132 is rotated relative to the clamp body 110 to the clamping position as shown in FIG. 5 . In some embodiments, the clamping module 100 can use the driving of the actuating mechanism 134 to move the clamping jaw 132 in a direction away from the clamp body 110 as described above, so that the fixing portion 112 of the clamp body 110 moves to the clamp. The distance between the claws 132 is approximately greater than the thickness of the target object 22 so that the target object 22 can be accommodated between the fixed part 112 of the clamp body 110 and the clamping claws 132 , and then the actuating mechanism 134 is used to drive the clamping claws 132 relative to the clamping body 110 Rotate to the clamping position to clamp the target object 22 accommodated between the fixing part 112 and the clamping jaw 132 of the clamp body 110 .

Then, the clamping claws 132 on the clamp body 110 are driven to move in a direction close to the clamp body 110 to clamp the target object 22 . In some embodiments, the clamping module 100 can reuse the actuating mechanism 134 to drive the clamping jaw 132 to move in a direction close to the clamp body 110 until the clamping jaw 132 abuts the target object 22 , so that the clamping jaw 132 can contact the target object 22 . The clamp body 110 jointly clamps the target object 22 .

To sum up, the clamping device and method of the present invention first use the suction cup module to attract and fix the target object, and then use the actuating mechanism to drive the clamping jaw to expand, contract and rotate to drive the clamping jaw to the appropriate clamping position to hold the object. The target object is clamped. Therefore, the clamping device and method of the present invention can automate the clamping and transporting of target objects, thereby effectively improving the efficiency of clamping and transporting target objects.

In addition, the clamping device and method of the present invention use optical radar as the sensing module, and the sensing module is disposed on the same plane as the target object to measure the horizontal direction between the sensing module 300 and the target object 22 distance, thus improving the accuracy of distance sensing. In this way, the processor can determine the target object based on the distance sensed by the sensing module, and can control the robot arm to move the clamping module to the position of the target object, thus achieving full automation of clamping and transporting the target object. .

10: Clamping device 100: Clamping module 20:Object 22:Target object 110: Fixture body 112: Fixed part 114:Reliance Department 120:Suction cup module 122:Buffer layer 1221:Stomata 124: sealed cavity 126:Vacuum pump 130: Clamp module 132:Clamp 1321: Drive shaft 1322: Steering thread 1322a: straight part 1322b: Steering part 134: Actuating mechanism 1341:casing 1342:Bump 1343:Cylinder 1344: Pivot joint 200:Robotic arm 210:Base 300: Sensing module 400: Processor D1:Moving direction D2: Lifting direction E1: first end E2: Second end R1: rotation direction

Figure 1 is a schematic diagram of a usage scenario of a clamping device according to an embodiment of the present invention. Figure 2 is a schematic perspective view of a clamping device according to an embodiment of the present invention. FIG. 3 is a perspective view of the clamping device of FIG. 2 from another angle. FIG. 4 is a schematic diagram of a clamping claw of a clamping device in a stowed position according to an embodiment of the present invention. FIG. 5 is a schematic diagram of a clamping claw of a clamping device in a clamping position according to an embodiment of the present invention. Figure 6 is a schematic diagram of a clamping device from another perspective according to an embodiment of the present invention. FIG. 7 is an exploded schematic diagram of some components of a clamping jaw module according to an embodiment of the present invention. FIG. 8 is a schematic diagram of partial component assembly of a clamping jaw module according to an embodiment of the present invention. Figure 9 is a schematic diagram of a suction cup module according to an embodiment of the present invention. Figure 10 is a schematic diagram of a usage scenario of a clamping device according to an embodiment of the present invention. FIG. 11 is a schematic block flow diagram of a method for clamping a target object according to an embodiment of the present invention.

100: Clamping module

110: Fixture body

112: Fixed part

114:Reliance department

120:Suction cup module

E1: first end

E2: Second end

Claims (19)

A clamping device includes: a clamp body, a supporting part and a fixing part connected to the first end of the supporting part; the fixing part and the supporting part form an angle and are used to respectively support against two adjacent surfaces of the target object; a vacuum pump coupled to the clamp body and configured to provide vacuum suction; a plurality of suction cup modules respectively provided on the supporting part and the fixing part and coupled The vacuum pump is used to attract and fix the two adjacent surfaces of the target object using the suction force; and the clamping jaw module includes an actuating mechanism provided on the supporting part and an actuating mechanism through the actuating mechanism. A mechanism is provided to a clamping jaw at a second end of the supporting portion opposite to the first end, wherein the actuating mechanism is configured to drive the clamping jaw to rotate relative to the supporting portion to a stowed position and a clamping position. between. The clamping device of claim 1, wherein the actuating mechanism includes a drive shaft connected to the clamping jaw and a sleeve sleeved on the drive shaft, and the drive shaft has a structure that at least surrounds the drive shaft. A steering thread with a partial outer diameter, the inner surface of the sleeve has a bump that matches the steering thread structure, and the bump drives the drive shaft to rotate along the steering thread, thereby driving the clamp The claw rotates between the storage position and the clamping position. The clamping device of claim 2, wherein the actuating mechanism further includes a cylinder and a pivot joint connected between the cylinder and the drive shaft, so that the drive shaft is adapted to pass through the pivot joint. while rotating relative to the cylinder. The clamping device of claim 3, wherein the pivot joint includes a universal joint. The clamping device of claim 3, wherein the air cylinder is configured to drive the drive shaft to move between an extended position and a retracted position in a direction away from or close to the fixed portion. The clamping device according to claim 1, wherein the number of the clamping jaw modules is multiple. The clamping device of claim 1, wherein the suction cup module further includes a sealed cavity and a buffer layer disposed on the fixing part and covering the sealed cavity. The clamping device of claim 7, wherein the buffer layer includes sponge, filter screen, rubber or any combination thereof. The clamping device of claim 7, wherein the buffer layer further includes a plurality of air holes extending through the buffer layer and in fluid communication with the closed cavity. The clamping device according to claim 1, wherein the clamping jaw is L-shaped. The clamping device of claim 1 further includes a robotic arm connected to the clamp body to controlly move the clamp body to the position of the target object. The clamping device of claim 1 further includes a sensing module configured to sense the distance from the sensing module to the target object. The clamping device of claim 12, further comprising a processor coupled to a robotic arm used to connect and move the clamp body and the sensing module to control the movement of the robotic arm according to the distance. the clamp body to the position of the target object. The clamping device of claim 12, wherein the sensing module includes a light radar. The clamping device according to claim 12, wherein the sensing module is elevatingly disposed in front of the base of the robotic arm used to connect and move the clamp body. A method for clamping a target object, including: sensing multiple distances from multiple objects to a reference point; determining a target object among the multiple objects based on the multiple distances; moving the clamp body to be in contact with the target object Positions separated by a preset distance; use the suction cup module on the clamp body to provide suction to attract and fix two adjacent surfaces of the target object; move the clamp body fixing the target object to the target position; and put it down The target object; when the weight of the target object is substantially greater than the preset weight, drive the clamping jaw on the clamp body to move in a direction away from the clamp body and rotate the clamping jaw relative to the clamp body to the clamping position; and driving the clamping jaws on the clamp body to move in a direction close to the clamp body to clamp the target object. The method of clamping a target object as described in claim 16, wherein putting down the target object includes: driving the clamping claw on the clamp body to move in a direction away from the clamp body to release the target object and allow the The clamping jaw rotates to the storage position relative to the clamp body. The method of clamping a target object as described in claim 16 further includes: after putting down the target object, using the clamp body to push the target object until it contacts an adjacent object. The method of clamping a target object as claimed in claim 18, wherein the method of using the clamp body to push the target object into contact with the adjacent object includes utilizing the suction force of the suction cup module on the clamp body to push the target object.

Images