The invention discloses a multi-mode force control lossless grabbing device for an intelligent
production line. The multi-mode force control lossless grabbing device comprises a binocular image collector, a force control grabbing hand mechanical
assembly and a
control system, wherein an
ultrasonic sensor, an
infrared detection module and a thin
film pressure sensor are arranged on the force control grabbing hand mechanical
assembly, the binocular image collector is used for collecting binocular two-dimensional
color image information of a target object, the
ultrasonic sensor collects the distance between a mechanical claw and a tabletop, the
infrared detection module collects gray information and is used for judging whether the two-finger mechanical claw grasps a target object or not, the thin
film pressure sensor collects pressure information between the two-finger mechanical claw and the target object, and the
control system controls a force control grabbing hand mechanical
assembly to grab the target object in a lossless mode according to information collected by the binocular image collector, the
ultrasonic sensor, the
infrared detection module and the thin
film pressure sensor. According to the multi-mode force control lossless grabbing device, visual information, force feedback information and infrared detection information are integrated, multi-stage force control is achieved, and lossless grabbing can be achieved in cooperation with a mechanical arm.