A mechanical claw steering control device and method

Abstract

The present invention relates to the field of manipulator control technology, and specifically to a mechanical claw steering control device and method. It includes a buffer component, a fixed spring limit block and an adjustable hydraulic aperture adjustment block are provided on the lower side of the spring, and the spring limit block includes a hydraulic hole; when the mechanical claw is turning, the hydraulic aperture adjustment block adjusts the position of the hydraulic aperture adjustment block according to the vibration data of the spring reciprocating up and down after the current buffer component stops in each downward pressure stage, so as to adjust the aperture size of the hydraulic hole, and then adjust the flow rate of the hydraulic oil from the space where the spring is located to the space below the spring limit block, so as to perform buffering control of the mechanical claw steering; the embodiment of the present invention can accurately analyze the buffering margin involved by the hydraulic oil, adjust the aperture size of the hydraulic hole, improve the buffering stability, accurately control the buffering effect of the buffer component, and then improve the buffering stability of the mechanical claw steering.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and in particular to a robot claw steering control device and method. Background Art

[0002] The existing mechanical claws are designed to rotate a certain angle in order to grab some objects. However, when the rotation stops, the limit block and the push rod collide quickly, causing a conflict between the rotating body and the manipulator. In the long run, the grasping accuracy of the mechanical claw will be affected, especially when the load of the mechanical claw changes. The instantaneous inertial impact has a greater impact on the positioning of the mechanical claw.

[0003] In the related art, the buffering effect of the mechanical claw is achieved by installing buffer components at each joint of the mechanical claw. However, the presence of the buffer components will cause excess inertial motion, and the mechanical claw cannot be accurately controlled during the inertial motion, resulting in insufficient buffering stability and poor steering control stability of the mechanical claw. Summary of the invention

[0004] In order to solve the technical problem in the related art that the mechanical claw cannot be accurately controlled during inertial motion, resulting in insufficient buffering stability and poor steering control stability of the mechanical claw, the present invention provides a mechanical claw steering control device and method, and the technical solutions adopted are as follows:

[0005] The present invention proposes a mechanical claw steering control device, comprising a buffer component, wherein the buffer component realizes a buffering function by a spring and hydraulic oil, and a fixed spring limit block and an adjustable hydraulic aperture adjustment block are provided on the lower side of the spring, wherein the spring limit block comprises a hydraulic hole;

[0006] When the mechanical claw turns, the hydraulic aperture adjustment block adjusts the position of the hydraulic aperture adjustment block according to the vibration data of the spring reciprocating up and down after the current buffer assembly stops at each downward pressure stage, so as to adjust the aperture size of the hydraulic hole, and then adjust the flow rate of the hydraulic oil from the space where the spring is located to the space below the spring limit block, so as to perform buffering control of the mechanical claw turning;

[0007] The specific process of adjusting the diameter of the hydraulic hole includes:

[0008] The length and vibration data of the spring reciprocating up and down after the buffer component stops at each pressing stage are periodically obtained. The vibration data are combined into a vibration sequence according to the time sequence. The vibration attenuation coefficient of the corresponding vibration data is determined according to the amplitude change of any vibration data in the vibration sequence before in the time sequence.

[0009] The vibration attenuation coefficients of all vibration data are combined into an attenuation sequence in time sequence; and a motion inertia subsequence affected by motion inertia is obtained from the vibration sequence according to the vibration attenuation coefficients;

[0010] According to the similarity between the corresponding attenuation sequences of any motion inertia subsequence and other vibration sequences at the same time sequence, the vibration consistency coefficient of each motion inertia subsequence corresponding to the vibration sequence is determined;

[0011] The buffer margin at the current moment is determined according to the vibration consistency coefficient and the length of the spring compression at the current moment; and the change in the aperture size is determined according to the buffer margin.

[0012] Further, the step of determining the vibration attenuation coefficient of the corresponding vibration data according to the amplitude change of any vibration data in the vibration sequence in the previous time sequence includes:

[0013] Take any vibration data as the data to be analyzed, and take two other vibration data that are closest to the data to be analyzed in time series as the adjacent data of the data to be analyzed;

[0014] Determining a vibration change amount of the data to be analyzed according to a vibration amplitude change of the adjacent data and the data to be analyzed;

[0015] Calculating the amplitude mean of all vibration data in the vibration sequence, and taking the absolute value of the difference between the vibration amplitude of the data to be analyzed and the amplitude mean as the amplitude difference to be analyzed;

[0016] The vibration attenuation coefficient of the data to be analyzed is determined based on the mean value of the vibration change of the data to be analyzed and all previous vibration data, and the amplitude difference to be analyzed, wherein the mean value of the vibration change of the data to be analyzed and all previous vibration data is positively correlated with the vibration attenuation coefficient, and the amplitude difference to be analyzed is negatively correlated with the vibration attenuation coefficient.

[0017] Further, determining the vibration change amount of the data to be analyzed according to the vibration amplitude change of the adjacent data and the data to be analyzed includes:

[0018] Calculate the absolute value of the vibration amplitude difference between the data to be analyzed and each adjacent data, and take the average as the vibration change of the data to be analyzed.

[0019] Further, the vibration attenuation coefficient of the data to be analyzed is determined according to the average of the vibration changes of the data to be analyzed and all previous vibration data, and the amplitude difference to be analyzed, including:

[0020] The sum of the amplitude difference to be analyzed and a preset non-zero constant is used as the denominator, and the average of the vibration changes of the data to be analyzed and all previous vibration data is used as the numerator, and the vibration attenuation coefficient of the data to be analyzed is obtained by fractional calculation.

[0021] Furthermore, a motion inertia subsequence affected by motion inertia is obtained by screening from the vibration sequence according to the vibration attenuation coefficient, including:

[0022] The vibration data with the largest vibration attenuation coefficient value is taken as a demarcation point, and the vibration data before the demarcation point in the vibration sequence are combined into a motion inertia subsequence.

[0023] Furthermore, according to the similarity between any motion inertia subsequence and the corresponding attenuation sequence of other vibration sequences at the same time sequence, the vibration consistency coefficient of each motion inertia subsequence corresponding to the vibration sequence is determined, including:

[0024] Take any motion inertia subsequence as the target subsequence;

[0025] Determine other vibration sequences starting from the starting point and having the same time sequence length as the target subsequence as the comparison subsequence of the other vibration sequences;

[0026] Performing vibration similarity analysis on the target subsequence and the comparison subsequence to obtain vibration similarity indexes between the target subsequence and each comparison subsequence;

[0027] The average, maximum and minimum values ​​of the vibration similarity indexes between the target subsequence and all the comparison subsequences are normalized as the vibration consistency coefficient.

[0028] Furthermore, the vibration similarity analysis is performed on the target subsequence and the comparison subsequence to obtain the vibration similarity index of the target subsequence and each comparison subsequence, including:

[0029] Based on the dynamic time warping algorithm, the DTW values ​​of the target subsequence and each comparison subsequence are calculated, and the opposite numbers of the DTW values ​​are normalized to the maximum and minimum values ​​to serve as the vibration similarity index between the target subsequence and the comparison subsequence.

[0030] Further, the buffer margin at the current moment is determined according to the vibration consistency coefficient and the length of the spring compression at the current moment, including:

[0031] Calculate the product of the compressed length of the spring at the current moment and the vibration consistency coefficient to obtain the motion inertia influence length;

[0032] The motion inertia influence length is used as the buffer margin at the current moment.

[0033] Further, determining the aperture size change according to the buffer margin includes:

[0034] The product of the buffer margin and the preset aperture unit adjustment amount is used as the aperture size change at the current moment.

[0035] On the other hand, a mechanical claw steering control method is also provided, wherein the method uses a mechanical claw steering control device as described in any one of the above items to perform steering control.

[0036] The present invention has the following beneficial effects:

[0037] The embodiment of the present invention controls the buffering effect of the hydraulic oil by setting an adjustable hydraulic hole, and then when the mechanical claw turns, the hydraulic aperture adjustment block adjusts the position of the hydraulic aperture adjustment block according to the vibration data of the spring reciprocating up and down after the current buffer component stops at each downward pressure stage, so as to adjust the aperture size of the hydraulic hole, adjust the flow rate of the hydraulic oil from the space where the spring is located to the space below the spring limit block, and perform buffering control of the mechanical claw steering. Among them, by determining the vibration consistency coefficient and then analyzing the normality and stability of the vibration, and combining the length of the spring compression at the current moment to determine the buffer margin; and then determining the aperture size change, it is possible to accurately analyze the buffer margin involved by the hydraulic oil, adjust the aperture size of the hydraulic hole, improve the buffering stability, and accurately control the buffering effect of the buffer component, thereby improving the buffering stability of the mechanical claw steering. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A structural diagram of a buffer component of a mechanical claw steering control device provided by one embodiment of the present invention;

[0040] Figure 2 A second viewing angle diagram of a buffer assembly structure of a mechanical claw steering control device provided by one embodiment of the present invention;

[0041] Figure 3 A third perspective view of a buffer assembly structure of a mechanical claw steering control device provided by one embodiment of the present invention;

[0042] Figure 4 A flow chart of a method for adjusting the diameter of a hydraulic hole provided by an embodiment of the present invention;

[0043] The numbers in the figure are: 1, spring limit block; 11, hydraulic hole; 2, hydraulic aperture adjustment block; 3, rotating shaft; 4, servo motor; 51, buffer assembly housing; 52, spring upper push rod; 53, movable rod; 54, spring; 55, fixed thread groove; 56, hexagonal groove. DETAILED DESCRIPTION

[0044] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the specific implementation, structure, features and effects of a mechanical claw steering control device and method proposed by the present invention in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0045] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0046] The specific scheme of the steering control method of a mechanical claw provided by the present invention is described in detail below with reference to the accompanying drawings.

[0047] See also Figure 1-Figure 3 , which shows a structural diagram of a buffer component of a mechanical claw steering control device provided by an embodiment of the present invention and diagrams from different viewing angles, including: a spring limit block 1; a hydraulic hole 11; a hydraulic aperture adjustment block 2; a rotating shaft 3; a servo motor 4; a buffer component housing 51; a spring upper push rod 52; a movable rod 53; a spring 54; a fixed thread groove 55 and a hexagonal groove 56.

[0048] It should be noted that there is hydraulic oil in the inner space of the buffer component housing 51. During the buffering process, the spring 54 is against the spring limit block 1 and compressed to store energy. The enclosed space where the spring 54 is located is connected to the space under the spring limit block 1 through the hydraulic hole 11. There is hydraulic oil in the space. During the buffering process, the hydraulic oil and the spring 54 jointly play a buffering role; and during the buffering process, the servo motor 4 can be turned on to control the rotation of the rotating shaft 3, so that the hydraulic aperture adjustment block 2 moves, so as to adjust the aperture size of the hydraulic hole 11, and accurately control the buffering effect of the buffer device.

[0049] The spring top rod 52 is fixed, and the movable rod 53 is used to compress the spring 54 to move. Alternatively, in other embodiments of the present invention, the movable rod 53 and the spring top rod 52 are connected and move together to compress the spring 54 downward. The fixed thread groove 55 and the hexagonal groove 56 are used to fix the buffer assembly.

[0050] It should be noted that the buffer assembly as a whole is used for hydraulic buffering, that is, during the movement of the mechanical claw, due to the movement inertia of the mechanical rotation itself and environmental factors, slight vibrations will inevitably occur on the corresponding joints of the mechanical claw, thereby affecting the movement process and the stability of grasping objects.

[0051] For example, workpieces of different weights will cause changes in inertial force. For example, during acceleration and deceleration, heavier workpieces will generate greater inertial force, causing more obvious vibration. Secondly, workpieces with irregular shapes or larger sizes will cause uneven weight distribution and large changes in the center of gravity. During the handling process, the shift of the center of gravity will generate an unbalanced torque, causing vibration at the corresponding position of the mechanical claw. It can be summarized as the dynamic load transfer at the corresponding position of the mechanical claw causing vibration. During the movement, the dynamic load of the workpiece (such as the sloshing of liquid in a container) will cause the corresponding position of the mechanical claw to be subjected to vibration forces of different directions and amplitudes. This irregular force will cause vibration at the corresponding position of the mechanical claw.

[0052] When the mechanical claw is driven to move, the buffer part will press down along the screw rod to cause the spring 54 in the buffer assembly to reciprocate up and down. At this time, the vibration condition is mainly affected by the environmental vibration and the movement inertia of the load, and it continues to decay with the effect of the buffer.

[0053] Therefore, in the embodiment of the present invention, when the mechanical claw turns, the hydraulic aperture adjustment block 2 adjusts the position of the hydraulic aperture adjustment block 2 according to the vibration data of the spring 54 reciprocating up and down after the current buffer component stops in each downward pressure stage, so as to adjust the aperture size exposed by the hydraulic hole 11, and then adjust the flow rate of the hydraulic oil from the space where the spring 54 is located to the space below the spring limit block 1, so as to perform buffering control of the steering of the mechanical claw.

[0054] That is to say, after the mechanical claw turns, due to inertia and environmental influences, the mechanical claw will vibrate at the joint position corresponding to the buffer component, and this vibration will affect the stability of the motion control of the mechanical claw itself. Therefore, by providing a buffer component with a spring 54 and hydraulic oil to perform load buffering control, the movement process of the mechanical claw can be quickly stabilized and the stability of the steering control can be improved.

[0055] Among them, the change of vibration data can be used to specifically analyze the hydraulic oil control effect required at the current moment. It can be understood that hydraulic oil shock absorption is essentially the shock absorption of hydraulic oil during the flow process. The regulation of hydraulic oil in this scheme is mainly through the flow rate from the space where the spring 54 is located to the space below the spring limit block 1. That is, the larger the aperture of the hydraulic hole 11, the faster the corresponding flow rate. At this time, the hydraulic oil has a greater buffering effect due to its larger flow rate; and the smaller the aperture of the hydraulic hole 11, the smaller the corresponding flow rate, and the buffering effect of the buffer oil is reduced.

[0056] In the embodiment of the present invention, see Figure 4 , Figure 4 A flow chart of a method for adjusting the diameter of a hydraulic hole provided in one embodiment of the present invention includes:

[0057] S401: Periodically obtain the up and down reciprocating length and vibration data of the spring 54 after the buffer assembly stops at each downward pressure stage, and the vibration data is composed into a vibration sequence according to the time sequence. According to the amplitude change of any vibration data in the vibration sequence before in the time sequence, the vibration attenuation coefficient of the corresponding vibration data is determined.

[0058] Among them, the pressing stage, that is, after the mechanical claw moves, the buffer component is affected by inertia and environmental vibration, which is the buffering process stage. It can be understood that the length of the buffer component cavity is fixed, so the spring cannot be stretched, that is, the buffering process is an overall pressing process to achieve reciprocating motion. In the pressing stage, the first influence is the inertial influence, which decreases with the buffering effect step by step, that is, it shows a decay effect.

[0059] In the embodiment of the present invention, the data acquisition period can be adjusted according to the actual detection accuracy requirement, and optionally, can be specifically 0.01 seconds, that is, the length and vibration data are detected every 0.01 seconds.

[0060] In the embodiment of the present invention, a high-precision vibration sensor can be used to monitor the vibration data in the inner space of the buffer component housing 51, or the movement of the movable rod 53 can be directly monitored to obtain the length and vibration data of the reciprocating length of the spring 54.

[0061] The vibration attenuation coefficient is a numerical representation of the attenuation effect during the spring vibration process. It can be understood that since the inertial buffering effect is constantly weakening, that is, the overall vibration shows an attenuation trend, the vibration change can be called the vibration attenuation coefficient. In the embodiment of the present invention, the amplitude of the vibration data at each moment can be used.

[0062] Further, in some embodiments of the present invention, the vibration attenuation coefficient of the corresponding vibration data is determined according to the amplitude change of any vibration data in the vibration sequence before in time sequence, including: taking any vibration data as the data to be analyzed, and taking two other vibration data that are closest to the data to be analyzed in time sequence as the adjacent data of the data to be analyzed; determining the vibration change amount of the data to be analyzed according to the vibration amplitude change of the adjacent data and the data to be analyzed; calculating the amplitude mean of all vibration data in the vibration sequence, and taking the absolute value of the difference between the vibration amplitude of the data to be analyzed and the amplitude mean as the amplitude difference to be analyzed; determining the vibration attenuation coefficient of the data to be analyzed according to the mean of the vibration change amount of the data to be analyzed and all previous vibration data, and the amplitude difference to be analyzed, wherein the mean of the vibration change amount of the data to be analyzed and all previous vibration data is positively correlated with the vibration attenuation coefficient, and the amplitude difference to be analyzed is negatively correlated with the vibration attenuation coefficient.

[0063] For example, the 100th vibration data in the time series can be used as the data to be analyzed, and the corresponding adjacent data are the 99th and 101st vibration data.

[0064] The vibration variation is the instantaneous vibration variation trend of the data to be analyzed, which can be calculated based on the amplitude variation of the adjacent data and the data to be analyzed.

[0065] It should be noted that, since vibration is a continuous attenuation process under normal circumstances, the vibration change can be the difference between the subsequent vibration amplitude and the previous vibration amplitude in time sequence, which is used as the vibration change amount of the subsequent vibration data.

[0066] Alternatively, in some other embodiments of the present invention, the vibration change amount of the data to be analyzed is determined according to the vibration amplitude change of the adjacent data and the data to be analyzed, including: calculating the absolute value of the vibration amplitude difference between the data to be analyzed and each adjacent data, and taking the average as the vibration change amount of the data to be analyzed. That is, by calculating the vibration amplitude difference of the adjacent data, taking the average as the vibration change amount of the data to be analyzed.

[0067] The specific calculation process of the amplitude difference to be analyzed is as follows: the amplitude mean of all vibration data in the vibration sequence is calculated, and the absolute value of the difference between the vibration amplitude of the data to be analyzed and the amplitude mean is used as the amplitude difference to be analyzed. That is, the amplitude difference to be analyzed characterizes the difference between the vibration amplitude of the data to be analyzed and the mean. The larger the amplitude difference to be analyzed, the greater the difference between the vibration amplitude of the data to be analyzed and the overall average, that is, the vibration amplitude of the data to be analyzed is too large or too small.

[0068] Since the vibration variation indicates the amplitude variation of the data to be analyzed in time series, and the amplitude difference indicates the difference between the amplitude of the data to be analyzed and the overall amplitude, these two features can be combined to represent the amplitude attenuation. Among them, the vibration attenuation coefficient is the intensity of the attenuation effect of the vibration amplitude of the data to be analyzed.

[0069] Furthermore, in some embodiments of the present invention, the vibration attenuation coefficient of the data to be analyzed is determined based on the mean of the vibration change of the data to be analyzed and all previous vibration data, and the amplitude difference to be analyzed, including: taking the sum of the amplitude difference to be analyzed and a preset non-zero constant as the denominator, and the mean of the vibration change of the data to be analyzed and all previous vibration data as the numerator, and obtaining the vibration attenuation coefficient of the data to be analyzed by fractional calculation.

[0070] The preset non-zero constant is a preset constant value that is not 0, which is used to prevent the overall calculation from being meaningless when the amplitude difference to be analyzed is 0. Specifically, the preset non-zero constant is 0.01.

[0071] In other words, the larger the amplitude difference value to be analyzed, the greater the difference between the data to be analyzed and the overall vibration, that is, the more obvious the attenuation effect should be. By using it as the denominator, the influence of the more obvious attenuation effect on the calculation of the vibration attenuation coefficient can be avoided.

[0072] The larger the mean value of the vibration change of the data to be analyzed and all previous vibration data is, the greater the change in the overall vibration amplitude is, that is, the stronger the attenuation effect is, and the larger the value of the vibration attenuation coefficient is. Therefore, the vibration attenuation coefficient of the data to be analyzed is directly calculated by fraction.

[0073] S402: The vibration attenuation coefficients of all vibration data are organized into an attenuation sequence in time sequence; and a motion inertia subsequence affected by motion inertia is obtained from the vibration sequence according to the vibration attenuation coefficients.

[0074] Among them, the vibration attenuation coefficient represents the attenuation characteristics of the corresponding vibration data in time series. Therefore, the attenuation coefficients of all vibration data in the same vibration sequence can be arranged in time series to obtain an attenuation sequence, which can more effectively characterize the amplitude attenuation time series changes of the corresponding vibration sequence.

[0075] It can be understood that since vibrations are generated by the influence of two factors, motion inertia and environmental vibration, each vibration sequence can be divided into two parts, namely the part affected by motion inertia and the part affected by environmental vibration. Environmental vibration is disordered and random, therefore, it is not within the scope of specific analysis and can only be introduced as random vibration. In the actual analysis process, it is necessary to screen out some vibrations affected by motion inertia, and motion inertia usually starts after the end of the movement and lasts for a period of time. That is to say, the vibration sequence from the starting moment to the boundary moment of the motion inertia influence part and the environmental vibration influence part can be used as a motion inertia subsequence.

[0076] It is necessary to conduct a specific analysis of the demarcation moment. Furthermore, in some embodiments of the present invention, a motion inertia subsequence affected by motion inertia is obtained by screening out the vibration sequence according to the vibration attenuation coefficient, including: taking the vibration data with the largest vibration attenuation coefficient value as the demarcation point, and forming the vibration data before the demarcation point in the vibration sequence into a motion inertia subsequence.

[0077] In the moments corresponding to the vibration sequence, the previous moments are affected by the motion inertia, and the attenuation effect changes from small to large, while the subsequent parts gradually increase in attenuation due to the reduction of motion inertia, until the motion inertia does not intervene, leaving only the influence of environmental vibration. Therefore, in the actual calculation process, when the vibration attenuation coefficient has the largest value, it is used as the dividing point, and the previous vibration sequence is used as a subsequence, that is, the motion inertia subsequence.

[0078] S403: Determine the vibration consistency coefficient of the vibration sequence corresponding to each motion inertia subsequence according to the similarity between any motion inertia subsequence and the corresponding attenuation sequence of other vibration sequences at the same time sequence.

[0079] Among them, the vibration consistency coefficient, that is, the consistency index of different vibration sequences under the influence of inertia, can be understood that, in the process of each downward movement of the spring 54, there will be a reciprocating motion of the buffering motion, and then there will be a decreasing trend of the vibration sequence. Since this decreasing trend is actually closely related to the instantaneous load at the location of the buffer, it is manifested as different vibration conditions of the buffer. Therefore, only vibration sequences with similar vibration conditions are comparable. Through the analysis of the vibration consistency coefficient, the vibration sequences with similar vibration conditions are determined. Therefore, according to similar situations, the stability of the vibration sequence can be objectively analyzed, that is, the higher the similarity with other vibration sequences, the stronger its normality and stability. This scheme characterizes this feature through the vibration consistency coefficient.

[0080] Furthermore, in some embodiments of the present invention, the vibration consistency coefficient of the vibration sequence corresponding to each motion inertia subsequence is determined according to the degree of similarity between any motion inertia subsequence and the corresponding attenuation sequence of other vibration sequences at the same time sequence, including: taking any motion inertia subsequence as a target subsequence; determining a sequence of other vibration sequences with the same time sequence length as the target subsequence starting from a starting point as a comparison subsequence of the other vibration sequences; performing vibration similarity analysis on the target subsequence and the comparison subsequence to obtain a vibration similarity index between the target subsequence and each comparison subsequence; and normalizing the average, maximum and minimum values ​​of the vibration similarity indexes between the target subsequence and all comparison subsequences as the vibration consistency coefficient.

[0081] Among them, the similarity analysis is specifically the fluctuation similarity analysis between sequences. In some embodiments of the present invention, the DTW values ​​of the target subsequence and each comparison subsequence can be directly calculated based on the dynamic time warping algorithm, and the opposite numbers of the DTW values ​​are normalized to the maximum and minimum values ​​as the vibration similarity index between the target subsequence and the comparison subsequence.

[0082] The dynamic time warping algorithm is an algorithm well known to those skilled in the art. The DTW value between two sequences is calculated by the dynamic time warping algorithm. The larger the DTW value, the lower the fluctuation similarity between the two sequences. Therefore, the opposite number of the DTW value is normalized to the maximum and minimum values ​​as the vibration similarity index between the target subsequence and the comparison subsequence.

[0083] Of course, in other embodiments of the present invention, other similarity analysis algorithms may also be used to obtain the similarity between the target subsequence and the comparison subsequence to obtain a vibration similarity index.

[0084] It can be understood that the vibration similarity index characterizes the vibration similarity between the target subsequence and a corresponding comparison subsequence, and there are multiple comparison subsequences. Therefore, the mean of the vibration similarity index between the target subsequence and all comparison subsequences can be directly calculated, and the maximum and minimum values ​​are normalized as the vibration consistency coefficient, that is, the vibration consistency coefficient of the target subsequence, which indicates that the vibration of the target subsequence is more consistent with the normal vibration.

[0085] S404: Determine the buffer margin at the current moment according to the vibration consistency coefficient and the compressed length of the spring 54 at the current moment; and determine the aperture size change according to the buffer margin.

[0086] It can be understood that the buffering effect that requires hydraulic oil intervention and adjustment at the current moment, the length of the belt that needs to be buffered and compressed on the spring 54 can be called the buffer margin, that is, the buffering generated by the spring 54 and the buffering generated by the hydraulic oil through the overall buffering effect work together, then the load that the hydraulic oil belt needs to buffer can be regarded as the length to be further compressed on the spring 54, therefore, the length of the spring 54 compressed at the current moment can be combined as the calculation data for the buffer margin.

[0087] At the same time, the vibration consistency coefficient characterizes the stability and normality of the vibration data of the mechanical claw under load changes. The larger the value of the vibration consistency coefficient, the stronger its stability and normality. It can also be used as calculation data for buffer margin.

[0088] In summary, in an embodiment of the present invention, the buffer margin at the current moment is determined based on the vibration consistency coefficient and the compressed length of the spring 54 at the current moment, including: calculating the product of the compressed length of the spring 54 at the current moment and the vibration consistency coefficient to obtain the length affected by motion inertia; and using the length affected by motion inertia as the buffer margin at the current moment.

[0089] Since the greater the compression length of the spring 54 is, the greater the instantaneous load on the spring 54 is at the current moment. At this time, the hydraulic oil is more needed to flow to enhance the buffering effect and share the buffering pressure with the spring 54. At this time, the buffer margin can be increased to enhance the buffering effect. The larger the vibration consistency coefficient value is, the higher the buffering stability is at the current moment. The buffer margin can also be increased to enhance the overall buffering effect. When the vibration consistency coefficient is low, the buffer margin needs to be reduced to ensure overall stability.

[0090] Therefore, in the embodiment of the present invention, the product of the compressed length of the spring 54 and the vibration consistency coefficient at the current moment is calculated to obtain the motion inertia influence length, and the motion inertia influence length is used as the buffer margin at the current moment. In addition, the product of the buffer margin and the preset aperture unit adjustment amount is used as the aperture size change at the current moment.

[0091] It should be noted that the larger the aperture of the hydraulic hole 11, the faster the corresponding flow rate. At this time, the hydraulic oil has a greater buffering effect due to the larger flow rate; and the smaller the aperture of the hydraulic hole 11, the smaller the corresponding flow rate. At this time, the buffering effect of the buffer oil is reduced.

[0092] The preset aperture unit adjustment amount is a preset value for adjusting the aperture according to the buffer margin, and can be specifically set to 0.1 cm in the embodiment of the present invention, that is, the aperture size change increases by 0.1 cm for every 1 cm increase in the buffer margin.

[0093] Furthermore, based on the extraction of the above-mentioned aperture change amount of the current buffering process that has occurred, the rotation of the servo motor is adjusted to cause the hydraulic aperture adjustment block 2 to move, and its movement blocks the hydraulic hole 11 to adjust the aperture size, thereby limiting the flow rate of the hydraulic oil from the space where the spring 54 is located to the space below the spring limit block 1, so as to accurately control the buffering effect of the buffer device.

[0094] The embodiment of the present invention controls the buffering effect of the hydraulic oil by setting an adjustable hydraulic hole, and then when the mechanical claw turns, the hydraulic aperture adjustment block adjusts the position of the hydraulic aperture adjustment block according to the vibration data of the spring reciprocating up and down after the current buffer component stops at each downward pressure stage, so as to adjust the aperture size of the hydraulic hole, adjust the flow rate of the hydraulic oil from the space where the spring is located to the space below the spring limit block, and perform buffering control of the mechanical claw steering. Among them, by determining the vibration consistency coefficient and then analyzing the normality and stability of the vibration, and combining the length of the spring compression at the current moment to determine the buffer margin; and then determining the aperture size change, it is possible to accurately analyze the buffer margin involved by the hydraulic oil, adjust the aperture size of the hydraulic hole, improve the buffering stability, and accurately control the buffering effect of the buffer component, thereby improving the buffering stability of the mechanical claw steering.

[0095] The present invention also provides a mechanical claw steering control method, which uses a mechanical claw steering control device as described above to perform steering control.

[0096] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0097] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A mechanical claw steering control device, comprising a buffer component, wherein the buffer component realizes a buffer function by a spring and hydraulic oil, and is characterized in that: A fixed spring limit block and an adjustable hydraulic aperture adjustment block are provided on the lower side of the spring, wherein the spring limit block includes a hydraulic hole; When the mechanical claw turns, the hydraulic aperture adjustment block adjusts the position of the hydraulic aperture adjustment block according to the vibration data of the spring reciprocating up and down after the current buffer assembly stops at each downward pressure stage, so as to adjust the aperture size of the hydraulic hole, and then adjust the flow rate of the hydraulic oil from the space where the spring is located to the space below the spring limit block, so as to perform buffering control of the mechanical claw turning; The specific process of adjusting the diameter of the hydraulic hole includes: The length and vibration data of the spring reciprocating up and down after the buffer component stops at each pressing stage are periodically obtained. The vibration data are combined into a vibration sequence according to the time sequence. The vibration attenuation coefficient of the corresponding vibration data is determined according to the amplitude change of any vibration data in the vibration sequence before in the time sequence. The vibration attenuation coefficients of all vibration data are combined into an attenuation sequence in time sequence; and a motion inertia subsequence affected by motion inertia is obtained from the vibration sequence according to the vibration attenuation coefficients; According to the similarity between the corresponding attenuation sequences of any motion inertia subsequence and other vibration sequences at the same time sequence, the vibration consistency coefficient of each motion inertia subsequence corresponding to the vibration sequence is determined; Determine the buffer margin at the current moment according to the vibration consistency coefficient and the length of the spring compression at the current moment; determine the aperture size change according to the buffer margin; A motion inertia subsequence affected by motion inertia is obtained by screening the vibration sequence according to the vibration attenuation coefficient, including: The vibration data with the largest vibration attenuation coefficient value is taken as a demarcation point, and the vibration data before the demarcation point in the vibration sequence are combined into a motion inertia subsequence.

2. A mechanical gripper steering control device as claimed in claim 1, characterized in that: The step of determining the vibration attenuation coefficient of the corresponding vibration data according to the amplitude change of any vibration data in the vibration sequence in the time sequence includes: Take any vibration data as the data to be analyzed, and take two other vibration data that are closest to the data to be analyzed in time series as the adjacent data of the data to be analyzed; Determining a vibration change amount of the data to be analyzed according to a vibration amplitude change of the adjacent data and the data to be analyzed; Calculating the amplitude mean of all vibration data in the vibration sequence, and taking the absolute value of the difference between the vibration amplitude of the data to be analyzed and the amplitude mean as the amplitude difference to be analyzed; The vibration attenuation coefficient of the data to be analyzed is determined based on the mean value of the vibration change of the data to be analyzed and all previous vibration data, and the amplitude difference to be analyzed, wherein the mean value of the vibration change of the data to be analyzed and all previous vibration data is positively correlated with the vibration attenuation coefficient, and the amplitude difference to be analyzed is negatively correlated with the vibration attenuation coefficient.

3. A mechanical claw steering control device as claimed in claim 2, characterized in that: The step of determining the vibration change amount of the data to be analyzed according to the vibration amplitude change of the adjacent data and the data to be analyzed comprises: Calculate the absolute value of the vibration amplitude difference between the data to be analyzed and each adjacent data, and take the average as the vibration change of the data to be analyzed.

4. A mechanical claw steering control device as claimed in claim 2, characterized in that: Determining the vibration attenuation coefficient of the data to be analyzed according to the average of the vibration changes of the data to be analyzed and all previous vibration data, and the amplitude difference to be analyzed, includes: The sum of the amplitude difference to be analyzed and a preset non-zero constant is used as the denominator, and the average of the vibration changes of the data to be analyzed and all previous vibration data is used as the numerator, and the vibration attenuation coefficient of the data to be analyzed is obtained by fractional calculation.

5. A mechanical claw steering control device as claimed in claim 1, characterized in that: According to the similarity between the corresponding attenuation sequences of any motion inertia subsequence and other vibration sequences at the same time sequence, the vibration consistency coefficient of each motion inertia subsequence corresponding to the vibration sequence is determined, including: Take any motion inertia subsequence as the target subsequence; Determine other vibration sequences starting from the starting point and having the same time sequence length as the target subsequence as the comparison subsequence of the other vibration sequences; Performing vibration similarity analysis on the target subsequence and the comparison subsequence to obtain vibration similarity indexes between the target subsequence and each comparison subsequence; The average, maximum and minimum values ​​of the vibration similarity indexes between the target subsequence and all the comparison subsequences are normalized as the vibration consistency coefficient.

6. A mechanical claw steering control device as claimed in claim 5, characterized in that: The vibration similarity analysis is performed on the target subsequence and the comparison subsequence to obtain the vibration similarity index of the target subsequence and each comparison subsequence, including: Based on the dynamic time warping algorithm, the DTW values ​​of the target subsequence and each comparison subsequence are calculated, and the opposite numbers of the DTW values ​​are normalized to the maximum and minimum values ​​to serve as the vibration similarity index between the target subsequence and the comparison subsequence.

7. A mechanical gripper steering control device as claimed in claim 1, characterized in that: According to the vibration consistency coefficient and the compressed length of the spring at the current moment, the buffer margin at the current moment is determined, including: Calculate the product of the compressed length of the spring at the current moment and the vibration consistency coefficient to obtain the motion inertia influence length; The motion inertia influence length is used as the buffer margin at the current moment.

8. A mechanical gripper steering control device as claimed in claim 1, characterized in that: Determining the aperture size change according to the buffer margin includes: The product of the buffer margin and the preset aperture unit adjustment amount is used as the aperture size change at the current moment.

9. A method for controlling the steering of a mechanical claw, characterized in that: The method uses a mechanical claw steering control device as described in any one of claims 1 to 8 to perform steering control.

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