Intelligent control system and method for heavy-load material taking manipulator for high-temperature operation in forging and pressing workshop

Abstract

The invention discloses an intelligent control system and method for a heavy-load material taking manipulator for high-temperature operation in a forging and pressing workshop, and relates to the technical field of intelligent control of manipulators. The intelligent control system of the heavy-load material taking manipulator for high-temperature operation in the forging and pressing workshop comprises a material change stability evaluation module; a stress change stability evaluation module; and an energy loss stability evaluation module. According to the method, the stress change stability evaluation value is obtained by combining the stress data of the manipulator, the material change stability evaluation value and the reference stress data, and whether stress control adjustment is carried out or not is judged; and an energy loss stability evaluation value is obtained based on the manipulator energy loss data, the material change stability evaluation value and the reference energy loss data, and whether energy loss control adjustment is carried out or not is judged, so that the effect of improving the stability of the heavy-load material taking manipulator during high-temperature operation in the forging and pressing workshop is achieved. The problem that in the prior art, a heavy-load material taking mechanical arm is low in stability during high-temperature operation in a forging and pressing workshop is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control of manipulators, and in particular to an intelligent control system and method for a heavy-loaded material-retrieving manipulator operating at high temperatures in a forging workshop. Background Art

[0002] In the forging workshop, due to the harsh working environment, high temperature, heavy load and other conditions, traditional manual operation is not only inefficient, but also has great safety hazards. Therefore, the use of intelligent manipulators for automated operations has become an inevitable trend. The application of manipulator handling in the foundry industry can greatly improve the production efficiency and quality stability of castings, effectively reduce the labor intensity of workers, avoid some personal injury accidents and occupational diseases, and also have a positive effect on business promotion. Through the intelligent transformation of traditional manual handling of castings, industrial robots can use appropriate action modes at the right time and workstation to achieve appropriate functions. When the ideal casting position is determined, the robot will operate strictly according to the program, so that the process can achieve extremely high repeatability, ensuring the stability of the shell quality and the controllability of the production rhythm; the robot's maximum handling capacity can reach 100kg, and the arm span can reach 3.5m, which overcomes all the difficulties of labor-intensive manual operation in one fell swoop, perfectly combines strength and precision, and greatly improves production efficiency. Moreover, it can automatically collect information from each link and feedback it to the computer to achieve seamless connection with management software such as ERP.

[0003] The existing system mainly monitors the working environment and the movement status of the robot in real time by integrating temperature sensors, position sensors, etc.

[0004] For example, the high-temperature intelligent manipulator, control system and control method disclosed in the invention patent with announcement number CN103144117B include: a frame, a servo motor, a servo cylinder, a hinge seat, a transmission rod, a scraper rod and a stand. Three servo motors are hinged on the frame, two of which are arranged horizontally, and the other is hinged below the vertical center line of the two horizontal servo motors. The three servo motors are respectively connected to a servo cylinder, and the telescopic ends of the three servo cylinders are ball-hinged on the hinge seat. One end of the transmission rod is fixedly connected to the hinge seat, and the other end passes through the stand and is hinged to the middle part of the scraper rod. The contact point between the transmission rod and the stand is ball-hinged, the lower end of the scraper rod is ball-hinged with the stand, and a scraper is arranged at the upper end.

[0005] For example, the invention patent with announcement number CN116533254B announces a workshop manipulator collaborative control system, including: a transmission unit, which includes a product conveyor belt arranged on the workshop assembly line, for conveying the products produced in the workshop from one end to the other end, and the driving speed of the product conveyor belt is adjustable; a manipulator unit, which includes an operating manipulator and an auxiliary manipulator, a transfer unit, which includes a transfer conveyor belt, an inventory baffle, a shipping baffle and a storage platform, a detection unit, which is arranged on one side of the product conveyor belt, for detecting the number of products conveyed on the product conveyor belt, and calculating the real-time transmission speed of the product according to the number of products conveyed on the product conveyor belt within a unit time; a central control unit, which is respectively connected to the transmission unit, the manipulator unit, the transfer unit and the detection unit.

[0006] However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the present application found that the above technology has at least the following technical problems: In the prior art, in complex environments such as high temperature and heavy load, the flexibility of the robot is further restricted, causing the robot to shake or impact, resulting in low stability of the heavy-loaded material-retrieving robot when operating at high temperatures in a forging workshop. Summary of the invention

[0007] The embodiments of the present application solve the problem of low stability of heavy-loaded material-retrieving robots in the prior art when operating at high temperatures in forging workshops by providing an intelligent control system and method for heavy-loaded material-retrieving robots operating at high temperatures in forging workshops, thereby improving the stability of heavy-loaded material-retrieving robots when operating at high temperatures in forging workshops.

[0008] The embodiment of the present application provides an intelligent control system for a heavy-duty material-retrieving manipulator operating at high temperatures in a forging workshop, including a material change smoothness evaluation module, a force change smoothness evaluation module, and an energy loss smoothness evaluation module: wherein the material change smoothness evaluation module is used to obtain a material change smoothness evaluation value through acquired manipulator material change data and reference material change data, and the material change smoothness evaluation value is used to evaluate the stability of the heavy-duty material-retrieving manipulator when the material of the heavy-duty material-retrieving manipulator changes in the high-temperature environment of the forging workshop; the force change smoothness evaluation module is used to obtain a force change smoothness evaluation value through acquired manipulator force data, material change smoothness evaluation value, and reference force data The change stability evaluation value is used to determine whether to perform force control adjustment based on the force change stability evaluation value, and the force change stability evaluation value is used to evaluate the stability of the heavy-duty material picking manipulator when the force of the heavy-duty material picking manipulator changes in the high temperature environment of the forging workshop; the energy loss stability evaluation module is used to obtain the energy loss stability evaluation value through the acquired manipulator energy loss data, the material change stability evaluation value and the reference energy loss data, and determine whether to perform energy loss control adjustment based on the energy loss stability evaluation value, and the energy loss stability evaluation value is used to evaluate the stability of the heavy-duty material picking manipulator when the heavy-duty material picking manipulator loses energy in the high temperature environment of the forging workshop.

[0009] Furthermore, the manipulator material change data is obtained through a preset first monitoring device; the preset first monitoring device includes a laser rangefinder, a temperature sensor and a pressure sensor; the manipulator material change data includes the manipulator length, the temperature change and the manipulator applied force, and the manipulator material change data is used to describe the expansion and stiffness change of the heavy-loaded material picking manipulator in the high temperature environment of the forging workshop; the reference material change data includes the linear expansion coefficient, the preset change threshold, the preset stiffness threshold, the preset first stability weight and the preset second stability weight obtained from a preset database.

[0010] Furthermore, the manipulator force data is obtained through a preset second monitoring device; the preset second monitoring device includes a speed sensor and a digital push-pull force gauge; the manipulator force data includes the manipulator normal force and the manipulator speed, and the manipulator force data is used to describe the force condition of the heavy-loaded material picking manipulator in the high temperature environment of the forging workshop; the reference force data includes the friction coefficient, damping coefficient, preset friction force threshold and preset damping force threshold obtained from a preset database.

[0011] Furthermore, the manipulator energy loss data is obtained through a preset third monitoring device; the preset third monitoring device includes a displacement sensor and a speed sensor; the manipulator energy loss data includes a first moving distance of the manipulator, a second moving distance of the manipulator, a normal force of the manipulator and a speed of the manipulator, and the manipulator energy loss data is used to describe the energy loss of a heavy-loaded material picking manipulator in a high-temperature environment of a forging workshop; the first moving distance of the manipulator represents the distance moved by the heavy-loaded material picking manipulator due to friction within a preset time period of the heavy-loaded material picking manipulator operating at high temperature; the second moving distance of the manipulator represents the distance moved by the heavy-loaded material picking manipulator due to damping force within a preset time period of the heavy-loaded material picking manipulator operating at high temperature; the reference energy loss data includes a preset friction energy loss threshold and a preset damping energy loss threshold obtained from a preset database.

[0012] Furthermore, the specific process of obtaining the material change stability evaluation value by obtaining the manipulator material change data and the reference material change data is as follows: obtaining the thermal expansion deviation value by preset change threshold, manipulator length, temperature change and linear expansion coefficient, and the thermal expansion deviation value is used to reflect the deviation of the expansion of the heavy-loaded material-taking manipulator material in the high-temperature environment of the forging workshop; obtaining the stiffness deviation value by preset stiffness threshold, manipulator applied force, manipulator length, temperature change and linear expansion coefficient, and the stiffness deviation value is used to reflect the deviation of the stiffness change of the heavy-loaded material-taking manipulator material in the high-temperature environment of the forging workshop; multiplying and adding the thermal expansion deviation value, the stiffness deviation value, the preset first stability weight and the preset second stability weight to obtain the material change stability evaluation value; the restriction expression of the material change stability evaluation value is as follows: ; ; ; In the formula, It represents the evaluation value of the material change stability of the heavy-load reclaiming manipulator in the kth preset time period, , k represents the number of the preset time period, h represents the total number of preset time periods, It represents the thermal expansion deviation value of the heavy-loaded material-retrieving manipulator in the kth preset time period. It represents the stiffness deviation value of the heavy-loaded material-retrieving manipulator in the kth preset time period. represents the manipulator length of the heavy-load reclaiming manipulator in the kth preset time period, It represents the temperature change of the heavy-load reclaiming manipulator in the kth preset time period. represents the force applied by the heavy-load reclaiming manipulator during the kth preset time period, represents the linear expansion coefficient, Indicates the preset change threshold. represents the preset stiffness threshold, represents the preset first stationarity weight, represents the preset second stability weight, and e represents a natural constant.

[0013] Furthermore, the specific process of obtaining the force change stability evaluation value by obtaining the manipulator force data, the material change stability evaluation value and the reference force data is as follows: the friction coefficient and the manipulator normal force are multiplied to obtain the initial friction value; the initial friction value and the preset friction threshold are added to obtain the initial friction deviation value; the initial friction deviation value and the preset friction threshold are ratioed to obtain the friction deviation value, and the friction deviation value is represented by the result of the division operation of the initial friction deviation value and the preset friction threshold; the damping coefficient and the manipulator at the preset time are divided. The initial damping value is obtained by multiplying the average speed of the interval, and the initial damping value is represented by the result of summing and multiplying the damping coefficient and the manipulator speed; the initial damping value and the preset damping force threshold are added to obtain the initial damping deviation value; the initial damping deviation value and the preset damping force threshold are ratio-operated to obtain the damping deviation value, and the damping deviation value is represented by the result of dividing the initial damping deviation value and the preset damping force threshold; the friction deviation value, the damping deviation value and the material change smoothness evaluation value are calculated to obtain the force change smoothness evaluation value.

[0014] Furthermore, the specific process of obtaining the energy loss stability evaluation value by obtaining the manipulator energy loss data, the material change stability evaluation value and the reference energy loss data is as follows: the friction coefficient, the manipulator normal force and the manipulator first moving distance are multiplied to obtain the initial friction energy loss value; the initial friction energy loss value and the preset friction energy loss threshold are added to obtain the initial friction energy loss deviation value; the initial friction energy loss deviation value and the preset friction energy loss threshold are ratioed to obtain the friction energy loss deviation value, and the friction energy loss deviation value is used to reflect the deviation of the friction energy loss of the heavy-loaded material-taking manipulator in the high temperature environment of the forging workshop; the damping coefficient, the manipulator speed The initial damping energy loss value is calculated by the second moving distance of the manipulator, and the initial damping energy loss value is used to reflect the damping energy loss of the heavy-loaded material-retrieving manipulator in the high temperature environment of the forging workshop; the initial damping energy loss value and the preset damping energy loss threshold are added to obtain the initial damping energy loss deviation value; the initial damping energy loss deviation value and the preset damping energy loss threshold are ratio-calculated to obtain the damping energy loss deviation value, and the damping energy loss deviation value is used to reflect the deviation of the damping energy loss of the heavy-loaded material-retrieving manipulator in the high temperature environment of the forging workshop; the friction energy loss deviation value, the damping energy loss deviation value and the material change stability evaluation value are calculated to obtain the energy loss stability evaluation value.

[0015] Furthermore, the specific process of judging whether to perform force control adjustment based on the force variation smoothness evaluation value is as follows: JK1, judging whether the force variation smoothness evaluation value is not lower than the preset force threshold value, and not performing force control adjustment when the force variation smoothness evaluation value is not lower than the preset force threshold value, otherwise executing JK2; JK2, sending a prompt to the preset personnel to apply a coating on the contact surface of the heavy-duty material-retrieving robot, and stopping the adjustment when the monitored force variation smoothness evaluation value is not lower than the preset force threshold value, and the force variation smoothness evaluation value monitored after coating is applied. When the value is still lower than the preset force threshold, execute JK3. The coating includes polytetrafluoroethylene and molybdenum disulfide. The coating is used to reduce the damping and friction of the heavy-loaded material-retrieving robot; JK3, send a prompt to the preset personnel to add a heat dissipation device type to the heavy-loaded material-retrieving robot. When the monitored force change smoothness evaluation value is not lower than the preset force threshold, stop adjusting. After adding the heat dissipation device type, when the monitored force change smoothness evaluation value is still lower than the preset force threshold, feedback is given to the preset personnel to stop high-temperature operation. The heat dissipation device includes a cooling fan and a heat sink.

[0016] Furthermore, the specific process of judging whether to perform energy loss control adjustment based on the energy loss stability evaluation value is as follows: JM1, judging whether the energy loss stability evaluation value is not lower than the preset energy loss threshold, and not performing energy loss control adjustment when the energy loss stability evaluation value is not lower than the preset energy loss threshold, otherwise executing JM2; JM2, increasing the movement speed of the heavy-duty material-retrieving manipulator by a preset multiple, and stopping the adjustment when the monitored energy loss stability evaluation value is not lower than the preset energy loss threshold, and executing JM3 when the monitored energy loss stability evaluation value is still lower than the preset energy loss threshold after the movement speed of the heavy-duty material-retrieving manipulator is increased by a preset multiple, and the movement speed of the heavy-duty material-retrieving manipulator does not exceed the preset maximum speed; JM3, sending a prompt to the preset personnel to add an obstruction element at the joint of the heavy-duty material-retrieving manipulator, and stopping the adjustment when the monitored energy loss stability evaluation value is not lower than the preset energy loss threshold, and feeding back to the preset personnel to stop high-temperature operation when the monitored energy loss stability evaluation value is still lower than the preset energy loss threshold after adding the obstruction element, and the obstruction element includes a friction plate and a damping element.

[0017] The embodiment of the present application provides an intelligent control method for a heavy-duty material-retrieving manipulator for high-temperature operation in a forging workshop, comprising the following steps: S1, obtaining a material change stability evaluation value by obtaining manipulator material change data and reference material change data, wherein the material change stability evaluation value is used to evaluate the stability of the heavy-duty material-retrieving manipulator when the material of the heavy-duty material-retrieving manipulator changes in the high-temperature environment of the forging workshop; S2, obtaining a force change stability evaluation value by obtaining manipulator force data, material change stability evaluation value and reference force data, and judging the stability of the material change stability based on the force change stability evaluation value. Whether to perform force control adjustment, the force change smoothness evaluation value is used to evaluate the stability of the heavy-duty material picking manipulator when the force of the heavy-duty material picking manipulator changes in the high temperature environment of the forging workshop; S3, obtain the energy loss smoothness evaluation value through the obtained manipulator energy loss data, material change smoothness evaluation value and reference energy loss data, and judge whether to perform energy loss control adjustment based on the energy loss smoothness evaluation value. The energy loss smoothness evaluation value is used to evaluate the stability of the heavy-duty material picking manipulator when the heavy-duty material picking manipulator loses energy in the high temperature environment of the forging workshop.

[0018] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. By combining the acquired manipulator force data, material change stability evaluation value, and reference force data to obtain the force change stability evaluation value and determine whether to perform force control adjustment, and then combining the manipulator energy loss data, material change stability evaluation value, and reference energy loss data to obtain the energy loss stability evaluation value and determine whether to perform energy loss control adjustment, a dynamic evaluation of the stability of the heavy-loaded material-retrieving manipulator is achieved, thereby achieving improved stability of the heavy-loaded material-retrieving manipulator when operating at high temperatures in the forging workshop, effectively solving the problem of low stability of the heavy-loaded material-retrieving manipulator when operating at high temperatures in the forging workshop in the prior art.

[0019] 2. The material change stability evaluation value is obtained by multiplying and adding the obtained thermal expansion deviation value, stiffness deviation value, preset first stability weight and preset second stability weight, thereby improving the real-time performance of obtaining stability data related to the heavy-duty material picking robot, and further improving the accuracy of evaluating the stability of the heavy-duty material picking robot when the material changes in the high temperature environment of the forging workshop.

[0020] 3. The force change smoothness evaluation value is obtained by calculating the friction deviation value, the damping deviation value and the material change smoothness evaluation value, and then the energy loss smoothness evaluation value is obtained by calculating the friction energy loss deviation value, the damping energy loss deviation value and the material change smoothness evaluation value, thereby achieving improved accuracy in evaluating the stability of the heavy-loaded material picking manipulator when the force change and energy loss of the heavy-loaded material picking manipulator are under the high temperature environment of the forging workshop, thereby achieving improved accuracy in evaluating the stability of the heavy-loaded material picking manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the structure of an intelligent control system for a heavy-duty material-retrieving manipulator for high-temperature operation in a forging workshop provided in an embodiment of the present application; Figure 2 A statistical diagram of changes in the material change stability evaluation value provided in the embodiment of the present application; Figure 3 A flow chart of an intelligent control method for a heavy-duty material-retrieving manipulator for high-temperature operation in a forging workshop provided in an embodiment of the present application; Figure 4 This is a structural diagram of the heavy-duty material retrieving robot control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] The embodiment of the present application solves the problem of low stability of heavy-loaded material-retrieving robots in the prior art when working at high temperatures in forging and press workshops by providing an intelligent control system and method for heavy-loaded material-retrieving robots working at high temperatures in forging and press workshops. A material change stability evaluation value is obtained by obtaining material change data of the robot and reference material change data, and then a force change stability evaluation value is obtained by obtaining force data of the robot, a material change stability evaluation value and reference force data. Based on the force change stability evaluation value, it is determined whether to perform force control adjustment. Finally, an energy loss stability evaluation value is obtained by obtaining energy loss data of the robot, a material change stability evaluation value and reference energy loss data. Based on the energy loss stability evaluation value, it is determined whether to perform energy loss control adjustment, thereby improving the stability of the heavy-loaded material-retrieving robot working at high temperatures in the forging and press workshop.

[0023] The technical solution in the embodiment of the present application is to solve the problem of low stability of the above-mentioned heavy-loaded material-retrieving manipulator when operating at high temperature in a forging workshop. The overall idea is as follows: By combining the acquired manipulator force data, material change smoothness evaluation value, and reference force data, the force change smoothness evaluation value is obtained and it is judged whether to make force control adjustment. Then, based on the manipulator energy loss data, material change smoothness evaluation value, and reference energy loss data, the energy loss smoothness evaluation value is obtained and it is judged whether to make energy loss control adjustment. The effect of improving the stability of the heavy-loaded material picking manipulator when operating at high temperatures in the forging workshop is achieved.

[0024] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0025] like Figure 1 As shown, it is a schematic diagram of the structure of the intelligent control system of the heavy-duty material picking robot for high-temperature operation in a forging workshop provided in an embodiment of the present application, including a material change smoothness evaluation module, a force change smoothness evaluation module and an energy loss smoothness evaluation module: wherein, the material change smoothness evaluation module is used to obtain a material change smoothness evaluation value through the acquired manipulator material change data and the reference material change data, and the material change smoothness evaluation value is used to evaluate the stability of the heavy-duty material picking robot when the material of the heavy-duty material picking robot changes in the high-temperature environment of the forging workshop.

[0026] The force variation smoothness assessment module is used to obtain the force variation smoothness assessment value through the acquired manipulator force data, material variation smoothness assessment value and reference force data, and judge whether to perform force control adjustment based on the force variation smoothness assessment value. The force variation smoothness assessment value is used to assess the stability of the heavy-loaded material picking manipulator when the force of the heavy-loaded material picking manipulator changes in the high temperature environment of the forging workshop. The force control adjustment is used to adjust the force variation smoothness assessment value to not less than the preset force threshold.

[0027] The energy loss stability assessment module is used to obtain the energy loss stability assessment value through the acquired manipulator energy loss data, material change stability assessment value and reference energy loss data, and judge whether to perform energy loss control adjustment based on the energy loss stability assessment value. The energy loss stability assessment value is used to evaluate the stability of the heavy-loaded material retrieving robot when the heavy-loaded material retrieving robot loses energy in the high temperature environment of the forging workshop. The energy loss control adjustment is used to adjust the energy loss stability assessment value to not less than the preset energy loss threshold.

[0028] Among them, the manipulator material change data is obtained through the preset first monitoring device; the preset first monitoring device includes a laser rangefinder, a temperature sensor and a pressure sensor; the manipulator material change data includes the manipulator length, temperature change and manipulator applied force. Specifically, the length of the heavy-duty retrieving manipulator is measured by a laser rangefinder, the temperature change on the surface of the heavy-duty retrieving manipulator within a preset time period is measured by a temperature sensor, and the force applied by the heavy-duty material to the heavy-duty retrieving manipulator is measured by a pressure sensor. The manipulator material change data is used to describe the expansion and stiffness change of the heavy-duty retrieving manipulator material in the high temperature environment of the forging workshop.

[0029] The reference material change data includes a linear expansion coefficient, a preset change threshold, a preset stiffness threshold, a preset first stability weight, and a preset second stability weight obtained from a preset database. The preset first stability weight is used to evaluate the influence of the expansion of the material of the heavy-duty reclaiming manipulator during the preset time period of the high-temperature operation of the heavy-duty reclaiming manipulator on the material change stability evaluation value, and the preset second stability weight is used to evaluate the influence of the stiffness change of the material of the heavy-duty reclaiming manipulator during the preset time period of the high-temperature operation of the heavy-duty reclaiming manipulator on the material change stability evaluation value.

[0030] Specifically, the linear expansion coefficient is represented by the average value of the linear expansion coefficient data of the surface when the heavy-loaded material picking robot picks up materials in the historical time period in the preset database, the preset change threshold is represented by the average value of the length change data of the heavy-loaded material picking robot in the historical time period in the preset database, and the preset stiffness threshold is represented by the average value of the stiffness change data of the heavy-loaded material picking robot in the historical time period in the preset database.

[0031] Specifically, the sum of the preset first stability weight and the preset second stability weight is 1, for example, the preset first stability weight is 0.5, and the preset second stability weight is 0.5; the preset first stability weight is the weight corresponding to the preset thermal expansion change value in the preset database, which represents the influence of the thermal expansion change value on the material change stability assessment value. When used, the weight corresponding to the preset thermal expansion change value can be directly obtained from the preset database, and the corresponding relationship can be a pre-set mapping relationship. For example, the thermal expansion change in the high-temperature material collection training set of the heavy-duty material collection manipulator and the weight corresponding to the thermal expansion change value preset in the preset database form a mapping set, and the real-time thermal expansion change is input into the mapping set to obtain the corresponding weight, wherein the mapping relationship can be a one-to-one correspondence or a many-to-one relationship. In this example, its value range is [0, 1].

[0032] Among them, the force data of the manipulator is obtained through a preset second monitoring device; the preset second monitoring device includes a speed sensor and a digital push-pull force gauge; the force data of the manipulator includes the normal force of the manipulator and the speed of the manipulator, and the force data of the manipulator is used to describe the force condition of the heavy-loaded material-retrieving manipulator in the high temperature environment of the forging workshop.

[0033] The reference force data includes a friction coefficient, a damping coefficient, a preset friction force threshold, and a preset damping force threshold obtained from a preset database.

[0034] The preset friction force threshold is represented by the average value of the friction force data of the heavy-loaded material picking robot in the historical time period in the preset database. The preset damping force threshold is represented by the average value of the damping force data of the heavy-loaded material picking robot in the historical time period in the preset database. The friction coefficient is represented by the average value of the friction coefficient data of the heavy-loaded material picking robot when picking materials in the historical time period in the preset database. The damping coefficient is represented by the average value of the damping coefficient data of the heavy-loaded material picking robot when picking materials in the historical time period in the preset database.

[0035] Among them, the manipulator energy loss data is obtained through a preset third monitoring device; the preset third monitoring device includes a displacement sensor and a speed sensor; the manipulator energy loss data includes the manipulator's first moving distance, the manipulator's second moving distance, the manipulator's normal force and the manipulator's speed, and the manipulator energy loss data is used to describe the energy loss of the heavy-loaded material picking manipulator in the high temperature environment of the forging workshop; the manipulator's first moving distance represents the distance the heavy-loaded material picking manipulator moves due to friction within a preset time period of the heavy-loaded material picking manipulator's high temperature operation; the manipulator's second moving distance represents the distance the heavy-loaded material picking manipulator moves due to damping force within a preset time period of the heavy-loaded material picking manipulator's high temperature operation.

[0036] It needs to be understood that the normal force of the heavy-loaded material picking robot is measured by the digital push-pull force gauge connected to the heavy-loaded material picking robot, and the average value is obtained to obtain the normal force of the heavy-loaded material picking robot. The speed sensor is used to measure the rotation speed of the joint of the heavy-loaded material picking robot as the speed of the heavy-loaded material picking robot. The displacement sensor is used to measure the first moving distance and the second moving distance of the heavy-loaded material picking robot with and without a damping device or coating.

[0037] The reference energy loss data includes a preset friction energy loss threshold and a preset damping energy loss threshold obtained from a preset database.

[0038] The preset friction energy loss threshold is represented by the average value of the friction energy loss data of the heavy-loaded material retrieving manipulator in the historical time period in the preset database, and the preset damping energy loss threshold is represented by the average value of the damping energy loss data of the heavy-loaded material retrieving manipulator in the historical time period in the preset database.

[0039] In this embodiment, the relationship between the material change stability evaluation value, the force change stability evaluation value and the energy loss stability evaluation value is interdependent and influential. The stability of the material is the basis, and the material change stability evaluation value directly or indirectly affects the stability of force and energy loss; the heavy-duty material reclaiming manipulator can be driven by a hydraulic wheel motor under high temperature conditions (generally 50 degrees Celsius to 60 degrees Celsius), and the actuator, drive mechanism, control system and position detection equipment are all important components of the heavy-duty material reclaiming manipulator. A stable Siemens PLC (Programmable Logic Controller) or Beckhoff PLC is used as the control core of the control system, and a pulse positioning module and a position control module are provided for the positioning control of the servo system; the stability of the heavy-duty material reclaiming manipulator is improved when operating at high temperatures in a forging workshop.

[0040] Furthermore, the specific process of obtaining the material change stability evaluation value through the obtained manipulator material change data and the reference material change data is as follows: the thermal expansion deviation value is obtained by the preset change threshold, manipulator length, temperature change and linear expansion coefficient, and the thermal expansion deviation value is used to reflect the deviation of the expansion of the heavy-loaded material-taking manipulator material under the high temperature environment of the forging workshop; the stiffness deviation value is obtained by the preset stiffness threshold, manipulator applied force, manipulator length, temperature change and linear expansion coefficient, and the stiffness deviation value is used to reflect the deviation of the stiffness change of the heavy-loaded material-taking manipulator material under the high temperature environment of the forging workshop; the thermal expansion deviation value, the stiffness deviation value, the preset first stability weight and the preset second stability weight are multiplied and added to obtain the material change stability evaluation value; the restricted expression of the material change stability evaluation value is as follows: ; ; ; In the formula, It represents the evaluation value of the material change stability of the heavy-load reclaiming manipulator in the kth preset time period, , k represents the number of the preset time period, h represents the total number of preset time periods, It represents the thermal expansion deviation value of the heavy-loaded material-retrieving manipulator in the kth preset time period. It represents the stiffness deviation value of the heavy-loaded material-retrieving manipulator in the kth preset time period. represents the manipulator length of the heavy-load reclaiming manipulator in the kth preset time period, It represents the temperature change of the heavy-load reclaiming manipulator in the kth preset time period. represents the force applied by the heavy-load reclaiming manipulator during the kth preset time period, represents the linear expansion coefficient, Indicates the preset change threshold. represents the preset stiffness threshold, represents the preset first stationarity weight, represents the preset second stability weight, and e represents a natural constant.

[0041] In this embodiment, the algorithm of this embodiment combines the material change data of the heavy-duty material picking robot for comprehensive analysis to obtain an accuracy evaluation value. The material change data of the heavy-duty material picking robot in the algorithm of this embodiment does not exist independently, but is interrelated. The smaller the force applied by the heavy-duty material picking robot, it does not mean that the material change stability evaluation value is larger. The influence of the length and temperature change of the heavy-duty material picking robot should also be considered comprehensively. The high temperature environment will cause thermal expansion of the material of the heavy-duty material picking robot, thereby increasing the length of the heavy-duty material picking robot. High temperature may reduce the strength and stiffness of the material of the heavy-duty material picking robot, making it more likely to deform when force is applied. The increase in the length of the heavy-duty material picking robot may require a greater applied force to maintain the stability of its structure. The parameters of the algorithm of this embodiment need to consider their impact on the results together.

[0042] Specifically, the thermal expansion deviation value The range is 0.1-1, the stiffness deviation value The range is 0.1-1, and the first stability weight is preset is 0.5, and the second stability weight is preset is 0.5, such as Figure 2 As shown, the statistical diagram of the change of the material change stability evaluation value provided by this application is implemented, by Figure 2 It can be seen that when the stiffness deviation value When the thermal expansion deviation is 0.5, The gradual increase of the material change stability assessment value gradually increases. When the thermal expansion deviation value When the stiffness deviation is 0.5, The material change stability evaluation value gradually increases, which means that the stability of the heavy-duty reclaimer manipulator gradually increases when the material changes in the high-temperature environment of the forging workshop. In the forging workshop, it is often necessary to carry heavy and irregularly shaped materials. The heavy-duty reclaimer manipulator can accurately and stably grasp and carry these materials to ensure the smooth progress of the production process; it realizes the improvement of the stability of the heavy-duty reclaimer manipulator when operating at high temperatures in the forging workshop.

[0043] Furthermore, the specific process of obtaining the force change stability evaluation value through the obtained manipulator force data, material change stability evaluation value and reference force data is as follows: the friction coefficient and the normal force of the manipulator are multiplied to obtain the initial friction value, and the initial friction value is represented by the result of the product operation of the friction coefficient and the normal force of the manipulator; the initial friction value and the preset friction threshold are added to obtain the initial friction deviation value, and the initial friction deviation value is represented by the result of the addition operation of the initial friction value and the preset friction threshold; the initial friction deviation value and the preset friction threshold are ratioed to obtain the friction deviation value, and the friction deviation value is represented by the result of the division operation of the initial friction deviation value and the preset friction threshold. The initial damping value is represented by the summation and product of the damping coefficient and the manipulator speed; the initial damping value and the preset damping force threshold are added to obtain the initial damping deviation value, and the initial damping deviation value is represented by the result of the addition operation of the initial damping value and the preset damping force threshold; the initial damping deviation value and the preset damping force threshold are ratioed to obtain the damping deviation value, and the damping deviation value is represented by the result of the division operation of the initial damping deviation value and the preset damping force threshold; the friction deviation value, the damping deviation value and the material change smoothness evaluation value are calculated to obtain the force change smoothness evaluation value.

[0044] The limiting expression of the evaluation value of the force change stability is as follows: ; ; ; In the formula, It represents the evaluation value of the stability of the force change of the heavy-loaded material-retrieving manipulator in the kth preset time period, , k represents the number of the preset time period, h represents the total number of preset time periods, It represents the friction deviation value of the heavy-loaded material-retrieving manipulator in the kth preset time period, It represents the damping deviation value of the heavy-load reclaiming manipulator in the kth preset time period. It represents the evaluation value of the material change stability of the heavy-load reclaiming manipulator in the kth preset time period, represents the normal force of the heavy-load reclaiming manipulator in the kth preset time period, represents the manipulator speed of the heavy-load reclaiming manipulator in the kth preset time period, represents the friction coefficient, represents the damping coefficient, Indicates the preset friction threshold, represents the preset damping force threshold, and e represents a natural constant.

[0045] In this embodiment, the algorithm of this embodiment combines the force data of the heavy-duty material picking manipulator and the material change stability evaluation value for comprehensive analysis to obtain the force change stability evaluation value. In the algorithm of this embodiment, the force data of the heavy-duty material picking manipulator and the material change stability evaluation value are not independent, but are interrelated. The smaller the normal force of the heavy-duty material picking manipulator and the smaller the speed of the heavy-duty material picking manipulator, it does not mean that the force change stability evaluation value is larger. The influence of the material change stability evaluation value should also be considered comprehensively. The smaller the normal force of the heavy-duty material picking manipulator, the pressure applied by the heavy-duty material picking manipulator when grabbing an object may be reduced in order to maintain the grasping stability. The larger the normal force of the heavy-duty material picking manipulator, the more likely it is that the structural stress caused by the thermal expansion of the material will be aggravated, thereby resulting in a decrease in the material change stability evaluation value. The parameters of the algorithm of this embodiment need to be considered together and simultaneously for their impact on the results. In the production process, the performance changes of the manipulator can be timely discovered by monitoring the material change stability evaluation value, and maintenance measures can be taken to extend the service life of the manipulator. The stability of the heavy-duty material picking manipulator is improved when operating at high temperatures in a forging workshop.

[0046] Furthermore, the specific process of obtaining the energy loss stability evaluation value by using the acquired manipulator energy loss data, material change stability evaluation value and reference energy loss data is as follows: the friction coefficient, the manipulator normal force and the manipulator's first moving distance are multiplied to obtain the initial friction energy loss value, and the initial friction energy loss value is used to reflect the friction energy loss of the heavy-loaded material-retrieving manipulator in the high-temperature environment of the forging workshop; the initial friction energy loss value and the preset friction energy loss threshold are added to obtain the initial friction energy loss deviation value, and the initial friction energy loss deviation value is represented by the result of the addition of the initial friction energy loss value and the preset friction energy loss threshold; the initial friction energy loss deviation value and the preset friction energy loss threshold are ratioed to obtain the friction energy loss deviation value, and the friction energy loss deviation value is used to reflect the friction energy of the heavy-loaded material-retrieving manipulator in the high-temperature environment of the forging workshop. The deviation of the loss; the damping coefficient, the manipulator speed and the second moving distance of the manipulator are calculated to obtain the initial damping energy loss value, and the initial damping energy loss value is used to reflect the damping energy loss of the heavy-loaded material-retrieving manipulator in the high temperature environment of the forging workshop; the initial damping energy loss value and the preset damping energy loss threshold are added to obtain the initial damping energy loss deviation value, and the initial damping energy loss deviation value is represented by the result of the addition operation of the initial damping energy loss value and the preset damping energy loss threshold; the initial damping energy loss deviation value and the preset damping energy loss threshold are ratio-calculated to obtain the damping energy loss deviation value, and the damping energy loss deviation value is used to reflect the deviation of the damping energy loss of the heavy-loaded material-retrieving manipulator in the high temperature environment of the forging workshop; the friction energy loss deviation value, the damping energy loss deviation value and the material change stability assessment value are calculated to obtain the energy loss stability assessment value.

[0047] The limiting expression of the energy loss stability evaluation value is as follows: ; ; ; In the formula, represents the energy loss stability evaluation value of the heavy-loaded material-retrieving manipulator in the kth preset time period, , k represents the number of the preset time period, h represents the total number of preset time periods, It represents the friction energy loss deviation value of the heavy-loaded material-retrieving manipulator in the kth preset time period. It represents the damping energy loss deviation value of the heavy-loaded material-retrieving manipulator in the kth preset time period, It represents the evaluation value of the material change stability of the heavy-load reclaiming manipulator in the kth preset time period, represents the normal force of the heavy-load reclaiming manipulator in the kth preset time period, represents the manipulator speed of the heavy-load reclaiming manipulator in the kth preset time period, represents the first moving distance of the heavy-load reclaiming robot in the kth preset time period, represents the second moving distance of the heavy-load reclaiming robot in the kth preset time period, represents the friction coefficient, represents the damping coefficient, Indicates the preset friction energy loss threshold, represents the preset damping energy loss threshold, and e represents a natural constant.

[0048] In this embodiment, the algorithm of this embodiment combines the energy loss data of the heavy-loaded material picking robot and the material change smoothness evaluation value for comprehensive analysis to obtain the energy loss smoothness evaluation value. In the algorithm of this embodiment, the energy loss data of the heavy-loaded material picking robot and the material change smoothness evaluation value do not exist independently, but are interrelated. The greater the normal force of the heavy-loaded material picking robot, the greater the first moving distance of the heavy-loaded material picking robot, and the greater the speed of the heavy-loaded material picking robot, the greater the second moving distance of the heavy-loaded material picking robot does not mean that the energy loss smoothness evaluation value is greater. The influence of the material change smoothness evaluation value should also be comprehensively considered. An increase in the speed of the heavy-loaded material picking robot may lead to an increase in friction energy and damping energy consumption. An increase in friction energy and damping energy consumption may lead to an increase in friction force and damping force, which in turn leads to a decrease in the performance of the heavy-loaded material picking robot, which may lead to a decrease in the material change smoothness evaluation value. The parameters of the algorithm of this embodiment need to consider their impact on the results simultaneously.

[0049] Specifically, the friction energy loss deviation value The range is 0.1-1, the damping energy loss deviation value The range is 0.1-1, the material change stability evaluation value The range is 0.1-1, as shown in Table 1, which is a statistical table of changes in the energy loss stability evaluation value provided in the embodiment of the present application: Table 1 Statistics of changes in energy loss stability evaluation values

[0050] It can be seen from Table 1 that as the friction energy loss deviation value The damping energy loss deviation value increases gradually. The gradual increase of the material change stability assessment value The energy loss stability evaluation value It increases gradually, which means that when the friction energy loss and damping energy loss of the heavy-loaded material-retrieving robot increase in the high-temperature environment of the forging workshop, the stability of the heavy-loaded material-retrieving robot also gradually increases. By enhancing the stability of the robot, the error and damage caused by vibration and shaking can be reduced, thereby improving the working efficiency; the stability of the heavy-loaded material-retrieving robot is improved when operating at high temperatures in the forging workshop.

[0051] Furthermore, the specific process of judging whether to adjust the force control based on the force variation stability evaluation value is as follows: JK1, judging whether the force variation stability evaluation value is not lower than the preset force threshold value, and not performing force control adjustment when the force variation stability evaluation value is not lower than the preset force threshold value, otherwise executing JK2; JK2, sending a prompt to the preset personnel to coat the contact surface of the heavy-duty material reclaiming robot, and stopping the adjustment when the monitored force variation stability evaluation value is not lower than the preset force threshold value, and the force variation stability monitored after coating is not lower than the preset force threshold value. When the evaluation value is still lower than the preset force threshold, JK3 is executed. The coating includes polytetrafluoroethylene and molybdenum disulfide. The coating is used to reduce the damping and friction of the heavy-loaded material-retrieving robot; JK3 sends a prompt to the preset personnel to add a heat dissipation device type to the heavy-loaded material-retrieving robot. When the monitored force change smoothness evaluation value is not lower than the preset force threshold, the adjustment is stopped. After adding the heat dissipation device type, when the monitored force change smoothness evaluation value is still lower than the preset force threshold, feedback is given to the preset personnel to stop high-temperature operation. The heat dissipation device includes a cooling fan and a heat sink.

[0052] In this embodiment, the preset force threshold is represented by the minimum value of the force data applied by the heavy-loaded material picking robot in the historical time period in the preset database. The force change smoothness evaluation value is an indicator to measure whether the force change of the heavy-loaded material picking robot is smooth in a high temperature environment. Polytetrafluoroethylene and molybdenum disulfide have the characteristics of reducing damping and friction, which can help improve the force state of the robot. The cooling fan and heat sink can help reduce the working temperature of the robot, thereby improving its stress state; the stability of the heavy-loaded material picking robot is improved when operating at high temperatures in the forging workshop.

[0053] Furthermore, the specific process of judging whether to perform energy loss control adjustment based on the energy loss stability evaluation value is as follows: JM1, judging whether the energy loss stability evaluation value is not lower than the preset energy loss threshold, and not performing energy loss control adjustment when the energy loss stability evaluation value is not lower than the preset energy loss threshold, otherwise executing JM2; JM2, increasing the movement speed of the heavy-duty material-retrieving manipulator by a preset multiple, and stopping the adjustment when the monitored energy loss stability evaluation value is not lower than the preset energy loss threshold, and executing JM3 when the monitored energy loss stability evaluation value is still lower than the preset energy loss threshold after the movement speed of the heavy-duty material-retrieving manipulator is increased by a preset multiple, and the movement speed of the heavy-duty material-retrieving manipulator does not exceed the preset maximum speed; JM3, sending a prompt to the preset personnel to add an obstruction element at the joint of the heavy-duty material-retrieving manipulator, and stopping the adjustment when the monitored energy loss stability evaluation value is not lower than the preset energy loss threshold, and feeding back to the preset personnel to stop high-temperature operation when the monitored energy loss stability evaluation value is still lower than the preset energy loss threshold after adding the obstruction element, and the obstruction element includes a friction plate and a damping element.

[0054] In this embodiment, the preset energy loss threshold is represented by the minimum value of the energy loss data of the heavy-loaded material picking robot in the historical time period in the preset database, and the preset maximum speed is represented by the maximum value of the joint rotation speed data of the heavy-loaded material picking robot in the historical time period in the preset database. An emergency stop button is provided on the control cabinet, and preset personnel can realize remote control. When the manual emergency button is pressed, the forging system stops running; the stability of the heavy-loaded material picking robot is improved when operating at high temperatures in the forging workshop.

[0055] like Figure 3As shown, it is a flow chart of the intelligent control method of the heavy-loaded material-retrieving manipulator for high-temperature operation in a forging and press workshop provided in an embodiment of the present application. The intelligent control method of the heavy-loaded material-retrieving manipulator for high-temperature operation in a forging and press workshop provided in an embodiment of the present application comprises the following steps: S1, obtaining a material change smoothness evaluation value: obtaining a material change smoothness evaluation value by obtaining manipulator material change data and reference material change data, and the material change smoothness evaluation value is used to evaluate the stability of the heavy-loaded material-retrieving manipulator when the material of the heavy-loaded material-retrieving manipulator changes in the high-temperature environment of the forging and press workshop; S2, obtaining a force change smoothness evaluation value: obtaining a force change smoothness evaluation value by obtaining manipulator force data, material change smoothness evaluation value and reference force data, and judging whether to perform force based on the force change smoothness evaluation value. Control adjustment, the force change stability evaluation value is used to evaluate the stability of the heavy-duty material picking manipulator when the force of the heavy-duty material picking manipulator changes in the high temperature environment of the forging workshop, and the force control adjustment is used to adjust the force change stability evaluation value to not less than the preset force threshold; S3, obtain the energy loss stability evaluation value: obtain the energy loss stability evaluation value through the obtained manipulator energy loss data, the material change stability evaluation value and the reference energy loss data, and judge whether to perform energy loss control adjustment based on the energy loss stability evaluation value. The energy loss stability evaluation value is used to evaluate the stability of the heavy-duty material picking manipulator when the heavy-duty material picking manipulator loses energy in the high temperature environment of the forging workshop. The energy loss control adjustment is used to adjust the energy loss stability evaluation value to not less than the preset energy loss threshold.

[0056] like Figure 4 As shown in the figure, it is the structure diagram of the control system of the heavy-duty retrieving robot provided in this embodiment. In order to ensure that the system can operate stably and reliably under harsh environmental conditions while meeting the complex control process and positioning accuracy requirements of the system, Beckhoff PLC or Siemens PLC is used as the control core of the control system. The touch screen external to the PC (Personal Computer) is the first medium for human-machine interaction. The system realizes human-machine debugging under the control of preset personnel, and performs automatic operation and single-step operation; the stability of the heavy-duty retrieving robot is improved when operating at high temperatures in the forging workshop.

[0057] To summarize, the embodiment of the present application combines the acquired manipulator force data, material change smoothness evaluation value, and reference force data to obtain a force change smoothness evaluation value and determines whether to perform force control adjustment, and then combines the manipulator energy loss data, material change smoothness evaluation value, and reference energy loss data to obtain an energy loss smoothness evaluation value and determines whether to perform energy loss control adjustment, thereby achieving a dynamic evaluation of the stability of the heavy-loaded material picking manipulator, and then achieving the improvement of the stability of the heavy-loaded material picking manipulator when operating at high temperatures in a forging workshop, effectively solving the problem in the prior art that causes the heavy-loaded material picking manipulator to have low stability when operating at high temperatures in a forging workshop.

[0058] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0059] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0060] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0061] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0062] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0063] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. The intelligent control system of the heavy-duty material-retrieving manipulator for high-temperature operation in forging workshops is characterized by: Including material change stability assessment module, force change stability assessment module and energy loss stability assessment module: Among them, the material change stability assessment module is used to obtain a material change stability assessment value through the acquired manipulator material change data and reference material change data, and the material change stability assessment value is used to assess the stability of the heavy-duty retrieving manipulator when the material of the heavy-duty retrieving manipulator changes in the high temperature environment of the forging workshop; The force variation stability assessment module is used to obtain the force variation stability assessment value through the obtained manipulator force data, material variation stability assessment value and reference force data, and judge whether to perform force control adjustment based on the force variation stability assessment value. The force variation stability assessment value is used to assess the stability of the heavy-loaded material retrieving manipulator when the force of the heavy-loaded material retrieving manipulator changes in the high temperature environment of the forging workshop; The energy loss stability assessment module is used to obtain an energy loss stability assessment value through the acquired manipulator energy loss data, material change stability assessment value and reference energy loss data, and judge whether to perform energy loss control adjustment based on the energy loss stability assessment value. The energy loss stability assessment value is used to evaluate the stability of the heavy-loaded material picking robot when the heavy-loaded material picking robot loses energy in the high temperature environment of the forging workshop.

2. The intelligent control system of the heavy-duty material-retrieving manipulator for high-temperature operation in a forging workshop as claimed in claim 1 is characterized in that: The manipulator material change data is obtained by a preset first monitoring device; The preset first monitoring device includes a laser rangefinder, a temperature sensor and a pressure sensor; The manipulator material change data includes the manipulator length, temperature change and manipulator applied force, and the manipulator material change data is used to describe the expansion and stiffness change of the heavy-load material taking manipulator material in the high temperature environment of the forging workshop; The reference material change data includes a linear expansion coefficient obtained from a preset database, a preset change threshold, a preset stiffness threshold, a preset first stability weight, and a preset second stability weight.

3. The intelligent control system of the heavy-duty material-retrieving manipulator for high-temperature operation in a forging workshop as claimed in claim 1 is characterized in that: The force data of the manipulator is obtained by a preset second monitoring device; The preset second monitoring device includes a speed sensor and a digital push-pull force gauge; The manipulator force data includes the manipulator normal force and the manipulator speed, and the manipulator force data is used to describe the force condition of the heavy-loaded material-retrieving manipulator in the high-temperature environment of the forging workshop; The reference force data includes a friction coefficient, a damping coefficient, a preset friction force threshold value, and a preset damping force threshold value obtained from a preset database.

4. The intelligent control system of the heavy-duty material-retrieving manipulator for high-temperature operation in a forging workshop as claimed in claim 1 is characterized in that: The energy loss data of the manipulator is obtained by a preset third monitoring device; The preset third monitoring device includes a displacement sensor and a speed sensor; The manipulator energy loss data includes the manipulator first moving distance, the manipulator second moving distance, the manipulator normal force and the manipulator speed. The manipulator energy loss data is used to describe the energy loss of the heavy-loaded material-retrieving manipulator in the high-temperature environment of the forging workshop; The first moving distance of the manipulator represents the distance that the heavy-loaded material-retrieving manipulator moves due to friction during the preset time period of the high-temperature operation of the heavy-loaded material-retrieving manipulator; The second moving distance of the manipulator represents the distance that the heavy-loaded material-retrieving manipulator moves due to the damping force within a preset time period of the high-temperature operation of the heavy-loaded material-retrieving manipulator; The reference energy loss data includes a preset friction energy loss threshold and a preset damping energy loss threshold obtained from a preset database.

5. The intelligent control system of the heavy-duty material-retrieving manipulator for high-temperature operation in a forging workshop as claimed in claim 2 is characterized in that: The specific process of obtaining the material change stability evaluation value by obtaining the manipulator material change data and the reference material change data is as follows: The thermal expansion deviation value is obtained by presetting the change threshold, the manipulator length, the temperature change and the linear expansion coefficient, and the thermal expansion deviation value is used to reflect the expansion deviation of the material of the heavy-loaded material-retrieving manipulator in the high-temperature environment of the forging workshop; The stiffness deviation value is obtained by presetting the stiffness threshold, the manipulator applied force, the manipulator length, the temperature change and the linear expansion coefficient. The stiffness deviation value is used to reflect the deviation of the stiffness change of the heavy-loaded material taking manipulator material in the high temperature environment of the forging workshop; The thermal expansion deviation value, the stiffness deviation value, the preset first stability weight and the preset second stability weight are multiplied and added to obtain the material change stability evaluation value; the restriction expression of the material change stability evaluation value is as follows: ； ； ； In the formula, It represents the evaluation value of the material change stability of the heavy-load reclaiming manipulator in the kth preset time period, , k represents the number of the preset time period, h represents the total number of preset time periods, It represents the thermal expansion deviation value of the heavy-loaded material-retrieving manipulator in the kth preset time period. It represents the stiffness deviation value of the heavy-loaded material-retrieving manipulator in the kth preset time period. represents the manipulator length of the heavy-load reclaiming manipulator in the kth preset time period, It represents the temperature change of the heavy-load reclaiming manipulator in the kth preset time period. represents the force applied by the heavy-load reclaiming manipulator during the kth preset time period, represents the linear expansion coefficient, Indicates the preset change threshold. represents the preset stiffness threshold, represents the preset first stationarity weight, represents the preset second stability weight, and e represents a natural constant.

6. The intelligent control system of the heavy-duty material-retrieving manipulator for high-temperature operation in a forging workshop as claimed in claim 3 is characterized in that: The specific process of obtaining the force change stability evaluation value by obtaining the manipulator force data, the material change stability evaluation value and the reference force data is as follows: The friction coefficient and the normal force of the manipulator are multiplied to obtain the initial friction value; The initial friction value and the preset friction threshold are added to obtain an initial friction deviation value; Performing a ratio operation on the initial friction deviation value and the preset friction threshold value to obtain a friction deviation value, wherein the friction deviation value is represented by a result of a division operation on the initial friction deviation value and the preset friction threshold value; The damping coefficient and the average speed of the manipulator in a preset time period are multiplied to obtain an initial damping value, wherein the initial damping value is represented by the result of the summation and product of the damping coefficient and the manipulator speed; The initial damping value and the preset damping force threshold are added to obtain an initial damping deviation value; Performing a ratio operation on the initial damping deviation value and the preset damping force threshold to obtain a damping deviation value, wherein the damping deviation value is represented by a result of a division operation on the initial damping deviation value and the preset damping force threshold; The friction deviation value, the damping deviation value and the material change smoothness evaluation value are calculated to obtain the force change smoothness evaluation value.

7. The intelligent control system of the heavy-load material taking manipulator for high-temperature operation in a forging workshop as claimed in claim 4 is characterized in that: The specific process of obtaining the energy loss stability evaluation value by obtaining the manipulator energy loss data, the material change stability evaluation value and the reference energy loss data is as follows: The friction coefficient, the normal force of the manipulator and the first moving distance of the manipulator are multiplied to obtain the initial friction energy loss value; The initial friction energy loss value and the preset friction energy loss threshold are added to obtain the initial friction energy loss deviation value; The initial friction energy loss deviation value and the preset friction energy loss threshold value are ratio-calculated to obtain a friction energy loss deviation value, wherein the friction energy loss deviation value is used to reflect the deviation of the friction energy loss of the heavy-loaded material-retrieving manipulator in the high-temperature environment of the forging workshop; The damping coefficient, the manipulator speed and the second moving distance of the manipulator are calculated to obtain an initial damping energy loss value, wherein the initial damping energy loss value is used to reflect the damping energy loss of the heavy-loaded material-retrieving manipulator in the high temperature environment of the forging workshop; The initial damping energy loss value and the preset damping energy loss threshold are added to obtain the initial damping energy loss deviation value; The initial damping energy loss deviation value and the preset damping energy loss threshold value are ratio-calculated to obtain the damping energy loss deviation value, wherein the damping energy loss deviation value is used to reflect the deviation of the damping energy loss of the heavy-loaded material-retrieving manipulator in the high-temperature environment of the forging workshop; The friction energy loss deviation value, the damping energy loss deviation value and the material change stability evaluation value are calculated to obtain the energy loss stability evaluation value.

8. The intelligent control system of the heavy-duty material-retrieving manipulator for high-temperature operation in a forging workshop as claimed in claim 6 is characterized in that: The specific process of judging whether to perform force control adjustment based on the force change stability evaluation value is as follows: JK1, judge whether the force change stability evaluation value is not lower than the preset force threshold. If the force change stability evaluation value is not lower than the preset force threshold, no force control adjustment is performed. Otherwise, JK2 is executed. JK2, sending a reminder to the preset personnel to apply a coating on the contact surface of the heavy-duty reclaiming manipulator, and stopping the adjustment when the monitored force change stability evaluation value is not lower than the preset force threshold. When the monitored force change stability evaluation value after the coating is still lower than the preset force threshold, JK3 is executed. The coating includes polytetrafluoroethylene and molybdenum disulfide, and the coating is used to reduce the damping and friction of the heavy-duty reclaiming manipulator; JK3, sends a prompt to the preset personnel to add a cooling device type to the heavy-loaded material handling robot. When the monitored force change stability evaluation value is not lower than the preset force threshold, the adjustment is stopped. After adding the cooling device type, when the monitored force change stability evaluation value is still lower than the preset force threshold, feedback is given to the preset personnel to stop high-temperature operation. The cooling device includes a cooling fan and a heat sink.

9. The intelligent control system of the heavy-duty material-retrieving manipulator for high-temperature operation in a forging workshop as claimed in claim 7, characterized in that: The specific process of judging whether to perform energy loss control adjustment based on the energy loss stability evaluation value is as follows: JM1, judging whether the energy loss stability evaluation value is not lower than the preset energy loss threshold, when the energy loss stability evaluation value is not lower than the preset energy loss threshold, no energy loss control adjustment is performed, otherwise JM2 is executed; JM2, increase the movement speed of the heavy-duty reclaiming manipulator by a preset multiple, stop adjusting when the monitored energy loss stability evaluation value is not lower than the preset energy loss threshold, and execute JM3 when the monitored energy loss stability evaluation value is still lower than the preset energy loss threshold after increasing the movement speed of the heavy-duty reclaiming manipulator by a preset multiple, and the movement speed of the heavy-duty reclaiming manipulator does not exceed the preset maximum speed; JM3, sends a prompt to the preset personnel to add an obstruction element at the joint of the heavy-loaded material-retrieving robot. When the monitored energy loss stability evaluation value is not lower than the preset energy loss threshold, the adjustment is stopped. When the monitored energy loss stability evaluation value is still lower than the preset energy loss threshold after adding the obstruction element, feedback is given to the preset personnel to stop high-temperature operation. The obstruction element includes a friction plate and a damping element.

10. An intelligent control method for a heavy-loaded material-retrieving manipulator for high-temperature operation in a forging workshop, characterized in that: The following steps are involved: S1, obtaining a material change stability evaluation value by obtaining manipulator material change data and reference material change data, wherein the material change stability evaluation value is used to evaluate the stability of the heavy-duty retrieving manipulator when the material of the heavy-duty retrieving manipulator changes in a high-temperature environment of a forging workshop; S2, obtaining a force change stability evaluation value through the obtained manipulator force data, material change stability evaluation value and reference force data, and judging whether to perform force control adjustment based on the force change stability evaluation value, wherein the force change stability evaluation value is used to evaluate the stability of the heavy-loaded material retrieving manipulator when the force of the heavy-loaded material retrieving manipulator changes in the high temperature environment of the forging workshop; S3, obtains an energy loss stability evaluation value through the acquired manipulator energy loss data, material change stability evaluation value and reference energy loss data, and judges whether to perform energy loss control adjustment based on the energy loss stability evaluation value. The energy loss stability evaluation value is used to evaluate the stability of the heavy-loaded material picking manipulator when the heavy-loaded material picking manipulator loses energy in the high temperature environment of the forging workshop.

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