Dynamic clamping method and system of industrial robot

Abstract

According to the dynamic clamping method and system of the industrial robot, the clamping grade of a workpiece is defined according to the load degree of the workpiece in all the direction dimensions and the model of the workpiece, the accuracy of the load degree of the workpiece in all the direction dimensions is guaranteed, and then the accuracy of the clamping grade of the workpiece is guaranteed. Further, when the industrial robot moves dynamically, a posture balance system is constructed according to the shaking amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece; the clamping arm and the workpiece are dynamically balanced based on a posture balance system, the position offset of each clamping point is collected, the sliding amount of the workpiece is defined based on the position offset of each clamping point and the surface coefficient of the workpiece, if the sliding amount of the workpiece is larger than a preset sliding amount threshold value, the clamping arm is triggered to lift the bottom of the workpiece, and the workpiece is clamped. Therefore, the clamping arm dynamically clamps the workpiece in multiple dimensions, and the dynamic clamping effect and clamping stability of the workpiece are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of dynamic clamping of industrial robots, and in particular to a dynamic clamping method and system of industrial robots. Background Art

[0002] With the development of science and technology, industrial robots are gradually applied to people's lives and clamp workpieces. The workpieces are dynamically moved under the clamping of the industrial robots. In the prior art, the clamping arms of the industrial robots clamp the workpieces at multiple points. The workpieces move with the movement of the industrial robots and are prone to slipping during the movement. The clamping arms cannot dynamically clamp the workpieces in multiple dimensions, which affects the dynamic clamping effect of the workpieces. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a dynamic clamping method and system for an industrial robot, which collects multiple clamping points of the clamping arm of the industrial robot on a workpiece; constructs a force analysis diagram of the workpiece according to the multiple clamping points and a real-time three-dimensional model of the workpiece; defines the load degree of the workpiece in various directions based on dynamic identification of the force analysis diagram of the workpiece; defines the clamping level of the workpiece according to the load degree of the workpiece in various directions and the model of the workpiece, which is compatible with the overall consideration of the load degree of the workpiece in various directions and the model of the workpiece, and fully performs corresponding force analysis on multiple clamping points, thereby ensuring the accuracy of the load degree of the workpiece in various directions, and further ensuring the accuracy of the clamping level of the workpiece.

[0004] Furthermore, when the industrial robot is in dynamic movement, the jitter amount of the clamping arm is defined based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and a posture balance system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece; the clamping arm and the workpiece are dynamically balanced based on the posture balance system, and the position offset of each clamping point is collected, and the slip amount of the workpiece is defined based on the position offset of each clamping point and the surface coefficient of the workpiece; if the slip amount of the workpiece is greater than a preset slip amount threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm dynamically clamps the workpiece in multiple dimensions, which is compatible with the overall consideration of the slip amount of the workpiece and the posture balance system, ensures the control of the workpiece by the clamping arm in multiple dimensions, realizes the dynamic clamping of the workpiece by the clamping arm in multiple dimensions, and improves the dynamic clamping effect and clamping stability of the workpiece.

[0005] The embodiment of the present invention provides a dynamic clamping method of an industrial robot, which is applied to the dynamic clamping scenario of the industrial robot;

[0006] The dynamic clamping method of the industrial robot comprises:

[0007] Collect multiple gripping points of the gripping arm of the industrial robot on the workpiece;

[0008] Construct a force analysis diagram of the workpiece based on multiple clamping points and a real-time three-dimensional model of the workpiece;

[0009] Define the load degree of the workpiece in all directions based on the dynamic identification of the force analysis diagram of the workpiece;

[0010] Define the clamping level of the workpiece according to the load degree of the workpiece in various dimensions and the model of the workpiece;

[0011] When the industrial robot is in dynamic movement, the jitter amount of the clamping arm is defined based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and a posture balance system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece;

[0012] Based on the posture balancing system, the clamping arm and the workpiece are dynamically balanced, and the position offset of each clamping point is collected. The slip amount of the workpiece is defined based on the position offset of each clamping point and the surface coefficient of the workpiece. If the slip amount of the workpiece is greater than the preset slip amount threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm can dynamically clamp the workpiece in multiple dimensions.

[0013] Optionally, the collecting of multiple clamping points of the clamping arm of the industrial robot on the workpiece includes:

[0014] Real-time monitoring of the interaction between the gripper arm of an industrial robot and the workpiece;

[0015] A contact space between the clamping arm and the workpiece is defined according to the interaction process;

[0016] defining a plurality of clamping areas based on the contact space between the clamping arm and the workpiece and the pressed portion of the workpiece;

[0017] Associate multiple clamping areas and clamping point learning models;

[0018] A plurality of clamping points are determined according to a plurality of clamping areas and a clamping point learning model, and a clamping space system of the workpiece is formed between the plurality of clamping points.

[0019] Optionally, constructing a force analysis diagram of the workpiece according to the multiple clamping points and the real-time three-dimensional model of the workpiece includes:

[0020] Fix the workpiece clamping space system;

[0021] In the clamping space system of the workpiece, a real-time three-dimensional model of the workpiece is constructed based on the dynamic image of the workpiece and the model of the workpiece;

[0022] Associating multiple gripping points with a real-time 3D model of the workpiece;

[0023] Mark multiple clamping points in the real-time three-dimensional model of the workpiece and perform force analysis on multiple clamping points;

[0024] Based on the force analysis of multiple clamping points and the real-time posture matching of the workpiece, the force analysis diagram of each clamping point is obtained;

[0025] The force analysis diagram of the workpiece is constructed based on the force analysis diagram of each clamping point, the real-time three-dimensional model of the workpiece, the real-time posture of the workpiece, and the height position of the workpiece.

[0026] Optionally, the dynamic identification of the force analysis diagram of the workpiece to define the load degree of the workpiece in various directions includes:

[0027] Force analysis diagram of the fixed workpiece;

[0028] Force analysis diagram of associated workpieces and analysis diagram identification model;

[0029] Determine dynamic recognition of the force analysis diagram of the workpiece based on the force analysis diagram of the workpiece and the analysis diagram recognition model;

[0030] Real-time monitoring of dynamic identification of the workpiece's force analysis diagram;

[0031] Output the load characteristics of the workpiece in different load directions;

[0032] Define the load degree of the workpiece in various dimensions based on multiple load characteristics, load direction and workpiece model.

[0033] Optionally, the clamping level of the workpiece is defined according to the load degree of the workpiece in various directions and the model of the workpiece, including:

[0034] Determine the load level of the workpiece in all directions;

[0035] The degree of load on the associated workpiece in each dimension and the direction of movement of the workpiece;

[0036] Defining load priority based on the load degree of the workpiece in each direction and the moving direction of the workpiece, and dividing the weight of the load degree in each direction;

[0037] The clamping class of the workpiece is defined according to the load priority, the load level of the workpiece in each dimension and the type of workpiece.

[0038] Optionally, when the industrial robot is in dynamic movement, the jitter amount of the clamping arm is defined based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and a posture balance system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece, including:

[0039] Real-time monitoring of the status of industrial robots;

[0040] When the industrial robot is in dynamic movement, the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece are collected.

[0041] Optionally, when the industrial robot is in dynamic movement, the jitter amount of the clamping arm is defined based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and the posture balance system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece, and further includes:

[0042] Associating the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece;

[0043] A first jitter parameter is defined according to a moving speed of the clamping arm and a moving trajectory of the clamping arm, and a second jitter parameter is defined according to the moving speed of the clamping arm and a clamping level of the workpiece;

[0044] Associating the second jitter parameter, the first jitter parameter and the jitter amount matching table, and defining the jitter amount of the clamping arm according to the matching of the second jitter parameter, the first jitter parameter and the jitter amount matching table;

[0045] The jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece are associated, and a posture balancing system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece.

[0046] Optionally, the posture balancing system is based on dynamically balancing the clamping arm and the workpiece, collecting the position offset of each clamping point, defining the slippage of the workpiece based on the position offset of each clamping point and the surface coefficient of the workpiece, and if the slippage of the workpiece is greater than a preset slippage threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm dynamically clamps the workpiece in multiple dimensions, including:

[0047] Freeze-frame posture balance system;

[0048] Dynamically balance the gripping arm and workpiece based on the posture balance system;

[0049] Monitor each clamping point in real time and collect the position offset of each clamping point.

[0050] Optionally, the posture balancing system is based on dynamically balancing the clamping arm and the workpiece, collecting the position offset of each clamping point, defining the slippage of the workpiece based on the position offset of each clamping point and the surface coefficient of the workpiece, and if the slippage of the workpiece is greater than a preset slippage threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm dynamically clamps the workpiece in multiple dimensions, and further includes:

[0051] Associating the position offset of each clamping point and the surface coefficient of the workpiece, and defining the slipping amount of the workpiece based on the position offset of each clamping point and the surface coefficient of the workpiece;

[0052] Comparing the sliding amount of the workpiece with a preset sliding amount threshold;

[0053] If the sliding amount of the workpiece is greater than a preset sliding amount threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm dynamically clamps the workpiece in multiple dimensions.

[0054] In addition, an embodiment of the present invention further provides a dynamic clamping system for an industrial robot, the dynamic clamping system for the industrial robot comprising:

[0055] The clamping point module is used to collect multiple clamping points of the clamping arm of the industrial robot on the workpiece;

[0056] A force analysis diagram module is used to construct a force analysis diagram of a workpiece based on multiple clamping points and a real-time three-dimensional model of the workpiece;

[0057] Load module, used to define the load degree of the workpiece in various directions based on the dynamic identification of the force analysis diagram of the workpiece;

[0058] The clamping level module is used to define the clamping level of the workpiece according to the load degree of the workpiece in various dimensions and the model of the workpiece;

[0059] The posture balance system module is used to define the jitter amount of the clamping arm based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece when the industrial robot is in dynamic movement, and to build a posture balance system according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece;

[0060] The dynamic clamping module is used to dynamically balance the clamping arm and the workpiece based on the posture balance system, collect the position offset of each clamping point, and define the slip amount of the workpiece based on the position offset of each clamping point and the surface coefficient of the workpiece. If the slip amount of the workpiece is greater than the preset slip amount threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm can dynamically clamp the workpiece in multiple dimensions.

[0061] In an embodiment of the present invention, through the method in the embodiment of the present invention, multiple clamping points of the clamping arm of the industrial robot on the workpiece are collected; a force analysis diagram of the workpiece is constructed based on the multiple clamping points and the real-time three-dimensional model of the workpiece; the load degree of the workpiece in various directions is defined based on the dynamic identification of the force analysis diagram of the workpiece; the clamping level of the workpiece is defined according to the load degree of the workpiece in various directions and the model of the workpiece, which is compatible with the overall consideration of the load degree of the workpiece in various directions and the model of the workpiece, and the corresponding force analysis is fully performed on the multiple clamping points, thereby ensuring the accuracy of the load degree of the workpiece in various directions, and further ensuring the accuracy of the clamping level of the workpiece.

[0062] Furthermore, when the industrial robot is in dynamic movement, the jitter amount of the clamping arm is defined based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and a posture balance system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece; the clamping arm and the workpiece are dynamically balanced based on the posture balance system, and the position offset of each clamping point is collected, and the slip amount of the workpiece is defined based on the position offset of each clamping point and the surface coefficient of the workpiece; if the slip amount of the workpiece is greater than a preset slip amount threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm dynamically clamps the workpiece in multiple dimensions, which is compatible with the overall consideration of the slip amount of the workpiece and the posture balance system, ensures the control of the workpiece by the clamping arm in multiple dimensions, realizes the dynamic clamping of the workpiece by the clamping arm in multiple dimensions, and improves the dynamic clamping effect and clamping stability of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be 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.

[0064] Figure 1 is a schematic flow chart of a dynamic clamping method of an industrial robot in an embodiment of the present invention;

[0065] Figure 2 is a schematic flow chart of S11 in the dynamic clamping method of the industrial robot in the embodiment of the present invention;

[0066] Figure 3 is a schematic flow chart of S12 in the dynamic clamping method of the industrial robot in the embodiment of the present invention;

[0067] Figure 4 is a schematic flow chart of S13 in the dynamic clamping method of the industrial robot in the embodiment of the present invention;

[0068] Figure 5 is a schematic flow chart of S14 in the dynamic clamping method of the industrial robot in the embodiment of the present invention;

[0069] Figure 6 is a schematic flow chart of S15 in the dynamic clamping method of the industrial robot in the embodiment of the present invention;

[0070] Figure 7 is a schematic diagram of the flow of S16 in the dynamic clamping method of the industrial robot in the embodiment of the present invention;

[0071] Figure 8 Schematic diagram of the structure of a dynamic clamping system of an industrial robot in an embodiment of the present invention;

[0072] Fig. 9 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] See also Figures 1 to 9 , a dynamic clamping method of an industrial robot, applied to a dynamic clamping scenario of an industrial robot; the dynamic clamping method of an industrial robot includes:

[0075] Step S11: collecting multiple clamping points of the clamping arm of the industrial robot on the workpiece;

[0076] Step S12: constructing a force analysis diagram of the workpiece according to the multiple clamping points and the real-time three-dimensional model of the workpiece;

[0077] Step S13: defining the load degree of the workpiece in various directions based on the dynamic identification of the force analysis diagram of the workpiece;

[0078] Step S14: defining the clamping level of the workpiece according to the load degree of the workpiece in each direction and the model of the workpiece;

[0079] Step S15: when the industrial robot is in dynamic movement, the jitter amount of the clamping arm is defined based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and a posture balance system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece;

[0080] Step S16: When the industrial robot is in dynamic movement, the jitter amount of the clamping arm is defined based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and a posture balance system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece.

[0081] In an embodiment of the present invention, through the method in the embodiment of the present invention, multiple clamping points of the clamping arm of the industrial robot on the workpiece are collected; a force analysis diagram of the workpiece is constructed based on the multiple clamping points and the real-time three-dimensional model of the workpiece; the load degree of the workpiece in various directions is defined based on the dynamic identification of the force analysis diagram of the workpiece; the clamping level of the workpiece is defined according to the load degree of the workpiece in various directions and the model of the workpiece, which is compatible with the overall consideration of the load degree of the workpiece in various directions and the model of the workpiece, and the corresponding force analysis is fully performed on the multiple clamping points, thereby ensuring the accuracy of the load degree of the workpiece in various directions, and further ensuring the accuracy of the clamping level of the workpiece.

[0082] Furthermore, when the industrial robot is in dynamic movement, the jitter amount of the clamping arm is defined based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and a posture balance system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece; the clamping arm and the workpiece are dynamically balanced based on the posture balance system, and the position offset of each clamping point is collected, and the slip amount of the workpiece is defined based on the position offset of each clamping point and the surface coefficient of the workpiece; if the slip amount of the workpiece is greater than a preset slip amount threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm dynamically clamps the workpiece in multiple dimensions, which is compatible with the overall consideration of the slip amount of the workpiece and the posture balance system, ensures the control of the workpiece by the clamping arm in multiple dimensions, realizes the dynamic clamping of the workpiece by the clamping arm in multiple dimensions, and improves the dynamic clamping effect and clamping stability of the workpiece.

[0083] refer to Figure 2 , in step S11, collecting multiple clamping points of the clamping arm of the industrial robot on the workpiece;

[0084] In the specific implementation process of the present invention, the specific steps may be:

[0085] S111: Real-time monitoring of the interaction between the gripper arm of the industrial robot and the workpiece;

[0086] S112: defining a contact space between the clamping arm and the workpiece according to the interaction process;

[0087] S113: defining a plurality of clamping areas based on a contact space between the clamping arm and the workpiece and a compressed portion of the workpiece;

[0088] S114: Associating multiple clamping areas and clamping point learning models;

[0089] S115: Determine a plurality of clamping points according to the plurality of clamping areas and the clamping point learning model, and form a clamping space system of the workpiece between the plurality of clamping points.

[0090] In an embodiment of the present application, the interaction process between the clamping arm of the industrial robot and the workpiece is monitored in real time, and the interaction process between the clamping arm of the industrial robot and the workpiece is further controlled, so that the contact space between the clamping arm and the workpiece is defined according to the interaction process, and the contact space between the clamping arm and the workpiece is introduced, thereby achieving further control of the contact space between the clamping arm and the workpiece.

[0091] At this time, multiple clamping areas are defined based on the contact space between the clamping arm and the workpiece and the pressure part of the workpiece, which is compatible with the overall consideration of the contact space between the clamping arm and the workpiece and the pressure part of the workpiece, and realizes multi-dimensional control of the contact space between the clamping arm and the workpiece and the pressure part of the workpiece, ensuring the rationality of multiple clamping areas.

[0092] Furthermore, multiple clamping areas and clamping point learning models are associated. The clamping point learning model is trained based on previous clamping point data. At the same time, multiple clamping points are determined according to the multiple clamping areas and clamping point learning models. A clamping space system of the workpiece is formed between the multiple clamping points. The clamping space system of the workpiece is introduced, and the clamping space system of the workpiece is further controlled, and subsequent control is performed on the multiple clamping points.

[0093] refer to Figure 3 , in step S12, a force analysis diagram of the workpiece is constructed according to the multiple clamping points and the real-time three-dimensional model of the workpiece;

[0094] In the specific implementation process of the present invention, the specific steps may be:

[0095] S121: Fixing space system for workpieces;

[0096] S122: In the clamping space system of the workpiece, a real-time three-dimensional model of the workpiece is constructed based on the dynamic image of the workpiece and the model of the workpiece;

[0097] S123: Associating multiple clamping points and a real-time three-dimensional model of the workpiece;

[0098] S124: marking a plurality of clamping points in the real-time three-dimensional model of the workpiece, and performing force analysis on the plurality of clamping points;

[0099] S125: matching the force analysis diagram of each clamping point based on the force analysis of multiple clamping points and the real-time posture of the workpiece;

[0100] S126: constructing a force analysis diagram of the workpiece according to the force analysis diagrams of each clamping point, the real-time three-dimensional model of the workpiece, the real-time posture of the workpiece, and the height position of the workpiece.

[0101] In an embodiment of the present application, the clamping space system of the workpiece is frozen, and the clamping space system of the workpiece is introduced. The clamping space system of the workpiece is controlled. At this time, in the clamping space system of the workpiece, a real-time three-dimensional model of the workpiece is constructed based on the dynamic image of the workpiece and the model of the workpiece, which is compatible with the overall control of the dynamic image of the workpiece and the model of the workpiece, and the construction of the real-time three-dimensional model of the workpiece is realized, so as to facilitate the association of multiple clamping points and the real-time three-dimensional model of the workpiece.

[0102] Therefore, multiple clamping points are marked in the real-time three-dimensional model of the workpiece, and force analysis is performed on the multiple clamping points to achieve force control of the multiple clamping points. Based on the force analysis of the multiple clamping points and the real-time posture of the workpiece, the force analysis diagram of each clamping point is matched to achieve multi-dimensional control of the force analysis of the multiple clamping points and the real-time posture of the workpiece.

[0103] Furthermore, a force analysis diagram of each clamping point is introduced, and the force analysis diagram of each clamping point is associated with the real-time three-dimensional model of the workpiece, the real-time posture of the workpiece and the height position of the workpiece, thereby realizing multiple interactions of the force analysis diagram of each clamping point, the real-time three-dimensional model of the workpiece, the real-time posture of the workpiece and the height position of the workpiece, and then the force analysis diagram of the workpiece is constructed according to the force analysis diagram of each clamping point, the real-time three-dimensional model of the workpiece, the real-time posture of the workpiece and the height position of the workpiece, thereby ensuring the integrity and accuracy of the force analysis diagram of the workpiece and realizing overall force control of the workpiece.

[0104] refer to Figure 4 , in step S13, in the floor cleaning space, the load degree of the workpiece in each direction dimension is defined based on the dynamic recognition of the force analysis diagram of the workpiece;

[0105] In the specific implementation process of the present invention, the specific steps may be:

[0106] S131: Force analysis diagram of the fixed workpiece;

[0107] S132: Associating a force analysis diagram of a workpiece and an analysis diagram recognition model;

[0108] S133 determines dynamic recognition of the force analysis diagram of the workpiece based on the force analysis diagram of the workpiece and the analysis diagram recognition model;

[0109] S134: real-time monitoring of dynamic recognition of the force analysis diagram of the workpiece;

[0110] S135: outputting the load characteristics of the workpiece in different load directions;

[0111] S136: Defining the load degree of the workpiece in various directions based on multiple load characteristics, load directions, and the model of the workpiece.

[0112] In an embodiment of the present application, the force analysis diagram of the workpiece is frozen, and the force analysis diagram of the workpiece is controlled as a whole, thereby associating the force analysis diagram of the workpiece and the analysis diagram recognition model, so as to facilitate multi-dimensional control of the force analysis diagram of the workpiece and the analysis diagram recognition model, thereby determining the dynamic recognition of the force analysis diagram of the workpiece based on the force analysis diagram of the workpiece and the analysis diagram recognition model.

[0113] Therefore, the dynamic identification of the force analysis diagram of the workpiece is monitored in real time, so that the load characteristics of the workpiece in different load directions can be output in the dynamic identification of the force analysis diagram of the workpiece. The load characteristics of the workpiece in different load directions are introduced, so that multiple interactions are performed for multiple load characteristics, load directions and workpiece models, and then the load degree of the workpiece in each direction is defined based on multiple load characteristics, load directions and workpiece models, thereby ensuring the accuracy of the load degree of the workpiece in each direction.

[0114] refer to Figure 5 , S14: define the clamping level of the workpiece according to the load degree of the workpiece in various directions and the model of the workpiece;

[0115] In the specific implementation process of the present invention, the specific steps may be:

[0116] S141: Degree of load on the workpiece in all directions;

[0117] S142: Associating the load degree of the workpiece in each direction and the moving direction of the workpiece;

[0118] S143: defining a load priority based on the load degree of the workpiece in each direction and the moving direction of the workpiece, and assigning weights to the load degrees in each direction;

[0119] The S144 defines the clamping level of the workpiece according to the load priority, the load level of the workpiece in each dimension and the model of the workpiece.

[0120] In an embodiment of the present application, multiple clamping points of the clamping arm of an industrial robot on a workpiece are collected; a force analysis diagram of the workpiece is constructed based on the multiple clamping points and a real-time three-dimensional model of the workpiece; the load degree of the workpiece in various directions is defined based on dynamic identification of the force analysis diagram of the workpiece; the clamping level of the workpiece is defined based on the load degree of the workpiece in various directions and the model of the workpiece, which is compatible with the overall consideration of the load degree of the workpiece in various directions and the model of the workpiece, and corresponding force analysis is fully performed on the multiple clamping points, thereby ensuring the accuracy of the load degree of the workpiece in various directions, and further ensuring the accuracy of the clamping level of the workpiece.

[0121] At this time, the load degree of the workpiece in each direction is frozen to facilitate associating the load degree of the workpiece in each direction and the moving direction of the workpiece, thereby performing multiple interactions on the load degree of the workpiece in each direction and the moving direction of the workpiece.

[0122] Therefore, the load priority is defined based on the load degree of the workpiece in each directional dimension and the moving direction of the workpiece, and the weights of the load degree in each directional dimension are divided. The load priority, the load degree of the workpiece in each directional dimension and the model of the workpiece are introduced, and multiple interactions are performed on the load priority, the load degree of the workpiece in each directional dimension and the model of the workpiece, so as to define the clamping level of the workpiece according to the load priority, the load degree of the workpiece in each directional dimension and the model of the workpiece, thereby ensuring the accuracy of the clamping level of the workpiece.

[0123] refer to Figure 6 , S15: When the industrial robot is in dynamic movement, the jitter amount of the clamping arm is defined based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and a posture balance system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece;

[0124] In the specific implementation process of the present invention, the specific steps may be:

[0125] S151: Real-time monitoring of the status of industrial robots;

[0126] S152: When the industrial robot is in dynamic movement, the moving speed of the clamping arm, the moving trajectory of the clamping arm, and the clamping level of the workpiece are collected;

[0127] S153: Associating the moving speed of the clamping arm, the moving trajectory of the clamping arm, and the clamping level of the workpiece;

[0128] S154: defining a first jitter parameter according to the moving speed of the clamping arm and the moving trajectory of the clamping arm, and defining a second jitter parameter according to the moving speed of the clamping arm and the clamping level of the workpiece;

[0129] S155: Associating the second jitter parameter, the first jitter parameter and the jitter amount matching table, and defining the jitter amount of the clamping arm according to the matching of the second jitter parameter, the first jitter parameter and the jitter amount matching table;

[0130] S156: Associating the shaking amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece, and constructing a posture balance system according to the shaking amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece.

[0131] In an embodiment of the present application, the status of the industrial robot is monitored in real time and the status of the industrial robot is introduced. At this time, when the industrial robot is in dynamic movement, the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece are collected; the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece are associated to facilitate the overall control of the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and is compatible with multiple interactions in multiple dimensions.

[0132] Therefore, the first jitter parameter is defined according to the moving speed of the clamping arm and the moving trajectory of the clamping arm, and the second jitter parameter is defined according to the moving speed of the clamping arm and the clamping level of the workpiece, thereby introducing the second jitter parameter, the first jitter parameter and the jitter amount matching table, and then associating the second jitter parameter, the first jitter parameter and the jitter amount matching table, and defining the jitter amount of the clamping arm according to the matching of the second jitter parameter, the first jitter parameter and the jitter amount matching table, which is compatible with the overall control of the second jitter parameter, the first jitter parameter and the jitter amount matching table, thereby ensuring the accuracy of the jitter amount of the clamping arm and realizing real-time control of the clamping arm in the jitter dimension.

[0133] Furthermore, the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece are introduced, so as to associate the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece, and construct a posture balance system according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece, thereby realizing overall control of the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece, realizing multi-dimensional control of the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece, and ensuring the accuracy of the posture balance system.

[0134] refer to Figure 7 S16: dynamically balancing the clamping arm and the workpiece based on the posture balancing system, collecting the position offset of each clamping point, defining the slippage of the workpiece based on the position offset of each clamping point and the surface coefficient of the workpiece, and if the slippage of the workpiece is greater than a preset slippage threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm dynamically clamps the workpiece in multiple dimensions;

[0135] In the specific implementation process of the present invention, the specific steps may be:

[0136] S161: Freeze-frame posture balance system;

[0137] S162: Dynamically balance the gripping arm and the workpiece based on the posture balance system;

[0138] S163: monitor each clamping point in real time and collect the position offset of each clamping point;

[0139] S164: Associating the position offset of each clamping point with the surface coefficient of the workpiece, and defining the slippage amount of the workpiece based on the position offset of each clamping point and the surface coefficient of the workpiece;

[0140] S165: comparing the sliding amount of the workpiece with a preset sliding amount threshold;

[0141] S166: If the sliding amount of the workpiece is greater than a preset sliding amount threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm dynamically clamps the workpiece in multiple dimensions.

[0142] In the specific implementation process of the present invention, when the industrial robot is in dynamic movement, the jitter amount of the clamping arm is defined based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and a posture balance system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece; the clamping arm and the workpiece are dynamically balanced based on the posture balance system, and the position offset of each clamping point is collected, and the slip amount of the workpiece is defined based on the position offset of each clamping point and the surface coefficient of the workpiece; if the slip amount of the workpiece is greater than the preset slip amount threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm dynamically clamps the workpiece in multiple dimensions, which is compatible with the overall consideration of the slip amount of the workpiece and the posture balance system, ensures the control of the workpiece by the clamping arm in multiple dimensions, realizes the dynamic clamping effect and clamping stability of the workpiece.

[0143] At this time, the posture balance system is frozen, and dynamic balance control is performed on the posture balance system. The clamping arm and the workpiece are dynamically balanced based on the posture balance system to facilitate dynamic balance of the clamping arm and the workpiece.

[0144] Furthermore, each clamping point is monitored in real time, each clamping point is introduced, and real-time management and control are performed on each clamping point, so as to collect the position offset of each clamping point, and further control the position offset of each clamping point.

[0145] Therefore, the position offset of each clamping point and the surface coefficient of the workpiece are associated, and the sliding amount of the workpiece is defined based on the position offset of each clamping point and the surface coefficient of the workpiece, which is compatible with the overall control of the position offset of each clamping point and the surface coefficient of the workpiece, realizes the multi-dimensional control of the position offset of each clamping point and the surface coefficient of the workpiece, and ensures the accuracy of the sliding amount of the workpiece.

[0146] Furthermore, the sliding amount of the workpiece is compared with a preset sliding amount threshold; if the sliding amount of the workpiece is greater than the preset sliding amount threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm dynamically clamps the workpiece in multiple dimensions, which is compatible with the overall consideration of the sliding amount of the workpiece and the posture balance system, ensures the control of the workpiece by the clamping arm in multiple dimensions, realizes the dynamic clamping of the workpiece by the clamping arm in multiple dimensions, and improves the dynamic clamping effect and clamping stability of the workpiece.

[0147] In an embodiment of the present invention, through the method in the embodiment of the present invention, multiple clamping points of the clamping arm of the industrial robot on the workpiece are collected; a force analysis diagram of the workpiece is constructed based on the multiple clamping points and the real-time three-dimensional model of the workpiece; the load degree of the workpiece in various directions is defined based on the dynamic identification of the force analysis diagram of the workpiece; the clamping level of the workpiece is defined according to the load degree of the workpiece in various directions and the model of the workpiece, which is compatible with the overall consideration of the load degree of the workpiece in various directions and the model of the workpiece, and the corresponding force analysis is fully performed on the multiple clamping points, thereby ensuring the accuracy of the load degree of the workpiece in various directions, and further ensuring the accuracy of the clamping level of the workpiece.

[0148] Furthermore, when the industrial robot is in dynamic movement, the jitter amount of the clamping arm is defined based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and a posture balance system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece; the clamping arm and the workpiece are dynamically balanced based on the posture balance system, and the position offset of each clamping point is collected, and the slip amount of the workpiece is defined based on the position offset of each clamping point and the surface coefficient of the workpiece; if the slip amount of the workpiece is greater than a preset slip amount threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm dynamically clamps the workpiece in multiple dimensions, which is compatible with the overall consideration of the slip amount of the workpiece and the posture balance system, ensures the control of the workpiece by the clamping arm in multiple dimensions, realizes the dynamic clamping of the workpiece by the clamping arm in multiple dimensions, and improves the dynamic clamping effect and clamping stability of the workpiece.

[0149] See also Figure 8 , Figure 8 It is a schematic diagram of the structural composition of the dynamic clamping system of the industrial robot in an embodiment of the present invention.

[0150] like Figure 8 As shown, a dynamic clamping system of an industrial robot, the dynamic clamping system of the industrial robot comprises:

[0151] A clamping point module 21 is used to collect multiple clamping points of the clamping arm of the industrial robot on the workpiece;

[0152] A force analysis diagram module 22, for constructing a force analysis diagram of a workpiece according to a plurality of clamping points and a real-time three-dimensional model of the workpiece;

[0153] A load module 23, used to define the load degree of the workpiece in various directions based on the dynamic identification of the force analysis diagram of the workpiece;

[0154] A clamping level module 24, used to define the clamping level of the workpiece according to the load degree of the workpiece in various directions and the model of the workpiece;

[0155] The posture balance system module 25 is used to define the jitter amount of the clamping arm based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece when the industrial robot is in dynamic movement, and to build a posture balance system according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece;

[0156] The dynamic clamping module 26 is used to dynamically balance the clamping arm and the workpiece based on the posture balance system, collect the position offset of each clamping point, and define the slip amount of the workpiece based on the position offset of each clamping point and the surface coefficient of the workpiece. If the slip amount of the workpiece is greater than a preset slip amount threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm can dynamically clamp the workpiece in multiple dimensions.

[0157] See also Fig. 9 , refer to the following Fig. 9 The electronic device 40 according to this embodiment of the present invention will be described. Fig. 9 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0158] like Fig. 9 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0159] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0160] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0161] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0162] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0163] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Fig. 9 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0164] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a multi-parameter sensor device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0165] Those skilled in the art can understand that all or some of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0166] In addition, the dynamic clamping method and system of the industrial robot provided in the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. For general technicians in this field, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A dynamic clamping method for an industrial robot, characterized in that: Applied to dynamic clamping scenarios of industrial robots; The dynamic clamping method of the industrial robot comprises: Collect multiple gripping points of the gripping arm of the industrial robot on the workpiece; Construct a force analysis diagram of the workpiece based on multiple clamping points and a real-time three-dimensional model of the workpiece; Define the load degree of the workpiece in all directions based on the dynamic identification of the force analysis diagram of the workpiece; Define the clamping level of the workpiece according to the load degree of the workpiece in various dimensions and the model of the workpiece; When the industrial robot is in dynamic movement, the jitter amount of the clamping arm is defined based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and a posture balance system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece; Based on the posture balancing system, the clamping arm and the workpiece are dynamically balanced, and the position offset of each clamping point is collected. The slip amount of the workpiece is defined based on the position offset of each clamping point and the surface coefficient of the workpiece. If the slip amount of the workpiece is greater than the preset slip amount threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm can dynamically clamp the workpiece in multiple dimensions.

2. The dynamic clamping method of an industrial robot according to claim 1, characterized in that: The method of collecting multiple clamping points of the clamping arm of the industrial robot on the workpiece includes: Real-time monitoring of the interaction between the gripper arm of an industrial robot and the workpiece; A contact space between the clamping arm and the workpiece is defined according to the interaction process; defining a plurality of clamping areas based on the contact space between the clamping arm and the workpiece and the pressed portion of the workpiece; Associate multiple clamping areas and clamping point learning models; A plurality of clamping points are determined according to a plurality of clamping areas and a clamping point learning model, and a clamping space system of the workpiece is formed between the plurality of clamping points.

3. The dynamic clamping method of an industrial robot according to claim 2, characterized in that: The method of constructing a force analysis diagram of the workpiece according to the multiple clamping points and the real-time three-dimensional model of the workpiece includes: Fix the workpiece clamping space system; In the clamping space system of the workpiece, a real-time three-dimensional model of the workpiece is constructed based on the dynamic image of the workpiece and the model of the workpiece; Associating multiple gripping points with a real-time 3D model of the workpiece; Mark multiple clamping points in the real-time three-dimensional model of the workpiece and perform force analysis on multiple clamping points; Based on the force analysis of multiple clamping points and the real-time posture matching of the workpiece, the force analysis diagram of each clamping point is obtained; The force analysis diagram of the workpiece is constructed based on the force analysis diagram of each clamping point, the real-time three-dimensional model of the workpiece, the real-time posture of the workpiece, and the height position of the workpiece.

4. The dynamic clamping method of an industrial robot according to claim 3, characterized in that: The dynamic identification based on the force analysis diagram of the workpiece to define the load degree of the workpiece in various directions includes: Force analysis diagram of the fixed workpiece; Force analysis diagram of associated workpieces and analysis diagram identification model; Determine dynamic recognition of the force analysis diagram of the workpiece based on the force analysis diagram of the workpiece and the analysis diagram recognition model; Real-time monitoring of dynamic identification of the workpiece's force analysis diagram; Output the load characteristics of the workpiece in different load directions; Define the load degree of the workpiece in various dimensions based on multiple load characteristics, load direction and workpiece model.

5. The dynamic clamping method of an industrial robot according to claim 4, characterized in that: The clamping level of the workpiece is defined according to the load degree of the workpiece in various directions and the model of the workpiece, including: Determine the load level of the workpiece in all directions; The degree of load on the associated workpiece in each dimension and the direction of movement of the workpiece; Defining load priority based on the load degree of the workpiece in each direction and the moving direction of the workpiece, and dividing the weight of the load degree in each direction; The clamping class of the workpiece is defined according to the load priority, the load level of the workpiece in each dimension and the type of workpiece.

6. The dynamic clamping method of an industrial robot according to claim 5, characterized in that: When the industrial robot is in dynamic movement, the jitter amount of the clamping arm is defined based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and a posture balance system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece, including: Real-time monitoring of the status of industrial robots; When the industrial robot is in dynamic movement, the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece are collected.

7. The dynamic clamping method of an industrial robot according to claim 6, characterized in that: When the industrial robot is in dynamic movement, the jitter amount of the clamping arm is defined based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece, and a posture balance system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece, and also includes: Associating the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece; A first jitter parameter is defined according to a moving speed of the clamping arm and a moving trajectory of the clamping arm, and a second jitter parameter is defined according to the moving speed of the clamping arm and a clamping level of the workpiece; Associating the second jitter parameter, the first jitter parameter and the jitter amount matching table, and defining the jitter amount of the clamping arm according to the matching of the second jitter parameter, the first jitter parameter and the jitter amount matching table; The jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece are associated, and a posture balancing system is constructed according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece.

8. The dynamic clamping method of an industrial robot according to claim 7, characterized in that: The method dynamically balances the clamping arm and the workpiece based on the posture balancing system, collects the position offset of each clamping point, defines the slippage of the workpiece based on the position offset of each clamping point and the surface coefficient of the workpiece, and triggers the clamping arm to lift the bottom of the workpiece if the slippage of the workpiece is greater than a preset slippage threshold, so that the clamping arm dynamically clamps the workpiece in multiple dimensions, including: Freeze-frame posture balance system; Dynamically balance the gripping arm and workpiece based on the posture balance system; Monitor each clamping point in real time and collect the position offset of each clamping point.

9. The dynamic clamping method of an industrial robot according to claim 8, characterized in that: The method dynamically balances the clamping arm and the workpiece based on the posture balance system, collects the position offset of each clamping point, defines the slippage of the workpiece based on the position offset of each clamping point and the surface coefficient of the workpiece, and triggers the clamping arm to lift the bottom of the workpiece if the slippage of the workpiece is greater than a preset slippage threshold, so that the clamping arm dynamically clamps the workpiece in multiple dimensions, and also includes: Associating the position offset of each clamping point and the surface coefficient of the workpiece, and defining the slipping amount of the workpiece based on the position offset of each clamping point and the surface coefficient of the workpiece; Comparing the sliding amount of the workpiece with a preset sliding amount threshold; If the sliding amount of the workpiece is greater than a preset sliding amount threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm dynamically clamps the workpiece in multiple dimensions.

10. A dynamic clamping system for an industrial robot, characterized in that: The dynamic clamping system of the industrial robot is applied to the dynamic clamping method of the industrial robot as claimed in any one of claims 1 to 9, and the dynamic clamping system of the industrial robot comprises: The clamping point module is used to collect multiple clamping points of the clamping arm of the industrial robot on the workpiece; A force analysis diagram module is used to construct a force analysis diagram of a workpiece based on multiple clamping points and a real-time three-dimensional model of the workpiece; Load module, used to define the load degree of the workpiece in various directions based on the dynamic identification of the force analysis diagram of the workpiece; The clamping level module is used to define the clamping level of the workpiece according to the load degree of the workpiece in various dimensions and the model of the workpiece; The posture balance system module is used to define the jitter amount of the clamping arm based on the moving speed of the clamping arm, the moving trajectory of the clamping arm and the clamping level of the workpiece when the industrial robot is in dynamic movement, and to build a posture balance system according to the jitter amount of the clamping arm, the real-time posture of the clamping arm and the real-time posture of the workpiece; The dynamic clamping module is used to dynamically balance the clamping arm and the workpiece based on the posture balance system, collect the position offset of each clamping point, and define the slip amount of the workpiece based on the position offset of each clamping point and the surface coefficient of the workpiece. If the slip amount of the workpiece is greater than the preset slip amount threshold, the clamping arm is triggered to lift the bottom of the workpiece, so that the clamping arm can dynamically clamp the workpiece in multiple dimensions.

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