Control methods for workpiece gripping equipment, workpiece gripping equipment and storage medium

Abstract

A control method for a workpiece gripping device, the workpiece gripping device itself, and a storage medium are disclosed. The method controls the grippers in the device to grip a target workpiece and includes: controlling the grippers to move downwards from a starting position at a first speed to approach the target workpiece; after the grippers have moved past a deceleration position, controlling the movement speed of the grippers to be lower than the first speed; and, upon reaching the gripping position, controlling the grippers to grip the target workpiece and return to the starting position. This method reduces the probability of workpiece malfunctions due to untimely deceleration by reducing the movement speed of the grippers at least once during their movement from the starting position to the workpiece gripping position. The gripping position is calculated and set by a background program, ensuring consistency and stability in each gripping process, reducing the number of fixed trajectory points required during gripping, thereby improving the control accuracy and adaptability of the workpiece gripping device's motion trajectory.

Description

Technical Field

[0001] This application relates to the field of automation control technology, and more specifically, to a control method for a workpiece gripping device, a workpiece gripping device, and a storage medium. Background Technology

[0002] On production lines, to improve automation and operational efficiency, workpiece gripping equipment is typically used to automatically pick up workpieces and guide them into the appropriate processing steps.

[0003] Current control methods for workpiece gripping equipment suffer from insufficient precision in controlling the speed and position of the gripper movement. This leads to issues such as delayed deceleration causing clamping failures, the gripper reaching the gripping position but failing to detect the workpiece, and even clamping failures. These situations cause damage to the gripper and other components of the workpiece gripping equipment, further affecting gripping accuracy and ultimately impacting production efficiency.

[0004] Furthermore, the position of the gripper is often achieved by using the detection signal of the proximity switch to stop the gripping. The position control is not accurate enough. When the positioning trolley is worn after long-term use, the workpiece placement position will deviate. When gripping, the position of the workpiece cannot be accurately sensed. This can easily cause the position detection switch signal to not be detected when the gripper stops, and the cylinder will not clamp. The workpiece can only be manually dragged to detect the position or manually lifted to the position and then the cylinder clamps to restore the gripping. This poses a safety hazard to the workers.

[0005] In other words, the current control of workpiece gripping equipment is not precise or adaptive enough. Summary of the Invention

[0006] The purpose of this application is to provide a control method for a workpiece gripping device, a workpiece gripping device, and a storage medium, so as to improve the control accuracy and adaptability of the workpiece gripping device.

[0007] In a first aspect, this application provides a control method for a workpiece gripping device, used to control the gripper in the device to grip a target workpiece; the method includes: controlling the gripper to move downward from a starting position at a first speed to approach the target workpiece; after the gripper has moved past a deceleration position, controlling the moving speed of the gripper to a speed lower than the first speed; and performing precise position control during the movement to the gripping position to ensure that the gripper grips the target workpiece and returns to the starting position.

[0008] The control method of the above-mentioned workpiece gripping equipment reduces the moving speed of the gripper at least once during the process of the gripper moving from the starting position to the workpiece gripping position. This reduces the probability of pressing failures caused by untimely deceleration, thereby improving the control accuracy of the workpiece gripping equipment and increasing production efficiency.

[0009] In conjunction with the first aspect, optionally, the deceleration position includes an initial gripping position, a trigger interruption position, and a pre-grip position; the step of controlling the movement speed of the gripper to a speed lower than the first speed after the gripper has moved past the deceleration position includes: controlling the movement speed of the gripper to a second speed after the gripper has moved past the initial gripping position; controlling the movement speed of the gripper to a third speed after the gripper has moved past the trigger interruption position; and controlling the movement speed of the gripper to a fourth speed after the gripper has moved past the pre-grip position; wherein the first speed is greater than the second speed, the second speed is greater than the third speed, and the third speed is greater than the fourth speed; the depth of the initial gripping position is less than the depth of the trigger interruption position, the depth of the trigger interruption position is less than the depth of the pre-grip position, and the depth of the pre-grip position is less than the depth of the gripping position. The specific depth distance value can be set by detecting the distance between the gripper and the workpiece using a distance detection element on the gripper, while the corresponding position coordinates are also calculated and confirmed by a background program, reducing the need for fixed trajectory points and improving the adaptability and stability of the gripping process.

[0010] The control method of the above-mentioned workpiece gripping equipment sets the initial gripping position, the trigger interruption position, and the pre-grip position as deceleration positions during the stroke of the gripper approaching the target workpiece. By decelerating the gripper after passing these positions, the gripper is controlled to decelerate three times during its approach to the target workpiece. As the gripper gets closer to the target workpiece, the speed decreases, thereby further reducing the probability of pressing failures caused by untimely deceleration. This further improves the control accuracy of the workpiece gripping equipment and increases production efficiency.

[0011] In conjunction with the first aspect, optionally, after the gripper moves past the trigger interruption position, controlling the movement speed of the gripper to a third speed includes: assigning the lateral and longitudinal coordinate values ​​of the trigger interruption position to the pre-grip position and the gripping position; wherein the distance between the trigger interruption position and the workpiece position can be set to a fixed distance and measured by a corresponding detection element; subtracting a first distance value from the depth coordinate of the trigger interruption position and assigning it to the pre-grip position, and subtracting a second distance value and assigning it to the gripping position; wherein the first distance value is the distance between the trigger interruption position and the pre-grip position, and the second distance value is the distance between the trigger interruption position and the gripping position.

[0012] After the pre-grab position is reached, the movement speed of the gripper is controlled to a fourth speed, which includes: calculating the difference between the lateral coordinate values ​​and the first difference between the longitudinal coordinate values ​​of the pre-grab position, the initial gripper position, and the gripper position, and determining whether the difference exceeds a preset difference; if the first difference exceeds the preset difference, the gripper is controlled to stop running.

[0013] The control method for the aforementioned workpiece gripping equipment determines whether the difference between the coordinates of the pre-grip position, the initial gripping position, and the gripping position exceeds a preset difference. If the difference exceeds the preset difference, the gripper is stopped to facilitate maintenance and repair. This allows for immediate detection and timely handling of equipment malfunctions, improving the control precision of the workpiece gripping equipment and increasing production efficiency.

[0014] In conjunction with the first aspect, optionally, after moving past the pre-grabbing position, controlling the moving speed of the gripper to a fourth speed further includes: if it is determined that the first difference does not exceed the preset difference, then controlling the gripper to continue moving; if, upon moving to the gripping position, controlling the gripper to grab the target workpiece and return to the starting position includes: determining the relationship between a second difference and a third distance between the depth coordinate value of the gripping position and the depth coordinate value of the initial gripping position; wherein, the third distance is the distance between the workpiece position and the initial gripping position; if it is determined that the second difference is less than the third distance, then gradually decreasing the preset depth coordinate value of the gripping position until the second difference is equal to the third distance.

[0015] The control method of the above-mentioned workpiece gripping equipment, by gradually reducing the preset depth coordinate value until the second difference is equal to the third distance when the second difference is less than the third distance, achieves calibration of the preset depth coordinate value, thereby improving the accuracy of the gripping position. If the number of cycles of reduction exceeds the preset number of reductions, the machine stops and outputs an alarm prompt.

[0016] In conjunction with the first aspect, optionally, when the gripper is moved to the gripping position, controlling the gripper to grip the target workpiece and return to the starting position further includes: if it is determined that the second difference is greater than the third distance, then gradually increasing the preset depth coordinate value of the gripping position until the second difference is equal to the third distance.

[0017] The control method of the above-mentioned workpiece gripping equipment, by gradually increasing the preset depth coordinate value until the second difference is equal to the third distance when the second difference is greater than the third distance, also achieves the calibration of the preset depth coordinate value, thereby improving the accuracy of the gripping position. If the number of cycles increases exceeds the preset number of increases, the machine stops and outputs an alarm prompt.

[0018] In conjunction with the first aspect, optionally, when the gripper is moved to the gripping position, controlling the gripper to grip the target workpiece and return to the starting position further includes: if it is determined that the second difference is equal to the third distance, then controlling the gripper to grip the target workpiece and return to the starting position.

[0019] The control method of the above-mentioned workpiece gripping equipment improves the control accuracy and adaptability of the workpiece gripping equipment by controlling the gripper to grip the workpiece normally and return to the starting position when the second difference and the third distance are equal, and reduces the setting of fixed trajectory points, thereby improving production efficiency.

[0020] In conjunction with the first aspect, optionally, the target gripping position is provided with at least two detection elements, and during the movement of the gripper towards the gripping position, the detection elements are used to detect whether the target workpiece is located at the gripping position; the depth of the gripping position of the gripper is set to be greater than the installation depth of the detection elements; the step of controlling the gripper to grip the target workpiece and return to the starting position if it is determined that the second difference is equal to the third distance includes:

[0021] Determine whether both of the at least two detection elements have issued detection signals; wherein, the detection signal is used to indicate that the gripper has been detected to be in a position where it can grasp the target workpiece; if both of the at least two detection elements have signals, the gripper stops running and clamps the target workpiece, and checks again whether all detection elements have detection signals; if so, the gripper is controlled to return to the starting position; if the detection element signals are incomplete, the gripper is controlled to continue running towards the gripping position.

[0022] If it is determined that the gripper has reached the gripping position, and if it is determined that at least two detection elements have issued the detection signal, then the gripper is controlled to grip the target workpiece and return to the starting position; if the detection element signal is incomplete, an alarm prompt is issued for manual confirmation.

[0023] The control method of the above-mentioned workpiece gripping equipment improves the accuracy of detecting the position of the target workpiece by using at least two detection elements to detect the gripping position. Furthermore, the gripping position is set lower than the detection switch position, which can accommodate deviations that may occur in the trolley's accuracy and ensure gripping stability and consistency. This further improves the control accuracy of the workpiece gripping equipment and increases production efficiency.

[0024] In conjunction with the first aspect, optionally, before controlling the gripper to move downward from the starting position at a first speed to approach the target workpiece, the method further includes: controlling the detection element to translate at a fixed height and measuring the distance of each step of the calibration block; wherein the height difference of each step of the calibration block is H1; calculating the measurement difference between the corresponding measurements of two adjacent steps and obtaining the median H2 of the measurement difference; calculating the difference δH between H1 and H2 and determining whether δH exceeds a preset value; if it is determined that δH exceeds the preset value, the deviation needs to be manually confirmed and manually calibrated to ensure the accuracy and stability of the gripper's gripping of the workpiece;

[0025] If δH is determined to be within the preset value range, the equipment will start up and operate normally.

[0026] The control method of the above-mentioned workpiece gripping equipment ensures that the hardware accuracy meets the standards by quickly confirming and correcting hardware deviations, and also saves the time for confirming and recovering from changes in hardware accuracy, thereby further improving production efficiency.

[0027] Secondly, this application also provides a workpiece gripping device, including a gripper, a drive assembly, a detection element, and a controller; the gripper is connected to the drive assembly; the detection element is disposed at a deceleration position corresponding to the middle section of the stroke of the gripper as it moves downward from the starting position to approach the target workpiece; the controller is electrically connected to both the drive assembly and the detection element; the detection element is used to detect whether the gripper has passed the deceleration position and send a detection signal to the controller; the controller is used to control the gripper through the drive assembly and according to the following method: controlling the gripper to move downward from the starting position at a first speed to approach the target workpiece; after the gripper has moved past the deceleration position, controlling the moving speed of the gripper to be lower than the first speed; and when the gripper moves to the gripping position, controlling the gripper to grip the target workpiece and return to the starting position.

[0028] The workpiece gripping device described above has the same beneficial effects as the control method of the workpiece gripping device provided in the first aspect or any optional embodiment of the first aspect, which will not be elaborated here.

[0029] Thirdly, this application also provides a storage medium, the storage medium including a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor to perform the methods described above.

[0030] The aforementioned storage medium has the same beneficial effects as the control method of the workpiece gripping device provided in the first aspect or any alternative embodiment of the first aspect, and will not be elaborated here.

[0031] In summary, the control method, workpiece gripping device, and storage medium provided in this application reduce the gripper's moving speed at least once during the movement of the gripper from the initial position to the workpiece gripping position. This reduces the probability of workpiece failures caused by untimely deceleration, thereby improving the control speed accuracy of the workpiece gripping device and increasing production efficiency. By combining the distance detection element on the gripper to assign the lateral and longitudinal coordinate values ​​at the trigger interruption position to the pre-grip position and the gripping position, and judging whether the difference between the coordinates of the positions exceeds a preset difference, the gripper is stopped if the difference exceeds the preset difference, facilitating shutdown and maintenance. This enables immediate detection and timely handling of equipment faults. By judging the relationship between the second difference and the third distance between the depth coordinate value of the gripping position and the depth coordinate value of the initial gripping position, the appropriateness of the gripping position depth can be determined during the gripping process, and corresponding automatic adjustments can be made. Combined with the presence or absence of the detection signal of the set workpiece detection element, the position control accuracy and adaptability of the workpiece gripping device are further improved, the setting of fixed trajectory points is reduced, and production efficiency is increased. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 A flowchart illustrating the control method for the workpiece gripping device provided in this application embodiment;

[0034] Figure 2 A detailed flowchart of step S140 in the control method of the workpiece gripping device provided in the embodiments of this application;

[0035] Figure 3 This is a flowchart illustrating step S142 in the control method of the workpiece gripping device provided in the embodiments of this application.

[0036] Figure 4 A detailed flowchart of step S143 in the control method of the workpiece gripping device provided in the embodiments of this application;

[0037] Figure 5 A detailed flowchart of step S160 in the control method of the workpiece gripping device provided in the embodiments of this application;

[0038] Figure 6 A detailed flowchart of step S164 in the control method of the workpiece gripping device provided in the embodiments of this application;

[0039] Figure 7 This is a first schematic diagram of the calibration of the detection element provided in the embodiments of this application;

[0040] Figure 8 This is a second schematic diagram of the calibration of the detection element provided in the embodiments of this application;

[0041] Figure 9 This is a schematic diagram of the workpiece gripping device provided in the embodiments of this application;

[0042] Icons: 100, workpiece gripping device; 110, gripper; 120, drive assembly; 130, detection element; 140, controller. Detailed Implementation

[0043] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application.

[0045] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0046] Please refer to Figure 1 , Figure 1 This is a flowchart of a control method for a workpiece gripping device provided in an embodiment of this application. This application provides a control method for a workpiece gripping device, used to control the grippers in the device to grip a target workpiece.

[0047] The method may include:

[0048] Step S120: Control the gripper to move downward from the starting position at a first speed to approach the target workpiece.

[0049] In step S120 above, before controlling the gripper to move downwards, it can be detected whether a target workpiece is placed at the gripping position. If a target workpiece is detected at the gripping position, the gripper is controlled to approach the target workpiece at a first speed. The first speed can be 2 m / s. Of course, those skilled in the art can adaptively adjust the first speed to other values ​​based on the length of the gripper's entire stroke in gripping the target workpiece.

[0050] Step S140: After the gripper moves past the deceleration position, control the movement speed of the gripper to be lower than the first speed.

[0051] In step S140 above, the deceleration position can be located in the middle of the gripper's stroke as it approaches the target workpiece. There can be one or more deceleration positions. Correspondingly, the number of times the gripper's movement speed is reduced can be once or multiple times.

[0052] Step S160: When the gripper is moved to the gripping position, control the gripper to grip the target workpiece and return to the starting position.

[0053] In step S160 above, the depth of the gripping position can be the same as or less than the depth of the workpiece placement position. For example, the depth of the gripping position may differ from the depth of the workpiece placement position by 6 mm. The speed at which the gripper returns to the starting position can be the same as or different from the first speed.

[0054] In the above implementation process, by reducing the moving speed of the gripper at least once during the movement of the gripper from the starting position to the workpiece gripping position, the probability of pressing failures caused by untimely deceleration is reduced, thereby improving the control accuracy of the workpiece gripping equipment and increasing production efficiency.

[0055] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating step S140 of the control method for the workpiece gripping device provided in this application embodiment. In some optional embodiments, the deceleration position may include an initial gripping position, a trigger interruption position, and a pre-grip position. The depth of the initial gripping position may be less than the depth of the trigger interruption position, the depth of the trigger interruption position may be less than the depth of the pre-grip position, and the depth of the pre-grip position may be less than the depth of the gripping position.

[0056] Accordingly, step S140 may include:

[0057] Step S141: After the gripper moves past the initial position of the gripper, control the movement speed of the gripper to the second speed.

[0058] In step S141 above, the second speed can be less than the first speed, for example, 1 m / s.

[0059] Step S142: After the gripper moves past the interruption position, control the movement speed of the gripper to the third speed.

[0060] In step S142 above, the third speed can be less than the second speed, for example: 0.1 m / s.

[0061] Step S143: After moving past the pre-grab position, control the moving speed of the control gripper to the fourth speed.

[0062] In step S143 above, the fourth speed can be less than the third speed, for example: 0.02m / s.

[0063] In the above implementation process, by setting the initial gripping position, the trigger interrupt position, and the pre-grip position as deceleration positions during the stroke of the gripper approaching the target workpiece, and by decelerating the gripper after passing these positions, the gripper is controlled to decelerate three times during the process of approaching the target workpiece. As the gripper gets closer to the target workpiece, the speed becomes smaller and smaller, thereby further reducing the probability of pressing failures caused by untimely deceleration, further improving the control accuracy of the workpiece gripping equipment, and improving production efficiency.

[0064] Please refer to Figure 3 and Figure 4 , Figure 3 This is a flowchart of step S142 in the control method of the workpiece gripping device provided in the embodiments of this application; Figure 4 This is a flowchart illustrating step S143 in the control method of the workpiece gripping device provided in this application embodiment. In some optional embodiments, step S142 may include:

[0065] Step S1421: Assign the horizontal and vertical coordinate values ​​of the trigger interruption location to the pre-grab location and the grab location.

[0066] In step S1421 above, the horizontal and vertical coordinate values ​​at the trigger interrupt position can be coordinate values ​​calculated internally by the gripper controller. When the workpiece gripping device has sufficient operating accuracy, during the movement of the gripper, usually only the depth coordinate changes, while the horizontal and vertical coordinate values ​​remain unchanged.

[0067] Step S1422: Subtract the first distance value from the depth coordinate value at the trigger interruption location and assign it to the pre-grab location; subtract the second distance value and assign it to the grab location; wherein the first distance value is the distance between the trigger interruption location and the pre-grab location, and the second distance value is the distance between the trigger interruption location and the grab location.

[0068] Step S143 may include:

[0069] Step S1431: Calculate the difference between the horizontal coordinate value and the first difference between the pre-grab position and the initial position and the grab position of the grab, and determine whether the difference exceeds the preset difference.

[0070] In step S1431 above, the first difference can be 2 or other values.

[0071] If the first difference is determined to exceed the preset difference, then step S1432 is executed: control the gripper to stop running.

[0072] In step S1432 above, if the first difference exceeds the preset difference, it usually indicates that the error in controlling the position of the gripper is too large. At this time, the gripper is stopped and an alarm is triggered, and a prompt message is displayed to inform the staff to adjust the workpiece gripping equipment.

[0073] In the above implementation process, the horizontal and vertical coordinate values ​​at the trigger interruption location are assigned to the pre-grab position and the gripping position. It is then determined whether the difference between the coordinates of the pre-grab position and the initial gripping position and the gripping position exceeds a preset difference. If the difference exceeds the preset difference, the gripper is controlled to stop operation, facilitating machine shutdown and maintenance. This allows for immediate detection and timely handling of equipment faults, improving the control accuracy of the workpiece gripping equipment and increasing production efficiency.

[0074] Please continue to refer to Figure 4 In some alternative implementations, step S143 may further include:

[0075] If the first difference is determined to be less than the preset difference, then step S1433: control the gripper to continue moving.

[0076] In step S1433 above, if the first difference does not exceed the preset difference, it usually indicates that the error in controlling the gripper position is small, and operation can continue.

[0077] Accordingly, please refer to Figure 5 , Figure 5 This is a flowchart illustrating step S160 in the control method of the workpiece gripping device provided in this application embodiment. Step S160 may include:

[0078] Step S161: Determine the relationship between the second difference and the third distance between the depth coordinates of the gripper position and the initial depth coordinates of the gripper. The third distance is the distance between the workpiece position and the initial gripper position.

[0079] In step S161 above, the depth coordinates of the gripping position calculated or pre-stored within the controller typically determine the gripping accuracy. Specifically, if the depth coordinates of the gripping position are too large, the gripper will operate at too deep a depth, potentially leading to issues like clamping. Conversely, if the depth coordinates of the gripping position are too small, the gripper will operate at too shallow a depth, potentially causing unstable gripping or failure to grip the part. Therefore, by determining the relationship between the second difference and the third distance between the depth coordinates of the gripping position and the initial gripping position, it is possible to determine whether the gripping depth is appropriate during the gripping process.

[0080] Figure 5 If it is determined that the second difference can be less than the third distance, then step S162 is executed: gradually decrease the preset depth coordinate value of the gripping position until the second difference is equal to the third distance.

[0081] In step S162 above, the fact that the second difference can be less than the third distance usually indicates that the preset depth coordinate value is too large. Therefore, the preset depth coordinate value can be gradually reduced until the second difference is equal to the third distance.

[0082] In the above implementation process, by gradually reducing the preset depth coordinate value until the second difference is equal to the third distance, the preset depth coordinate value is calibrated, thereby improving the accuracy of the gripping position. If the number of cycles of reduction exceeds the preset number of reductions, the machine stops and an alarm is output.

[0083] Please continue to refer to Figure 5 In some alternative implementations, step S160 may further include:

[0084] If it is determined that the second difference can be greater than the third distance, then step S163 is executed: gradually increase the preset depth coordinate value of the gripping position until the second difference is equal to the third distance.

[0085] In step S163 above, the fact that the second difference can be greater than the third distance usually indicates that the preset depth coordinate value is too small. Therefore, the preset depth coordinate value can be gradually increased until the second difference is equal to the third distance.

[0086] In the above implementation process, by gradually increasing the preset depth coordinate value until the second difference is equal to the third distance when the second difference is greater than the third distance, the preset depth coordinate value is also calibrated, thereby improving the accuracy of the gripping position. If the number of cycles of increasing exceeds the preset number of increases, the machine stops and an alarm prompt is output.

[0087] Please continue to refer to Figure 5 In some alternative implementations, step S160 may further include:

[0088] If the second difference is determined to be equal to the third distance, then step S164 is executed: control the gripper to grab the target workpiece and return to the starting position.

[0089] In step S164 above, the fact that the second difference and the third distance are equal usually indicates that the preset depth coordinate value is relatively accurate, so that the gripper can be controlled to grip the part normally and return to the starting position for the next round of gripping.

[0090] In the above implementation process, by controlling the gripper to normally grasp the workpiece and return to the starting position when the second difference is equal to the third distance, the control accuracy of the workpiece gripping device is also improved, the setting of fixed trajectory points is reduced, and thus the production efficiency is improved.

[0091] In some alternative implementations, the target gripping position may be provided with at least two detection elements, which are used to detect whether the target workpiece is located at the gripping position.

[0092] The detection element can be a proximity switch.

[0093] Accordingly, please refer to Figure 6 , Figure 6 This is a flowchart illustrating step S164 in the control method of the workpiece gripping device provided in this application embodiment. Step S164 may include:

[0094] Step S1641: Determine whether at least two detection elements have emitted detection signals. The detection signal indicates that the target workpiece is detected to be at a position where the grippers can grasp it.

[0095] In step S1641 above, the gripping position is detected by two detection elements to improve the accuracy of detecting the in-situ information of the target workpiece.

[0096] If it is determined that at least two detection elements have issued detection signals, then step S1642 is executed: control the gripper to stop running and clamp the target workpiece;

[0097] Step S1643: Check again whether all detection elements have detection signals. If so, proceed to step S1644: The gripper returns to the starting position.

[0098] In step S1642 above, if both detection elements emit detection signals, it indicates that the detection results of both detection elements are: the target workpiece is located in the gripping position. In step S1643, after the workpiece is gripped, the detection signal of the secondary detection element is judged to ensure that the state after gripping the workpiece is normal. If there is still a detection signal, normal gripping can be performed. If the detection element signal is incomplete, an alarm prompt is issued for manual confirmation.

[0099] Since the workpiece trolley may experience accuracy deviations due to long-term use, the distance between the gripping position and the workpiece can be set to be less than the detection distance of the detection element. This can compensate for slight accuracy errors and automatically adapt, ensuring that the two detection switches can always detect the position of the workpiece simultaneously.

[0100] In the above implementation process, the grasping position is detected by at least two detection elements, which improves the accuracy of detecting the in-situ information of the target workpiece, thereby further improving the control precision and adaptability of the workpiece grasping equipment and increasing production efficiency.

[0101] In some optional implementations, prior to step S120, the control method for the workpiece gripping device provided in this application embodiment further includes:

[0102] Step S111: Control the detection element to translate at a fixed height and measure the distance of each step of the calibration block. The height difference between each step of the calibration block is H1. The detection element can be an electro-optical distance meter.

[0103] Step S112: Calculate the measurement difference between the corresponding measurements of two adjacent steps, and obtain the median H2 of the measurement difference.

[0104] Step S113: Calculate the difference δH between H1 and H2, and determine whether δH exceeds the preset value.

[0105] If it is determined that δH exceeds the preset value, then step S114 is executed: the deviation needs to be manually confirmed and manually calibrated to ensure the accuracy and stability of the gripper gripping the workpiece.

[0106] Please refer to Figure 7 , Figure 7This is a first schematic diagram of the calibration of the detection element provided in this application embodiment. Exemplarily, the height difference H1 between each step of the calibration block is 2mm, and its processing accuracy is typically ±0.05mm. The value of each step is detected by the fixed-height translation of an electro-optical rangefinder, i.e., the measured value. By calculating the measurement difference between the corresponding measured values ​​of two adjacent steps and obtaining the median H2, if it is within the range of 2±0.5, then the accuracy of the electro-optical rangefinder is determined to meet the requirements, and normal production can begin. Otherwise, manual verification of the deviation size is required for manual calibration. That is, the preset value can be 0.5.

[0107] Please refer to Figure 8 , Figure 8 This is a second schematic diagram of the calibration of the detection element provided in this application embodiment. For example, the robot reference trajectory program is taught in advance to confirm that the trajectory position of the robot trajectory reference point is such that the measurement value of the photoelectric rangefinder is 150mm (optimal detection accuracy), and the light spot falls on the reference point position of the calibration block, using this as a reference. When interference occurs due to gripper collision or robot axis zero-point loss, after repairing the hardware or recalibrating the robot zero point, the robot can be taught to run the reference trajectory program. Simultaneously, if a deviation occurs, the photoelectric rangefinder light spot is manually taught to fall on the reference point position, with the rangefinder measurement value being 150mm. The coordinate values ​​of this position point are compared with the original trajectory reference point coordinate values ​​to obtain the corresponding deviation value. The deviation value is then synchronously updated into the corresponding tool coordinate coefficient values ​​for calibration and confirmation.

[0108] In the above implementation process, by quickly correcting hardware deviations, recovery confirmation time is saved, thereby further improving production efficiency.

[0109] Please refer to Figure 9 , Figure 9 This is a schematic diagram of the structure of the workpiece gripping device 100 provided in this application embodiment. Based on the same concept, this application embodiment provides a workpiece gripping device 100, which may include a gripper 110, a drive assembly 120, a detection element 130, and a controller 140. The gripper 110 can be connected to the drive assembly 120. The detection element 130 can be disposed at a deceleration position corresponding to the middle section of the stroke during which the gripper 110 moves downward from the starting position to approach the target workpiece. The controller 140 can be electrically connected to both the drive assembly 120 and the detection element 130. The detection element 130 can be used to detect whether the target workpiece has passed the deceleration position and can send a detection signal to the controller 140. The controller 140 can be used to control the gripper 110 through the drive assembly 120 and according to the control method of the workpiece gripping device described above.

[0110] The detection element 130 can be a proximity switch or a photoelectric ranging switch. In conjunction with the previous embodiments, it can be set at the initial gripping position, the trigger interruption position, and the pre-grip position, respectively.

[0111] The above implementation process can have the same beneficial effects as the control method of the workpiece gripping device described above, and will not be repeated here.

[0112] This application also provides a storage medium, which includes a computer-readable storage medium. A computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor to perform the methods described above.

[0113] The computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0114] In summary, the control method, workpiece gripping device, and storage medium provided in the various embodiments of this application reduce the moving speed of the gripper at least once during the movement of the gripper from the initial position to the workpiece gripping position. This reduces the probability of workpiece failures caused by untimely deceleration, thereby improving the speed control accuracy of the workpiece gripping device and increasing production efficiency. By assigning the lateral and longitudinal coordinate values ​​at the trigger interruption position to the pre-grip position and the gripping position, and determining whether the difference between the coordinates of the positions exceeds a preset difference, the gripper is stopped if the difference exceeds the preset difference. This facilitates shutdown and maintenance, enabling immediate detection and timely handling of equipment faults. By judging the relationship between the second difference and the third distance between the depth coordinate value of the gripping position and the depth coordinate value of the initial gripping position, the appropriateness of the gripping depth can be determined during the gripping process. Combined with the presence or absence of the detection signal of the set workpiece detection element, the position control accuracy and adaptability of the workpiece gripping device are further improved, the setting of fixed trajectory points is reduced, and production efficiency is increased.

[0115] It should be understood that the disclosed apparatus and methods can also be implemented in other ways, given the several embodiments provided in this application. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0116] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0117] The above description is only an optional implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application.

Claims

1. A control method for a workpiece gripping device, characterized in that, Used to control the grippers in the device to grasp the target workpiece; The method includes: The gripper is controlled to move downward from its starting position at a first speed to approach the target workpiece; After the gripper has moved past the deceleration position, the moving speed of the gripper is controlled to be lower than the first speed; and When the gripper moves to the gripping position, it is controlled to grip the target workpiece and return to the starting position; The deceleration positions include the initial gripping position, the trigger interruption position, and the pre-grip position; The step of controlling the moving speed of the gripper to be lower than the first speed after the gripper has moved past the deceleration position includes: After the gripper moves past the initial position of the gripper, the moving speed of the gripper is controlled to a second speed; After the gripper moves past the interruption position, the movement speed of the gripper is controlled to a third speed; and After the gripper has moved past the pre-grab position, the moving speed of the gripper is controlled to the fourth speed. Wherein, the first speed is greater than the second speed, the second speed is greater than the third speed, and the third speed is greater than the fourth speed; the depth of the initial gripping position is less than the depth of the trigger interruption position, the depth of the trigger interruption position is less than the depth of the pre-grip position, and the depth of the pre-grip position is less than the depth of the gripping position. After the gripper moves past the interruption position, controlling the movement speed of the gripper to a third speed includes: The horizontal and vertical coordinate values ​​at the trigger interruption position are assigned to the pre-grab position and the grab position; wherein, the distance between the trigger interruption position and the workpiece position can be set to a fixed distance and measured by the corresponding detection element; Subtracting a first distance value from the depth coordinates at the trigger interruption location and assigning it to the pre-grab location, then subtracting a second distance value and assigning it to the grab location; wherein, the first distance value is the distance between the trigger interruption location and the pre-grab location, and the second distance value is the distance between the trigger interruption location and the grab location; After the gripper has moved past the pre-grab position, controlling the moving speed of the gripper to a fourth speed includes: Calculate the difference between the horizontal coordinate values ​​and the first difference between the horizontal coordinate values ​​of the pre-grab position, the initial gripping position, and the gripping position, and determine whether the difference exceeds a preset difference. If the first difference is determined to exceed the preset difference, the gripper is controlled to stop operating.

2. The control method for the workpiece gripping device according to claim 1, characterized in that, The step of controlling the moving speed of the gripper to a fourth speed after it has moved past the pre-grab position also includes: If it is determined that the first difference does not exceed the preset difference, then the gripper is controlled to continue moving; When the gripper is moved to the gripping position, controlling the gripper to grasp the target workpiece and return to the starting position includes: Determine the relationship between a second difference and a third distance between the depth coordinates of the gripper's current position and the depth coordinates of the initial gripper position; wherein the third distance is the distance between the workpiece position and the initial gripper position. If the second difference is determined to be less than the third distance, the preset depth coordinate value of the gripper position is gradually reduced until the second difference is equal to the third distance. If the number of cycles of reduction exceeds the preset number of reductions, the machine is stopped and an alarm is output.

3. The control method for the workpiece gripping device according to claim 2, characterized in that, The step of controlling the gripper to grasp the target workpiece and return to the starting position when the workpiece is moved to the gripping position further includes: If the second difference is determined to be greater than the third distance, the preset depth coordinate value of the gripper position is gradually increased until the second difference is equal to the third distance. If the number of cycles exceeds the preset number of increases, the machine is stopped and an alarm is output.

4. The control method for the workpiece gripping device according to claim 2, characterized in that, The step of controlling the gripper to grasp the target workpiece and return to the starting position when the workpiece is moved to the gripping position further includes: If the second difference is determined to be equal to the third distance, then the gripper is controlled to grab the target workpiece and return to the starting position.

5. The control method for the workpiece gripping device according to claim 4, characterized in that, At least two detection elements are provided at the target gripping position. During the movement of the gripper towards the gripping position, the detection elements are used to detect whether the target workpiece is located at the gripping position. The depth of the gripping position of the gripper is set to be greater than the installation depth of the detection elements. If the second difference is determined to be equal to the third distance, then controlling the gripper to grasp the target workpiece and return to the starting position includes: Determine whether both of the at least two detection elements have issued detection signals; wherein the detection signals are used to indicate that the gripper is already in a position where it can grasp the target workpiece; determine that the gripper has stopped at the gripping position; if both of the at least two detection elements have issued the detection signals, control the gripper to grasp the target workpiece and return to the starting position; if the detection element signals are incomplete, issue an alarm prompt for manual confirmation.

6. The control method for the workpiece gripping device according to claim 5, characterized in that, Before controlling the gripper to move downward from the starting position at a first speed to approach the target workpiece, the method further includes: The control detection element is translated at a fixed height, and the distance of each step of the calibration block is measured; wherein, the height difference of each step of the calibration block is H1; Calculate the measurement difference between the corresponding measurements of two adjacent steps, and obtain the median H2 of the measurement difference; Calculate the difference δH between H1 and H2, and determine whether δH exceeds the preset value; If δH is determined to exceed the preset value, the deviation needs to be manually confirmed and manually calibrated to ensure the accuracy and stability of the gripper's workpiece gripping. If δH is determined to be within the preset value range, the equipment will start up and operate normally.

7. A workpiece gripping device, characterized in that, Includes grippers, drive components, detection elements, and controllers; The gripper is connected to the drive assembly; The detection element is positioned at the deceleration position corresponding to the middle section of the stroke when the gripper moves downward from the starting position to approach the target workpiece. The controller is electrically connected to the drive assembly and the detection element, respectively. The detection element is used to detect whether the gripper has passed the deceleration position and send a detection signal to the controller; The controller is used to control the gripper via the drive assembly and according to the control method of the workpiece gripping device as described in any one of claims 1 to 6.

8. A storage medium, characterized in that, The storage medium includes a computer-readable storage medium; the computer-readable storage medium stores a computer program that, when executed by a processor, performs the method as described in any one of claims 1 to 6.

Images