Mechanical arm end effector control method and system

Abstract

The invention discloses a control method and system for an end effector of a mechanical arm, belongs to the technical field of effector control, and aims at sampling, detecting and analyzing gas path execution parameter values, determining whether parameters of a current gas path are reasonable or not through the parameter values, and preventing the problems that the working efficiency of the gas path is weakened and the gas path cannot work reasonably due to abnormal formation of the parameter values. Parameter value detection of a gas circuit is subjected to sensor common detection analysis, whether sensor common detection meets the requirement or not during the current gas circuit parameter value detection period is determined, and the problem that the gas circuit is blocked in work due to the fact that maintenance needs to be prompted when the gas circuit is barrier-free is solved; detecting the parameter verification analysis of the gas path, determining whether the gas path parameter verification efficiency meets the working requirement of the gas path or not, and preventing the problem that the reasonable working state of the parameters of the gas path cannot be restored instantly due to low parameter verification efficiency to form the working obstacle of the gas path; and through verification of high-efficiency detection, the working efficiency of the gas circuit can be improved, and the gas circuit can be maintained immediately when parameters are abnormal.

Description

Technical Field

[0001] The present invention belongs to the technical field of actuator control, and in particular relates to a method and system for controlling an end effector of a robotic arm. Background Art

[0002] As a bridge between the robot and the workpiece, the end effector of the robot arm undertakes key tasks such as grasping, clamping, and handling. Its innovative design not only improves production efficiency, but also achieves significant improvements in accuracy, stability, and flexibility. In the field of industrial automation, the end effector of the robot arm is becoming an important force in promoting the transformation and upgrading of the manufacturing industry with its unique advantages.

[0003] In terms of the control of the end effector of the robot arm, as mentioned in the prior art solution with patent publication number "CN220498349U", it includes a pressure sensor and a proportional pressure valve connected to the PLC. The pressure sensor and the proportional pressure valve are arranged on the air path connecting the pneumatic triplet of the end effector of the robot arm and the flexible force control device of the pneumatic integrated unit. The PLC adjusts the air pressure in the air path through the proportional pressure valve according to the pressure value of the air path sampled by the pressure sensor, so as to achieve flexible assembly of the medicine column assembly.

[0004] When the gas circuit is working, it is not possible to perform sampling and analysis on its real-time parameter values, nor is it possible to perform joint detection and analysis in conjunction with the sensors that sample the parameter values, resulting in inaccurate parameter verification and analysis, often leading to misjudgment of the unreasonable operation of the gas circuit, which weakens the efficiency of the verification of the gas circuit parameters. Summary of the invention

[0005] In order to solve the defects in the prior art, the present invention proposes a robot arm end effector control method and system, which effectively avoids the defects in the prior art that the gas circuit cannot perform sampling and analysis on its real-time parameter values ​​when working, and cannot perform joint detection and analysis with the sensor of the sampled parameter values, resulting in inaccurate parameter verification and analysis, often resulting in wrong judgment of the gas circuit operation, and weakening the high efficiency of gas circuit parameter verification.

[0006] The present invention uses the following technical solutions.

[0007] A method for controlling a robot end effector, comprising: The PLC adjusts the air pressure in the air circuit through the proportional pressure valve according to the air circuit pressure value sampled by the pressure sensor; the PLC also verifies the working condition of the air circuit according to the air circuit flow value, air circuit flow rate value or air circuit pressure value sampled by the flow sensor, flow rate sensor and pressure sensor as air circuit parameter values. The air circuit flow rate, air circuit flow rate or air circuit pressure is the air circuit parameter; PLC also verifies the working condition of the gas circuit according to the gas circuit parameter value, including: Step 1: Perform parameter value sampling, detection and analysis on the gas path, and determine whether the parameters of the current gas path are reasonable through the parameter values; Step 2: Perform instrument joint detection analysis on the gas path parameter value detection to determine whether the sensor joint detection during the current gas path parameter value detection period meets the requirements; Step 3: After receiving the verification analysis detection message, perform a detection on the gas circuit parameter verification analysis to determine whether the gas circuit parameter verification efficiency meets the gas circuit working requirements.

[0008] A control system for an end effector of a robotic arm, comprising: The flow sensor, flow velocity sensor, pressure sensor and proportional pressure valve connected to the PLC, the pressure sensor and the proportional pressure valve are arranged on the air path connecting the pneumatic triplet of the end effector of the robot arm and the flexible force control device of the pneumatic integrated unit, the PLC is used to adjust the air pressure in the air path through the proportional pressure valve according to the pressure value of the air path sampled by the pressure sensor; the PLC is also used to verify the working condition of the air path according to the flow value, flow velocity value and pressure value of the air path sampled by the flow sensor, flow velocity sensor and pressure sensor respectively, the flow rate, flow velocity or pressure of the air path are the parameters of the air path; Also included on the PLC: The parameter verification process is communicatively connected with the parameter value detection module, the sensor joint detection module and the verification analysis detection module; The parameter verification process is used to generate parameter value detection commands and transmit the parameter value detection commands to the parameter value detection module. The parameter value detection module is used to perform parameter value sampling, detection and analysis on the gas path after receiving the parameter value detection command, and determine whether the parameters of the current gas path are reasonable through the parameter values.

[0009] Furthermore, when the gas circuit is working, the parameters of the gas circuit are sampled and transmitted to the PLC, and the working period of the gas circuit is regarded as the value on the horizontal axis of the Cartesian system and combined with the real-time parameter value as the value on the vertical axis of the Cartesian system, the working period of the gas circuit is cut into multiple time points, and the time points are evenly arranged on the horizontal axis of the Cartesian system; after the gas circuit is started, the parameter values ​​of the parameters of the gas circuit at each time point are marked with their coordinate points on the Cartesian system and a parameter regression line is constructed based on the coordinate points, and the parameters of the gas circuit are subjected to parameter regression line analysis.

[0010] Furthermore, the method of constructing the parametric regression line based on the coordinate points is: The least square method is used to construct the parameter regression line of the parameter values ​​of the gas path parameters at each time point in the Cartesian coordinate system.

[0011] Furthermore, the method of performing parameter regression line analysis on the parameters of the gas path includes: obtaining the highest difference in the period time from the parameter start registration sampling point in the non-same working period of the gas path, and obtaining the minimum value among the curvature of the coordinate point of the start time point, the curvature of the coordinate point of the median time point and the curvature of the coordinate point of the end time point in the same working period of the gas path as the parameter value refresh rate, and taking the highest difference in the period time from the parameter start registration sampling point in the non-same working period of the gas path, the curvature of the coordinate point of the start time point, the curvature of the coordinate point of the median time point and the curvature of the coordinate point of the end time point in the same working period of the gas path as the parameter value refresh rate, and defining the minimum value among the curvature of the coordinate point of the start time point, the curvature of the coordinate point of the median time point and the curvature of the coordinate point of the end time point as the parameter value refresh rate respectively as and .

[0012] Furthermore, the method for obtaining the highest difference in the time taken for the period from the time when the parameter starts to register the sampling time point in the different working periods of the gas path is: Obtain the time interval between the parameter start registration sampling time point and the end time point of the working period in the different working periods of each gas path, and subtract the smallest time interval from the largest time interval to obtain the maximum difference in period time.

[0013] Furthermore, the method of performing parameter regression line analysis on the parameters of the gas path also includes: obtaining the number of times that the curvature of the parameter regression line of the gas path in the same working period exceeds the set threshold value, and defining the number of times that the curvature of the parameter regression line of the gas path in the same working period exceeds the set critical value as .

[0014] Furthermore, the curvature of the parametric regression line is the curvature of each coordinate point of the parametric regression line.

[0015] Furthermore, the method of performing parameter regression line analysis on the parameters of the gas path also includes: sending the numerical update speed of the highest difference value, the lowest value and the number of repeated presentations of the period into the equation to obtain the parameter value detection factor of the gas path during the working period , the equation is: ; Here, , and are the predefined ratio factors of the highest difference in time, the updating speed of the trough value and the number of repeated presentations, respectively, and is the Euler number, As an error correction factor; The parameter value detection factor of the gas path during the working period Comparison with parameter value detection factor critical quantity execution: If the parameter value detection factor of the gas path during the working period If the value exceeds the critical value of the parameter detection factor, it is confirmed that the parameter value of the gas path during the working period is abnormal, and a parameter detection abnormality message is generated and the parameter detection abnormality message is transmitted to the parameter verification process; If the parameter value detection factor of the gas path during the working period If the value does not exceed the predefined parameter detection factor threshold, the parameter value of the gas path during the working period is confirmed to be reasonable, a parameter detection reasonable message is generated, and the parameter detection reasonable message is transmitted to the parameter verification process; Synchronously, an instrument common detection message is also generated and transmitted to the sensor common detection module.

[0016] Furthermore, the sensor co-detection module is used to perform instrument co-detection analysis on the parameter value detection of the gas path after receiving the instrument co-detection message, and determine whether the sensor co-detection during the current gas path parameter value detection period meets the requirements.

[0017] Furthermore, the method of performing instrument joint detection analysis on the gas path parameter value detection and determining whether the sensor joint detection during the current gas path parameter value detection period meets the requirements includes: The sensors used for gas path sampling are collectively defined as a sensor cluster, and the time difference between the first formation time point of the gas path parameters and the parameter sampling time point of the sensor cluster in the period of joint detection of the gas path and the sensor cluster is obtained, and the covariance of the parameter values ​​is synchronously obtained. The time difference between the first formation time point of the gas path parameters and the parameter sampling time point of the sensor cluster in the period of joint detection of the gas path and the sensor cluster, and the covariance of the parameter values ​​are defined as period parameter coordination value and period process coordination information, respectively, and compared with the pre-defined time difference critical value and covariance critical value respectively: If the time difference between the first formation time of the gas path parameter and the sampling time of the sensor cluster parameter during the gas path and sensor cluster joint detection period exceeds the pre-defined time difference threshold, or the covariance of the parameter value exceeds the covariance threshold, it is confirmed that the gas path and sensor cluster joint detection is unreasonable, and a sensor joint detection abnormality message is generated and the sensor joint detection abnormality message is transmitted to the parameter verification process; If the time difference between the first formation time of the gas path parameter and the sampling time of the sensor cluster parameter during the joint detection period of the gas path and the sensor cluster does not exceed the pre-defined time difference threshold, and the covariance of the parameter value does not exceed the covariance threshold, it is confirmed that the joint detection of the gas path and the sensor cluster is reasonable, and a sensor joint detection reasonable message is generated and the sensor joint detection reasonable message is transmitted to the parameter verification process; After receiving the message during the parameter verification process, if the parameter detection of the gas path is abnormal, the gas path will be re-detected after receiving the abnormal sensor joint detection message; after receiving the reasonable sensor joint detection message, the gas path will be verified. If the parameter detection of the gas circuit is reasonable, after receiving the abnormal joint detection message of the sensor, the gas circuit is detected again; after receiving the reasonable joint detection message of the sensor, the PLC is terminated to perform the method of verifying the working condition of the gas circuit according to the gas circuit parameter value; The parameter verification process generates a verification analysis detection message and transmits the verification analysis detection message to the verification analysis detection module. After receiving the verification analysis detection message, the verification analysis module performs detection on the parameter verification analysis of the gas circuit to determine whether the gas circuit parameter verification efficiency meets the working requirements of the gas circuit.

[0018] Furthermore, the method of performing detection on the gas circuit parameter verification analysis and determining whether the gas circuit parameter verification efficiency meets the gas circuit working requirements includes: Get the number of mutation points in the parameter regression line, which is the point where the second-order derivative of the parameter regression line is zero, and get the number of extreme value points in the parameter regression line, which is the point where the first-order derivative of the parameter regression line is zero, and define the number of mutation points and the number of extreme value points as the verification value control value and the verification process control value respectively, and perform comparison with the critical value of the number of mutation points and the critical value of the number of extreme value points defined previously: If the number of mutation points exceeds the critical number of mutation points, and the number of extreme value points exceeds the critical number of extreme value points, it is confirmed that the gas path parameter verification analysis detection is reasonable, and a verification analysis detection reasonable message is generated and the verification analysis detection reasonable message is transmitted to the parameter verification process; If the number of gas mutation points does not exceed the critical number of mutation points, or the number of extreme points does not exceed the critical number of extreme points, it is confirmed that the gas path parameter verification and analysis detection is unreasonable, and an unreasonable verification and analysis detection message is generated and the unreasonable verification and analysis detection message is transmitted to the parameter verification process. After the parameter verification process receives the unreasonable verification and analysis detection message, it performs maintenance on the gas path.

[0019] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include: The parameter value sampling detection and analysis is performed on the gas circuit, and whether the current gas circuit parameters are reasonable is determined through the parameter values, so as to prevent the abnormal parameter values ​​from weakening the working efficiency of the gas circuit, causing it to fail to work reasonably, and the problem that the required confirmation cannot be performed immediately during the parameter verification, resulting in the inability to perform gas circuit maintenance immediately; the sensor joint detection and analysis is performed on the parameter value detection of the gas circuit, so as to determine whether the sensor joint detection during the current gas circuit parameter value detection meets the requirements, so as to prevent the unreasonable sensor coordination from forming information detection differences, resulting in the problem that the information detection is abnormal and the working obstacles of the gas circuit cannot be found immediately, and it also improves the problem that the gas circuit is unobstructed and maintenance is prompted, resulting in the obstruction of the gas circuit work, and also increases the degree of functional degradation of the gas circuit; the parameter verification analysis of the gas circuit is detected to determine whether the gas circuit parameter verification efficiency meets the working requirements of the gas circuit, so as to prevent the low parameter verification efficiency from failing to restore the gas circuit parameters to the reasonable working state immediately, resulting in the working obstacles of the gas circuit; and the working efficiency of the gas circuit can also be improved through verification efficiency detection, so as to ensure that the gas circuit parameters can be maintained immediately when they are abnormal. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a flow chart of the method for controlling the end effector of the robot arm in the present invention; Figure 2 It is a partial structural diagram of the control system of the robot end effector described in the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely express the technical solution of the present invention. The embodiments expressed in this application are only partial embodiments of the present invention, not all embodiments. According to the spirit of the present invention, other embodiments obtained by technicians in this field without making creative work are all within the protection scope of the present invention.

[0022] like Figure 1 As shown, a method for controlling a robot end effector according to the present invention comprises: The PLC adjusts the air pressure in the air circuit through the proportional pressure valve according to the pressure value of the air circuit sampled by the pressure sensor, so as to achieve the flexible assembly of the medicine column assembly; the PLC also verifies the working condition of the air circuit according to the air circuit flow value, air circuit flow rate value or air circuit pressure value sampled by the flow sensor, flow rate sensor and pressure sensor as air circuit parameter values. The air circuit flow rate, air circuit flow rate or air circuit pressure is the air circuit parameter; PLC also verifies the working condition of the gas circuit according to the gas circuit parameter value, including: Step 1: Perform parameter value sampling, detection and analysis on the gas path, and determine whether the parameters of the current gas path are reasonable through the parameter values; Step 2: Perform instrument joint detection analysis on the gas path parameter value detection to determine whether the sensor joint detection during the current gas path parameter value detection period meets the requirements; Step 3: After receiving the verification analysis detection message, perform a detection on the gas circuit parameter verification analysis to determine whether the gas circuit parameter verification efficiency meets the gas circuit working requirements.

[0023] like Figure 2 As shown, a robot arm end effector control system according to the present invention comprises: The flow sensor, flow velocity sensor, pressure sensor and proportional pressure valve connected to the PLC, the pressure sensor and the proportional pressure valve are arranged on the air path connecting the pneumatic triplet of the end effector of the robot arm and the flexible force control device of the pneumatic integrated unit, the PLC is used to adjust the air pressure in the air path through the proportional pressure valve according to the pressure value of the air path sampled by the pressure sensor, so as to achieve the flexible assembly of the medicine column assembly; the PLC is also used to verify the working condition of the air path according to the flow value, flow velocity value and pressure value of the air path sampled by the flow sensor, flow velocity sensor and pressure sensor respectively, the flow rate, flow velocity or pressure of the air path are the parameters of the air path; Also included on the PLC: The parameter verification process is communicatively connected with the parameter value detection module, the sensor joint detection module and the verification analysis detection module; The parameter verification process is used to generate a parameter value detection command, and transmit the parameter value detection command to the parameter value detection module. The parameter value detection module is used to perform parameter value sampling, detection and analysis on the gas circuit after receiving the parameter value detection command, and determine whether the parameters of the current gas circuit are reasonable through the parameter values, to prevent the working efficiency of the gas circuit from being weakened and unable to work reasonably due to abnormal parameter values, and to prevent the problem of not being able to immediately execute the required confirmation during parameter verification, resulting in the inability to immediately perform gas circuit maintenance.

[0024] In a preferred but non-limiting embodiment of the present invention, when the gas circuit is working, the parameters of the gas circuit are sampled and transmitted to the PLC, and the working period of the gas circuit is regarded as the value on the horizontal axis of the Cartesian system and the real-time parameter value is regarded as the value on the vertical axis of the Cartesian system, the working period of the gas circuit is cut into multiple time points, and the time points are evenly arranged on the horizontal axis of the Cartesian system; after the gas circuit is started, the parameter values ​​of the gas circuit parameters at each time point are marked with their coordinate points on the Cartesian system and parameter regression lines are constructed based on different coordinate points, and the parameters of the gas circuit are analyzed by parameter regression lines. (The time point is the sampling time point of the timed sampling) In a preferred but non-limiting embodiment of the present invention, the method for constructing a parametric regression line based on different coordinate points is: The least square method is used to construct the parameter regression line of the parameter values ​​of the gas path parameters at each time point in the Cartesian coordinate system.

[0025] In a preferred but non-limiting embodiment of the present invention, a method for performing parameter regression line analysis on the parameters of the gas circuit includes: obtaining the highest difference in period time from the parameter start registration sampling point in different working periods of the gas circuit, and obtaining the minimum value among the curvature of the coordinate point of the start time point, the curvature of the coordinate point of the median time point and the curvature of the coordinate point of the end time point on the parameter regression line of the same working period of the gas circuit as the parameter value refresh rate, and the parameter value refresh rates are defined as the minimum value among the highest difference in period time from the parameter start registration sampling point in different working periods of the gas circuit, the curvature of the coordinate point of the start time point, the curvature of the coordinate point of the median time point and the curvature of the coordinate point of the end time point on the parameter regression line of the same working period of the gas circuit respectively. and The same working period is the current working period, the different working period is the current working period and the different working dates set before, and the different working period is the working period when the gas path is flexibly assembled in the medicine column assembly. If the working period is not specifically stated, it is the current working period.

[0026] In a preferred but non-limiting embodiment of the present invention, the method for obtaining the highest difference in the time period from the time point of the parameter initial registration sampling in the different working periods of the gas circuit is: Obtain the time interval between the parameter start registration sampling time point and the end time point of the working period in the different working periods of each gas path, and subtract the smallest time interval from the largest time interval to obtain the maximum difference in period time.

[0027] In a preferred but non-limiting embodiment of the present invention, the method for performing parameter regression line analysis on the parameters of the gas path further includes: obtaining the number of times that the curvature of the parameter regression line of the gas path in the same working period in the working period is higher than the set threshold, and defining the number of times that the curvature of the parameter regression line of the gas path in the same working period in the working period is higher than the set critical value as .

[0028] In a preferred but non-limiting embodiment of the present invention, the curvature of the parameter regression line is the curvature of each coordinate point of the parameter regression line.

[0029] In a preferred but non-limiting embodiment of the present invention, the method of performing parameter regression line analysis on the parameters of the gas path also includes: sending the numerical update speed of the highest difference value, the valley value and the number of repeated presentations during the period into the equation to obtain the parameter value detection factor of the gas path during the working period , the equation is: ; Here, , and are the predefined ratio factors of the highest difference in time, the updating speed of the trough value and the number of repeated presentations, respectively, and is the Euler number, As an error correction factor, The value of is 98 percent; The parameter value detection factor of the gas path during the working period Comparison with parameter value detection factor critical quantity execution: If the parameter value detection factor of the gas path during the working period If the value exceeds the critical value of the parameter detection factor, it is confirmed that the parameter value of the gas path during the working period is abnormal, and a parameter detection abnormality message is generated and the parameter detection abnormality message is transmitted to the parameter verification process; If the parameter value detection factor of the gas path during the working period If the value does not exceed the predefined parameter detection factor threshold, the parameter value of the gas path during the working period is confirmed to be reasonable, a parameter detection reasonable message is generated, and the parameter detection reasonable message is transmitted to the parameter verification process; Synchronously, an instrument common detection message is also generated and transmitted to the sensor common detection module.

[0030] In a preferred but non-restrictive implementation of the present invention, the sensor joint detection module is used to perform instrument joint detection analysis on the parameter value detection of the gas circuit after receiving the instrument joint detection message, to determine whether the sensor joint detection during the current gas circuit parameter value detection period meets the requirements, to prevent unreasonable sensor coordination from forming parameter value detection differences, resulting in abnormal message detection and failure to immediately detect the working problems of the gas circuit, and also to improve the gas circuit accessibility and instead prompt maintenance risks, which hinders the rational use of the gas circuit and increases the degree of functional degradation of the gas circuit.

[0031] In a preferred but non-limiting embodiment of the present invention, the method of performing instrument joint detection analysis on the parameter value detection of the gas path and determining whether the joint detection of the sensors during the current gas path parameter value detection period meets the requirements includes: The sensors used for gas path sampling are collectively defined as a sensor cluster, and the time difference between the first formation time of the gas path parameters and the parameter sampling time of the sensor cluster during the period of joint detection of the gas path and the sensor cluster (joint detection means that the parameter values ​​formed by the gas path during operation are sampled by the sensor cluster) is obtained (the difference is the absolute value of the quantity obtained by subtracting the time point of the parameter sampling time of the sensor cluster from the time point of the first formation of the gas path parameters), and the covariance of the parameter values ​​is synchronously obtained. The time difference between the first formation time of the gas path parameters and the parameter sampling time of the sensor cluster during the period of joint detection of the gas path and the sensor cluster, and the covariance of the parameter values ​​are defined as period parameter coordination value and periodic process coordination information, respectively, and compared with the pre-defined time difference critical value and covariance critical value respectively: If the time difference between the first formation time of the gas path parameter and the sampling time of the sensor cluster parameter during the gas path and sensor cluster joint detection period exceeds the pre-defined time difference threshold, or the covariance of the parameter value exceeds the covariance threshold, it is confirmed that the gas path and sensor cluster joint detection is unreasonable, and a sensor joint detection abnormality message is generated and the sensor joint detection abnormality message is transmitted to the parameter verification process; If the time difference between the first formation time of the gas path parameter and the sampling time of the sensor cluster parameter during the joint detection period of the gas path and the sensor cluster does not exceed the pre-defined time difference threshold, and the covariance of the parameter value does not exceed the covariance threshold, it is confirmed that the joint detection of the gas path and the sensor cluster is reasonable, and a sensor joint detection reasonable message is generated and the sensor joint detection reasonable message is transmitted to the parameter verification process; After receiving the message during the parameter verification process, if the parameter detection of the gas path is abnormal, the gas path will be re-detected after receiving the abnormal sensor joint detection message; after receiving the reasonable sensor joint detection message, the gas path will be verified. If the parameter detection of the gas circuit is reasonable, after receiving the abnormal joint detection message of the sensor, the gas circuit is detected again; after receiving the reasonable joint detection message of the sensor, the PLC is terminated to perform the method of verifying the working condition of the gas circuit according to the gas circuit parameter value; The parameter verification process generates a verification analysis detection message and transmits the verification analysis detection message to the verification analysis detection module. After receiving the verification analysis detection message, the verification analysis detection module performs detection on the parameter verification analysis of the gas circuit to determine whether the gas circuit parameter verification efficiency meets the working requirements of the gas circuit, so as to prevent the low parameter verification efficiency from failing to immediately restore the gas circuit parameters to a reasonable working state, causing the gas circuit working obstruction. At the same time, the working efficiency of the gas circuit can also be improved through verification efficiency detection, ensuring that the gas circuit parameters can be maintained in time when they are abnormal.

[0032] In a preferred but non-limiting embodiment of the present invention, the method for performing detection on the parameter verification analysis of the gas circuit and determining whether the efficiency of the gas circuit parameter verification meets the working requirements of the gas circuit includes: Get the number of mutation points in the parameter regression line, which is the point where the second-order derivative of the parameter regression line is zero, and get the number of extreme value points in the parameter regression line, which is the point where the first-order derivative of the parameter regression line is zero, and define the number of mutation points and the number of extreme value points as the verification value control value and the verification process control value respectively, and perform comparison with the critical value of the number of mutation points and the critical value of the number of extreme value points defined previously: If the number of mutation points exceeds the critical number of mutation points, and the number of extreme value points exceeds the critical number of extreme value points, it is confirmed that the gas path parameter verification analysis detection is reasonable, and a verification analysis detection reasonable message is generated and the verification analysis detection reasonable message is transmitted to the parameter verification process; If the number of gas mutation points does not exceed the critical number of mutation points, or the number of extreme points does not exceed the critical number of extreme points, it is confirmed that the gas path parameter verification and analysis detection is unreasonable, and an unreasonable verification and analysis detection message is generated and the unreasonable verification and analysis detection message is transmitted to the parameter verification process. After the parameter verification process receives the unreasonable verification and analysis detection message, it performs maintenance on the gas path.

[0033] When in use, the parameter detection module performs parameter sampling, detection and analysis on the gas circuit. When the gas circuit is working, the parameters of the gas circuit are sampled, and a Cartesian system is constructed based on the working period and the real-time parameter values. After the gas circuit is started, a parameter regression line is constructed based on the values ​​of the gas circuit parameters at each time point, and the parameters of the gas circuit are subjected to parameter regression line analysis. The analyzed values ​​are sent to the defined equation to obtain the parameter detection factor of the gas circuit during the working period, and the parameter detection is determined to be reasonable based on the coefficient comparison; the sensor joint detection module performs sensor joint detection and analysis on the parameter detection of the gas circuit, defines the parameter detection devices of the gas circuit into a sensor cluster, obtains the period parameter coordination value and the period process coordination information, and confirms whether the joint detection of the gas circuit and the sensor cluster is reasonable based on the information comparison; the verification and analysis detection module performs detection on the parameter verification and analysis of the gas circuit, obtains the verification value comparison value and the verification process comparison value, and confirms whether the gas circuit parameter verification and analysis detection is reasonable based on the data analysis.

[0034] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include: The parameter value sampling detection and analysis is performed on the gas circuit, and whether the current gas circuit parameters are reasonable is determined through the parameter values, so as to prevent the abnormal parameter values ​​from weakening the working efficiency of the gas circuit, causing it to fail to work reasonably, and the problem that the required confirmation cannot be performed immediately during the parameter verification, resulting in the inability to perform gas circuit maintenance immediately; the sensor joint detection and analysis is performed on the parameter value detection of the gas circuit, so as to determine whether the sensor joint detection during the current gas circuit parameter value detection meets the requirements, so as to prevent the unreasonable sensor coordination from forming information detection differences, resulting in the problem that the information detection is abnormal and the working obstacles of the gas circuit cannot be found immediately, and it also improves the problem that the gas circuit is unobstructed and maintenance is prompted, resulting in the obstruction of the gas circuit work, and also increases the degree of functional degradation of the gas circuit; the parameter verification analysis of the gas circuit is detected to determine whether the gas circuit parameter verification efficiency meets the working requirements of the gas circuit, so as to prevent the low parameter verification efficiency from failing to restore the gas circuit parameters to the reasonable working state immediately, resulting in the working obstacles of the gas circuit; and the working efficiency of the gas circuit can also be improved through verification efficiency detection, so as to ensure that the gas circuit parameters can be maintained immediately when they are abnormal.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not deviate from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A method for controlling a robot end effector, characterized in that: include: PLC adjusts the air pressure in the air circuit through the proportional pressure valve according to the pressure value of the air circuit sampled by the pressure sensor; The PLC also verifies the working condition of the gas circuit according to the gas circuit flow value, gas circuit flow velocity value or gas circuit pressure value sampled by the flow sensor, flow velocity sensor and pressure sensor as gas circuit parameter values. The gas circuit flow rate, gas circuit flow velocity or gas circuit pressure is the gas circuit parameter. PLC also verifies the working condition of the gas circuit according to the gas circuit parameter value, including: Step 1: Perform parameter value sampling, detection and analysis on the gas path, and determine whether the parameters of the current gas path are reasonable through the parameter values; Step 2: Perform instrument joint detection analysis on the gas path parameter value detection to determine whether the sensor joint detection during the current gas path parameter value detection period meets the requirements; Step 3: After receiving the verification analysis detection message, perform a detection on the gas circuit parameter verification analysis to determine whether the gas circuit parameter verification efficiency meets the gas circuit working requirements.

2. A robot arm end effector control system, characterized in that: include: The flow sensor, flow velocity sensor, pressure sensor and proportional pressure valve connected to the PLC, the pressure sensor and the proportional pressure valve are arranged on the air path connecting the pneumatic triplet of the end effector of the robot arm and the flexible force control device of the pneumatic integrated unit, the PLC is used to adjust the air pressure in the air path through the proportional pressure valve according to the pressure value of the air path sampled by the pressure sensor; the PLC is also used to verify the working condition of the air path according to the flow value, flow velocity value and pressure value of the air path sampled by the flow sensor, flow velocity sensor and pressure sensor respectively, the flow rate, flow velocity or pressure of the air path are the parameters of the air path; Also included on the PLC: The parameter verification process is communicatively connected with the parameter value detection module, the sensor joint detection module and the verification analysis detection module; The parameter verification process is used to generate parameter value detection commands and transmit the parameter value detection commands to the parameter value detection module. The parameter value detection module is used to perform parameter value sampling, detection and analysis on the gas path after receiving the parameter value detection command, and determine whether the parameters of the current gas path are reasonable through the parameter values.

3. The robot arm end effector control system according to claim 2, characterized in that: When the gas circuit is working, the parameters of the gas circuit are sampled and transmitted to the PLC, and the working period of the gas circuit is regarded as the value on the horizontal axis of the Cartesian system and the real-time parameter value is regarded as the value on the vertical axis of the Cartesian system, the working period of the gas circuit is cut into multiple time points, and the time points are evenly arranged on the horizontal axis of the Cartesian system; after the gas circuit is started, the parameter values ​​of the gas circuit parameters at each time point are marked with their coordinate points on the Cartesian system and the parameter regression line is constructed based on the coordinate points, and the gas circuit parameters are analyzed by the parameter regression line; The method of constructing a parametric regression line based on coordinate points is: The least square method is used to construct the parameter regression line of the parameter values ​​of the gas path parameters at each time point in the Cartesian coordinate system.

4. The robot arm end effector control system according to claim 3, characterized in that: The method for performing parameter regression line analysis on the parameters of the gas path includes: obtaining the highest difference in the period time from the parameter start registration sampling time point in the non-same working period of the gas path, and obtaining the minimum value among the curvature of the coordinate point of the start time point, the curvature of the coordinate point of the median time point and the curvature of the coordinate point of the end time point in the same working period of the gas path as the parameter value refresh rate, and the minimum value among the curvature of the highest difference in the period time from the parameter start registration sampling time point in the non-same working period of the gas path, the curvature of the coordinate point of the start time point, the curvature of the coordinate point of the median time point and the curvature of the coordinate point of the end time point in the same working period of the gas path is used as the parameter value refresh rate, and the curvature of the highest difference in the period time from the parameter start registration sampling time point in the non-same working period of the gas path, the curvature of the coordinate point of the start time point, the curvature of the coordinate point of the median time point and the curvature of the coordinate point of the end time point in the same working period of the gas path is defined as and ; The method for obtaining the highest difference in the time taken from the start of parameter registration sampling in different working periods of the gas path is: Obtain the time interval between the parameter start registration sampling time point and the end time point of the working period in the different working periods of each gas path, and subtract the smallest time interval from the largest time interval to obtain the maximum difference in period time.

5. The robot arm end effector control system according to claim 4, characterized in that: The method for performing parameter regression line analysis on the parameters of the gas path also includes: obtaining the number of times that the curvature of the parameter regression line of the gas path in the same working period exceeds the set threshold value, and defining the number of times that the curvature of the parameter regression line of the gas path in the same working period exceeds the set critical value as .

6. The robot arm end effector control system according to claim 5, characterized in that: The curvature of a parametric regression line is the curvature of each coordinate point of the parametric regression line.

7. The robot arm end effector control system according to claim 6, characterized in that: The method of performing parameter regression line analysis on the parameters of the gas path also includes: sending the numerical update speed of the highest difference value, the lowest value and the number of repeated presentations during the period into the equation to obtain the parameter value detection factor of the gas path during the working period , the equation is: ； Here, , and are the predefined ratio factors of the highest difference in time, the updating speed of the trough value and the number of repeated presentations, respectively, and is the Euler number, As an error correction factor; The parameter value detection factor of the gas path during the working period Comparison with parameter value detection factor critical quantity execution: If the parameter value detection factor of the gas path during the working period If the value exceeds the critical value of the parameter detection factor, it is confirmed that the parameter value of the gas path during the working period is abnormal, and a parameter detection abnormality message is generated and the parameter detection abnormality message is transmitted to the parameter verification process; If the parameter value detection factor of the gas path during the working period If the value does not exceed the predefined parameter detection factor threshold, the parameter value of the gas path during the working period is confirmed to be reasonable, a parameter detection reasonable message is generated, and the parameter detection reasonable message is transmitted to the parameter verification process; Synchronously, an instrument common detection message is also generated and transmitted to the sensor common detection module.

8. The robot arm end effector control system according to claim 7, characterized in that: The sensor joint detection module is used to perform instrument joint detection analysis on the parameter value detection of the gas path after receiving the instrument joint detection message, and determine whether the sensor joint detection during the current gas path parameter value detection period meets the requirements.

9. The robot arm end effector control system according to claim 8, characterized in that: The method of performing instrument joint detection analysis on the gas path parameter value detection and determining whether the sensor joint detection during the current gas path parameter value detection period meets the requirements includes: The sensors used for gas path sampling are collectively defined as a sensor cluster, and the time difference between the first formation time point of the gas path parameters and the parameter sampling time point of the sensor cluster in the period of joint detection of the gas path and the sensor cluster is obtained, and the covariance of the parameter values ​​is synchronously obtained. The time difference between the first formation time point of the gas path parameters and the parameter sampling time point of the sensor cluster in the period of joint detection of the gas path and the sensor cluster, and the covariance of the parameter values ​​are defined as period parameter coordination value and period process coordination information, respectively, and compared with the pre-defined time difference critical value and covariance critical value respectively: If the time difference between the first formation time of the gas path parameter and the sampling time of the sensor cluster parameter during the gas path and sensor cluster joint detection period exceeds the pre-defined time difference threshold, or the covariance of the parameter value exceeds the covariance threshold, it is confirmed that the gas path and sensor cluster joint detection is unreasonable, and a sensor joint detection abnormality message is generated and the sensor joint detection abnormality message is transmitted to the parameter verification process; If the time difference between the first formation time of the gas path parameter and the sampling time of the sensor cluster parameter during the joint detection period of the gas path and the sensor cluster does not exceed the pre-defined time difference threshold, and the covariance of the parameter value does not exceed the covariance threshold, it is confirmed that the joint detection of the gas path and the sensor cluster is reasonable, and a sensor joint detection reasonable message is generated and the sensor joint detection reasonable message is transmitted to the parameter verification process; After receiving the message during the parameter verification process, if the parameter detection of the gas path is abnormal, the gas path will be re-detected after receiving the abnormal sensor joint detection message; after receiving the reasonable sensor joint detection message, the gas path will be verified. If the parameter detection of the gas circuit is reasonable, after receiving the abnormal joint detection message of the sensor, the gas circuit is detected again; after receiving the reasonable joint detection message of the sensor, the PLC is terminated to perform the method of verifying the working condition of the gas circuit according to the gas circuit parameter value; The parameter verification process generates a verification analysis detection message and transmits the verification analysis detection message to the verification analysis detection module. After receiving the verification analysis detection message, the verification analysis module performs detection on the parameter verification analysis of the gas circuit to determine whether the gas circuit parameter verification efficiency meets the working requirements of the gas circuit.

10. The robot arm end effector control system according to claim 9, characterized in that: The method for performing detection on the gas circuit parameter verification analysis and determining whether the gas circuit parameter verification efficiency meets the working requirements of the gas circuit includes: Get the number of mutation points in the parameter regression line, which is the point where the second-order derivative of the parameter regression line is zero, and get the number of extreme value points in the parameter regression line, which is the point where the first-order derivative of the parameter regression line is zero, and define the number of mutation points and the number of extreme value points as the verification value control value and the verification process control value respectively, and perform comparison with the critical value of the number of mutation points and the critical value of the number of extreme value points defined previously: If the number of mutation points exceeds the critical number of mutation points, and the number of extreme value points exceeds the critical number of extreme value points, it is confirmed that the gas path parameter verification analysis detection is reasonable, and a verification analysis detection reasonable message is generated and the verification analysis detection reasonable message is transmitted to the parameter verification process; If the number of gas mutation points does not exceed the critical number of mutation points, or the number of extreme points does not exceed the critical number of extreme points, it is confirmed that the gas path parameter verification and analysis detection is unreasonable, and an unreasonable verification and analysis detection message is generated and the unreasonable verification and analysis detection message is transmitted to the parameter verification process. After the parameter verification process receives the unreasonable verification and analysis detection message, it performs maintenance on the gas path.

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