A robot end effector control method and system

Abstract

A mechanical arm end effector control method and system belong to the technical field of effector control, which samples and detects the parameter value of the gas circuit, determines whether the parameter value of the gas circuit is reasonable, prevents abnormal parameter value from weakening the working efficiency of the gas circuit, and cannot work reasonably; the parameter value of the gas circuit is detected by the sensor common detection analysis, determines whether the sensor common detection during the parameter value detection of the gas circuit meets the requirements, improves the problem that the gas circuit is still prompted to maintain without obstacles, and causes the working of the gas circuit to be blocked; the parameter verification analysis of the gas circuit is executed to detect whether the parameter verification efficiency meets the working requirements of the gas circuit, prevents the low parameter verification efficiency from being restored to the reasonable working state of the parameter of the gas circuit, and forms the problem of working obstacle of the gas circuit; and the verification efficiency detection can also improve the working efficiency of the gas circuit, and ensure that the gas circuit parameter can be maintained immediately when it is abnormal.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of actuator control, and particularly relates to a mechanical arm end actuator control method and system. BACKGROUND

[0002] The mechanical arm end actuator, as a bridge between the robot and the workpiece, undertakes key tasks such as grabbing, clamping and carrying. Its innovative design not only improves production efficiency, but also significantly improves precision, stability and flexibility. In the field of industrial automation, the mechanical arm end actuator is becoming an important force to promote the transformation and upgrading of manufacturing industry with its unique advantages.

[0003] In the control of the mechanical arm end actuator, as mentioned in the prior art solution with the patent publication number "CN220498349U", it includes a pressure sensor and a proportional pressure valve connected to a PLC. The pressure sensor and the proportional pressure valve are arranged on the gas circuit connected to the flexible force control device of the pneumatic integrated unit of the pneumatic three-piece of the mechanical arm end actuator. The PLC adjusts the air pressure in the gas circuit through the proportional pressure valve according to the pressure value of the gas circuit sampled by the pressure sensor, so as to achieve flexible assembly of the cartridge assembly.

[0004] When the gas circuit is working, it cannot perform sampling analysis on its instantaneous parameter value, nor can it jointly perform common detection analysis with the sensor of the sampling parameter value, resulting in inaccurate parameter verification analysis, often forming incorrect judgment of the unreasonable work of the gas circuit, which weakens the verification efficiency of the gas circuit parameters. SUMMARY

[0005] To solve the defects in the prior art, the application provides a mechanical arm end actuator control method and system, which effectively avoids the defects in the prior art that the gas circuit cannot perform sampling analysis on its instantaneous parameter value when working, nor can it jointly perform common detection analysis with the sensor of the sampling parameter value, resulting in inaccurate parameter verification analysis, often forming incorrect judgment of the unreasonable work of the gas circuit, which weakens the verification efficiency of the gas circuit parameters.

[0006] The application uses the following technical solutions.

[0007] A mechanical arm end actuator control method, comprising:

[0008] The PLC adjusts the air pressure in the gas circuit through the proportional pressure valve according to the pressure value of the gas circuit sampled by the pressure sensor; the PLC also verifies the working condition of the gas circuit according to the flow value, flow rate value or pressure value of the gas circuit as the parameter value of the gas circuit sampled by the flow sensor, flow rate sensor and pressure sensor respectively; the flow of the gas circuit, the flow rate of the gas circuit or the pressure of the gas circuit is the parameter of the gas circuit;

[0009] The PLC also performs a verification method on the working condition of the gas circuit according to the gas circuit parameter value, comprising:

[0010] Step 1: Perform parameter value sampling detection analysis on the gas circuit, and determine whether the current gas circuit parameter is reasonable through the parameter value.

[0011] Step 2: Perform instrument joint detection analysis on the parameter value detection of the gas circuit, and determine whether the sensor joint detection during the current gas circuit parameter value detection meets the requirements.

[0012] Step 3: After collecting the verification analysis detection message, perform detection on the parameter verification analysis of the gas circuit, and determine whether the gas circuit parameter verification efficiency meets the working requirements of the gas circuit.

[0013] A mechanical arm end effector control system, comprising:

[0014] The flow sensor, the flow rate sensor, the pressure sensor and the proportional pressure valve connected to the PLC are arranged on the gas circuit connected between the pneumatic three-way joint of the mechanical arm end effector and the flexible force control device of the pneumatic integrated unit. The PLC is used to adjust the gas pressure in the gas circuit through the proportional pressure valve according to the pressure value of the gas circuit sampled by the pressure sensor. The PLC is also used to perform verification on the working condition of the gas circuit according to the flow value of the gas circuit, the flow rate value of the gas circuit and the pressure value of the gas circuit sampled by the flow sensor, the flow rate sensor and the pressure sensor respectively. The flow of the gas circuit, the flow rate of the gas circuit or the pressure of the gas circuit is the parameter of the gas circuit.

[0015] The PLC further comprises:

[0016] The parameter verification process is connected to the parameter value detection module, the sensor joint detection module and the verification analysis detection module.

[0017] The parameter verification process is used to form 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 collect the parameter value detection command and perform parameter value sampling detection analysis on the gas circuit to determine whether the current gas circuit parameter is reasonable through the parameter value.

[0018] Further, during the operation of the gas circuit, the parameter of the gas circuit is sampled and transmitted to the PLC, and the operation period of the gas circuit is taken as the value on the horizontal axis of the Cartesian system and the instantaneous parameter value is taken as the value on the vertical axis of the Cartesian system. The operation period of the gas circuit is cut into multiple time points, and the time points are uniformly arranged on the horizontal axis of the Cartesian system. After the operation of the gas circuit is started, the parameter values of the parameter of the gas circuit at each time point are marked on the Cartesian system to form coordinate points, and a parameter regression line is constructed according to the coordinate points. The parameter of the gas circuit is analyzed by the parameter regression line.

[0019] Further, the method for constructing the parameter regression line according to the coordinate points is:

[0020] The coordinate points of the parameter values of the parameter of the gas circuit at each time point are used to construct the parameter regression line by using the least square method.

[0021] Further, the method for analyzing the parameter regression line of the parameter of the gas circuit comprises: obtaining the maximum time difference of the time period from the starting registration sampling time point of the parameter in the different working time periods of the gas circuit, and obtaining the minimum value of the curvatures of the coordinate points at the starting time point, the median time point and the ending time point in the same working time period of the gas circuit as the parameter value refresh rate, and defining the maximum time difference of the time period from the starting registration sampling time point of the parameter in the different working time periods of the gas circuit and the minimum value of the curvatures of the coordinate points at the starting time point, the median time point and the ending time point in the same working time period of the gas circuit as the parameter value refresh rate as and .

[0022] Further, the method for obtaining the maximum time difference of the time period from the starting registration sampling time point of the parameter in the different working time periods of the gas circuit comprises:

[0023] The maximum time difference of the time period from the starting registration sampling time point of the parameter to the ending time point of the working time period in each working time period of the gas circuit is obtained, and the maximum time difference is subtracted from the minimum time difference to obtain the maximum time difference of the time period.

[0024] Further, the method for analyzing the parameter regression line of the parameter of the gas circuit further comprises: obtaining the number of repeated occurrences of the curvature of the parameter regression line in the same working time period of the gas circuit exceeding the set threshold value in the working time period, and defining the number of repeated occurrences of the curvature of the parameter regression line in the same working time period of the gas circuit exceeding the set threshold value in the working time period as .

[0025] Further, the curvature of the parameter regression line is the curvature of each coordinate point of the parameter regression line.

[0026] Further, the method for analyzing the parameter regression line of the parameter of the gas circuit further comprises: inputting the maximum time difference of the time period, the numerical value update speed of the trough value and the number of repeated occurrences into the equation to obtain the parameter value detection factor of the gas circuit in the working time period , and the equation is: ;

[0027] Here, , and These are predefined ratio factors representing the highest and lowest value update rates and the number of repeated occurrences during a given period. It is the Euler number. Used as a correction factor;

[0028] Detection factor of gas path parameters during operation Comparison with parameter value detection factor threshold:

[0029] If the parameter value detection factor of the gas path during the working period If the parameter value exceeds the detection factor threshold, it is confirmed that the parameter value of the gas path is abnormal during the working period, a parameter detection anomaly message is generated and transmitted to the parameter verification process.

[0030] If the parameter value detection factor of the gas path during the working period If the parameter value does not exceed the predefined threshold value of the parameter detection factor, it is confirmed that the parameter value of the gas path is reasonable during the working period, a parameter detection reasonable message is generated and the parameter detection reasonable message is transmitted to the parameter verification process.

[0031] Simultaneously, a joint detection message is generated between the instruments and transmitted to the joint detection module of the sensors.

[0032] Furthermore, the sensor joint detection module is used to perform instrument joint detection analysis on the gas path parameter values ​​after receiving the instrument joint detection message, and to determine whether the sensor joint detection during the current gas path parameter value detection period meets the requirements.

[0033] Furthermore, the method for jointly detecting and analyzing the parameters of the gas path using instruments to determine whether the joint detection by sensors during the current gas path parameter detection period meets the requirements includes:

[0034] The sensors used for gas path sampling are collectively defined as a sensor cluster. The time difference between the first formation time of gas path parameters and the parameter sampling time of the sensor cluster during the period of joint detection by the gas path and sensor cluster is obtained. The covariance of the parameter values ​​is obtained synchronously. Furthermore, the time difference between the first formation time of gas path parameters and the parameter sampling time of the sensor cluster during the period of joint detection by the gas path and sensor cluster, and the covariance of the parameter values ​​are defined as periodic parameter coordination values ​​and periodic process coordination information, respectively. These are then compared with predefined time difference thresholds and covariance thresholds.

[0035] If the time difference between the first time point of the gas path parameter formation and the parameter sampling time point of the sensor cluster exceeds the time difference critical value defined in advance, or the covariance of the parameter value exceeds the covariance critical value, it is determined that the gas path and the sensor cluster jointly detect abnormally, a sensor joint detection abnormal message is formed, and the sensor joint detection abnormal message is transmitted to the parameter verification process;

[0036] If the time difference between the first time point of the gas path parameter formation and the parameter sampling time point of the sensor cluster does not exceed the time difference critical value defined in advance, and the covariance of the parameter value does not exceed the covariance critical value, it is determined that the gas path and the sensor cluster jointly detect reasonably, a sensor joint detection reasonable message is formed, and the sensor joint detection reasonable message is transmitted to the parameter verification process;

[0037] After the parameter verification process receives the message, if the parameter detection of the gas path is abnormal, the parameter of the gas path is detected again after the sensor joint detection abnormal message is received; after the sensor joint detection reasonable message is received, the parameter verification of the gas path is performed;

[0038] If the parameter detection of the gas path is reasonable, the parameter of the gas path is detected again after the sensor joint detection abnormal message is received; after the sensor joint detection reasonable message is received, the method of performing verification of the working condition of the gas path by the PLC according to the parameter value of the gas path is terminated;

[0039] The parameter verification process forms a verification analysis detection message and transmits the verification analysis detection message to a verification analysis detection module. After the verification analysis detection module receives the verification analysis detection message, the parameter verification analysis of the gas path is detected to determine whether the parameter verification efficiency of the gas path meets the working requirements of the gas path.

[0040] Further, the method of detecting the parameter verification analysis of the gas path to determine whether the parameter verification efficiency of the gas path meets the working requirements of the gas path, comprising:

[0041] The number of mutation points in the parameter regression line is obtained, which is the point where the second derivative of the parameter regression line is zero, and the number of extreme points in the parameter regression line is obtained, which is the point where the first derivative of the parameter regression line is zero. The number of mutation points and the number of extreme points are defined as verification value and verification process value respectively, and are compared with the mutation point number critical value and the extreme point number critical value defined in advance respectively:

[0042] If the number of mutation points exceeds the number of mutation points critical value, and the number of extreme points exceeds the number of extreme points critical value, it is determined that the parameter verification analysis detection of the gas path is reasonable, a verification analysis detection reasonable message is formed, and the verification analysis detection reasonable message is transmitted to the parameter verification process;

[0043] 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 determined that the gas path parameter verification analysis detection is unreasonable, a verification analysis detection unreasonable message is formed and transmitted to the parameter verification process, and the parameter verification process receives the verification analysis detection unreasonable message and performs maintenance on the gas path.

[0044] The beneficial effects of the present application include:

[0045] The parameter value sampling detection analysis of the gas path determines whether the current gas path parameter is reasonable, prevents abnormal parameter values from weakening the working efficiency of the gas path, and cannot work reasonably, and cannot immediately perform the required confirmation during parameter verification, resulting in the problem of not being able to immediately perform gas path maintenance; the sensor cooperative detection analysis of the parameter value detection of the gas path determines whether the sensor cooperative detection during the parameter value detection of the current gas path is in accordance with the requirements, prevents unreasonable sensor cooperation from forming message detection differences, resulting in the problem of abnormal message detection that cannot immediately find the working obstacles of the gas path, also improves the problem of prompting maintenance of the gas path without obstacles, resulting in the working of the gas path being hindered, and also increases the degree of functional degradation of the gas path; the parameter verification analysis of the gas path performs detection to determine whether the parameter verification efficiency of the gas path meets the working requirements of the gas path, prevents low parameter verification efficiency from not being able to immediately restore to the reasonable working state of the parameter of the gas path, forming the problem of working obstacles of the gas path; and the verification efficiency detection can also improve the working efficiency of the gas path, and ensure that the gas path parameter can be immediately maintained when the parameter is abnormal. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 is a flowchart of the mechanical arm end effector control method described in the present application;

[0047] Figure 2 is a partial structure diagram of the mechanical arm end effector control system described in the present application. DETAILED DESCRIPTION

[0048] To make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application will be expressed clearly and completely in combination with the drawings in the embodiments of the present application. The embodiments expressed in the present application are only part of the embodiments of the present application, not all embodiments. According to the spirit of the present application, other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0049] As shown in Figure 1 A mechanical arm end effector control method described in the present application, comprising:

[0050] The PLC adjusts the air pressure in the air path via 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 cartridge assembly; the PLC also performs verification on the working condition of the air path according to the flow value, the flow rate value or the pressure value of the air path as the air path parameter value sampled by the flow sensor, the flow rate sensor and the pressure sensor respectively, and the flow of the air path, the flow rate of the air path or the pressure of the air path is the parameter of the air path.

[0051] The PLC also performs verification on the working condition of the air path according to the air path parameter value, and the method comprises the following steps:

[0052] Step 1: Perform parameter value sampling detection analysis on the air path, and determine whether the parameter of the air path at present is reasonable through parameter value determination;

[0053] Step 2: Perform instrument joint detection analysis on the parameter value detection of the air path, and determine whether the sensor joint detection during the parameter value detection of the air path at present meets the requirements;

[0054] Step 3: After collecting the verification analysis detection message, perform parameter verification analysis detection on the air path, and determine whether the parameter verification efficiency of the air path meets the working requirements of the air path.

[0055] As shown in Figure 2 The mechanical arm end effector control system comprises:

[0056] The flow sensor, the flow rate sensor, the pressure sensor and the proportional pressure valve connected with the PLC, the pressure sensor and the proportional pressure valve are arranged on the air path connected with the flexible force control device of the pneumatic three-piece joint and the pneumatic integrated unit of the mechanical arm end effector, the PLC is used for adjusting the air pressure in the air path via 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 cartridge assembly; the PLC is also used for performing verification on the working condition of the air path according to the flow value, the flow rate value and the pressure value of the air path sampled by the flow sensor, the flow rate sensor and the pressure sensor respectively, and the flow of the air path, the flow rate of the air path or the pressure of the air path is the parameter of the air path;

[0057] The PLC further comprises:

[0058] The parameter verification process is connected with the parameter value detection module, the sensor joint detection module and the verification analysis detection module in communication;

[0059] The parameter verification process is used to form a parameter value detection command and transmit the parameter value detection command to a parameter value detection module. After receiving the parameter value detection command, the parameter value detection module performs parameter value sampling detection analysis on the gas circuit to determine whether the parameter value of the gas circuit is reasonable at the present time, so as to prevent abnormal parameter values from weakening the working efficiency of the gas circuit and causing the gas circuit to work abnormally and unable to perform instant maintenance.

[0060] In the preferred but non-limiting embodiment of the present application, when the gas circuit is working, the parameter of the gas circuit is sampled and transmitted to the PLC, and the working period of the gas circuit is taken as the value on the horizontal axis of the Cartesian system, and the instant parameter value is taken as the value on the vertical axis of the Cartesian system. The working period of the gas circuit is divided into multiple time points, and the time points are uniformly arranged on the horizontal axis of the Cartesian system. After the gas circuit is started, the parameter values of the parameter of the gas circuit at each time point are marked on the Cartesian system to form a parameter regression line according to different coordinate points, and the parameter of the gas circuit is analyzed according to the parameter regression line. (The time point is a sampling time point)

[0061] In the preferred but non-limiting embodiment of the present application, the method for constructing a parameter regression line according to different coordinate points is as follows:

[0062] The least square method is used to construct a parameter regression line according to the coordinate points of the parameter values of the parameter of the gas circuit at each time point on the Cartesian system.

[0063] In the preferred but non-limiting embodiment of the present application, the method for analyzing the parameter of the gas circuit according to the parameter regression line includes: obtaining the maximum time difference of the time period from the starting registration sampling time point of the parameter in different working periods of the gas circuit, and obtaining the minimum value of the curvature of the coordinate point of the starting time point, the curvature of the coordinate point of the median time point, and the curvature of the coordinate point of the ending time point on the parameter regression line in the same working period of the gas circuit as the parameter value refresh rate, and defining the maximum time difference of the time period from the starting registration sampling time point of the parameter in different working periods of the gas circuit, the minimum value of the curvature of the coordinate point of the starting time point, the curvature of the coordinate point of the median time point, and the curvature of the coordinate point of the ending time point on the parameter regression line in the same working period of the gas circuit as the parameter value refresh rate as and The same working period is the present working period, the different working period is the present working period and the set multiple different working dates before the present working period, and the different working period is the working period of the gas circuit during the flexible assembly of the propellant grain assembly. If not specifically stated, the working period is the present working period.

[0064] In the preferred but non-limiting embodiment of the present application, the method for obtaining the highest time period usage difference quantity from the time period starting from the sampling time point of the initial registration of the parameter in the different operation time periods of the gas path is:

[0065] The time distance between the sampling time point of the initial registration of the parameter in each gas path and the end time point of the operation time period is obtained, and the quantity obtained by subtracting the smallest time distance from the largest time distance is the highest time period usage difference quantity.

[0066] In the preferred but non-limiting embodiment of the present application, the method for performing parameter regression line analysis on the parameter of the gas path further comprises: obtaining the number of times that the curvature of the parameter regression line in the same operation time period of the gas path exceeds the set threshold value, and defining the number of times that the curvature of the parameter regression line in the same operation time period of the gas path exceeds the set threshold value as .

[0067] In the preferred but non-limiting embodiment of the present application, the curvature of the parameter regression line is the curvature of each coordinate point of the parameter regression line.

[0068] In the preferred but non-limiting embodiment of the present application, the method for performing parameter regression line analysis on the parameter of the gas path further comprises: sending the highest time period usage difference quantity, the number of times of repeated presentation of the value of the trough, and the number of times of repeated presentation of the value of the trough into the equation to obtain the parameter value detection factor of the gas path in the operation time period , the equation is: ;

[0069] Here, , and are the predefined ratio factors of the highest time period usage difference quantity, the number of times of repeated presentation of the value of the trough, and the number of times of repeated presentation of the value of the trough, respectively, and is Euler's number, is used as a correction factor, the value of which is 98%;

[0070] The parameter value detection factor of the gas path in the operation time period and the parameter value detection factor threshold are compared:

[0071] If the parameter value detection factor of the gas path in the operation time period exceeds the parameter value detection factor threshold, it is determined that the parameter value of the gas path in the operation time period is abnormal, a parameter detection abnormality message is formed, and the parameter detection abnormality message is transmitted to the parameter verification process;

[0072] If the parameter value detection factor of the gas path in the operation time period If the parameter value of the gas path in the working period does not exceed the critical value of the previously defined parameter value detection factor, it is confirmed that the parameter value of the gas path in the working period is reasonable, parameter value detection reasonable messages are formed, and the parameter value detection reasonable messages are transmitted to the parameter verification process;

[0073] The synchronization also forms instrument common detection messages and transmits the instrument common detection messages to the sensor common detection module.

[0074] In the preferred but non-limiting embodiment of the present application, after the sensor common detection module receives the instrument common detection messages, instrument common detection analysis is performed on the parameter value detection of the gas path, it is determined whether the sensor common detection during the current gas path parameter value detection period meets the requirements, and the problem that the sensor cooperation is unreasonable and causes parameter value detection differences, leading to abnormal message detection and unable to immediately find out the working obstacles of the gas path, is prevented. The problem that the reasonable use of the gas path is hindered and the degradation of the function of the gas path is also increased is improved.

[0075] In the preferred but non-limiting embodiment of the present application, the method for performing instrument common detection analysis on the parameter value detection of the gas path to determine whether the sensor common detection during the current gas path parameter value detection period meets the requirements, comprises:

[0076] The sensors used for sampling the gas path are defined as a sensor cluster, the time point difference between the first time point of the parameter of the gas path and the sampling time point of the parameter of the sensor cluster during the common detection of the gas path and the sensor cluster (the difference is the absolute value of the time point obtained by subtracting the sampling time point of the parameter of the sensor cluster from the first time point of the parameter of the gas path) is obtained, the covariance of the parameter value is obtained synchronously, and the time point difference between the first time point of the parameter of the gas path and the sampling time point of the parameter of the sensor cluster during the common detection of the gas path and the sensor cluster and the covariance of the parameter value are defined as period parameter cooperation value and period process cooperation information respectively, and are compared with the previously defined time point difference critical value and covariance critical value respectively:

[0077] If the time point difference between the first time point of the parameter of the gas path and the sampling time point of the parameter of the sensor cluster during the common detection of the gas path and the sensor cluster exceeds the previously defined time point difference critical value, or the covariance of the parameter value exceeds the covariance critical value, it is confirmed that the common detection of the gas path and the sensor cluster is unreasonable, sensor common detection abnormal messages are formed, and the sensor common detection abnormal messages are transmitted to the parameter verification process;

[0078] If the time difference between the first time point when the gas circuit parameter is detected and the time point when the parameter of the sensor cluster is sampled does not exceed the predefined time difference threshold, and the covariance of the parameter value does not exceed the covariance threshold, it is determined that the gas circuit and the sensor cluster jointly detect reasonably, a sensor joint detection reasonable message is formed, and the sensor joint detection reasonable message is transmitted to the parameter verification process;

[0079] After the parameter verification process receives the message, if the parameter detection of the gas circuit is abnormal, the parameter of the gas circuit is detected again after the sensor joint detection abnormal message is received; after the sensor joint detection reasonable message is received, the parameter verification of the gas circuit is performed;

[0080] If the parameter detection of the gas circuit is reasonable, the parameter of the gas circuit is detected again after the sensor joint detection abnormal message is received; after the sensor joint detection reasonable message is received, the method of performing verification on the working condition of the gas circuit according to the parameter value of the gas circuit by the PLC is terminated;

[0081] The parameter verification process forms a verification analysis detection message and transmits the verification analysis detection message to a verification analysis detection module. After the verification analysis detection module receives the verification analysis detection message, the parameter verification analysis of the gas circuit is detected, it is determined whether the parameter verification efficiency of the gas circuit meets the working requirements of the gas circuit, and the problem of preventing the parameter verification efficiency from being too low to restore the parameter reasonable working state of the gas circuit in time is solved. At the same time, the working efficiency of the gas circuit can be improved through the verification efficiency detection, so that the gas circuit can be maintained in time when the parameter is abnormal.

[0082] In the preferred but non-limiting embodiment of the present application, the method for detecting whether the parameter verification efficiency of the gas circuit meets the working requirements of the gas circuit comprises the following steps:

[0083] The number of mutation points in the parameter regression line is obtained, the mutation point being a point in the parameter regression line with a second derivative of zero, and the number of extreme points in the parameter regression line is obtained, the extreme point being a point in the parameter regression line with a first derivative of zero. The number of mutation points and the number of extreme points are defined as verification values and verification process values, respectively, and are compared with the mutation point number threshold and the extreme point number threshold defined in advance, respectively.

[0084] If the number of mutation points exceeds the mutation point number threshold, and the number of extreme points exceeds the extreme point number threshold, it is determined that the parameter verification analysis detection of the gas circuit is reasonable, a verification analysis detection reasonable message is formed, and the verification analysis detection reasonable message is transmitted to the parameter verification process;

[0085] 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 determined that the gas path parameter verification analysis detection is unreasonable, a verification analysis detection unreasonable message is formed and transmitted to the parameter verification process, and the parameter verification process receives the verification analysis detection unreasonable message and performs maintenance on the gas path.

[0086] In use, the parameter value detection module performs parameter value sampling detection analysis on the gas path, samples the parameters of the gas path during operation, and constructs a Cartesian system based on the parameter values at the time and the instant. After the operation of the gas path is started, a parameter regression line is constructed based on the values of the parameters of the gas path at each time point, and the parameters of the gas path are analyzed by the parameter regression line. The values obtained by the analysis are sent to the defined equation to obtain the parameter value detection factor of the gas path during operation. Whether the parameter value detection is reasonable is determined based on the coefficient comparison; the sensor common detection module performs sensor common detection analysis on the parameter value detection of the gas path, defines the parameter detection devices of the gas path as a sensor cluster, obtains the period parameter cooperative value and the period process cooperative information, and determines whether the gas path and the sensor cluster common detection is reasonable based on the information comparison; and the verification analysis detection module performs detection on the parameter verification analysis of the gas path, obtains the verification value comparison value and the verification process comparison value, and determines whether the parameter verification analysis detection of the gas path is reasonable based on the data analysis.

[0087] The beneficial effects of the present application are that, compared with the prior art, the technical effects of the present application include:

[0088] The parameter value sampling detection analysis is performed on the gas path to determine whether the current parameters of the gas path are reasonable, prevent the abnormal parameter value from weakening the working efficiency of the gas path, and prevent the gas path from working abnormally and being unable to perform immediate maintenance. The sensor common detection analysis is performed on the parameter value detection of the gas path to determine whether the sensor common detection during the parameter value detection of the gas path meets the requirements, prevent the abnormal sensor cooperation from causing message detection differences, and prevent the gas path from being blocked due to the abnormal message detection and the deterioration of the function of the gas path. The parameter verification analysis detection is performed on the gas path to determine whether the parameter verification efficiency meets the working requirements of the gas path, prevent the low parameter verification efficiency from being unable to restore the reasonable working state of the gas path, and prevent the working of the gas path from being blocked. The verification efficiency detection can also improve the working efficiency of the gas path and ensure that the gas path can be immediately maintained when the parameters of the gas path are abnormal.

[0089] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application but not to limit it. Although the present application has been described in detail with reference to the above embodiments, it is understood by those skilled in the art that modifications or equivalent replacements can still be made to the specific embodiments of the present application without departing from the spirit and scope of the present application, and any modification or equivalent replacement shall be covered within the scope of protection of the claims of the present application.

Claims

1. A method for controlling an end effector of a robotic arm, characterized in that, The PLC adjusts the air pressure in the air path via the proportional pressure valve according to the pressure value of the air path sampled by the pressure sensor; The PLC also verifies the working condition of the air path according to the flow value, the flow rate value or the pressure value of the air path sampled by the flow sensor, the flow rate sensor and the pressure sensor respectively, and the flow, the flow rate or the pressure of the air path is the parameter of the air path; The method for verifying the working condition of the air path according to the parameter value of the air path comprises: Step 1: performing parameter value sampling detection analysis on the air path, and determining whether the parameter of the air path at present is reasonable according to the parameter value; Step 2: performing instrument joint detection analysis on the parameter value detection of the air path, and determining whether the sensor joint detection during the parameter value detection of the air path at present meets the requirements; Step 3: after obtaining the verification analysis detection message, performing parameter verification analysis detection on the air path, and determining whether the parameter verification efficiency of the air path meets the working requirements of the air path. The method comprises the following steps:

2. A robotic arm end effector control system, characterized by, The flow sensor, the flow rate sensor, the pressure sensor and the proportional pressure valve are connected with the PLC, the pressure sensor and the proportional pressure valve are arranged on the air path connected with the flexible force control device of the pneumatic integrated unit and the pneumatic three-way joint of the end effector of the mechanical arm, and the PLC is used for adjusting the air pressure in the air path via the proportional pressure valve according to the pressure value of the air path sampled by the pressure sensor; the PLC is also used for verifying the working condition of the air path according to the flow value, the flow rate value and the pressure value of the air path sampled by the flow sensor, the flow rate sensor and the pressure sensor respectively, and the flow, the flow rate or the pressure of the air path is the parameter of the air path; The PLC further comprises: The parameter verification process is connected with the parameter value detection module, the sensor joint detection module and the verification analysis detection module; The parameter verification process is used for forming a parameter value detection command and transmitting the parameter value detection command to the parameter value detection module, and the parameter value detection module is used for collecting the parameter value detection command, performing parameter value sampling detection analysis on the air path, and determining whether the parameter of the air path at present is reasonable according to the parameter value. When the air path is working, the parameter of the air path is sampled and transmitted to the PLC, the working period of the air path is taken as the value on the horizontal axis of the Cartesian system, the instantaneous parameter value is taken as the value on the vertical axis of the Cartesian system, the working period of the air path is cut into multiple time points, and the time points are uniformly arranged on the horizontal axis of the Cartesian system; after the air path is started, the coordinate points of the parameter values of the air path at the time points are marked on the Cartesian system, a parameter regression line is constructed according to the coordinate points, and the parameter regression line analysis is performed on the parameter of the air path; 3. The robotic arm end effector control system of claim 2, wherein, The method for constructing the parameter regression line according to the coordinate points comprises: The coordinate points of the parameter values of the air path at the time points are used to construct the parameter regression line by using the least square method. The method for obtaining the time difference of the time period from the starting registration sampling time point to the time period of the parameter of the air path in different working periods comprises:

4. The robotic arm end effector control system of claim 3, wherein, The method for analyzing the regression line of the parameter of the gas circuit includes: obtaining the maximum difference of the time period from the start registration sampling point of the parameter in different working periods of the gas circuit, and obtaining the minimum value of the curvatures of the coordinate points at the start point, the median point and the end point of the coordinate points in the same working period of the gas circuit as the parameter value refresh rate; and defining the maximum difference of the time period from the start registration sampling point of the parameter in different working periods of the gas circuit, and the minimum value of the curvatures of the coordinate points at the start point, the median point and the end point of the coordinate points in the same working period of the gas circuit as the parameter value refresh rate, respectively. and ; ​ The difference between the time interval from the start sampling point of the parameter in the different working period of the gas circuit to the end point of the working period, and the maximum time interval minus the minimum time interval is the highest difference of the working period.

5. The robotic arm end effector control system of claim 4, wherein, The method of analyzing the regression line of the parameter of the gas circuit with respect to the parameter further includes: obtaining the number of times that the curvature of the regression line of the parameter in the same operation period of the gas circuit exceeds the set threshold repeatedly, and defining the number of times that the curvature of the regression line of the parameter in the same operation period of the gas circuit exceeds the set threshold repeatedly as .

6. The robotic arm end effector control system of claim 5, wherein, The curvature of the parameter regression line is the curvature of each coordinate point of the parameter regression line.

7. The robotic arm end effector control system of claim 6, wherein, The method for analyzing the regression line of the parameter of the gas circuit also includes: inputting the time interval maximum difference value, the value update speed of the trough value, and the number of repeated presentations into an equation to obtain the parameter value detection factor of the gas circuit in the working time period , the equation is: ； Here, , and are predefined ratio factors for the maximum difference in time, the numerical update speed of the trough value, and the number of repeated presentations, respectively, and is Euler's number, is used as an error correction factor; Detecting the parameter value of the gas circuit in the working period and the critical value of the parameter value detecting factor If the parameter value detection factor of the gas path in the working period is higher than the critical value of the parameter value detection factor If the parameter value detection factor of the gas path in the working period is higher than the critical value of the parameter value detection factor If the parameter value detection factor of the gas path in the working period is higher than the critical value of the parameter value detection factor If the parameter value detection factor of the gas path during the working period If the parameter value does not exceed the predefined threshold value of the parameter detection factor, it is confirmed that the parameter value of the gas path is reasonable during the working period, a parameter detection reasonable message is generated and the parameter detection reasonable message is transmitted to the parameter verification process. The instrument common detection message is also formed and transmitted to the sensor common detection module.

8. The robotic arm end effector control system of claim 7, wherein, The sensor common detection module is used to collect the instrument common detection message, and perform instrument common detection analysis on the parameter value detection of the gas circuit to determine whether the sensor common detection during the current gas circuit parameter value detection meets the requirements.

9. The robotic arm end effector control system of claim 8, wherein, The method for performing instrument common detection analysis on the parameter value detection of the gas circuit to determine whether the sensor common detection during the current gas circuit parameter value detection meets the requirements comprises: The sensors used for sampling the gas circuit are defined as a sensor cluster, the time point difference between the first formation point of the parameter of the gas circuit and the parameter sampling point of the sensor cluster during the common detection period of the gas circuit and the sensor cluster is obtained, the covariance of the parameter value is obtained synchronously, and the time point difference between the first formation point of the parameter of the gas circuit and the parameter sampling point of the sensor cluster during the common detection period of the gas circuit and the sensor cluster and the covariance of the parameter value are defined as the period parameter coordination value and the period process coordination information respectively, and are compared with the previously defined time point difference threshold and covariance threshold respectively. If the time point difference between the first formation point of the parameter of the gas circuit and the parameter sampling point of the sensor cluster during the common detection period of the gas circuit and the sensor cluster exceeds the previously defined time point difference threshold, or the covariance of the parameter value exceeds the covariance threshold, it is determined that the common detection of the gas circuit and the sensor cluster is unreasonable, a sensor common detection abnormal message is formed and transmitted to the parameter verification process. If the time point difference between the first formation point of the parameter of the gas circuit and the parameter sampling point of the sensor cluster during the common detection period of the gas circuit and the sensor cluster does not exceed the previously defined time point difference threshold, and the covariance of the parameter value does not exceed the covariance threshold, it is determined that the common detection of the gas circuit and the sensor cluster is reasonable, a sensor common detection reasonable message is formed and transmitted to the parameter verification process. If the parameter detection of the gas circuit is abnormal, the parameter of the gas circuit is detected again after the sensor common detection abnormal message is collected; if the parameter detection of the gas circuit is reasonable, the parameter of the gas circuit is detected again after the sensor common detection reasonable message is collected; and the method for performing verification of the working condition of the gas circuit by the PLC according to the parameter value of the gas circuit is terminated. The parameter verification process forms a verification analysis detection message and transmits the verification analysis detection message to the verification analysis detection module. After the verification analysis detection message is collected, the verification analysis detection module performs detection on the parameter verification analysis of the gas circuit to determine whether the parameter verification efficiency of the gas circuit meets the working requirements of the gas circuit. ​ 10. The robotic arm end effector control system of claim 9, wherein, The parameter verification analysis of the gas circuit is detected, and it is determined whether the high efficiency of the gas circuit parameter verification meets the working requirements of the gas circuit, including: The number of mutation points in the parameter regression line is obtained, which is the point with the second derivative of zero in the parameter regression line, and the number of extreme points in the parameter regression line is obtained, which is the point with the first derivative of zero in the parameter regression line, and the number of mutation points and the number of extreme points are defined as the verification value and the control value, respectively, and the number of mutation points and the number of extreme points are compared with the critical amount of the number of mutation points and the critical amount of the number of extreme points defined in advance: If the number of mutation points exceeds the critical amount of the number of mutation points, and the number of extreme points exceeds the critical amount of the number of extreme points, it is determined that the gas circuit parameter verification analysis detection is reasonable, a verification analysis detection reasonable message is formed, and the verification analysis detection reasonable message is transmitted to the parameter verification process; If the number of mutation points does not exceed the critical amount of the number of mutation points, or the number of extreme points does not exceed the critical amount of the number of extreme points, it is determined that the gas circuit parameter verification analysis detection is unreasonable, a verification analysis detection unreasonable message is formed, and the verification analysis detection unreasonable message is transmitted to the parameter verification process, and the parameter verification process receives the verification analysis detection unreasonable message and performs maintenance on the gas circuit.

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