A synchronous control system and method for pneumatic clamping jaws for lead screw insertion

Abstract

The application discloses a kind of pneumatic gripper synchronous control systems and methods for screw insertion, it is related to the field of automated assembly technology, including, reading pre-stored screw material linear expansion coefficient and standard temperature-force parameter group, and the current environmental temperature data after pretreatment is combined to calculate screw thermal expansion, dynamically adjust initial target clamping force value, obtain target clamping force correction value;According to target clamping force correction value, drive each gripper servo valve clamping and rotate screw insertion cutting equipment, while monitoring the vibration signal component of each gripper force sensor, obtain vibration spectrum data set;The anti-phase vibration control component is superimposed to each gripper servo valve, executes opening degree modulation operation, and outputs vibration controlled stable clamping state signal.The present application generates flutter state determination result and anti-phase vibration control component, realizes the active inhibition to high-frequency vibration, reduces the resistance fluctuation and thread surface damage in insertion process, and optimizes synchronous stability and assembly quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation assembly, in particular to a pneumatic gripper synchronous control system and method for screw rod insertion. BACKGROUND

[0002] In the field of precision assembly and automation manufacturing, screw rod insertion operation is a key process link to achieve high-precision positioning and transmission. At present, pneumatic gripper systems are generally used to control the clamping and insertion of screw rods in this field, and the conventional method relies on the synchronous driving of pneumatic servo valves and force sensor feedback mechanism. The typical control strategy realizes the coordinated action of multiple grippers by pre-setting the clamping force parameters and fixed timing instructions, and uses mechanical guide structure or simple PID algorithm to suppress vibration interference in the insertion process. Such methods have been widely used in the screw rod assembly process of numerical control machine tools, industrial robots and other equipment.

[0003] However, the conventional method has limitations in dealing with complex working conditions. When the environmental temperature fluctuates, the fixed clamping force parameters are difficult to adapt to material deformation, which may cause uneven clamping stress distribution or decrease in thread engagement precision; the high-frequency chatter generated in the high-speed insertion process lacks real-time suppression mechanism, and only relying on passive damping or offline parameter tuning is difficult to dynamically optimize the synchronization stability, which is easy to cause the insertion resistance to surge or the thread surface to wear. SUMMARY

[0004] In view of the above existing problems, the present application is proposed.

[0005] Therefore, the present application provides a pneumatic gripper synchronous control method for screw rod insertion to solve the problems of clamping force inadaptation caused by temperature fluctuation and chatter suppression in high-speed insertion process.

[0006] To solve the above technical problems, the present application provides the following technical solutions:

[0007] In a first aspect, the present application provides a method for synchronously controlling pneumatic clamping jaws for screw insertion, which comprises collecting current ambient temperature data and preprocessing; reading pre-stored linear expansion coefficients of screw materials and standard temperature-force parameter sets, and combining the current ambient temperature data to calculate the thermal expansion amount of the screw, and dynamically adjusting the target clamping force correction value; according to the target clamping force correction value, driving each clamping jaw servo valve to clamp and rotate the screw insertion cutting equipment, while monitoring the vibration signal components of each clamping jaw force sensor to obtain a vibration frequency spectrum data set; according to the vibration frequency spectrum data set, performing harmful chatter judgment to generate a chatter state judgment result, and according to the chatter state judgment result, generating an anti-phase vibration control component through an active damping algorithm; superimposing the anti-phase vibration control component to each clamping jaw servo valve to perform opening degree modulation operation, and outputting a vibration-controlled stable clamping state signal; based on the vibration-controlled stable clamping state signal, obtaining a multi-channel force data sequence, and according to the multi-channel force data sequence, driving the air cylinder to drive the gear plate to perform micro-amplitude forward and reverse rotation to identify the optimal meshing phase, and generating a clamping jaw control screw insertion report.

[0008] As a preferred scheme of the method for synchronously controlling pneumatic clamping jaws for screw insertion, the current ambient temperature data refers to an ambient air temperature measurement value.

[0009] The preprocessing includes filtering and unit conversion processing.

[0010] As a preferred scheme of the method for synchronously controlling pneumatic clamping jaws for screw insertion, the target clamping force correction value is obtained by the following steps,

[0011] reading the pre-stored linear expansion coefficients of screw materials and the standard temperature-force parameter sets, and combining the pre-processed current ambient temperature data to calculate the thermal expansion amount of the screw through linear thermal expansion;

[0012] calculating the theoretical clamping force correction value according to the thermal expansion amount of the screw, and correcting the initial target clamping force value according to the theoretical clamping force correction value to obtain the target clamping force correction value.

[0013] As a preferred scheme of the method for synchronously controlling pneumatic clamping jaws for screw insertion, the vibration frequency spectrum data set is obtained by the following steps,

[0014] converting the target clamping force correction value into a clamping jaw servo valve driving instruction, and outputting a clamping jaw synchronous clamping control signal;

[0015] based on the clamping jaw synchronous clamping control signal, driving the air cylinder to push the gear plate to move linearly, and through gear meshing, driving each clamping jaw to rotate synchronously to obtain the rotating screw;

[0016] During the rotation of the screw rod, raw vibration analog signals are collected in real time through each clamping jaw force sensor, high-speed sampling and multi-channel synchronous analog-digital conversion are performed, and multi-channel time-domain vibration data sets are output;

[0017] Fast Fourier transform frequency domain analysis is performed on the multi-channel time-domain vibration data sets to obtain vibration spectrum data sets.

[0018] As a preferred scheme of the screw rod insertion pneumatic clamping jaw synchronous control method, the generation of the chatter state judgment result is as follows,

[0019] According to the vibration spectrum data sets, the amplitude and phase characteristics of the frequency points whose vibration amplitude values exceed the preset amplitude safety threshold are extracted to generate a frequency-amplitude-phase feature vector set;

[0020] The frequency-amplitude-phase feature vector set is compared with the preset energy safety threshold and minimum duration threshold to identify abnormal frequency points and obtain a list of potential harmful frequencies;

[0021] Based on the list of potential harmful frequencies, a pre-stored chatter feature library is called to perform chatter state judgment to generate a chatter state judgment result.

[0022] As a preferred scheme of the screw rod insertion pneumatic clamping jaw synchronous control method, the generation of the anti-phase vibration control component is as follows,

[0023] According to the chatter state judgment result, an anti-phase control amount is calculated through a phase offset algorithm to obtain an anti-phase phase control parameter;

[0024] Based on the chatter state judgment result, an amplitude-frequency correspondence table is called to match an amplitude compensation coefficient, and the anti-phase phase control parameter is combined to generate an anti-phase vibration control component.

[0025] As a preferred scheme of the screw rod insertion pneumatic clamping jaw synchronous control method, the output of the vibration-controlled stable clamping state signal is as follows,

[0026] The anti-phase vibration control component is scalar superimposed and fused with the target clamping force correction value to generate an anti-chatter composite control parameter set;

[0027] The anti-chatter composite control parameter set is distributed according to the channels of each clamping jaw servo valve and converted into corresponding current drive signals to obtain a multi-channel valve position drive signal set;

[0028] According to the multi-channel valve position drive signal set, the opening ratio of each clamping jaw servo valve is adjusted, and feedback vibration analog signals are collected in real time to generate a multi-channel feedback vibration analog signal set;

[0029] Based on the multi-channel feedback vibration simulation signal set, the current vibration amplitude is extracted and compared with the preset amplitude safety threshold, the vibration suppression effect is judged, and the vibration controlled stable clamping state signal is output.

[0030] As a preferred scheme of the screw rod insertion pneumatic clamp jaw synchronous control method, the multi-channel force data sequence is obtained by continuously reading the data of each clamp jaw force sensor based on the vibration controlled stable clamping state signal.

[0031] As a preferred scheme of the screw rod insertion pneumatic clamp jaw synchronous control method, the clamp jaw control screw rod insertion report is generated by the following steps,

[0032] Based on the multi-channel force data sequence, the resistance distribution characteristics of each channel are identified, and a resistance distribution characteristic map is constructed.

[0033] Based on the resistance distribution characteristic map, the clamp jaw points with abnormally increased resistance are located, and a high-resistance point set is generated.

[0034] The high-resistance point set is prioritized and the rotation direction is decided to obtain a set of gear plate rotation control parameters.

[0035] According to the gear plate rotation control parameter group, the cylinder drives the gear plate gear to perform micro forward and reverse rotation, and the change rate of each clamp jaw force sensor data is monitored in real time to identify the optimal meshing phase.

[0036] The optimal meshing phase and the vibration controlled stable clamping state signal are integrated to generate a clamp jaw control screw rod insertion report.

[0037] In a second aspect, the present application provides a screw rod insertion pneumatic clamp jaw synchronous control system, comprising a data acquisition module, a clamping force correction module, a screw rod rotation insertion module, a chatter control module, an opening modulation module, and a meshing phase identification module.

[0038] The data acquisition module is used to acquire and preprocess the current environmental temperature data.

[0039] The clamping force correction module is used to read the pre-stored screw rod material linear expansion coefficient and standard temperature-force parameter group, and calculate the screw rod thermal expansion amount by combining the pre-processed current environmental temperature data, dynamically adjust the initial target clamping force value, and obtain the target clamping force correction value.

[0040] The screw rod rotation insertion module is used to drive each clamp jaw servo valve to clamp and rotate the screw rod to insert the cutting device according to the target clamping force correction value, and monitor the vibration signal component of each clamp jaw force sensor to obtain a vibration frequency spectrum data set.

[0041] A chatter control module is configured to determine harmful chatter based on the vibration spectrum dataset, generate a chatter state determination result, and perform phase shift calculation and amplitude compensation coefficient matching processing on the chatter state determination result through an active damping algorithm to generate an anti-phase vibration control component.

[0042] An opening degree modulation module is configured to superimpose the anti-phase vibration control component on each jaw servo valve, perform opening degree modulation operation, and output a vibration-controlled stable clamping state signal.

[0043] An engagement phase identification module is configured to collect a multi-channel force data sequence based on the vibration-controlled stable clamping state signal, and drive the cylinder to drive the gear plate to perform micro forward and reverse rotation based on the multi-channel force data sequence to identify an optimal engagement phase and generate a jaw control screw rod insertion report.

[0044] The present application has the following advantages: by dynamically adjusting the target clamping force correction value, real-time compensation of the screw rod thermal expansion effect is achieved, ensuring accurate adaptation of the clamping force under different environmental temperatures, thereby improving clamping stress uniformity and thread engagement precision; by generating a chatter state determination result and an anti-phase vibration control component, active suppression of high-frequency vibration is achieved, reducing resistance fluctuations and thread surface damage during insertion, thereby optimizing synchronous stability and assembly quality. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0046] Fig. 1 The flowchart of the pneumatic jaw synchronous control method for screw rod insertion.

[0047] Fig. 2 The schematic diagram of the pneumatic jaw synchronous control system for screw rod insertion.

[0048] Fig. 3 The flowchart of harmful chatter determination.

[0049] Fig. 4 The flowchart of vibration-controlled state determination. DETAILED DESCRIPTION

[0050] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings of the specification.

[0051] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details set forth in this description. In other instances, well-known methods, procedures, components, and circuits have not been described in detail so as not to unnecessarily obscure aspects of the present application.

[0052] It should also be noted that, as used herein, "the embodiment" and "embodiments" refers to any one of the implementations of the present application, including specific features, structures, or characteristics within the scope of at least one implementation of the present application. Therefore, phrases such as "in one embodiment" or "in an embodiment" appearing in various places in this description are not necessarily referring to the same embodiment, nor are they necessarily mutually exclusive of other embodiments.

[0053] Reference is made to Figs. 1-4 For one embodiment of the present application, the embodiment provides a method for synchronously controlling pneumatic clamps for inserting a lead screw, comprising the following steps:

[0054] S1, collecting current ambient temperature data and preprocessing;

[0055] The current ambient temperature data refers to the measured value of ambient air temperature;

[0056] It should be noted that the measured value of ambient air temperature is the surrounding air temperature value obtained in real time by a temperature sensor installed in the area where the clamp and the cutting device are located;

[0057] The preprocessing includes filtering and unit conversion processing;

[0058] It should be noted that the filtering processing refers to low-pass filtering of the measured value of ambient air temperature to eliminate transient interference noise; the unit conversion processing refers to converting the filtered measured value of ambient air temperature into standard international units.

[0059] S2, reading the pre-stored lead screw material linear expansion coefficient and standard temperature-force parameter set, and combining the pre-processed current ambient temperature data to calculate the lead screw thermal expansion amount, dynamically adjust the initial target clamping force value, and obtain the target clamping force correction value;

[0060] Reading the pre-stored lead screw material linear expansion coefficient and standard temperature-force parameter set, and combining the pre-processed current ambient temperature data, calculating the lead screw thermal expansion amount through linear thermal expansion;

[0061] Further, the lead screw model identifier is read, and the linear expansion coefficient, standard temperature value and standard clamping force parameter of the corresponding model lead screw are queried from the pre-stored lead screw material process parameter database according to the lead screw model identifier; the linear expansion coefficient, standard temperature value and standard clamping force parameter are associated and verified and packaged to ensure that they correspond to the same model and are complete data, and a lead screw reference parameter set is generated; the pre-processed current environmental temperature data (i.e. environmental air temperature measurement value) is called according to the lead screw reference parameter set; the difference between the environmental air temperature measurement value and the standard temperature value is calculated to obtain a temperature deviation value; the linear thermal expansion formula is used to perform thermal expansion amount calculation according to the linear expansion coefficient, standard clamping force parameter and temperature deviation value to obtain the lead screw thermal expansion amount;

[0062] The expression for calculating the lead screw thermal expansion amount is:

[0063] ;

[0064] Wherein, is the lead screw thermal expansion amount; is the linear expansion coefficient; is the lead screw reference length (which is the design length or clamping section length of the lead screw at the standard temperature, and is extracted from the lead screw material process parameter database); is the environmental air temperature measurement value; is the standard temperature value;

[0065] It should be noted that the lead screw model identifier is a digital code obtained by scanning the surface two-dimensional code of the lead screw, which is used to uniquely identify the specifications and material types of the current machining lead screw; the lead screw material process parameter database is a pre-stored digital parameter table, which is compiled by collecting material technical manuals and experimental data provided by lead screw manufacturers, and contains the linear expansion coefficient, standard temperature value and standard clamping force parameter;

[0066] The theoretical clamping force correction value is calculated according to the lead screw thermal expansion amount, and the initial target clamping force value is corrected according to the theoretical clamping force correction value to obtain the target clamping force correction value;

[0067] Further, based on the lead screw thermal expansion amount, the theoretical clamping force correction value is calculated by a stress compensation algorithm, and the theoretical clamping force correction value is output; the pre-stored initial target clamping force value is called, and the initial target clamping force value is linearly superimposed and corrected according to the theoretical clamping force correction value to obtain the target clamping force correction value;

[0068] The expression for calculating the target clamping force correction value is:

[0069] ;

[0070] Wherein, is the target clamping force correction value; E is the elastic modulus of the screw rod material, indicating the ability of the screw rod material to resist deformation within the elastic deformation range; A is the cross-sectional area of the screw rod; F0 is the initial target clamping force value;

[0071] It should be noted that the initial target clamping force value is the ideal clamping force value at standard temperature read from the screw rod material process parameter database.

[0072] S3, based on the target clamping force correction value, driving each jaw servo valve clamping and rotating the screw rod inserted into the cutting equipment, while monitoring the vibration signal component of each jaw force sensor, obtaining the vibration spectrum data set;

[0073] Convert the target clamping force correction value to the jaw servo valve drive instruction, output the jaw synchronous clamping control signal;

[0074] Further, based on the target clamping force correction value, query the pre-stored servo valve current-force relationship table, match the corresponding drive current value of each jaw servo valve, output the drive current value set; distribute the drive current value set to each servo valve control port according to the channel of each jaw servo valve, and write a synchronous trigger pulse signal (pulse rising edge triggers all channels to execute at the same time) to each jaw servo valve channel, output the multi-channel drive instruction with synchronous timing; the digital current value in the multi-channel drive instruction with synchronous timing is converted to an initial analog voltage signal by a digital-to-analog converter (DAC) one by one according to the channel, and then converted by a voltage-current conversion circuit to generate a jaw synchronous clamping control signal;

[0075] It should be noted that the servo valve current-force relationship table is a mapping table obtained by experimental calibration of the pneumatic jaw device, containing matching data pairs of drive current value and corresponding target clamping force correction value;

[0076] Based on the jaw synchronous clamping control signal, drive the cylinder to push the tooth plate to move linearly, drive each jaw to rotate synchronously through gear meshing, and obtain the rotating screw rod;

[0077] Further, based on the jaw synchronous clamping control signal, drive the cylinder piston rod to perform linear motion, and read the linear displacement of the tooth plate; through the meshing relationship between the tooth plate and the gear, calculate the ratio of the linear displacement of the tooth plate and the pre-stored gear pitch circle radius, obtain the gear rotation angle; through the fixed connection of the gear and the connecting shaft, the gear rotation angle is transmitted to each pneumatic jaw through the shaft coupling, and the jaw synchronous rotation action is output; through the jaw synchronous rotation action, the screw rod is rotated, and the rotating screw rod is obtained;

[0078] It should be noted that the gear pitch circle radius is the radius of the theoretical contact circle when the gear is meshing, which is directly read from the specified specifications of the gear;

[0079] In the rotation process of the lead screw, the original vibration analog signals are collected by each gripper force sensor in real time, and high-speed sampling and multi-channel synchronous analog-digital conversion are performed, and multi-channel time-domain vibration data sets are output;

[0080] Further, in the rotation process of the lead screw, the original vibration analog signals are collected by each gripper force sensor in real time, and high-speed sampling and multi-channel synchronous analog-digital conversion are performed, and multi-channel time-domain vibration data sets are output;

[0081] It should be noted that the channel number is a unique identifier pre-assigned to each gripper force sensor, which is automatically assigned through hardware configuration;

[0082] The multi-channel time-domain vibration data set is subjected to fast Fourier transform frequency domain analysis to obtain a vibration spectrum data set;

[0083] Further, the fast Fourier transform is performed on the data of each channel in the multi-channel time-domain vibration data set, and a complex frequency domain data set is output; according to the complex frequency domain data set, the modulus of the complex frequency domain data of each channel is calculated to obtain a sequence of vibration amplitudes of each channel with respect to frequency, and an amplitude spectrum data set is output; the amplitude spectrum data set is organized into an array structure according to the channel number to generate a vibration spectrum data set;

[0084] The expression for performing fast Fourier transform on the multi-channel time-domain vibration data set is:

[0085] ;

[0086] Wherein, is the channel index; is the time-domain data of the channel in the multi-channel time-domain vibration data set; is the time index, indicating the sequential number of the sampling points; is the total number of sampling points of the fast Fourier transform window; is the frequency index, indicating the discrete frequency point in the frequency domain; is the complex frequency domain data of the channel ; is the imaginary unit; is the base of the natural logarithm; is the ratio of the circumference to the diameter;

[0087] The channel in the amplitude spectrum data set is calculated at the frequency point The expression of the vibration amplitude value at the frequency point

[0088] ;

[0089] wherein, is the amplitude spectrum data set channel The vibration amplitude value at the frequency point ; is the real component, indicating the in-phase component of the vibration signal in the frequency domain at the frequency point ; is the imaginary component, indicating the quadrature component of the vibration signal in the frequency domain at the frequency point .

[0090] S4, according to the vibration spectrum data set, generating the chatter state determination result, and performing phase shift calculation and amplitude compensation coefficient matching processing on the chatter state determination result through the active damping algorithm, generating the anti-phase vibration control component;

[0091] According to the vibration spectrum data set, the amplitude and phase characteristics of the frequency point whose vibration amplitude value exceeds the preset amplitude safety threshold are extracted, and a frequency-amplitude-phase feature vector set is generated;

[0092] Further, the preset amplitude safety threshold is called, the vibration amplitude value of each frequency point in the vibration spectrum data set is compared with the amplitude safety threshold, the frequency point whose vibration amplitude value exceeds the amplitude safety threshold is screened out, and a main frequency index list is generated; According to the main frequency index list, the real and imaginary component values of each frequency point are extracted from the vibration spectrum data set, the phase value is obtained by calculating the four-quadrant arctangent angle of the imaginary and real component values, and the vibration amplitude value is extracted, the phase value and the vibration amplitude value corresponding to each frequency point are integrated to generate an amplitude-phase feature pair, and the amplitude-phase feature pair of each frequency point is combined into a structured vector in ascending or descending order of frequency, and the frequency-amplitude-phase feature vector set is output;

[0093] The expression of the phase value is:

[0094] ;

[0095] wherein, is the phase value, indicating the phase angle of the vibration signal at the frequency point; is the imaginary component value of the vibration signal at a specific frequency point in the vibration spectrum data set; is the real component value of the vibration signal at a specific frequency point in the vibration spectrum data set;

[0096] It should be noted that the amplitude safety threshold is the upper limit of the vibration amplitude preset by experimental calibration and historical vibration data, which is used to identify harmful flutter, and the exemplary value range is 0.1V~5.0V;

[0097] The frequency-amplitude-phase feature vector set is compared with the preset energy safety threshold and minimum duration threshold to identify abnormal frequency points and obtain a list of potential harmful frequencies;

[0098] Further, based on the frequency-amplitude-phase feature vector set, the number of continuous time periods in which the vibration amplitude value of each frequency point exceeds the amplitude safety threshold is counted to obtain the duration. The product of the square of the vibration amplitude value and the duration is calculated to obtain the energy integral value, and the energy integral value of each frequency point and the corresponding duration are integrated to generate an energy-duration data set. The energy-duration data set is compared with the preset energy safety threshold and minimum duration threshold to filter out frequency points that simultaneously exceed the energy safety threshold and the minimum duration threshold, and a preliminary harmful frequency list is output. Each frequency point in the preliminary harmful frequency list is sorted by energy integral value to obtain a list of potential harmful frequencies.

[0099] It should be noted that the energy safety threshold is an upper limit of energy accumulation preset by experimental calibration and historical vibration data statistics, and the exemplary value range is 0.1J~10.0J. The minimum duration threshold is a lower limit of the number of consecutive exceeding periods preset by analyzing the characteristics of flutter, and the exemplary value range is 5~20 sampling periods.

[0100] Based on the list of potential harmful frequencies, the pre-stored flutter feature library is called to determine the flutter state, and a flutter state determination result is generated.

[0101] Further, based on the list of potential harmful frequencies, the frequency points, vibration amplitude values, and phase values are extracted to generate a frequency point feature data set, and the pre-stored flutter feature library is called to match the historical flutter characteristics (such as typical amplitude range and phase pattern) in the flutter feature library according to the frequency points in the frequency point feature data set, and output a historical feature data set. The feature similarity score is calculated based on the vibration amplitude values and phase values in the frequency point feature data set and the historical feature data set. The feature similarity score is compared with a preset similarity determination threshold to determine the flutter state. If the feature similarity score exceeds the similarity determination threshold, it is determined to be a severe flutter state. If the feature similarity score is within the similarity determination threshold, it is determined to be a slight flutter state. If the feature similarity score is lower than the similarity determination threshold, it is determined to be a normal state, and a flutter state determination result is output.

[0102] The expression for calculating the feature similarity score is:

[0103] ;

[0104] in, It is the feature similarity score; It is the first in the frequency point feature dataset Each characteristic component value includes vibration amplitude and phase values; It is the first corresponding frequency point feature dataset in the historical feature dataset. Each characteristic component value includes vibration amplitude and phase values; It is the number of characteristic components; It is a feature component index;

[0105] It should be noted that the flutter feature library is a mapping table constructed through experimental calibration and historical vibration data statistics, which includes harmful flutter frequency points and corresponding amplitude ranges, phase characteristics and energy safety thresholds; the similarity judgment threshold is a preset boundary value based on experimental calibration and historical vibration data statistics, used to determine the flutter state based on feature similarity scores, with an exemplary value range of 0.3 to 0.9;

[0106] Based on the flutter state determination result, the anti-phase control quantity is calculated using the phase offset algorithm to obtain the anti-phase control parameters;

[0107] Furthermore, based on the flutter state determination results, frequency points, vibration amplitude values, and phase values ​​are extracted, and a set of vibration characteristic parameters is output. An offset of π (pi) radians is applied to the phase value of each frequency point in the set of vibration characteristic parameters to obtain an anti-phase phase value, while keeping the vibration amplitude value unchanged, and an anti-phase control quantity is output. The anti-phase control quantity is combined with the corresponding frequency point to obtain the anti-phase phase control parameter.

[0108] Based on the flutter state determination result, the pre-stored amplitude-frequency correspondence table is called to match the amplitude compensation coefficient, and combined with the anti-phase control parameters, the anti-phase vibration control component is generated.

[0109] Furthermore, based on the flutter state determination results, frequency points and corresponding vibration amplitude values ​​are extracted to generate frequency-amplitude data pairs. According to the frequency-amplitude data pairs, the pre-stored amplitude-frequency correspondence table is queried to obtain the amplitude compensation coefficient value corresponding to each frequency point. The amplitude compensation coefficient value is multiplied by the vibration amplitude value in the anti-phase control parameters to generate the compensated anti-phase amplitude value. The compensated anti-phase amplitude value is combined with the anti-phase value in the anti-phase control parameters to generate the anti-phase vibration control component.

[0110] It should be noted that the amplitude-frequency correspondence table is a mapping table obtained through experimental calibration or historical data statistics, which contains matching data of frequency points and corresponding amplitude compensation coefficients.

[0111] S5, superimpose the reverse vibration control component to each jaw servo valve, execute the opening degree modulation operation, output the vibration controlled stable clamping state signal;

[0112] The reverse vibration control component is superimposed and fused with the target clamping force correction value to generate an anti-chatter composite control parameter set;

[0113] Further, according to the reverse vibration control component, the reverse amplitude value and the reverse phase value are extracted, and the reverse amplitude value, the reverse phase value and the target clamping force correction value are uniformly converted into force value units (such as Newton), to ensure dimensional consistency, output the standardized amplitude force value and the clamping force value; according to the standardized amplitude force value and the clamping force value, the preset vibration suppression weight coefficient and the clamping force weight coefficient are called, and the composite force value is calculated through the weighted summation algorithm; the composite force value is normalized and packaged to generate the anti-chatter composite control parameter set;

[0114] It should be noted that the vibration suppression weight coefficient is preset through experimental calibration and process optimization, and is used to control the relative importance of vibration suppression in composite control, and the exemplary value range is 0.5~0.8; the clamping force weight coefficient is preset through experimental calibration and process optimization, and is used to control the relative importance of clamping force in composite control, and the exemplary value range is 0.2~0.5;

[0115] The anti-chatter composite control parameter set is distributed according to the channels of each jaw servo valve and converted into corresponding current driving signals to obtain a multi-channel valve position driving signal set;

[0116] Further, based on the anti-chatter composite control parameter set, the corresponding control parameters are distributed according to the channel numbers of each jaw servo valve to generate a channel control parameter set; according to the channel control parameter set, the current value required by each channel is queried through the pre-stored current-parameter relationship table, and a channel current value set is output; each digital current value in the channel current value set is converted into an analog current signal through a digital-to-analog converter (DAC), and a multi-channel valve position driving signal set is output;

[0117] It should be noted that the current-parameter relationship table is a mapping table obtained through experimental calibration, and contains matching data pairs of control parameter values and corresponding driving current values;

[0118] According to the multi-channel valve position driving signal set, the opening ratio of each jaw servo valve is adjusted, and a multi-channel feedback vibration simulation signal set is generated by real-time collection of feedback vibration simulation signals;

[0119] Further, the multi-channel valve position drive signal is converted into corresponding valve core control current by the servo valve driver, and the valve core position of each jaw servo valve is adjusted by the corresponding valve core control current, so as to control the air pressure flow and output the valve position opening degree proportion set (including the opening percentage value of each servo valve); the valve position opening degree proportion set is used as a time sequence synchronization signal to trigger the real-time collection of the feedback vibration analog signal by each jaw force sensor, and a multi-channel feedback vibration analog signal set is generated;

[0120] Based on the multi-channel feedback vibration analog signal set, the current vibration amplitude is extracted and compared with the preset amplitude safety threshold to determine the vibration suppression effect, and a vibration controlled stable clamping state signal is output;

[0121] Further, the feedback vibration analog signal in each channel of the multi-channel feedback vibration analog signal set is filtered and amplified by the signal conditioning circuit to generate an optimized feedback vibration analog signal set; the optimized feedback vibration analog signal set is converted into a digital signal by an analog-to-digital converter to output a digital vibration data set, and the effective vibration amplitude is calculated by an RMS (Root Mean Square) calculation formula according to the digital vibration data set to generate an effective vibration amplitude data set; each effective vibration amplitude in the effective vibration amplitude data set is compared with the preset amplitude safety threshold to output an effective amplitude comparison result set, and the vibration suppression effect is verified according to the effective amplitude comparison result set; if the effective vibration amplitude is lower than the amplitude safety threshold, it is identified as effective suppression; if the effective vibration amplitude is within the amplitude safety threshold, it is identified as critical suppression; if the effective vibration amplitude exceeds the amplitude safety threshold, it is identified as ineffective suppression, and an amplitude suppression identification group is generated; the amplitude suppression identification group is read, if the suppression identification is critical or ineffective, a re-anti-chatter control process is triggered, and if the suppression identification is effective, a vibration controlled stable clamping state signal is generated;

[0122] The expression for calculating the effective vibration amplitude is:

[0123] ;

[0124] Wherein, is the effective vibration amplitude; is the signal value of the i-th sampling point; is the total number of sampling points in the RMS calculation window; is the sampling point index.

[0125] S6, based on the vibration controlled stable clamping state signal, a multi-channel force data sequence is collected, and the cylinder is driven to perform micro-amplitude forward and reverse rotation by the gear plate according to the multi-channel force data sequence, so as to identify the optimal meshing phase and generate a jaw control screw rod insertion report;

[0126] ​Based on the vibration-controlled stable clamping state signal, continuously read the data of each jaw force sensor to obtain a multi-channel force data sequence;

[0127] Further, based on the vibration-controlled stable clamping state signal, start the data acquisition circuit of each jaw force sensor to generate a sensor acquisition enable signal, and synchronously read the real-time analog output of each jaw force sensor according to the sensor acquisition enable signal to obtain a multi-channel original analog signal; convert the multi-channel original analog signal into a digital signal through an analog-to-digital converter (ADC) to output a multi-channel digital force data; perform timestamp alignment and channel number formatting (such as organizing into a two-dimensional array, with rows representing timestamps and columns representing channel numbers) on the multi-channel digital force data to generate a multi-channel force data sequence;

[0128] Based on the multi-channel force data sequence, identify the resistance distribution characteristics of each channel to construct a resistance distribution characteristic map;

[0129] Further, based on the multi-channel force data sequence, take the mean, variance, and peak value of the force data sequence of each channel to output a channel force statistical data set; compare the mean, variance, and peak value of each channel in the channel force statistical data set with the preset mean safety threshold, variance fluctuation threshold, and peak value limit threshold, respectively; when any value exceeds the corresponding threshold, mark it as a channel anomaly and record the specific out-of-limit feature type (such as mean out-of-limit, variance out-of-limit, or peak value out-of-limit) to output an abnormal channel list; based on the abnormal channel list and the channel force statistical data set, extract the feature vector (including the mean, variance, and peak value) of each channel to generate a channel feature vector set; randomly initialize three cluster centers (high resistance group, medium resistance group, and low resistance group); for the feature vector of each channel in the channel feature vector set, iteratively calculate the Euclidean distance between the feature vector and the cluster center through the K-means clustering algorithm, and according to the calculated Euclidean distance, assign each channel feature vector to the resistance group (high, medium, or low) corresponding to the cluster center with the smallest (minimum Euclidean distance) to output a channel grouping result; based on the channel grouping result, extract the index number of all channels in the high resistance group, calculate the variance of the index numbers of all channels to obtain an index variance value, and compare the index variance value with the preset variance threshold; if the index variance value is lower than the variance threshold, determine it as a local concentrated anomaly, and if the index variance value is higher than the variance threshold, determine it as a global dispersed anomaly to output a resistance distribution characteristic set containing the grouping label and the anomaly type; organize the grouping label, anomaly type, and feature value in the resistance distribution characteristic set into a two-dimensional matrix structure (rows correspond to grouping labels and columns correspond to feature values and anomaly types) to construct a resistance distribution characteristic map;

[0130] The expression for iteratively calculating the Euclidean distance between each channel feature vector and the cluster center through the K-means clustering algorithm is:

[0131] ;

[0132] wherein, is the Euclidean distance between the channels and the channels ; is the arithmetic mean of the multichannel force data sequence of the channels ; is the mean of the multichannel force data sequence of the channels ; is the variance of the force data sequence of the channels ; is the variance of the force data sequence of the channels ; is the peak value of the force data sequence of the channels ; is the peak value of the force data sequence of the channels ;

[0133] It should be noted that the mean safety threshold is the upper limit of the arithmetic mean of the force data sequence, which is set by experimental calibration and historical data statistics, and is used to determine whether the force is within the normal range. The exemplary value range is 10N~50N; the variance fluctuation threshold is the upper limit of the variance of the force data sequence, which is set by analyzing historical fluctuation data, and is used to determine whether the force fluctuation is excessive. The exemplary value range is 5N²~20N²; the peak limit threshold is the upper limit of the maximum value of the force data sequence, which is set by experimental calibration and peak analysis, and is used to determine whether the peak force is excessive. The exemplary value range is 50N~100N;

[0134] It should be noted that the variance threshold is a critical value for evaluating the dispersion degree of the channel index, which is set by historical data analysis and experimental calibration. The exemplary value range is 0.1~1.0; the feature vector of each channel is an array composed of three statistical quantities of mean, variance and peak value extracted directly from the channel force statistical data set, which is used to represent the resistance distribution characteristics of the channel;

[0135] Based on the resistance distribution characteristic map, the gripper point with abnormally increased resistance is located, and a high-resistance point set is generated;

[0136] Further, based on the grouping label and the abnormal type of the resistance distribution feature map, the channel numbers of all channels labeled as high-resistance groups and the corresponding mean and peak values are extracted to generate a high-resistance channel dataset. Based on the high-resistance channel dataset, the mean and peak values of each channel are compared with the corresponding mean safety threshold and peak limit threshold, and channels with feature values exceeding the corresponding threshold are filtered out to output a candidate high-resistance point list. Based on the candidate high-resistance point list, for each channel index in the list, the indices of its adjacent channels (such as one channel on the left and one channel on the right) are queried, and it is checked whether the adjacent channels also exist in the candidate high-resistance point list. If at least one of the adjacent channels is in the candidate list, the channel is determined to be an effective abnormal point. If none of the adjacent channels is in the candidate high-resistance point list, the channel is marked as an isolated abnormal point and is excluded, and a high-resistance point set is generated.

[0137] The high-resistance point set is prioritized and the rotation direction is determined to obtain a set of gear plate rotation control parameters.

[0138] Further, based on the high-resistance point set, the resistance value (force value obtained from each jaw force sensor data) and the channel position index (such as channel number) of each point are extracted to output a point data set. According to the resistance value in the point data set, the points are sorted in descending order (high priority), and a sorted point list is output. Based on the sorted point list, the arithmetic mean of the channel position indices of all points is calculated to obtain a position index mean. The position index mean is compared with a pre-set middle position index (such as the median of all channel indices). If the position index mean is less than the middle position index, the rotation direction is determined to be counterclockwise. If the position index mean is greater than the middle position index, the rotation direction is determined to be clockwise. If the position index mean is equal to the middle position index, the rotation direction is determined to be clockwise by default. A rotation direction instruction is output. According to the rotation direction instruction and the sorted point list, the position index of the point with the highest priority is taken, and the difference from the middle position index is calculated. According to the calculated difference, a pre-set index-angle mapping table (such as a fixed angle increment corresponding to each index unit) is called to determine the offset angle to obtain a rotation angle. Based on the position index of the point with the highest priority, the rotation speed is adjusted according to the corresponding resistance value and the rotation angle (the resistance value is large, the speed is slow; the resistance value is small, the speed is fast). The rotation direction, rotation angle and rotation speed are integrated and packaged to obtain a set of gear plate rotation control parameters.

[0139] It should be noted that the middle position index is obtained by calculating the median of all jaw channel indices, and is used as a reference point for rotation direction decision. The index-angle mapping table is a corresponding relationship table obtained by experimental calibration or geometric calculation, which contains mapping data of each channel index and corresponding rotation angle.

[0140] According to the tooth plate rotation control parameter set, the driving cylinder pushes the tooth plate gear to perform micro positive and negative rotation, and the change rate of each clamping jaw force sensor data is monitored in real time to identify the optimal meshing phase;

[0141] Further, based on the tooth plate rotation control parameter set, the rotation direction, rotation angle and rotation speed parameters are analyzed, the analyzed control parameters are output, and the cylinder driving signal is generated through the cylinder driver according to the analyzed control parameters; the extension and retraction of the cylinder piston rod are controlled by using the cylinder driving signal to push the tooth plate gear to perform micro positive and negative rotation, and in the mechanical rotation process, the data of each clamping jaw force sensor is read in real time at a high frequency sampling rate to generate a multi-channel real-time force data stream; based on the multi-channel real-time force data stream, the instantaneous change rate is obtained according to the ratio of the difference value of the resistance values of adjacent time points to the sampling time interval, and a force change rate data set is generated; the force change rate data set is scanned to find the data point with the smallest force change rate in all channels, and the product of the time stamp corresponding to the data point with the smallest force change rate and the rotation speed is calculated to obtain the rotation angle as the optimal meshing phase;

[0142] The optimal meshing phase and the vibration controlled stable clamping state signal are integrated to generate a clamping jaw control screw insertion report;

[0143] Further, based on the optimal meshing phase, the tooth plate gear is controlled to perform accurate rotation adjustment to make the screw rod and the nut thread fully meshed, and a screw rod full meshing state is output; based on the screw rod full meshing state, the force sensor and vibration sensor data are monitored in real time to confirm that the insertion resistance value is stable and there is no abnormal vibration, and a wear-free insertion state signal is output; the wear-free insertion state signal and the vibration controlled stable clamping state signal are integrated to generate a clamping jaw control screw insertion report containing the tooth plate rotation control parameter set and the amplitude suppression identifier set.

[0144] The embodiment also provides a pneumatic gripper synchronous control system for screw insertion, comprising: a data acquisition module, a clamping force correction module, a screw rotation insertion module, a chatter control module, an opening degree modulation module, and an engagement phase identification module; the data acquisition module is used to acquire current environmental temperature data and perform preprocessing; the clamping force correction module is used to read pre-stored screw material linear expansion coefficient and standard temperature-force parameter set, and calculate screw thermal expansion amount in combination with current environmental temperature data to dynamically adjust target clamping force correction value; the screw rotation insertion module is used to drive each gripper servo valve to clamp and rotate the screw for insertion into the cutting equipment according to the target clamping force correction value, and simultaneously monitor vibration signal components of each gripper force sensor to obtain vibration frequency spectrum data set; the chatter control module is used to perform harmful chatter judgment according to the vibration frequency spectrum data set to generate chatter state judgment result, and generate reverse vibration control component through active damping algorithm according to the chatter state judgment result; the opening degree modulation module is used to superimpose the reverse vibration control component to each gripper servo valve to perform opening degree modulation operation and output vibration-controlled stable clamping state signal; and the engagement phase identification module is used to obtain multi-channel force data sequence based on the vibration-controlled stable clamping state signal, drive the cylinder to drive the gear plate to perform micro-amplitude forward and reverse rotation according to the multi-channel force data sequence, identify the optimal engagement phase, and generate a gripper control screw insertion report.

[0145] The embodiment also provides a computer device suitable for the pneumatic gripper synchronous control method for screw insertion, comprising: a memory and a processor; the memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions to realize the pneumatic gripper synchronous control method for screw insertion proposed in the above embodiment.

[0146] The computer device can be a terminal, and the computer device comprises a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner. The wireless manner can be achieved through WIFI, operator network, NFC (near field communication) or other technologies. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device. In addition, the input device can be an external keyboard, touchpad or mouse, etc.

[0147] The embodiment also provides a storage medium on which a computer program is stored, the program being executed by a processor to implement the method for synchronously controlling pneumatic clamps for screw insertion as proposed in the above embodiment; the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0148] To sum up, the application realizes real-time compensation for the thermal expansion effect of the screw by dynamically adjusting the target clamping force correction value, ensures accurate adaptation of the clamping force under different ambient temperatures, and thus improves clamping stress uniformity and thread engagement accuracy; and by generating a chatter state determination result and an inverse vibration control component, the application realizes active suppression of high-frequency vibration, reduces resistance fluctuation and thread surface damage during the insertion process, and optimizes synchronization stability and assembly quality.

[0149] It should be noted that the above embodiments are only used to illustrate the technical solutions of the application but not limit the application, and although the application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the application, and all of them should be covered in the scope of the claims of the application.

Claims

1. A method for synchronous control of pneumatic grippers for lead screw insertion, characterized in that: include, Collect and preprocess current ambient temperature data; Read the pre-stored linear expansion coefficient of the lead screw material and standard temperature-force parameter set, and calculate the thermal expansion of the lead screw in combination with the pre-processed current ambient temperature data. Dynamically adjust the initial target clamping force value and obtain the target clamping force correction value. Based on the target clamping force correction value, drive the servo valve of each gripper to clamp and rotate the screw to insert into the cutting device, while monitoring the vibration signal components of each gripper force sensor to obtain a vibration spectrum dataset; Based on the vibration spectrum dataset, harmful flutter is determined, flutter state determination results are generated, and the flutter state determination results are processed by active damping algorithm to perform phase shift calculation and amplitude compensation coefficient matching to generate anti-phase vibration control components. The anti-phase vibration control component is superimposed on each gripper servo valve to perform opening modulation operation and output a vibration-controlled and stable gripping state signal. Based on the vibration-controlled stable clamping state signal, a multi-channel force data sequence is acquired, and the cylinder is driven to rotate the toothed plate slightly in both directions according to the multi-channel force data sequence. The optimal meshing phase is identified, and a jaw control screw insertion report is generated.

2. The pneumatic gripper synchronous control method for lead screw insertion as described in claim 1, characterized in that: The current ambient temperature data refers to the measured value of the ambient air temperature. The preprocessing includes filtering and unit conversion.

3. The pneumatic gripper synchronous control method for lead screw insertion as described in claim 1, characterized in that: The steps for obtaining the target clamping force correction value are as follows: Read the pre-stored linear expansion coefficient of the lead screw material and standard temperature-force parameter set, and combine them with the pre-processed current ambient temperature data to calculate the thermal expansion of the lead screw through linear thermal expansion; The theoretical clamping force correction value is calculated based on the thermal expansion of the lead screw, and the initial target clamping force value is corrected based on the theoretical clamping force correction value to obtain the target clamping force correction value.

4. The pneumatic gripper synchronous control method for lead screw insertion as described in claim 1, characterized in that: The steps for obtaining the vibration spectrum dataset are as follows: The target clamping force correction value is converted into a gripper servo valve drive command, and a gripper synchronous clamping control signal is output. Based on the synchronous gripping control signal of the grippers, the drive cylinder pushes the toothed plate to move linearly, and through gear meshing, drives each gripper to rotate synchronously to obtain the lead screw during rotation; During the rotation of the lead screw, the original vibration simulation signal is collected in real time by the force sensors of each gripper, and high-speed sampling and multi-channel synchronous analog-to-digital conversion are performed to output a multi-channel time-domain vibration dataset. Perform Fast Fourier Transform frequency domain analysis on the multi-channel time-domain vibration dataset to obtain the vibration spectrum dataset.

5. The pneumatic gripper synchronous control method for lead screw insertion as described in claim 1, characterized in that: The steps for generating the flutter state determination result are as follows: Based on the vibration spectrum dataset, the amplitude and phase features of frequency points where the vibration amplitude value exceeds the preset amplitude safety threshold are extracted, and a frequency-amplitude-phase feature vector set is generated. The frequency-amplitude-phase feature vector set is compared with the preset energy safety threshold and minimum duration threshold to identify abnormal frequency points and obtain a list of potentially harmful frequencies. Based on the list of potentially harmful frequencies, a pre-stored flutter feature library is called to determine the flutter state and generate a flutter state determination result.

6. The pneumatic gripper synchronous control method for lead screw insertion as described in claim 1, characterized in that: The steps for generating the anti-phase vibration control component are as follows: Based on the flutter state determination result, the anti-phase control quantity is calculated using the phase offset algorithm to obtain the anti-phase control parameters; Based on the flutter state determination result, the pre-stored amplitude-frequency correspondence table is called to match the amplitude compensation coefficient, and combined with the anti-phase control parameters, the anti-phase vibration control component is generated.

7. The pneumatic gripper synchronous control method for lead screw insertion as described in claim 1, characterized in that: The steps for generating the controlled vibration stable clamping state signal are as follows: The anti-flutter composite control parameter set is generated by scalar superposition and fusion of the anti-flutter control component and the target clamping force correction value. The anti-flutter composite control parameter set is allocated according to the channel of each gripper servo valve and converted into the corresponding current drive signal to obtain the multi-channel valve position drive signal set; The opening ratio of each gripper servo valve is adjusted according to the multi-channel valve position drive signal set, and the feedback vibration simulation signal is collected in real time to generate a multi-channel feedback vibration simulation signal set. Based on a multi-channel feedback vibration simulation signal set, the current vibration amplitude is extracted and compared with a preset amplitude safety threshold to determine the vibration suppression effect, and output a vibration-controlled and stable clamping state signal.

8. The pneumatic gripper synchronous control method for lead screw insertion as described in claim 1, characterized in that: The multi-channel force data sequence is obtained by continuously reading data from each gripper force sensor based on the vibration-controlled stable clamping state signal.

9. The pneumatic gripper synchronous control method for lead screw insertion as described in claim 1, characterized in that: The steps for generating the gripper control screw insertion report are as follows: Based on multi-channel force data sequences, the resistance distribution characteristics of each channel are identified, and a resistance distribution characteristic map is constructed. Based on the resistance distribution feature map, the gripper points with abnormally increased resistance are located, and a set of high resistance points is generated. Prioritize and determine the rotation direction of the high-resistance point set to obtain the gear plate rotation control parameter set; Based on the gear plate rotation control parameter set, the drive cylinder pushes the gear plate gear to rotate slightly forward and backward, and monitors the data change rate of each gripper force sensor in real time to identify the optimal meshing phase; Integrate the optimal meshing phase and vibration-controlled stable clamping state signals to generate a jaw control screw insertion report.

10. A pneumatic gripper synchronization control system for lead screw insertion, based on the pneumatic gripper synchronization control method for lead screw insertion according to any one of claims 1 to 9, characterized in that: It includes a data acquisition module, a clamping force correction module, a lead screw rotation and insertion module, a chatter control module, an opening modulation module, and a meshing phase recognition module; The data acquisition module is used to collect current ambient temperature data and perform preprocessing. The clamping force correction module is used to read the pre-stored linear expansion coefficient of the lead screw material and the standard temperature-force parameter set, and calculate the thermal expansion of the lead screw in combination with the pre-processed current ambient temperature data, dynamically adjust the initial target clamping force value, and obtain the target clamping force correction value. The lead screw rotation insertion module is used to drive each gripper servo valve to clamp and rotate the lead screw to insert into the cutting device according to the target clamping force correction value, while monitoring the vibration signal components of each gripper force sensor to obtain a vibration spectrum dataset. The flutter control module is used to determine harmful flutter based on the vibration spectrum dataset, generate flutter state determination results, and perform phase offset calculation and amplitude compensation coefficient matching processing on the flutter state determination results through an active damping algorithm to generate anti-phase vibration control components. The opening modulation module is used to superimpose the anti-phase vibration control component onto each gripper servo valve, perform the opening modulation operation, and output a vibration-controlled and stable clamping state signal. The meshing phase recognition module is used to acquire multi-channel force data sequences based on the vibration-controlled stable clamping state signal, and drive the cylinder to rotate the toothed plate slightly in both directions according to the multi-channel force data sequence, identify the optimal meshing phase, and generate a jaw control screw insertion report.

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