Equal-height control method and system for balanced type lifting carrying clamping jaw

Abstract

The invention relates to the technical field of industrial automation control, and discloses an equal-height control method and system for a balanced lifting carrying clamping jaw, and the method comprises the steps: constructing a two-channel synchronous sensing network of the clamping jaw, analyzing a synchronous deviation signal of a two-side lifting mechanism, generating a height cooperative compensation strategy set of the two-side lifting mechanism, and calculating the height cooperative compensation strategy set of the two-side lifting mechanism; in combination with a height cooperative compensation strategy set and a safe clamping height difference threshold value of the to-be-carried material in the carrying process, an equal-height motion controller of the double-side lifting mechanism is configured, an equal-height control efficiency index of the equal-height motion controller is calculated, and a dynamic equal-height parameter adjusting instruction of the double-side lifting mechanism is generated; and outputting an equal-height intelligent control scheme of the clamping jaw by combining the height cooperative compensation strategy set, the equal-height motion controller and the dynamic equal-height parameter adjustment instruction. According to the invention, the highly cooperative control requirements of the balanced lifting carrying clamping jaw in different load distribution and complex operation environments can be precisely adapted, and the overall operation stability and operation reliability of an automatic carrying system are remarkably improved.

Description

Technical Field

[0001] This invention relates to a height control method and system for a balanced lifting and conveying gripper, belonging to the field of industrial automation control technology. Background Technology

[0002] Equal height control of balanced lifting and conveying grippers refers to the operation of precisely controlling the height adjustment process of balanced lifting and conveying grippers by integrating high-precision displacement sensors, dual-drive synchronous drive systems and real-time pressure feedback modules. This allows for real-time monitoring of the height difference between the two ends of the gripper, changes in load weight distribution, and deviation of the running trajectory, aiming to ensure the synchronicity of the lifting and lowering actions and the stability of material clamping when the gripper is handling materials of different weights and sizes.

[0003] Currently, most common methods for controlling the height of balanced lifting and conveying grippers rely on single motor drives or fixed parameter settings, such as preset lifting speeds or single mechanical limits. While these methods can achieve basic lifting and conveying functions under ideal conditions where material weight is uniform and the operating environment is stable, the lack of real-time detection and closed-loop control mechanisms for the synchronization of the gripper's height at both ends, changes in load distribution, and accuracy of the running trajectory can easily lead to unstable gripping posture, causing problems such as material tilting, slippage, or equipment jamming. This restricts the overall operating efficiency and safety of automated conveying systems. Summary of the Invention

[0004] This invention provides a height control method and system for a balanced lifting and transporting gripper. Its main purpose is to accurately adapt to the height coordination control requirements of the balanced lifting and transporting gripper under different load distributions and complex operating environments, and significantly improve the overall operational stability and reliability of the automated transport system.

[0005] To achieve the above objectives, the present invention provides a height control method for a balanced lifting and conveying gripper, comprising: Real-time height and load pressure data of the lifting mechanisms on both sides of the gripper are collected to construct a dual-channel synchronous sensing network for the gripper. The synchronization deviation signal of the dual-sided lifting mechanism under the dual-channel synchronous sensing network is analyzed to identify the dynamic balance state of the dual-sided lifting mechanism. Based on the dynamic balance state and the real-time height data, a set of height collaborative compensation strategies for the dual-sided lifting mechanism is generated. The weight distribution characteristics and stable posture tolerance of the material to be transported by the gripper are obtained to determine the safe clamping height difference threshold of the material to be transported during the transport process. Based on the safe clamping height difference threshold and the height cooperative compensation strategy set, the equal height motion controller of the dual-side lifting mechanism is configured. The elevation deviation and attitude stabilization time parameters of the elevation motion controller are monitored in real time to calculate the elevation control efficiency index of the elevation motion controller. Based on the elevation control efficiency index, dynamic elevation adjustment commands for the dual-sided lifting mechanism are generated. By combining the aforementioned high-level collaborative compensation strategy set, the aforementioned height-equivalent motion controller, and the aforementioned dynamic height-equivalent parameter adjustment command, a height-equivalent intelligent control scheme for the gripper is output.

[0006] Optionally, the real-time acquisition of the real-time height data and load pressure data of the dual-side lifting mechanism of the gripper to construct a dual-channel synchronous sensing network for the gripper includes: Extract the displacement time-series features and attitude offset from the real-time altitude data; Analyze the pressure distribution characteristics and dynamic load fluctuation components in the load pressure data; Based on the displacement timing characteristics and the pressure distribution characteristics, a height-pressure collaborative calibration unit for the dual-sided lifting mechanism is established. Based on the attitude offset and the dynamic load fluctuation component, the synchronization error coefficient and balance index of the dual-sided lifting mechanism are calculated. Based on the synchronization error coefficient and the balance index, a dynamic weight allocation strategy for the dual-sided lifting mechanism is generated. Based on the height-pressure collaborative calibration unit and the dynamic weight allocation strategy, a dual-channel synchronous sensing network for the gripper is constructed.

[0007] Optionally, establishing the height-pressure coordinated calibration unit of the dual-sided lifting mechanism based on the displacement time sequence characteristics and the pressure distribution characteristics includes: Extract the frequency domain response characteristics from the displacement time-series characteristics and the spectral energy distribution characteristics from the pressure distribution characteristics; Identify the modal coupling relationship between the frequency domain response characteristics and the spectral energy distribution characteristics; The key coupling frequency bands and their energy concentration in the modal coupling relationship were analyzed. The synchronization stability margin of the dual-sided lifting mechanism is evaluated based on the key coupling frequency band and the energy concentration. Based on the aforementioned synchronization stability margin, a hierarchical coordinated control strategy for the dual-sided lifting mechanism is formulated. Based on the hierarchical collaborative control strategy, a height-pressure collaborative calibration unit for the dual-sided lifting mechanism is established.

[0008] Optionally, generating a set of height coordination compensation strategies for the dual-sided lifting mechanism based on the dynamic equilibrium state and the real-time height data includes: Extract synchronization deviation features from the real-time altitude data, and determine the multimodal instability risk type corresponding to the synchronization deviation features based on the dynamic equilibrium state; Perform correlation matching processing between the synchronization deviation features and the multimodal instability risk types to extract the deviation-risk correlation vector of the dual-sided lifting mechanism; Based on the deviation-risk correlation vector, the compensation intensity level of the dual-sided lifting mechanism is determined; Identify the dynamic constraint parameters of the dual-sided lifting mechanism under the current operating conditions; Based on the compensation strength level and the dynamic constraint parameters, the optimal combination of compensation parameters for the dual-sided lifting mechanism is set. Based on the optimal combination of compensation parameters, a set of height coordination compensation strategies for the dual-sided lifting mechanism is generated.

[0009] Optionally, configuring the equal-height motion controller of the dual-sided lifting mechanism according to the safety clamping height difference threshold and the height collaborative compensation strategy set includes: Identify the equal height constraint boundary corresponding to the safety clamping height difference threshold and the synchronization accuracy adjustment range of the height collaborative compensation strategy set; Based on the equal height constraint boundary and the synchronization accuracy adjustment range, an equal height collaborative mapping relationship is established between the safe clamping height difference threshold and the height collaborative compensation strategy set; Extract the motion coupling characteristics and attitude dynamics response characteristics corresponding to the dual-sided lifting mechanism; Based on the equal-height cooperative mapping relationship, determine the synchronization control priority corresponding to the motion coupling characteristic; The dual-axis synchronous frequency domain characteristics of the highly coordinated compensation strategy set are analyzed, and combined with the real-time operating status of the dual-sided lifting mechanism, an equal-height adaptive parameter tuning strategy for the dual-sided lifting mechanism is generated. Based on the synchronous control priority and the height-adaptive parameter tuning strategy, a dual-axis collaborative optimization mechanism for the dual-sided lifting mechanism is constructed. Based on the attitude dynamics response characteristics and the dual-axis collaborative optimization mechanism, a height-equalizing motion controller for the dual-sided lifting mechanism is configured.

[0010] Optionally, the real-time monitoring of the height deviation and attitude stabilization time parameters of the height-contour motion controller to calculate the height-contour control performance index of the height-contour motion controller includes: Extract the steady-state height accuracy index and dynamic attitude fluctuation index from the height deviation; The attitude stabilization time parameters include the elevation recovery delay parameter and the anti-interference stabilization delay parameter. Based on the steady-state height accuracy index and the dynamic attitude fluctuation index, the height holding performance coefficient of the height motion controller is calculated. Based on the height recovery delay parameter and the anti-interference stabilization delay parameter, the attitude stability performance coefficient of the height motion controller is calculated; The system operating power of the height-equalization motion controller is monitored in real time to calculate the height-equalization control energy consumption value of the height-equalization motion controller; Combining the height-keeping performance coefficient, the attitude stability performance coefficient, and the height-control energy consumption value, the height-control efficiency index of the height-contact motion controller is calculated using the following formula: ; in, This represents the control effectiveness index at the same height. Represents the system gain coefficient. Indicates the performance coefficient for maintaining the same height. Indicates the precision sensitivity factor. This indicates the actual elevation deviation. Indicates the target elevation deviation. This represents the attitude stability performance coefficient. Indicates the maximum allowable settling time of the system. Indicates the actual settling time. Indicates actual operating energy consumption. This represents the baseline energy consumption under ideal operating conditions.

[0011] Optionally, generating the dynamic height adjustment command for the dual-sided lifting mechanism based on the height control efficiency index includes: Analyze the adjustable control parameter set and its safe operation constraint threshold of the dual-sided lifting mechanism; Extract the multidimensional performance feature vector from the equal-height control performance index; Based on the multidimensional performance feature vector, the priority parameter tuning direction and performance optimization urgency level of the dual-sided lifting mechanism are identified; Based on the preferred parameter tuning direction and the performance optimization urgency level, a preliminary parameter tuning operation sequence for the adjustable control parameter set is generated; Based on the safe operation constraint threshold, determine the safe parameter adjustment amplitude of the preliminary parameter tuning operation sequence; By integrating the adjustable control parameter set, the preliminary parameter adjustment operation sequence, and the safety parameter adjustment amplitude, a dynamic height adjustment command for the dual-sided lifting mechanism is generated.

[0012] Optionally, obtaining the weight distribution characteristics and stable posture tolerance of the material to be transported by the grippers to determine the safe gripping height difference threshold of the material to be transported during the transport process includes: Collect the centroid offset data and moment of inertia parameters corresponding to the weight distribution characteristics; Extract the maximum allowable tilt angle and safety factor from the stable attitude tolerance; Based on the centroid offset data and the moment of inertia parameters, calculate the anti-overturning stability margin of the material to be transported in an inclined state; Based on the overturning stability margin and the maximum allowable tilt angle, the stability level of the material to be transported is classified. Based on the stability level and the safety factor, define the height difference tolerance and dynamic compensation coefficient of the material to be transported; Based on the height difference tolerance and the dynamic compensation coefficient, the safe clamping height difference threshold of the material to be transported during the transport process is determined.

[0013] Optionally, the step of analyzing the synchronization deviation signal of the dual-sided lifting mechanism under the dual-channel synchronous sensing network to identify the dynamic balance state of the dual-sided lifting mechanism includes: Extract the time-frequency domain feature vector from the synchronization deviation signal; Based on the time-frequency domain feature vector, calculate the instantaneous balance index and trend stability index of the dual-sided lifting mechanism; Based on the instantaneous balance index and the trend stability index, a dynamic balance state evaluation matrix for the dual-sided lifting mechanism is constructed. The dynamic balance state of the dual-sided lifting mechanism is identified using the dynamic balance state evaluation matrix.

[0014] To address the aforementioned problems, the present invention also provides a height-equalizing control system for a balanced lifting and conveying gripper, the system comprising: The synchronous sensing module is used to collect real-time height data and load pressure data of the dual-side lifting mechanism of the gripper in real time, so as to construct a dual-channel synchronous sensing network for the gripper. The collaborative compensation module is used to analyze the synchronization deviation signal of the dual-sided lifting mechanism under the dual-channel synchronous sensing network, so as to identify the dynamic balance state of the dual-sided lifting mechanism, and generate a set of height collaborative compensation strategies for the dual-sided lifting mechanism based on the dynamic balance state and the real-time height data. The height control module is used to acquire the weight distribution characteristics and stable posture tolerance of the material to be transported by the gripper, so as to determine the safe clamping height difference threshold of the material to be transported during the transport process, and configure the height motion controller of the double-sided lifting mechanism according to the safe clamping height difference threshold and the height cooperative compensation strategy set. The parameter optimization module is used to monitor the elevation deviation and attitude stabilization time parameters of the elevation motion controller in real time, so as to calculate the elevation control efficiency index of the elevation motion controller and generate the dynamic elevation adjustment command of the double-sided lifting mechanism based on the elevation control efficiency index. The scheme output module is used to monitor the elevation deviation and attitude stabilization time parameters of the elevation motion controller in real time, so as to calculate the elevation control efficiency index of the elevation motion controller, and generate the dynamic elevation adjustment command of the double-sided lifting mechanism based on the elevation control efficiency index.

[0015] Compared to the problems described in the background art, this embodiment of the invention, by real-time acquisition of the height data and load pressure data of the dual-sided lifting mechanism of the gripper, constructs a dual-channel synchronous sensing network for the gripper. This clarifies the correlation between the dynamic changes in the height difference of the dual-sided lifting mechanism and the load pressure distribution, as well as the impact mechanism of load fluctuations on the stability of the gripping posture. This allows for targeted optimization of the dual-sided synchronous drive logic and posture correction strategy of the gripper. Furthermore, this embodiment of the invention generates a height coordination compensation strategy set for the dual-sided lifting mechanism based on the dynamic equilibrium state and the real-time height data. This accurately corrects the height deviation of the dual-sided lifting mechanism, optimizes the load distribution of the gripper, and enhances the ability to respond to gripper off-center load disturbances and dynamic working conditions. It shifts from passive response to active compensation, enhancing the stability and safety of the gripping posture during handling, and building a robust dynamic synchronous control defense line for automated handling systems. This embodiment of the invention configures a height-equalization motion controller for the dual-sided lifting mechanism based on the safe gripping height difference threshold and the height coordination compensation strategy set. This invention deeply integrates material safety constraints with dynamic control strategies to achieve adaptive optimization of control parameters, improving the synchronous control accuracy and anti-interference capability of the gripper system under complex working conditions. It shifts from rigid control to flexible adaptive control, enhancing the safety margin and operational efficiency of the handling process. Furthermore, by generating dynamic height adjustment commands for the dual-sided lifting mechanism based on the height control efficiency index, this invention improves the height control accuracy and stability of the balanced lifting and handling gripper under complex loads and dynamic interference scenarios. It also provides a closed-loop basis for the height coordination adjustment of the dual-sided lifting mechanism, fundamentally solving the problem of decreased height control accuracy when fixed parameters change under varying working conditions. Finally, by combining the height coordination compensation strategy set, the height motion controller, and the dynamic height adjustment commands, this invention outputs a height intelligent control scheme for the gripper. This scheme can accurately adapt to the height coordination control requirements of the balanced lifting and handling gripper under different load distributions and complex operating environments, significantly improving the overall operational stability and reliability of the automated handling system. Therefore, this invention can accurately adapt to the highly coordinated control requirements of balanced lifting and conveying grippers under different load distributions and complex operating environments, significantly improving the overall operational stability and reliability of automated conveying systems. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating a height control method for a balanced lifting and conveying gripper according to an embodiment of the present invention. Figure 2 This is an overall architecture diagram of a height control method for a balanced lifting and conveying gripper provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a module for implementing the height control system of the balanced lifting and transporting gripper according to an embodiment of the present invention.

[0017] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0019] This application provides a height control method for a balanced lifting and transporting gripper. The executing entity of the balanced lifting and transporting gripper height control method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application embodiment: a server, a terminal, etc. In other words, the balanced lifting and transporting gripper height control method can be executed by software or hardware installed on a terminal device or a server device. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster.

[0020] Reference Figure 1 The diagram shown is a flowchart illustrating a height control method for a balanced lifting and transporting gripper according to an embodiment of the present invention. In this embodiment, the height control method for the balanced lifting and transporting gripper includes: S1. Real-time height data and load pressure data of the dual-side lifting mechanism of the gripper are collected in real time to construct a dual-channel synchronous sensing network for the gripper.

[0021] This invention collects real-time height and load pressure data of the lifting mechanisms on both sides of the gripper in real time to construct a dual-channel synchronous sensing network for the gripper. This allows for the identification of the correlation between the dynamic changes in the height difference between the lifting mechanisms on both sides of the gripper and the load pressure distribution, as well as the impact mechanism of load fluctuations on the stability of the gripping posture. Consequently, the dual-side synchronous drive logic and posture correction strategy of the gripper can be optimized in a targeted manner.

[0022] The gripper refers to an end effector used in automated handling systems to grasp, hold, and lift materials. Examples include pneumatic or servo-driven grippers for handling battery modules in lithium battery production lines, and electric suction cup gripper assemblies for handling cartons in logistics warehousing. The dual-side lifting mechanism refers to a symmetrical drive assembly integrated on both sides of the gripper, providing lifting drive force and possessing synchronous cooperation capabilities. Examples include a lead screw module driven by a servo motor and transmitting power through a synchronous belt or gearbox, and a dual-output shaft lifting platform directly driven by a servo motor. The real-time height data refers to the data obtained by using height sensors (such as laser displacement sensors or optical encoders) deployed on the dual-side lifting mechanism of the gripper at a preset sampling frequency. The data collected at 100Hz reflects the current lifting position of the dual-sided lifting mechanism; the load pressure data refers to the quantitative data collected in real time by pressure sensors (such as strain gauge pressure sensors or piezoelectric sensors) deployed on the dual-sided lifting mechanism of the gripper, reflecting the material load distribution of the dual-sided mechanism, such as the torque signal output by a torque sensor installed on the lead screw nut or motor output shaft of the lifting mechanism, or the pressure signal output by a thin-film pressure sensor integrated at the connection between the gripper and the lifting mechanism; the dual-channel synchronous sensing network refers to a data sensing system composed of sensor hardware, data acquisition unit and communication bus, used to synchronously collect and process the height and load information of the dual-sided lifting mechanism.

[0023] As an embodiment of the present invention, the real-time acquisition of real-time height data and load pressure data of the dual-side lifting mechanism of the gripper to construct a dual-channel synchronous sensing network for the gripper includes: Extract the displacement time-series features and attitude offset from the real-time altitude data; Analyze the pressure distribution characteristics and dynamic load fluctuation components in the load pressure data; Based on the displacement timing characteristics and the pressure distribution characteristics, a height-pressure collaborative calibration unit for the dual-sided lifting mechanism is established. Based on the attitude offset and the dynamic load fluctuation component, the synchronization error coefficient and balance index of the dual-sided lifting mechanism are calculated. Based on the synchronization error coefficient and the balance index, a dynamic weight allocation strategy for the dual-sided lifting mechanism is generated. Based on the height-pressure collaborative calibration unit and the dynamic weight allocation strategy, a dual-channel synchronous sensing network for the gripper is constructed.

[0024] The displacement time sequence characteristics refer to the set of regular characteristics exhibited by the displacement of the gripper's double-sided lifting mechanism over time during its movement. These include, but are not limited to, the real-time displacement value sequence, displacement rate of change, displacement acceleration, and cumulative displacement of the double-sided lifting mechanism. For example, when the gripper lifts at a uniform speed of 5 mm / s, its displacement time sequence characteristics show a linearly increasing displacement value sequence and a stable displacement rate of change. The attitude offset refers to the physical quantity by which the overall attitude of the gripper deviates from the ideal horizontal state due to asynchronous movement on both sides during the movement of the double-sided lifting mechanism. This includes the height difference between the two sides, the tilt angle, and the offset direction. The pressure distribution characteristics are... The load pressure distribution characteristics on both sides of the gripper arms include the pressure values ​​on both sides, pressure uniformity, and pressure center offset. The dynamic load fluctuation component refers to the rapidly changing component separated from the load pressure data, caused by external disturbances or internal dynamic processes, such as the dynamic force generated by inertia during material lifting, or vibrations caused by backlash or elastic deformation in the transmission chain (e.g., lead screw, gear). The height-pressure co-calibration unit is a functional module that performs mutual verification and correction of height and pressure data based on the physical coupling relationship between displacement and pressure. For example, when the pressure sensor shows a sudden drop in pressure on one side, while the height sensor shows a sudden drop on that side... When the position is normal, this unit can determine that the pressure sensor may experience a momentary malfunction or be subjected to abnormal impact, and select the trusted height data or perform smoothing filtering on the pressure data; the synchronization error coefficient is a dimensionless parameter that quantifies the degree of deviation in the synchronicity of the movement of the gripper's double-sided lifting mechanism, with a value range of [0,1]. The larger the value, the worse the synchronicity. The synchronization error coefficient can be obtained by acquiring the real-time height data of the double-sided lifting mechanism and calculating the percentage of its absolute difference to the commanded height; the balance index is a dimensionless parameter that comprehensively evaluates the overall balance state of the gripper's double-sided lifting mechanism during movement, with a value range of [0,1]. The larger the value, the better the balance. The better the balance, the better. The balance index can be obtained by acquiring real-time load pressure data of both sides of the mechanism and calculating the symmetry ratio of its pressure distribution. The dynamic weight allocation strategy refers to the strategy of dynamically adjusting the weight ratio of height data and pressure data in perception decision-making based on the synchronization error coefficient and the balance index. For example, when the balance index γ≥0.8, a balanced weight is adopted (height weight 0.5, pressure weight 0.5); when 0.6≤γ<0.8, the weight of height data is increased (0.6) and the weight of pressure data is decreased (0.4); when γ<0.6, the weight of height data is significantly increased (0.8) and the weight of pressure data is decreased (0.2).

[0025] Optionally, the dynamic load fluctuation component in the load pressure data can be analyzed using digital signal processing techniques, such as designing a high-pass filter or a band-stop filter and setting a cutoff frequency to separate the high-frequency fluctuation component in the pressure signal; the dynamic weight allocation strategy of the dual-sided lifting mechanism can be generated by a state machine based on fuzzy rules. This strategy takes the synchronization error coefficient and balance index as input, performs inference through a predefined fuzzy rule base, and outputs weight factors for real-time adjustment of the position loop and force control loop gain; the dual-channel synchronous sensing network of the gripper can be constructed using a distributed sensor architecture and a high-speed bus communication protocol. High-precision displacement sensors (such as grating rulers) and pressure sensors (such as strain gauge force sensors) deployed on the dual-sided lifting mechanism serve as sensing nodes. The synchronous sampling chip ensures the consistency of data acquisition time, and a real-time Ethernet protocol (such as EtherCAT) is used to package and upload multi-channel sensor data to the central controller, forming a synchronous sensing system in which height and pressure data strictly correspond in time and space.

[0026] As another embodiment of the present invention, the step of establishing a height-pressure coordinated calibration unit for the dual-sided lifting mechanism based on the displacement timing characteristics and the pressure distribution characteristics includes: Extract the frequency domain response characteristics from the displacement time-series characteristics and the spectral energy distribution characteristics from the pressure distribution characteristics; Identify the modal coupling relationship between the frequency domain response characteristics and the spectral energy distribution characteristics; The key coupling frequency bands and their energy concentration in the modal coupling relationship were analyzed. The synchronization stability margin of the dual-sided lifting mechanism is evaluated based on the key coupling frequency band and the energy concentration. Based on the aforementioned synchronization stability margin, a hierarchical coordinated control strategy for the dual-sided lifting mechanism is formulated. Based on the hierarchical collaborative control strategy, a height-pressure collaborative calibration unit for the dual-sided lifting mechanism is established.

[0027] The frequency domain response characteristics refer to the set of characteristics of the displacement time-series signal of the gripper lifting mechanism after Fourier transform, showing the amplitude and phase changes with frequency in the frequency domain. This includes amplitude-frequency characteristics (displacement response amplitude at different frequencies), phase-frequency characteristics (displacement response phase at different frequencies), and resonant frequency (the frequency point where the displacement response amplitude reaches its maximum). For example, when the displacement response amplitude of the gripper lifting mechanism at 5Hz is 0.5mm and the phase lag is 30°, the frequency domain response characteristics at that frequency point are (5Hz, 0.5mm, -30°). The spectral energy distribution characteristics refer to the energy distribution of the load pressure signal in the frequency domain, including total energy, energy spectral density, and main energy bands (continuous frequency ranges where the energy percentage exceeds 10% of the total energy). For example, the total energy of the pressure signal is 1000N. 2 ・Hz -1 If 60% of the energy is concentrated in the 2-5Hz frequency band, then this band is the primary energy band. The modal coupling relationship refers to the energy exchange and interaction between the mechanical vibration modes of the gripper's double-sided lifting mechanism and the load pressure fluctuation modes. This is manifested as the coordinated change in displacement response and pressure fluctuation at a specific frequency, including resonant coupling (when the pressure fluctuation frequency approaches the resonant frequency of the lifting mechanism, the displacement response amplitude increases significantly), harmonic coupling (there is a fixed phase difference between the second harmonic of the pressure fluctuation and the fundamental frequency of the displacement response), and damping coupling (pressure fluctuation energy is converted into displacement vibration energy through mechanical damping). For example, when the pressure fluctuation frequency is 5Hz (close to the resonant frequency of the lifting mechanism, 5.2Hz), the displacement response amplitude increases threefold, forming a resonant coupling relationship. The key coupling band refers to the frequency band in the modal coupling relationship where the coherence coefficient is significantly higher than a threshold (e.g., γ). 2 The continuous frequency range with the most intense energy exchange (≥0.7) is the core frequency range affecting the dynamic characteristics of the system; the energy concentration refers to the proportion of coupling energy within the key coupling frequency band to the total coupling energy of the system, with a value range of [0,1]. For example, if the total coupling energy of the system is 500 mm... 2 •N 2 / Hz, the coupling energy within the key coupling band is 400mm. 2 •N 2 / Hz, then the energy concentration is 0.8, indicating that 80% of the coupling energy is concentrated in this frequency band; the synchronization stability margin refers to the safety margin characterizing the dual-sided lifting mechanism to maintain synchronous operation in the key coupling frequency band, with a value range of [0,1]. The larger the value, the more sufficient the stability reserve; the hierarchical coordinated control strategy refers to the differentiated height-pressure coordinated control rules formulated according to different intervals of the synchronization stability margin, including a three-level control strategy: when S m When ≥0.8 (high margin), conventional control is used (proportional coefficient Kp=0.5); when 0.5≤Sm When S < 0.8 (medium margin), enhanced control is adopted (Kp = 0.8, increasing damping compensation); when S m When the margin is less than 0.5 (low margin), emergency control is adopted (the operating speed is reduced by 30%, Kp=1.2).

[0028] Optionally, the synchronization stability margin of the dual-sided lifting mechanism can be evaluated using frequency domain stability analysis methods. For example, joint frequency domain analysis can be performed based on factors such as the coherence function of the dual-sided height signals, the power spectral density of the pressure signals, and the transfer function between them, to generate a Nyquist plot or Bode plot to characterize the synchronization stability margin. The hierarchical coordinated control strategy of the dual-sided lifting mechanism can be formulated using multimodal rule base reasoning methods. For example, fuzzy rule matching can be performed based on factors such as the synchronization stability margin level, real-time load disturbance intensity, and motion state parameters to generate an adaptive control parameter set for hierarchical coordinated control.

[0029] S2. Analyze the synchronization deviation signal of the dual-sided lifting mechanism under the dual-channel synchronous sensing network to identify the dynamic balance state of the dual-sided lifting mechanism. Based on the dynamic balance state and the real-time height data, generate a set of height coordination compensation strategies for the dual-sided lifting mechanism.

[0030] This invention, through analyzing the synchronization deviation signal of the dual-sided lifting mechanism under the dual-channel synchronous sensing network, identifies the dynamic balance state of the dual-sided lifting mechanism. This enables accurate quantitative evaluation of the synchronization state during the lifting of the gripper, avoiding material tilting and slippage caused by unstable gripping posture or unbalanced load distribution due to lack of high synchronization detection.

[0031] The synchronization deviation signal refers to a composite error signal generated by comparing the real-time height data and load pressure data of the two lifting mechanisms to quantify the inconsistency of the motion of the two mechanisms in time and space. It includes height synchronization deviation, speed synchronization deviation, load synchronization deviation, and comprehensive synchronization deviation. The dynamic equilibrium state refers to the comprehensive ability of the two lifting mechanisms to maintain their own motion synchronization and the stability of the clamped material posture when subjected to dynamically changing loads and external disturbances. It includes stable state, metastable state (early warning state), and unstable state.

[0032] As an embodiment of the present invention, the step of analyzing the synchronization deviation signal of the dual-sided lifting mechanism under the dual-channel synchronous sensing network to identify the dynamic balance state of the dual-sided lifting mechanism includes: Extract the time-frequency domain feature vector from the synchronization deviation signal; Based on the time-frequency domain feature vector, calculate the instantaneous balance index and trend stability index of the dual-sided lifting mechanism; Based on the instantaneous balance index and the trend stability index, a dynamic balance state evaluation matrix for the dual-sided lifting mechanism is constructed. The dynamic balance state of the dual-sided lifting mechanism is identified using the dynamic balance state evaluation matrix.

[0033] The time-frequency domain feature vector refers to a set of feature quantities extracted from the synchronization deviation signal through time-frequency analysis technology, which can simultaneously characterize the signal's time variation and frequency components. These include peak deviation, mean deviation, and variance in the time domain, as well as dominant frequency, bandwidth, and energy percentage in the frequency domain. The instantaneous balance index is a dimensionless parameter calculated based on the time domain features in the time-frequency domain feature vector, used to characterize the balance state of the dual-sided lifting mechanism at a certain moment. Its value ranges from [0,1], with a larger value indicating a better instantaneous balance state. The trend stability index is a parameter calculated based on the frequency domain features in the time-frequency domain feature vector, used to characterize... The dimensionless parameter representing the stability of the balance state of the dual-sided lifting mechanism over time ranges from [0,1], with a larger value indicating a more stable trend. The dynamic balance state evaluation matrix is ​​a two-dimensional matrix constructed with instantaneous balance index as rows and trend stability index as columns. The matrix elements represent the dynamic balance state level under the corresponding index combination, used to intuitively quantify the balance state of the system. For example, at a certain moment, if the instantaneous balance index is calculated to be 0.85 (higher, indicating a good current state) and the trend stability index is calculated to be 0.12 (lower, indicating a stable trend), then the evaluation matrix is ​​[0.85, 0.12], corresponding to a "stable" state.

[0034] Optionally, the instantaneous balance index of the dual-sided lifting mechanism can be calculated using a multi-feature weighted fusion algorithm, such as normalizing and weighting based on factors like time-frequency domain feature vectors, real-time height deviation, and load pressure difference to generate a dimensionless balance index to characterize the instantaneous balance state; the trend stability index of the dual-sided lifting mechanism can be determined using time series predictive analysis, such as using linear regression or exponential smoothing algorithms to fit the trend based on historical balance data within a sliding time window to generate a trend stability coefficient to characterize the trend of balance state changes.

[0035] Furthermore, this embodiment of the invention generates a height coordination compensation strategy set for the dual-sided lifting mechanism based on the dynamic balance state and the real-time height data. This can accurately correct the height deviation of the dual-sided lifting mechanism, optimize the load distribution of the grippers, improve the ability to respond to gripper eccentricity disturbances and dynamic working conditions, shift from passive response to active compensation, enhance the stability and safety of the clamping posture during handling, and build a solid dynamic synchronous control defense line for automated handling systems. The height coordination compensation strategy set refers to a set of compensation control rules and execution parameters that are multi-dimensional, hierarchical, and dynamically switchable, constructed based on the dynamic balance state evaluation results and real-time height data of the dual-sided lifting mechanism.

[0036] As an embodiment of the present invention, the step of generating a height coordination compensation strategy set for the dual-sided lifting mechanism based on the dynamic equilibrium state and the real-time height data includes: Extract synchronization deviation features from the real-time altitude data, and determine the multimodal instability risk type corresponding to the synchronization deviation features based on the dynamic equilibrium state; Perform correlation matching processing between the synchronization deviation features and the multimodal instability risk types to extract the deviation-risk correlation vector of the dual-sided lifting mechanism; Based on the deviation-risk correlation vector, the compensation intensity level of the dual-sided lifting mechanism is determined; Identify the dynamic constraint parameters of the dual-sided lifting mechanism under the current operating conditions; Based on the compensation strength level and the dynamic constraint parameters, the optimal combination of compensation parameters for the dual-sided lifting mechanism is set. Based on the optimal combination of compensation parameters, a set of height coordination compensation strategies for the dual-sided lifting mechanism is generated.

[0037] The synchronization deviation feature refers to the motion synchronization characteristics extracted from the real-time height data of the dual-sided lifting mechanism, representing the height difference, speed difference, and acceleration difference of the dual-sided lifting mechanism. The multimodal instability risk type refers to various instability risk categories that may occur in the dual-sided lifting mechanism, identified based on the synchronization deviation feature and dynamic equilibrium state, including multiple instability modes such as attitude tilt risk, load imbalance risk, and mechanical resonance risk. The correlation matching process refers to the process of establishing a quantitative correlation between the synchronization deviation feature and the multimodal instability risk type through feature mapping and probability calculation, used to clarify the contribution of different deviation features to various instability risks. Machine learning classification models (such as random forests) can be used to calculate the correlation probability between each synchronization deviation feature and the instability risk type. The deviation-risk correlation vector refers to the vector formed after the synchronization deviation feature and the multimodal instability risk type are processed through correlation matching, containing the deviation features. A multi-dimensional vector of quantified values, risk type identifiers, and their correlation is used to intuitively express the mapping relationship between deviation and risk. The compensation intensity level refers to a graded index determined based on the deviation-risk correlation vector, characterizing the required compensation force of the double-sided lifting mechanism. The current operating condition refers to a comprehensive description of the operating environment conditions, load status, and motion parameters of the double-sided lifting mechanism at a specific moment, reflecting the real-time working scenario of the system. The dynamic constraint parameters refer to the boundary conditions and performance parameters determined based on the current operating condition, limiting the compensation actions of the double-sided lifting mechanism, including the maximum output torque of the motor, the maximum operating speed, and the mechanism's stroke limit. The optimal compensation parameter combination refers to a set of compensation control parameters that minimize the synchronous deviation of the double-sided lifting mechanism, obtained by optimization algorithms under the constraints of the compensation intensity level and dynamic constraint parameters. This includes the optimal set of parameters such as proportional gain, integral time, feedforward coefficient, and impedance parameters.

[0038] Optionally, the type of multimodal instability risk corresponding to the synchronization deviation characteristics can be identified by a deep learning-based pattern recognition algorithm; the optimal combination of compensation parameters for the dual-sided lifting mechanism can be determined by a multi-objective optimization algorithm.

[0039] S3. Obtain the weight distribution characteristics and stable posture tolerance of the material to be transported by the gripper, so as to determine the safe clamping height difference threshold of the material to be transported during the transport process, and configure the equal height motion controller of the dual-side lifting mechanism according to the safe clamping height difference threshold and the height cooperative compensation strategy set.

[0040] This invention, through obtaining the weight distribution characteristics and stable posture tolerance of the material to be transported by the gripper, determines the safe gripping height difference threshold of the material during the transport process. This allows the material's physical characteristics to be correlated with system control parameters, forming a material-adaptive safety control boundary, improving the accuracy and adaptability of gripper control. Simultaneously, it provides key constraints for the subsequent generation of height collaborative compensation strategies and the configuration of equal-height motion controllers, enhancing the gripping stability and operational reliability of the transport system for different materials.

[0041] The material to be transported refers to a specific object that is grasped, held, and lifted by the balanced lifting and transporting gripper. For example, in an automated production line for automotive parts, the material to be transported could be a gearbox housing with dimensions of 500mm×300mm×200mm and made of aluminum alloy; in a warehousing and logistics sorting scenario, the material to be transported could be a corrugated cardboard box for electronic components weighing 20kg and with dimensions of 400mm×200mm×150mm; in a food processing scenario, the material to be transported could be a liquid sauce container with a capacity of 10L and made of food-grade stainless steel. The weight distribution characteristics refer to the distribution and quantitative characteristics of the mass of the material to be transported within its geometric space, reflecting the spatial location of the material's center of gravity (e.g., whether the center of gravity coincides with the geometric center of the material), and the differences in mass density in different areas (e.g., the presence of counterweights, hollow structures, or component integration leading to mass density variations). The unevenness of mass distribution and the degree of symmetry / asymmetry in mass distribution are key physical attributes that determine the gripper force distribution, the synchronization accuracy requirements of the dual-sided lifting mechanism, and the setting of the safety height difference threshold. The stable posture tolerance refers to the maximum allowable range of posture deviations that the material to be transported can maintain its structural integrity, avoid tilting, flipping, or slipping during gripper handling, and without affecting subsequent operations (such as docking assembly or stacking). This includes quantitative indicators such as angular deviation (e.g., the maximum deflection angle between the material's central axis and the vertical direction), displacement deviation (e.g., the maximum displacement of the material's edge relative to the gripper reference plane), and tilt deviation (e.g., the maximum tilt of the material's bottom surface relative to the horizontal plane). The safety gripping height difference threshold refers to the maximum allowable height difference between the left and right execution ends of the dual-sided lifting mechanism, determined through mechanical analysis and risk assessment based on the weight distribution characteristics and stable posture tolerance of the material to be transported. When the actual height difference of the dual-sided lifting mechanism is less than this threshold, the material can maintain a stable gripping state; if the actual height difference exceeds this threshold, the material will trigger the stable posture tolerance boundary, posing a risk of tilting, slipping, or structural damage.

[0042] As an embodiment of the present invention, the step of obtaining the weight distribution characteristics and stable posture tolerance of the material to be transported by the gripper, in order to determine the safe gripping height difference threshold of the material to be transported during the transport process, includes: Collect the centroid offset data and moment of inertia parameters corresponding to the weight distribution characteristics; Extract the maximum allowable tilt angle and safety factor from the stable attitude tolerance; Based on the centroid offset data and the moment of inertia parameters, calculate the anti-overturning stability margin of the material to be transported in an inclined state; Based on the overturning stability margin and the maximum allowable tilt angle, the stability level of the material to be transported is classified. Based on the stability level and the safety factor, define the height difference tolerance and dynamic compensation coefficient of the material to be transported; Based on the height difference tolerance and the dynamic compensation coefficient, the safe clamping height difference threshold of the material to be transported during the transport process is determined.

[0043] The centroid offset data refers to the quantified spatial position deviation of the mass center (centroid) of the material to be transported relative to its geometric center or a preset reference point (such as the gripper center). This includes the offset direction and amount, reflecting the degree of asymmetry in the material's weight distribution. For example, if the geometric center coordinates of a box-shaped material are (0,0,0) and the actual centroid coordinates are (30mm,5mm,0), then the centroid offset data is: 30mm offset in the positive X-axis direction, 5mm offset in the positive Y-axis direction, and a total offset of 30.4mm. The moment of inertia parameter refers to a physical parameter characterizing the magnitude of the inertia of the material to be transported when rotating around a specific axis (usually a coordinate axis passing through the centroid). For example, a homogeneous cylindrical material (mass 5kg, diameter 200mm, height 300mm) has a moment of inertia of 0.0625kg·m about its central vertical axis. 2 The moment of inertia about the horizontal axis is 0.1406 kg·m. 2The maximum permissible tilt angle refers to the maximum angle at which the material to be transported can tilt relative to the horizontal or vertical direction within the stable posture tolerance range. Exceeding this angle will cause the material's posture to become unstable (such as tilting, overturning, or slipping). For example, the maximum permissible tilt angle for bagged granular materials (friction coefficient 0.3) is 15°. When the tilt angle exceeds 15°, the frictional force between the material and the gripper contact surface is insufficient to resist the component of gravity, and slippage will occur. The safety factor refers to the additional margin factor set to ensure that the material to be transported has sufficient safety margin during the transport process. For example, the safety factor for ordinary packaging materials is 1.2; the safety factor for fragile glass products is 1.5; and the safety factor for high-precision electronic components is 2.0. The actual control threshold must be twice as strict as the theoretical calculation value. The tilting state refers to the non-horizontal / non-vertical state of the material being transported during the gripping process, caused by the height difference between the two lifting mechanisms, resulting in the material's longitudinal axis deviating from the vertical or its bottom surface deviating from the horizontal. It is typically characterized by tilt angle, tilt direction, and tilt rate. For example, if a material is tilted at a 2° angle due to the left lifting mechanism being 3mm higher than the right, with the tilt direction being slightly higher on the left and the tilt rate being 0.5° / s, its tilting state is described as "2° tilt to the left, 0.5° / s". The anti-overturning stability margin refers to the safe reserve of the material to resist overturning in a tilted state; it is a dimensionless parameter characterizing the material's stability, and its value is... The range is [0,1]. The calculation method is the ratio of the stabilizing torque to the overturning torque minus 1. A larger value indicates stronger anti-overturning capability. For example, when a material is tilted at 5°, the stabilizing torque is 15 N·m, the overturning torque is 10 N·m, and the anti-overturning stability margin is 0.5 (15 / 10-1). The stability level refers to the graded evaluation of material stability based on the anti-overturning stability margin and the maximum permissible tilt angle, usually divided into multiple levels (e.g., 3-5 levels). The height difference tolerance refers to the maximum permissible height difference benchmark value of the double-sided lifting mechanism determined based on the material stability level under static conditions. It is the basic parameter for the safe clamping height difference threshold, does not include dynamic compensation, and can be determined based on the material's geometric dimensions and the obtained center of mass position. The maximum allowable tilt angle is used to calculate the static height difference tolerance using trigonometric functions. The dynamic compensation coefficient is a coefficient introduced to correct the height difference tolerance, taking into account the influence of dynamic factors (such as acceleration, deceleration, and vibration) on stability during material handling. The value range is usually (0,1]. The larger the dynamic disturbance, the smaller the coefficient value. For example, in uniform speed handling, the dynamic compensation coefficient is 1.0 (no additional compensation is needed); in accelerated handling, the coefficient is 0.8 (the height difference tolerance needs to be reduced by 20%); in a vibration environment, the coefficient is 0.6 (it needs to be reduced by 40%). The dynamic compensation coefficient can be solved by frequency domain analysis based on the rotational inertia parameter and the system's desired dynamic performance (such as maximum acceleration).

[0044] Optionally, the moment of inertia parameter corresponding to the weight distribution characteristics can be extracted by combining the geometric features of the material CAD model; the maximum allowable tilt angle and safety factor in the stable attitude tolerance can be determined by process specification analysis and risk quantification assessment methods, such as analyzing the technical requirements in the material operation process instruction, and comprehensively considering the material value, the severity of failure consequences and historical accident data, and quantifying the specific values ​​of the maximum allowable tilt angle and safety factor through a risk assessment matrix.

[0045] Furthermore, in this embodiment of the invention, by configuring the equal-height motion controller of the dual-sided lifting mechanism according to the safety clamping height difference threshold and the height collaborative compensation strategy set, the material safety constraints and dynamic control strategies can be deeply integrated to achieve adaptive optimization of control parameters, improve the synchronous control accuracy and anti-interference capability of the gripper system under complex working conditions, shift from rigid control to flexible adaptive control, and enhance the safety margin and operating efficiency of the handling process. The equal-height motion controller refers to a core control unit that integrates sensor data acquisition, motion error analysis, and multi-actuator collaborative drive control functions based on the safety clamping height difference threshold and the height collaborative compensation strategy set.

[0046] As an embodiment of the present invention, configuring the equal-height motion controller of the dual-sided lifting mechanism according to the safety clamping height difference threshold and the height cooperative compensation strategy set includes: Identify the equal height constraint boundary corresponding to the safety clamping height difference threshold and the synchronization accuracy adjustment range of the height collaborative compensation strategy set; Based on the equal height constraint boundary and the synchronization accuracy adjustment range, an equal height collaborative mapping relationship is established between the safe clamping height difference threshold and the height collaborative compensation strategy set; Extract the motion coupling characteristics and attitude dynamics response characteristics corresponding to the dual-sided lifting mechanism; Based on the equal-height cooperative mapping relationship, determine the synchronization control priority corresponding to the motion coupling characteristic; The dual-axis synchronous frequency domain characteristics of the highly coordinated compensation strategy set are analyzed, and combined with the real-time operating status of the dual-sided lifting mechanism, an equal-height adaptive parameter tuning strategy for the dual-sided lifting mechanism is generated. Based on the synchronous control priority and the height-adaptive parameter tuning strategy, a dual-axis collaborative optimization mechanism for the dual-sided lifting mechanism is constructed. Based on the attitude dynamics response characteristics and the dual-axis collaborative optimization mechanism, a height-equalizing motion controller for the dual-sided lifting mechanism is configured.

[0047] The height-equal constraint boundary refers to the dynamic boundary condition derived from the safety clamping height difference threshold, which restricts the height synchronization of the two-sided lifting mechanism. This includes the instantaneous extreme upper limit of the height difference, the upper limit of the height difference change rate, and the cumulative height difference threshold within a continuous operating cycle. For example, if the safety clamping height difference threshold for a material to be transported is ±3mm, the corresponding height-equal constraint boundaries are: instantaneous height difference ≤ ±3mm (exceeding this triggers emergency adjustment), height difference change rate ≤ 1.5mm / s (to prevent rapid expansion of deviation), and cumulative height difference within 1 minute ≤ 10mm (to prevent long-term deviation accumulation). The synchronization accuracy adjustment range refers to the allowable value range set by each control parameter (such as proportional coefficient and compensation speed) in the height coordination compensation strategy set to meet the synchronization accuracy requirements of the two-sided lifting mechanism. The height-equal coordination mapping relationship... This refers to the quantitative correspondence between the safety clamping height difference threshold and the height coordination compensation strategy set. The compensation parameter combination corresponding to different height difference threshold ranges (such as low deviation, medium deviation, and high deviation) can be clearly defined by function or matrix form. The motion coupling characteristic refers to the mutual influence characteristics of the double-sided lifting mechanism during the movement process caused by mechanical connection (such as synchronous shaft, transmission gear) or load transmission (such as eccentric material weight distribution). It is manifested as the degree of interference of the displacement, speed or torque change of one side mechanism on the motion state of the other side mechanism. It is the core characteristic that determines the difficulty of equal height control. For example, a double-sided lifting mechanism is connected by a rigid synchronous shaft. When the speed of the left motor changes by 100 rpm, the speed of the right motor will change by 95 rpm synchronously (coupling degree 95%). Its motion coupling characteristic is described as "high rigidity coupling, speed coupling coefficient 0".95, torque disturbance ≤ 5 N·m; the attitude dynamic response characteristics refer to the dynamic response law of the overall attitude (such as levelness, tilt angle) of the dual-sided lifting mechanism under the action of external driving force (such as motor torque) or disturbance force (such as load change, vibration) over time, including the response time of attitude adjustment, overshoot and steady-state error, etc.; the synchronous control priority refers to the control order level of motion parameters (such as height difference, speed difference, torque difference) determined according to the degree of influence of the motion coupling characteristics of the dual-sided lifting mechanism on the height control target, used to prioritize the parameters with the greatest impact on height conformity when multiple parameters deviate from the target at the same time or when adjustment resources are limited, and to avoid the deterioration of the height conformity state due to excessive adjustment of secondary parameters; the dual-axis synchronous frequency domain characteristics refer to the characteristic performance of the high-coordination compensation strategy in the frequency domain for the synchronous control of the dual-sided lifting mechanism (dual-axis), including synchronous control The parameters include bandwidth, dual-axis phase difference margin, resonance suppression capability, and synchronization error attenuation rate under different frequency disturbances; the real-time operating status refers to the comprehensive operating condition of the dual-sided lifting mechanism at the current moment, including load status (e.g., material weight, eccentricity), motion stage (e.g., accelerated lifting, uniform speed operation, deceleration descent), environmental disturbances (e.g., vibration intensity, temperature), and equipment health status (e.g., motor temperature, wear degree of transmission mechanism); the height-adaptive parameter adjustment strategy refers to a set of rules for dynamically adjusting height-adaptive control parameters (e.g., dual-sided speed correction, torque compensation coefficient, PID parameter combination) based on the dual-axis synchronous frequency domain characteristics and the real-time operating status of the dual-sided lifting mechanism; the dual-axis collaborative optimization mechanism refers to a systematic mechanism that coordinates the optimization of control parameters (e.g., left-side speed command, right-side compensation) of the dual-sided lifting mechanism based on synchronous control priority and the height-adaptive parameter adjustment strategy.

[0048] Optionally, the height difference threshold of the safety clamping mechanism and the height coordination compensation strategy set can be constructed using a dual-input single-output (DISO) fuzzy logic controller. The safety clamping height difference threshold range (e.g., [0,1]mm, [1,2]mm, [2,3]mm) and the load characteristics of the dual-sided lifting mechanism (e.g., light load, medium load, heavy load) are used as input variables. A nonlinear mapping relationship between the input and the height coordination compensation strategy parameters (proportional coefficient Kp, compensation speed Δv) is established through a fuzzy rule base (e.g., "high threshold + heavy load → high proportional coefficient"). The height-adaptive parameter tuning strategy of the dual-sided lifting mechanism can be generated using a deep deterministic strategy gradient (DDPG) algorithm, taking the real-time operating state of the dual-sided lifting mechanism (load eccentricity, vibration frequency, motion stage) and the dual-axis... The synchronous frequency domain characteristics (synchronization bandwidth, phase difference margin) form the state space, and the PID parameter correction amount forms the action space. A reward function is designed (e.g., "the smaller the height difference + the lower the adjustment energy consumption → the higher the reward value"). The agent learns the optimal parameter tuning rules through continuous interaction with the environment and dynamically generates parameter tuning instructions that adapt to the working conditions. The dual-axis collaborative optimization mechanism of the dual-side lifting mechanism can be constructed using the multi-objective particle swarm optimization (MOPSO) algorithm. The optimization objectives are minimizing the dual-side height difference, equalizing the adjustment energy consumption, and minimizing the response time. The dual-axis speed command and torque compensation coefficient are used as optimization variables. Through particle swarm iterative search (introducing an external archive set to store non-dominated solutions), under the premise of satisfying the equal height constraint boundary (instantaneous height difference ≤ ±3mm), a dual-axis parameter collaborative optimization scheme that takes into account multiple objectives is output.

[0049] S4. Monitor the elevation deviation and attitude stabilization time parameters of the elevation motion controller in real time to calculate the elevation control efficiency index of the elevation motion controller, and generate dynamic elevation adjustment commands for the dual-sided lifting mechanism based on the elevation control efficiency index.

[0050] This invention improves the real-time performance and accuracy of controller state assessment by real-time monitoring of the height deviation and attitude stabilization time parameters of the height-contour motion controller, thereby providing data support for the subsequent generation of adaptive parameter tuning instructions and optimized control strategies, and enhancing the adaptability and robustness of the height-contour motion controller to complex working conditions.

[0051] The height deviation refers to the quantified value of the deviation between the actual height values ​​of both sides and the target height value (usually the average height of both sides or a preset reference height) under the control of the height motion controller. For example, in a certain scenario, the safety clamping height difference threshold is ±4mm. The actual height of the left lifting mechanism is 500.8mm, and the right is 498.6mm. The target height value is 499.7mm. Then, the height deviation on the left is |500.8-499.7|=1.1mm, and on the right is |498.6-499.7|=1.1mm. The average height deviation on both sides is 1.1mm, which, after normalization, is 0.275 (1.1). The attitude stabilization time parameter refers to the time interval from when the height difference between the two lifting mechanisms exceeds the preset stabilization threshold (usually 30% of the safety threshold) to when the height difference between the two sides remains stable within the threshold range and the rate of change is ≤0.1mm / s. It includes deviation recognition delay, strategy invocation delay, and actuator adjustment delay, and is expressed in milliseconds (ms). The height stabilization control performance index is a comprehensive index calculated based on the height deviation and attitude stabilization time parameter to quantitatively evaluate the overall performance of the height stabilization motion controller. The value range is [0,100], and the higher the value, the better the height stabilization control performance.

[0052] As an embodiment of the present invention, the real-time monitoring of the height deviation and attitude stabilization time parameters of the height-contour motion controller to calculate the height-contour control performance index of the height-contour motion controller includes: Extract the steady-state height accuracy index and dynamic attitude fluctuation index from the height deviation; The attitude stabilization time parameters include the elevation recovery delay parameter and the anti-interference stabilization delay parameter. Based on the steady-state height accuracy index and the dynamic attitude fluctuation index, the height holding performance coefficient of the height motion controller is calculated. Based on the height recovery delay parameter and the anti-interference stabilization delay parameter, the attitude stability performance coefficient of the height motion controller is calculated; The system operating power of the height-equalization motion controller is monitored in real time to calculate the height-equalization control energy consumption value of the height-equalization motion controller; The height-keeping performance coefficient, the attitude stability performance coefficient, and the height-control energy consumption value are combined to calculate the height-control efficiency index of the height-motion controller.

[0053] The steady-state height accuracy index refers to the statistical average of the height difference between the two sides within a preset time window (e.g., 30 seconds) after the dual-sided lifting mechanism enters a stable operating phase (speed fluctuation ≤ 5% of rated value, load change ≤ 10% of rated load) under the control of the height motion controller. The dynamic attitude fluctuation index refers to the dispersion of the height difference between the two sides around its instantaneous mean during the dynamic operation phase (e.g., acceleration, deceleration, sudden load change), which can be quantified by the standard deviation of the height difference sequence. For example, during the acceleration phase (0-2 seconds) of a certain dual-sided lifting mechanism, the height difference data are 1.2mm, 1.5mm, 0.9mm, 1.3mm, and 1.5mm. The calculated mean is 1.2mm, and the standard deviation is 0.21mm, indicating a dynamic attitude fluctuation index of 0.21mm, which means that the attitude fluctuation is small during acceleration. The height recovery delay parameter refers to the time interval (milliseconds) after the height difference of the two-sided lifting mechanism exceeds the steady-state allowable range (usually 20% of the safety threshold) due to command changes (such as target height adjustment or running speed switching). The unit is milliseconds (ms). The anti-interference stability delay parameter refers to the time interval after the height difference of the two-sided lifting mechanism exceeds the anti-interference allowable range due to external disturbances (such as sudden changes in material eccentricity, mechanical vibration, or voltage fluctuations). After (typically 30% of the safety threshold), the height-matching motion controller adjusts the time interval within which the height difference is re-stabilized within this range, measured in milliseconds (ms). The height-matching performance coefficient is a dimensionless coefficient calculated by weighted fusion based on steady-state height-matching accuracy and dynamic attitude fluctuation indicators. It is used to comprehensively evaluate the height-matching motion controller's ability to maintain bilateral height consistency under static and dynamic conditions, and its value ranges from [0,1]. A value closer to 1 indicates superior height-matching performance. The attitude stability performance coefficient is a dimensionless coefficient calculated by weighted fusion based on height-matching recovery delay parameters and anti-interference stability delay parameters. It is used to comprehensively evaluate the height-matching motion controller's ability to maintain bilateral height consistency under static and dynamic conditions. The motion controller has the dynamic adjustment capability to quickly restore and maintain the equal-height attitude of the dual-sided lifting mechanism under command changes or external disturbances. The value range is [0,1], and the closer the value is to 1, the better the attitude stability performance. The system operating power refers to the instantaneous input power or output power of the servo drive system when the equal-height motion controller drives the dual-sided lifting mechanism. It is a real-time parameter reflecting the energy consumption status of the system, and the unit is watt (W). The equal-height control energy consumption value refers to the total electrical energy consumed by the equal-height motion controller to maintain the equal-height state of the dual-sided lifting mechanism in a complete equal-height control cycle (such as the entire process from start-up to stop). The unit is joule (J) or watt-hour (Wh).

[0054] In another embodiment of the present invention, the height control efficiency index of the height-equal motion controller is calculated by the following formula: ; in, This represents the control effectiveness index at the same height. Represents the system gain coefficient. Indicates the performance coefficient for maintaining the same height. Indicates the precision sensitivity factor. This indicates the actual elevation deviation. Indicates the target elevation deviation. This represents the attitude stability performance coefficient. Indicates the maximum allowable settling time of the system. Indicates the actual settling time. Indicates actual operating energy consumption. This represents the baseline energy consumption under ideal operating conditions.

[0055] In detail, the system gain coefficient ( The global scaling factor is used to calibrate the overall height equalization control performance index. Its value is typically a real number greater than 0, and the specific value can be determined based on the performance benchmark of the control system and the requirements of the application scenario. For example, for a high-precision CNC machine tool's feed height equalization control system, the coefficient can be set to 80 to improve the performance index's ability to distinguish subtle performance differences; for a general material handling height equalization system, the coefficient can be set to 100 to meet its expected performance level. The height equalization performance coefficient (…) The ability of the integrated quantization height-equalization motion controller to maintain the height-equalization state of the dual-sided lifting mechanism is a dimensionless scalar determined by both steady-state height-equalization accuracy and dynamic attitude fluctuation characteristics. Its value range is typically [0,1]. The specific value can be determined based on the height-equalization accuracy requirements of the material to be transported and the characteristics of the motion scenario. For example, for an ultra-precision height-equalization system for handling precision optical components, its coefficient can be set to 0.98 to strictly ensure the stability of the height-equalization state; for a rough-and-ready height-equalization system for handling bulk cargo, its coefficient can be set to 0.75 to adapt to its conventional requirements for height-equalization accuracy. The accuracy-sensitive factor (… This coefficient () is used to adjust the sensitivity of system performance to the impact of actual height deviation from the target height deviation. Its value is a real number greater than 0, and the specific value can be determined according to the system's stringent requirements for height accuracy and stability. For example, for a height-equipped gripper system handling fragile glass, where stability requirements are extremely high, the coefficient can be set to 2.0 to amplify the performance degradation caused by deviation fluctuations; for a height-equipped system handling rigid workpieces, the coefficient can be set to 1.0 to use standard sensitivity evaluation. The attitude stability performance coefficient ( The coefficient is used to comprehensively characterize the ability of a height-equivalent motion controller to recover its height-equivalent state under command changes or external disturbances. It is a dimensionless scalar determined by both the height-equivalent recovery speed and the anti-interference stability speed. Its value range is usually [0,1]. The specific value can be determined according to the system's requirements for response timeliness and stability. For example, for a high-speed automated sorting line's rapid handling height-equivalent system, its coefficient can be set to 0.92 to highlight the high requirement for rapid height recovery; for a heavy-duty handling height-equivalent system for heavy engineering machinery components, its coefficient can be set to 0.65 to prioritize the smoothness of the recovery process.

[0056] It should be noted that the formula for calculating the equal-height control effectiveness index proposed in this application breaks through the limitations of traditional evaluation methods that only focus on a single equal-height deviation or settling time, by using a Gaussian function term. The nonlinear attenuation effect on performance when the actual elevation deviation deviates from the target elevation deviation is quantified, accurately reflecting the correlation between the degree of deviation and performance loss; and through the logarithmic function term This characterizes the marginal performance improvement that comes when the system's stable speed approaches the theoretical limit, aligning with the real-world characteristic that "the faster the stability, the slower the rate of increase in additional benefits." The two are then synergistically integrated after being weighted by performance coefficients to form the core performance driver. Furthermore, the energy efficiency ratio is introduced. To model the balance between system height control performance and energy consumption, and to modulate the green economy of comprehensive efficiency, the system gain coefficient K is used to perform global calibration of the overall control efficiency level based on system characteristics, thereby realizing the quantification of multi-dimensional control efficiency from height holding accuracy to attitude stabilization speed, and from performance output to energy consumption management.

[0057] Furthermore, this embodiment of the invention generates dynamic height adjustment commands for the dual-sided lifting mechanism based on the height control efficiency index. This improves the height control accuracy and stability of the balanced lifting and transporting gripper under complex loads and dynamic disturbances. Simultaneously, it provides a closed-loop basis for the coordinated height adjustment of the dual-sided lifting mechanism, fundamentally solving the problem of decreased height control accuracy when fixed parameters change under varying operating conditions. The dynamic height adjustment commands refer to a set of commands dynamically generated based on the real-time calculation results of the height control efficiency index, used to adjust the control parameters of the dual-sided lifting mechanism (such as speed compensation, torque adjustment coefficient, PID parameters, etc.). These commands can output specific parameter corrections according to the changing trend of the height control efficiency index and preset parameter adjustment rules, achieving dynamic adaptation of control parameters to the operating conditions of the dual-sided lifting mechanism.

[0058] As an embodiment of the present invention, the step of generating dynamic height adjustment parameters for the dual-sided lifting mechanism based on the height control efficiency index includes: Analyze the adjustable control parameter set and its safe operation constraint threshold of the dual-sided lifting mechanism; Extract the multidimensional performance feature vector from the equal-height control performance index; Based on the multidimensional performance feature vector, the priority parameter tuning direction and performance optimization urgency level of the dual-sided lifting mechanism are identified; Based on the preferred parameter tuning direction and the performance optimization urgency level, a preliminary parameter tuning operation sequence for the adjustable control parameter set is generated; Based on the safe operation constraint threshold, determine the safe parameter adjustment amplitude of the preliminary parameter tuning operation sequence; By integrating the adjustable control parameter set, the preliminary parameter adjustment operation sequence, and the safety parameter adjustment amplitude, a dynamic height adjustment command for the dual-sided lifting mechanism is generated.

[0059] The adjustable control parameter set refers to a set of key control parameters that can be dynamically adjusted via parameter adjustment commands during the height control process of the double-sided lifting mechanism. This set includes, but is not limited to, parameters such as double-sided speed compensation, PID adjustment parameters, torque compensation coefficient, and dynamic response bandwidth. The safe operation constraint threshold refers to a rigid boundary range set for the adjustable control parameters to ensure the safety of the double-sided lifting mechanism and the load material. This includes upper limits for parameter absolute values, single adjustment amounts, and double-sided parameter differences. For example, in a glass handling scenario, the safe operation constraint threshold specifies "double-sided speed difference ≤ 1 mm / s" to prevent... The cause of material breakage is due to excessive adjustment of parameters. The multi-dimensional performance feature vector refers to a combination of feature parameters extracted from the equal-height control performance index, reflecting performance in different dimensions. These include steady-state equal-height precision feature values ​​(such as normalized deviation), dynamic attitude fluctuation feature values ​​(such as fluctuation standard deviation), attitude stability response feature values ​​(such as normalized recovery time), and energy efficiency feature values ​​(such as the ratio of actual energy consumption to baseline energy consumption). The priority parameter adjustment direction refers to the parameter adjustment direction most critical for improving equal-height control performance, identified based on the multi-dimensional performance feature vector. This direction clarifies the primary and secondary logic of parameter optimization, and is determined by performance shortcomings. The mapping relationship between dimensions and corresponding sensitive parameters is determined. For example, if the dynamic attitude fluctuation characteristic value is low, the priority tuning direction is "increasing the differential coefficient to suppress fluctuations"; if the energy efficiency characteristic value is low, the priority tuning direction is "reducing unnecessary speed compensation to reduce energy consumption". The performance optimization urgency level refers to the parameter adjustment urgency level divided according to the deviation of the performance of each dimension in the multi-dimensional efficiency feature vector from the target value, which is used to determine the execution priority of the parameter tuning operation. For example, when "the bilateral height difference is ≥ 90% of the safety threshold", the performance optimization urgency level is level one, triggering the immediate parameter tuning mechanism; the preliminary parameter tuning... An operation sequence refers to a set of parameter adjustment steps generated without safety boundary verification, based on the priority direction of parameter tuning and the urgency level of performance optimization. It includes the specific parameter to be adjusted, the adjustment direction (increase / decrease), the theoretical adjustment amount, and the execution order. The safety parameter adjustment amplitude refers to the actual executable adjustment amount obtained after limiting the theoretical adjustment amount in the initial parameter tuning operation sequence to the range of the safety operation constraint threshold. It is a key correction value to ensure the safety of parameter tuning operations. Its calculation logic is as follows: if the initial adjustment amount does not exceed the safety threshold, the safety amplitude is equal to the initial adjustment amount; if it exceeds the threshold, the upper limit of the threshold is taken as the safety amplitude.

[0060] Optionally, the initial parameter tuning operation sequence of the adjustable control parameter set can be generated using a multi-objective optimization algorithm. For example, with the goal of maximizing the equal-height control efficiency index, and comprehensively considering the balance between accuracy maintenance efficiency, stability recovery efficiency, and energy consumption efficiency, a fast non-dominated sorting genetic algorithm (NSGA-II) with an elite strategy can be used to solve the multi-objective optimization problem, generating an initial parameter tuning operation sequence containing multiple Pareto optimal solutions. The safe parameter adjustment amplitude of the initial parameter tuning operation sequence can be determined by a constraint satisfaction algorithm. For example, based on the safe operation constraint boundary of the adjustable control parameters, a set of linear and nonlinear constraint conditions for the parameter adjustment amplitude can be established, and a sequential quadratic programming (SQP) algorithm or interior point method can be used to solve the constraint optimization problem. Under the premise of satisfying all safety constraints, the optimal adjustment amplitude of each parameter can be determined.

[0061] S5. Combining the height coordination compensation strategy set, the height motion controller, and the dynamic height adjustment command, output the height intelligent control scheme for the gripper.

[0062] This invention combines the height coordination compensation strategy set, the height-equalization motion controller, and the dynamic height-equalization parameter adjustment command to output a height-equalization intelligent control scheme for the gripper. This scheme can accurately adapt to the height coordination control requirements of the balanced lifting and transporting gripper under different load distributions and complex operating environments, significantly improving the overall operational stability and reliability of the automated transport system.

[0063] The aforementioned height-synchronization intelligent control scheme refers to a systematic control strategy that uses a height-coordinated compensation strategy set as the parameter configuration basis, a height-synchronization motion controller as the real-time control core, and dynamic height-synchronization parameter adjustment commands as the optimization basis. It addresses the height synchronization requirements of a balanced lifting and conveying gripper under different load distributions (such as material eccentricity and weight fluctuations) and operating scenarios (such as vibration interference and trajectory switching). This strategy allows for real-time adjustment of control parameters and execution logic. For example, if comprehensive operational data shows that a balanced lifting and conveying gripper is currently holding 80kg of eccentric material (eccentricity 20mm) and is in the acceleration phase (acceleration 0.3mm / s²),... 2The height coordination compensation strategy set determines that it is compatible with the "highly coupled dual-axis compensation strategy". The current "height deviation warning threshold" of the height equalization motion controller is set to 80% of the safe clamping height difference threshold (±5mm) (i.e., ±4mm). The real-time monitoring shows a height difference of 3.8mm on both sides (close to the warning threshold). The parameter adjustment coefficient calculated by the dynamic height equalization parameter adjustment command is 1.2. Then, the height equalization intelligent control scheme of the gripper can be specifically set as follows: when the height difference on both sides is detected to be ≥3.5mm and the height difference change rate is ≥0.08mm / s, the proportional coefficient Kp of the "highly coupled dual-axis compensation strategy" in the height coordination compensation strategy set is increased from 0.7 to 0.84 (0.7×1.2). The speed compensation Δv was increased from 0.4 mm / s to 0.48 mm / s (0.4 × 1.2); the dynamic response bandwidth of the height-adjustment motion controller was simultaneously increased from 5 Hz to 7 Hz, shortening the delay time of deviation detection and adjustment command output (from 20 ms to 15 ms); and the single-sided parameter adjustment amplitude was limited to not exceed the safe operation constraint threshold (Kp ≤ 1.2, Δv ≤ 0.8 mm / s). Through the linkage optimization of strategy parameters, controller response logic and dynamic parameter adjustment commands, the height difference between the two sides of the gripper was quickly reduced to within 1.5 mm, and the height-adjustment control efficiency index was restored to above 85 points, improving the accuracy and stability of height-adjustment control under complex working conditions.

[0064] To clearly demonstrate the implementation process of the highly intelligent control scheme for grippers and other components in the embodiments of the present invention, please refer to... Figure 2 The diagram shows the overall architecture of a height-equalizing control method for a balanced lifting and conveying gripper according to an embodiment of the present invention. In this diagram, the process begins with the real-time acquisition of height and pressure data by the sensing layer, followed by the decision layer. One path identifies the current balance state and generates a preliminary strategy by parsing the data; the other path calculates a safety threshold based on material characteristics. The results from both paths are combined to configure a height-equalizing motion controller. After the controller runs, its performance is monitored in real time by the monitoring layer, which calculates a quantified performance index (CEI). This index then triggers a decision: if the performance is good, the status quo is maintained; if the performance deteriorates, a new parameter adjustment instruction is generated. Finally, all strategies, controllers, and instructions are integrated at the execution layer to output the final control signal for the equalizing gripper.

[0065] Compared to the problems described in the background art, this embodiment of the invention, by real-time acquisition of the height data and load pressure data of the dual-sided lifting mechanism of the gripper, constructs a dual-channel synchronous sensing network for the gripper. This clarifies the correlation between the dynamic changes in the height difference of the dual-sided lifting mechanism and the load pressure distribution, as well as the impact mechanism of load fluctuations on the stability of the gripping posture. This allows for targeted optimization of the dual-sided synchronous drive logic and posture correction strategy of the gripper. Furthermore, this embodiment of the invention generates a height coordination compensation strategy set for the dual-sided lifting mechanism based on the dynamic equilibrium state and the real-time height data. This accurately corrects the height deviation of the dual-sided lifting mechanism, optimizes the load distribution of the gripper, and enhances the ability to respond to gripper off-center load disturbances and dynamic working conditions. It shifts from passive response to active compensation, enhancing the stability and safety of the gripping posture during handling, and building a robust dynamic synchronous control defense line for automated handling systems. This embodiment of the invention configures a height-equalization motion controller for the dual-sided lifting mechanism based on the safe gripping height difference threshold and the height coordination compensation strategy set. This invention deeply integrates material safety constraints with dynamic control strategies to achieve adaptive optimization of control parameters, improving the synchronous control accuracy and anti-interference capability of the gripper system under complex working conditions. It shifts from rigid control to flexible adaptive control, enhancing the safety margin and operational efficiency of the handling process. Furthermore, by generating dynamic height adjustment commands for the dual-sided lifting mechanism based on the height control efficiency index, this invention improves the height control accuracy and stability of the balanced lifting and handling gripper under complex loads and dynamic interference scenarios. It also provides a closed-loop basis for the height coordination adjustment of the dual-sided lifting mechanism, fundamentally solving the problem of decreased height control accuracy when fixed parameters change under varying working conditions. Finally, by combining the height coordination compensation strategy set, the height motion controller, and the dynamic height adjustment commands, this invention outputs a height intelligent control scheme for the gripper. This scheme can accurately adapt to the height coordination control requirements of the balanced lifting and handling gripper under different load distributions and complex operating environments, significantly improving the overall operational stability and reliability of the automated handling system. Therefore, this invention can accurately adapt to the highly coordinated control requirements of balanced lifting and conveying grippers under different load distributions and complex operating environments, significantly improving the overall operational stability and reliability of automated conveying systems.

[0066] like Figure 3 The diagram shown is a functional block diagram of a balanced lifting and transporting gripper equal-height control system according to the present invention.

[0067] The height equalization control system 300 for a balanced lifting and transporting gripper described in this invention can be installed in an electronic device. Depending on the functions implemented, the height equalization control system may include a synchronization sensing module 301, a collaborative compensation module 302, a height equalization control module 303, a parameter optimization module 304, and a scheme output module 305. The module described in this invention can also be referred to as a unit, which refers to a series of computer program segments that can be executed by the processor of an electronic device and perform a fixed function, and are stored in the memory of the electronic device.

[0068] In this embodiment of the invention, the functions of each module / unit are as follows: The synchronous sensing module 301 is used to collect real-time height data and load pressure data of the dual-side lifting mechanism of the gripper in real time, so as to construct a dual-channel synchronous sensing network for the gripper. The collaborative compensation module 302 is used to analyze the synchronization deviation signal of the dual-sided lifting mechanism under the dual-channel synchronous sensing network, so as to identify the dynamic balance state of the dual-sided lifting mechanism, and generate a set of height collaborative compensation strategies for the dual-sided lifting mechanism based on the dynamic balance state and the real-time height data. The height control module 303 is used to acquire the weight distribution characteristics and stable posture tolerance of the material to be transported by the gripper, so as to determine the safe clamping height difference threshold of the material to be transported during the transport process, and configure the height motion controller of the double-sided lifting mechanism according to the safe clamping height difference threshold and the height cooperative compensation strategy set. The parameter optimization module 304 is used to monitor the elevation deviation and attitude stabilization time parameters of the elevation motion controller in real time, so as to calculate the elevation control efficiency index of the elevation motion controller and generate the dynamic elevation adjustment command of the double-sided lifting mechanism based on the elevation control efficiency index. The scheme output module 305 is used to combine the height coordination compensation strategy set, the height motion controller and the dynamic height adjustment command to output the height intelligent control scheme of the gripper.

[0069] In detail, the modules in the balanced lifting and conveying gripper height control system 300 described in this embodiment of the invention employ the same methods as described above during use. Figure 1 The method uses the same high-level control techniques as the balanced lifting and conveying gripper described above, and can produce the same technical effects, so it will not be elaborated here.

[0070] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0071] Finally, it should be noted that in the above embodiments, each embodiment can be combined with each other or independent. Deleting any one of them will not affect the technical implementation of other embodiments. The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for controlling the height of a balanced lifting and conveying gripper, characterized in that, The method includes: Real-time height and load pressure data of the lifting mechanisms on both sides of the gripper are collected to construct a dual-channel synchronous sensing network for the gripper. The synchronization deviation signal of the dual-sided lifting mechanism under the dual-channel synchronous sensing network is analyzed to identify the dynamic balance state of the dual-sided lifting mechanism. Based on the dynamic balance state and the real-time height data, a set of height collaborative compensation strategies for the dual-sided lifting mechanism is generated. The weight distribution characteristics and stable posture tolerance of the material to be transported by the gripper are obtained to determine the safe clamping height difference threshold of the material to be transported during the transport process. Based on the safe clamping height difference threshold and the height cooperative compensation strategy set, the equal height motion controller of the dual-side lifting mechanism is configured. The elevation deviation and attitude stabilization time parameters of the elevation motion controller are monitored in real time to calculate the elevation control efficiency index of the elevation motion controller. Based on the elevation control efficiency index, dynamic elevation adjustment commands for the dual-sided lifting mechanism are generated. By combining the aforementioned high-level collaborative compensation strategy set, the aforementioned height-equivalent motion controller, and the aforementioned dynamic height-equivalent parameter adjustment command, a height-equivalent intelligent control scheme for the gripper is output.

2. The height control method for the balanced lifting and conveying gripper as described in claim 1, characterized in that, The real-time acquisition of the height and load pressure data of the dual-side lifting mechanism of the gripper to construct a dual-channel synchronous sensing network for the gripper includes: Extract the displacement time-series features and attitude offset from the real-time altitude data; Analyze the pressure distribution characteristics and dynamic load fluctuation components in the load pressure data; Based on the displacement timing characteristics and the pressure distribution characteristics, a height-pressure collaborative calibration unit for the dual-sided lifting mechanism is established. Based on the attitude offset and the dynamic load fluctuation component, the synchronization error coefficient and balance index of the dual-sided lifting mechanism are calculated. Based on the synchronization error coefficient and the balance index, a dynamic weight allocation strategy for the dual-sided lifting mechanism is generated. Based on the height-pressure collaborative calibration unit and the dynamic weight allocation strategy, a dual-channel synchronous sensing network for the gripper is constructed.

3. The height control method for the balanced lifting and conveying gripper as described in claim 2, characterized in that, The step of establishing a height-pressure coordinated calibration unit for the dual-sided lifting mechanism based on the displacement time sequence characteristics and the pressure distribution characteristics includes: Extract the frequency domain response characteristics from the displacement time-series characteristics and the spectral energy distribution characteristics from the pressure distribution characteristics; Identify the modal coupling relationship between the frequency domain response characteristics and the spectral energy distribution characteristics; The key coupling frequency bands and their energy concentration in the modal coupling relationship were analyzed. The synchronization stability margin of the dual-sided lifting mechanism is evaluated based on the key coupling frequency band and the energy concentration. Based on the aforementioned synchronization stability margin, a hierarchical coordinated control strategy for the dual-sided lifting mechanism is formulated. Based on the hierarchical collaborative control strategy, a height-pressure collaborative calibration unit for the dual-sided lifting mechanism is established.

4. The height control method for the balanced lifting and conveying gripper as described in claim 1, characterized in that, The step of generating a height coordination compensation strategy set for the dual-sided lifting mechanism based on the dynamic equilibrium state and the real-time height data includes: Extract synchronization deviation features from the real-time altitude data, and determine the multimodal instability risk type corresponding to the synchronization deviation features based on the dynamic equilibrium state; Perform correlation matching processing between the synchronization deviation features and the multimodal instability risk types to extract the deviation-risk correlation vector of the dual-sided lifting mechanism; Based on the deviation-risk correlation vector, the compensation intensity level of the dual-sided lifting mechanism is determined; Identify the dynamic constraint parameters of the dual-sided lifting mechanism under the current operating conditions; Based on the compensation strength level and the dynamic constraint parameters, the optimal combination of compensation parameters for the dual-sided lifting mechanism is set. Based on the optimal combination of compensation parameters, a set of height coordination compensation strategies for the dual-sided lifting mechanism is generated.

5. The height control method for the balanced lifting and conveying gripper as described in claim 1, characterized in that, The step of configuring the equal-height motion controller of the dual-sided lifting mechanism according to the safety clamping height difference threshold and the height collaborative compensation strategy set includes: Identify the equal height constraint boundary corresponding to the safety clamping height difference threshold and the synchronization accuracy adjustment range of the height collaborative compensation strategy set; Based on the equal height constraint boundary and the synchronization accuracy adjustment range, an equal height collaborative mapping relationship is established between the safe clamping height difference threshold and the height collaborative compensation strategy set; Extract the motion coupling characteristics and attitude dynamics response characteristics corresponding to the dual-sided lifting mechanism; Based on the equal-height cooperative mapping relationship, determine the synchronization control priority corresponding to the motion coupling characteristic; The dual-axis synchronous frequency domain characteristics of the highly coordinated compensation strategy set are analyzed, and combined with the real-time operating status of the dual-sided lifting mechanism, an equal-height adaptive parameter tuning strategy for the dual-sided lifting mechanism is generated. Based on the synchronous control priority and the height-adaptive parameter tuning strategy, a dual-axis collaborative optimization mechanism for the dual-sided lifting mechanism is constructed. Based on the attitude dynamics response characteristics and the dual-axis collaborative optimization mechanism, a height-equalizing motion controller for the dual-sided lifting mechanism is configured.

6. The height control method for a balanced lifting and conveying gripper as described in claim 1, characterized in that, The real-time monitoring of the height deviation and attitude stabilization time parameters of the height-contour motion controller to calculate the height-contour control performance index of the height-contour motion controller includes: Extract the steady-state height accuracy index and dynamic attitude fluctuation index from the height deviation; The attitude stabilization time parameters include the elevation recovery delay parameter and the anti-interference stabilization delay parameter. Based on the steady-state height accuracy index and the dynamic attitude fluctuation index, the height holding performance coefficient of the height motion controller is calculated. Based on the height recovery delay parameter and the anti-interference stabilization delay parameter, the attitude stability performance coefficient of the height motion controller is calculated; The system operating power of the height-equalization motion controller is monitored in real time to calculate the height-equalization control energy consumption value of the height-equalization motion controller; Combining the height-keeping performance coefficient, the attitude stability performance coefficient, and the height-control energy consumption value, the height-control efficiency index of the height-contact motion controller is calculated using the following formula: ； in, This represents the control effectiveness index at the same height. Represents the system gain coefficient. Indicates the coefficient of performance for maintaining the same height. Indicates the precision sensitivity factor. This indicates the actual elevation deviation. Indicates the target elevation deviation. This represents the attitude stability performance coefficient. Indicates the maximum allowable settling time of the system. Indicates the actual settling time. Indicates actual operating energy consumption. This represents the baseline energy consumption under ideal operating conditions.

7. The height control method for a balanced lifting and conveying gripper as described in claim 1, characterized in that, The step of generating dynamic height adjustment parameters for the dual-sided lifting mechanism based on the height control efficiency index includes: Analyze the adjustable control parameter set and its safe operation constraint threshold of the dual-sided lifting mechanism; Extract the multidimensional performance feature vector from the equal-height control performance index; Based on the multidimensional performance feature vector, the priority parameter tuning direction and performance optimization urgency level of the dual-sided lifting mechanism are identified; Based on the preferred parameter tuning direction and the performance optimization urgency level, a preliminary parameter tuning operation sequence for the adjustable control parameter set is generated; Based on the safe operation constraint threshold, determine the safe parameter adjustment amplitude of the preliminary parameter tuning operation sequence; By integrating the adjustable control parameter set, the preliminary parameter adjustment operation sequence, and the safety parameter adjustment amplitude, a dynamic height adjustment command for the dual-sided lifting mechanism is generated.

8. The height control method for a balanced lifting and conveying gripper as described in claim 1, characterized in that, The step of acquiring the weight distribution characteristics and stable posture tolerance of the material to be transported by the grippers, in order to determine the safe gripping height difference threshold of the material to be transported during the transport process, includes: Collect the centroid offset data and moment of inertia parameters corresponding to the weight distribution characteristics; Extract the maximum allowable tilt angle and safety factor from the stable attitude tolerance; Based on the centroid offset data and the moment of inertia parameters, calculate the anti-overturning stability margin of the material to be transported in an inclined state; Based on the overturning stability margin and the maximum allowable tilt angle, the stability level of the material to be transported is classified. Based on the stability level and the safety factor, define the height difference tolerance and dynamic compensation coefficient of the material to be transported; Based on the height difference tolerance and the dynamic compensation coefficient, the safe clamping height difference threshold of the material to be transported during the transport process is determined.

9. The height control method for a balanced lifting and conveying gripper as described in claim 1, characterized in that, The step of analyzing the synchronization deviation signal of the dual-sided lifting mechanism under the dual-channel synchronous sensing network to identify the dynamic balance state of the dual-sided lifting mechanism includes: Extract the time-frequency domain feature vector from the synchronization deviation signal; Based on the time-frequency domain feature vector, calculate the instantaneous balance index and trend stability index of the dual-sided lifting mechanism; Based on the instantaneous balance index and the trend stability index, a dynamic balance state evaluation matrix for the dual-sided lifting mechanism is constructed. The dynamic balance state of the dual-sided lifting mechanism is identified using the dynamic balance state evaluation matrix.

10. A height equalization control system for a balanced lifting and conveying gripper, characterized in that, The system includes: The synchronous sensing module is used to collect real-time height data and load pressure data of the dual-side lifting mechanism of the gripper in real time, so as to construct a dual-channel synchronous sensing network for the gripper. The collaborative compensation module is used to analyze the synchronization deviation signal of the dual-sided lifting mechanism under the dual-channel synchronous sensing network, so as to identify the dynamic balance state of the dual-sided lifting mechanism, and generate a set of height collaborative compensation strategies for the dual-sided lifting mechanism based on the dynamic balance state and the real-time height data. The height control module is used to acquire the weight distribution characteristics and stable posture tolerance of the material to be transported by the gripper, so as to determine the safe clamping height difference threshold of the material to be transported during the transport process, and configure the height motion controller of the double-sided lifting mechanism according to the safe clamping height difference threshold and the height cooperative compensation strategy set. The parameter optimization module is used to monitor the elevation deviation and attitude stabilization time parameters of the elevation motion controller in real time, so as to calculate the elevation control efficiency index of the elevation motion controller and generate the dynamic elevation adjustment command of the double-sided lifting mechanism based on the elevation control efficiency index. The scheme output module is used to monitor the elevation deviation and attitude stabilization time parameters of the elevation motion controller in real time, so as to calculate the elevation control efficiency index of the elevation motion controller, and generate the dynamic elevation adjustment command of the double-sided lifting mechanism based on the elevation control efficiency index.

Images