A force-position hybrid control method, medium and terminal for automatically pushing a mold plate

Abstract

The present application relates to a kind of automatic template pushing force position hybrid control method, medium and terminal, for controlling template pushing device to push template movement to preset target position, comprising: template positioning and moving capture work: determine the target pose of the positioning clamping structure on the template;Based on the target pose, the movement control end of the template pushing device is controlled to drive clamping mechanism to move to the positioning clamping structure, make the clamping mechanism and the positioning clamping structure meet;Mobile and positioning adjustment work: the movement control end moves, and the template is moved to preset target position, in the process of movement, the force F c X c , Y c And the Z c Direction of F c , F c And F c Between the clamping mechanism and the movement control end in world coordinate system O X , F Y And F Z It is obtained, and based on F X , F Y , F Z And preset motion judgment condition, adjust the movement state of the movement control end in X c , Y c And Z c Direction.

Description

Technical Field

[0001] This invention relates to the field of electromechanical control technology, specifically to a force-position hybrid control method, medium, and terminal for an automatic template pusher. Background Technology

[0002] Template sewing technology is an advanced process that uses garment templates to sew garment pieces together, and it is an important component of standardized garment production. The widespread application of template sewing technology can effectively overcome bottlenecks in industry development, achieving a dual improvement in garment quality and production efficiency. However, with the rapid development of technology, garment template sewing technology still needs further enhancement in its level of automation.

[0003] In template sewing technology, the template needs to be moved horizontally on the template sewing machine to accurately engage the positioning slots on the side of the template with the positioning pins on the machine, while avoiding excessive contact pressure between the two. Currently, the template is usually pushed manually. This method is inefficient, requires skilled workers, is prone to inaccurate positioning, and can easily cause collisions between the template and the positioning pins when the worker is not proficient. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the technical problem to be solved by the present invention is to provide a force-position hybrid control method, medium and terminal for automatic template pushing, which can realize automatic intelligent movement of the template, reduce reliance on skilled workers and reduce failure rate.

[0005] To achieve the above objectives, the present invention provides a force-position hybrid control method for an automatic template pusher, used to control a template pushing device to push the template to a preset target position, comprising:

[0006] Template positioning and moving gripping operation: Determine the target pose of the positioning clamping structure on the template; Based on the target pose, control the moving control end of the template pushing device to drive the clamping mechanism to move to the positioning clamping structure, so that the clamping mechanism is connected to the positioning clamping structure;

[0007] Movement and positioning adjustment: The movement control terminal moves the template to a preset target position. During the movement, the coordinates between the clamping mechanism and the movement control terminal in the world coordinate system O are obtained. c X c Y c Z c X c Y c and Z c Directional force F X F Y and F Z And based on F X F Y FZ Based on preset motion judgment conditions, the movement control terminal is adjusted in X... c Y c and Z c The state of motion in a certain direction.

[0008] Further, determining the target pose of the positioning and clamping structure on the template includes: determining the target pose of the positioning and clamping structure on the template in the template pushing device coordinate system using visual positioning, wherein the template pushing device coordinate system is aligned with the world coordinate system O. c X c Y c Z c parallel.

[0009] Furthermore, the visual positioning method includes: fixing a visual positioning mark on the template, obtaining the detected pose of the visual positioning mark in the world coordinate system, obtaining the fixed offset between the visual positioning mark and the positioning clamping structure; converting the detected pose to obtain the transformed pose of the visual positioning mark in the template pushing device coordinate system; and obtaining the target pose of the positioning clamping structure in the template pushing device coordinate system based on the transformed pose and the fixed offset.

[0010] Furthermore, in the aforementioned movement and positioning adjustment process, the motion state adjustment methods of the movement control terminal include:

[0011] Z c Adjustment method for motion: The acquired force F Z With Z c Comparison of the preset expected force in the direction, if Z is generated c The force deviation on the axis is used to calculate the pose correction amount, and the motion control terminal is adjusted based on the pose correction amount.

[0012] Furthermore, the Z c In the motion adjustment method, the pose correction amount is obtained based on the force deviation as follows: Among them, e z (t) is Z c Force deviation on the shaft, K p and K i These are the proportional and integral gains, u Z (t) represents the pose correction amount.

[0013] Furthermore, in the aforementioned movement and positioning adjustment process, the motion state adjustment methods of the movement control terminal include:

[0014] X c Adjustment method for motion: When the acquired F XLess than the preset X-axis judgment threshold F X0 When, the mobile control terminal is in X c Continue moving upwards, when the acquired F X Greater than or equal to the preset X-axis judgment threshold F X0 At that time, the mobile control terminal is based on F X With F X0 The deviation is X c Upward posture adjustment;

[0015] Y c Adjustment method for motion: When the acquired F Y Less than the preset Y-axis judgment threshold F Y0 When, the mobile control terminal is in Y c Continue moving upwards, when the acquired F Y Greater than or equal to the preset Y-axis judgment threshold F Y0 The mobile control terminal is based on the F Y With F Y0 The deviation of Y c Orientation adjustment.

[0016] Furthermore, in the movement and positioning adjustment process, according to the preset target position in X c Set the X coordinate upwards. c To the limit stop, in Y c Set the upward coordinate Y c To the limit stop; the moving control end first moves the template to the X c To move, and through X c The motion adjustment method controls the movement of the mobile control end, keeping the template aligned with X. c When the template reaches the preset target position at the position where it abuts against the limit block, it is at the X position. c The upward coordinate position; then the movement control terminal moves the template in the Y direction. c To move, and through Y c Adjust the motion control mode to move the control terminal, so that the template is positioned relative to X. c When the template reaches the preset target position at the position where it abuts against the limit block, it is at the Y-axis. c The upward coordinate.

[0017] Furthermore, the Y c In the motion adjustment method, the motion control terminal is based on F Y With F Y0 The deviation of Y c Upward pose adjustment includes: Δy is Y c Displacement adjustment on the axis, K Y This is the stiffness coefficient.

[0018] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a terminal, implements the above-described force-position hybrid control method.

[0019] The present invention also provides a terminal, comprising: a processor and a memory; the memory for storing a computer program; the processor for executing the computer program stored in the memory to cause the terminal to perform the above-described force-position hybrid control method.

[0020] As described above, the force-position hybrid control method, medium, and terminal of the present invention have the following beneficial effects:

[0021] 1. It can achieve intelligent automatic template pushing, automatically judging the position and status of the template during the pushing process. Based on the force-position hybrid method, it improves the positioning accuracy of template 2, and can control the template position error within ±0.15mm.

[0022] 2. It can achieve constant force pressing on the Z-axis and pressure adjustment on the X and Y axes through admittance compliance control, avoiding template damage caused by rigid collision.

[0023] 3. It can replace manual operation, reduce reliance on skilled workers, dynamically respond to force disturbances during assembly, adaptively adjust the motion trajectory, and reduce the failure rate.

[0024] 4. Based on QR code visual positioning technology, it can improve the positioning error of the template position, making it easier for the template pushing device to grasp and move the template. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the template machine and template in this invention.

[0026] Figure 2 This is a flowchart illustrating one embodiment of the force-position hybrid control method of the present invention.

[0027] Explanation of icon numbers

[0028] 1 Template machine

[0029] 2 Templates

[0030] 21 Lateral side

[0031] 22 Longitudinal side

[0032] 23 Positioning slot

[0033] 24. Positioning and clamping structure

[0034] 3. Positioning pins

[0035] 4. Positioning stop

[0036] 5. Visual positioning markers Detailed Implementation

[0037] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0038] It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings of this specification are merely for illustrative purposes to aid those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0039] See Figure 1 and Figure 2 This invention provides a force-position hybrid control method for automatically pushing template 2, used to control the template pushing device to push template 2 to a preset target position, including:

[0040] A. Template 2 positioning and movement capture:

[0041] Determine the target pose of the positioning and clamping structure 24 on the template 2. Based on the target pose, control the movement control end of the template pushing device to drive the clamping mechanism to move to the positioning and clamping structure 24, so that the clamping mechanism is connected to the positioning and clamping structure 24.

[0042] Preferably, the target pose of the positioning clamping structure 24 on the template 2 in the template pushing device coordinate system can be determined by visual positioning, wherein the parallel template pushing device coordinate system is aligned with the world coordinate system O. c X c Y c Z cParallelism can be considered as a coordinate system. The visual positioning method includes: fixing a visual positioning mark 5 on the template 2. The visual positioning mark 5 is preferably a QR code, which can be a four-code combination structure, or it can be replaced with a single code or a double code depending on the actual situation. A visual positioning system is set up, and a visual camera in the system is used to capture images. The detection pose of the visual positioning mark 5 in the world coordinate system is obtained through visual positioning. The fixed offset between the visual positioning mark 5 and the positioning clamping structure 24 is obtained. Then, the detection pose is converted to obtain the transformed pose of the visual positioning mark 5 in the template pushing device coordinate system.

[0043] Movement and positioning adjustment work:

[0044] The mobile control terminal moves the template 2 to the preset target position. During the movement, the coordinates between the clamping mechanism and the mobile control terminal in the world coordinate system O are obtained. c X c Y c Z c X c Y c and Z c Directional force F X F Y and F Z And based on F X F Y F Z Based on preset motion judgment conditions, adjust the movement control terminal in X. c Y c and Z c Movement state in the direction. Movement and positioning adjustments include X... c Y c and Z c The motion state is adjusted in three directions as follows:

[0045] Z c Adjustment method to motion:

[0046] The obtained F z With Z c Comparison of the preset expected force in the direction, if Z is generated c The force deviation on the axis is used to calculate the pose correction amount, and the motion control end is adjusted based on the pose correction amount to make F Z Maintain the expected level.

[0047] Preferably, the movement control terminal can be controlled in the Z-axis direction using a force-position hybrid algorithm. c An upward orientation is used to control the movement of the control end acting along the Z-axis on the clamping mechanism. c The pressure on the shaft controls the pressure on template 2, thus preventing surface damage to template 2. Let Z... cThe expected value in the direction of force is F. Z0 When F Z =F Z0 When, it is considered as force F z The requirements are met.

[0048] In this embodiment, a proportional-integral force controller is used to convert the force deviation into a pose correction amount.

[0049]

[0050] Among them, e z (t) is Z c Force deviation on the shaft, i.e., e z (t)=F Z0 -F Z (t), F Z (t) represents the force sensor reading along Z. a Force on the axis that varies with time, where t is time and K p and K i These are the proportional and integral gains, respectively, and the output quantity u. Z (t) represents the pose correction amount, used for height adjustment of the motion control terminal.

[0051] During the entire movement of the moving template 2, based on force F z Control the height position of the moving control end so that force F z Maintain at F z0 The specific control method can employ an admittance model. Admittance control is a common active compliant control method for robots, modeling the robot as an equivalent force control system, similar to a spring-damped system. Its dynamic characteristics are described by the admittance model, which simulates the robot's response to externally applied forces and torques by setting equivalent inertia, stiffness, and damping parameters. This mainly includes: Where F z,thr =F z0 M, B, K Z These represent the virtual mass, damping coefficient, and stiffness coefficient, respectively. c For mobile control terminal in Z a The coordinate position on the axis is a function of time t. and z c The first and second derivatives. The application of the admittance control model can refer to existing techniques, which will not be detailed here. Based on force F... z The height position of the moving end can be adjusted by controlling the drive mechanism, or other suitable existing control methods can be used.

[0052] X c Adjustment method to motion:

[0053] When F is obtained X Less than the preset X-axis judgment threshold F X0 When, it indicates that template 2 is in X c If no obstruction is encountered while moving upwards, the movement control terminal can be set to X. c Continue moving upwards; when the acquired F X Greater than or equal to the preset X-axis judgment threshold F X0 When, it indicates that template 2 is in X c No obstruction was encountered during upward movement; the movement control terminal is based on F. X With F X0 The deviation is X c Upward pose adjustment, where pose adjustment can be stopping movement or moving in the X direction. c Move upwards and in the opposite direction a certain distance to reduce the pressure between template 2 and the blocking object or to separate them, ultimately causing force F to... X Keep within the required range.

[0054] Y c Adjustment method to motion:

[0055] When F is obtained Y Less than the preset Y-axis judgment threshold F Y0 When this happens, it means that template 2 is in Y. c If no obstruction is encountered while moving upwards, the movement control terminal can be set to X. c Continue moving upwards; when the acquired F Y Greater than or equal to the preset Y-axis judgment threshold F Y0 When this happens, it means that template 2 is in Y. c No obstruction was encountered upwards, based on F Y With F Y0 The deviation is adjusted by the movement control terminal to perform Y-axis control. c Upward pose adjustment; pose adjustment can be stopping the movement or adjusting in the Y direction. c Move upwards and in the opposite direction a certain distance to reduce the pressure between template 2 and the blocking object, or to separate them, ultimately causing force F to... X Keep within the required range.

[0056] In this invention, during the process of moving template 2 to the preset target position, it is possible to first move along X... c Move towards the target position, then along the Y... c Move the motion to the desired position and set X. c To the limit stop and Y c The template 2 is positioned by moving towards the limit block; specifically, it is positioned according to the preset target position at X. c Set X using the upward coordinate. c To the limit stop, according to the preset target position in Y cSet Y using the upward coordinate. c To the limit stop, where Y c The limiting stop can directly utilize existing fixed structures around the preset target position of template 2. The movement control unit first moves template 2 in the X direction. c To move, and through X c The motion of the control terminal is controlled by adjusting the motion, thus through force F. X It can be determined whether template 2 encounters X. c Move to the limit stop and adjust the movement control terminal X. c An upward pose causes F X Maintain within a certain range, for example, keep it greater than or equal to the Y-axis decision threshold F. X0 This keeps template 2 in contact with X. c At the position where it abuts against the limit block, template 2 is located at the preset target position X. c The upward coordinate. Then the movement control terminal moves template 2 along the Y-axis. c Move toward the preset target position and through Y c The movement of the mobile control terminal is controlled by adjusting the motion method, thus through force F. Y This allows us to determine whether template 2 encounters Y. c Move to the limit stop and adjust the movement control terminal Y. c An upward pose causes F Y Maintaining it within a certain range, for example, making F Y1 ≤F Y ≤F Y0 F Y1 Also, a preset judgment threshold is used to position template 2 at the same position as Y. c When the template 2 reaches the preset target position at the position where it abuts against the limit block, it is at the Y-axis. c The upward coordinates indicate that template 2 has now been moved to the preset target position.

[0057] See Figure 1 and Figure 2 The following is a specific working example to further illustrate the force-position hybrid control method:

[0058] See Figure 1In this embodiment, the template 2 has a positioning slot 23 on its lateral side 21, and the template machine 1 has a positioning pin 3 for engaging with the positioning slot 23. The preset target position of the template 2 is the position when the positioning slot 23 is engaged with the positioning pin 3. The positioning clamping structure 24 on the template 2 is a positioning hole. Correspondingly, the positioning clamping structure 24 on the template 2 includes two two-finger grippers, which can be clamped in the positioning hole, and the two are connected. The template pushing device includes a robotic arm, the moving end of which constitutes a movement control end. The clamping mechanism is mounted on the robotic arm, and the robotic arm drives the clamping mechanism to move. In other embodiments, the clamping mechanism and the positioning clamping structure 24 can also adopt other existing suitable design structures, such as magnetic chucks and magnetic blocks, which can establish a fixed connection through magnetic attraction. The driving mechanism can also adopt other suitable designs.

[0059] To facilitate the positioning of template 2 during movement, template machine 1 is equipped with a feature for positioning template 2 in the X direction. c The positioning block 4 moves upward for positioning. The longitudinal side 22 on one side of the template 2 is a positioning side for abutting against the positioning block 4. When the positioning side abuts against the positioning block 4, the positioning slot 23 and the positioning pin 3 are in the Y position. c Oriented relative to each other.

[0060] In this embodiment, the plate pushing device further includes a force sensor mounted on the drive mechanism. Preferably, a six-dimensional force sensor is used. The force sensor is used to acquire the interaction force between the clamping mechanism and the moving control end in real time, establishing a force measurement coordinate system O on the robotic arm. a X a Y a Z a Force sensors can acquire data along the X-axis. a Axis, Y a Axis and Z a The force on the axis is detected by a force sensor, and the signal is fed back to the control system, which then controls the movement of the robotic arm. When the robotic arm moves template 2, the force measurement coordinate system O is adjusted. a X a Y a Z a X a Axis, Y a Axis and Z a The axes are respectively along the world coordinate system O c X c Y c Z c X c Axis, Y c Axis and Z c The axis can be determined by a six-dimensional force sensor, which can then obtain the coordinates between the clamping mechanism and the moving control end in the world coordinate system O. c X c Y c Zc X c Y c and Z c Directional force F X F Y and F Z .

[0061] When the template pushing device pushes the template 2 using a force-position hybrid control method, positioning and moving the template 2 are achieved through visual positioning during positioning and moving gripping. Specifically, a QR code is fixed on the template 2 as a visual positioning mark 5. A visual positioning system is set up, and a visual camera in the system captures images. The detection pose of the visual positioning mark 5 in the world coordinate system is determined through visual positioning. Then, based on the fixed offset between the visual positioning mark 5 and the positioning clamping structure 24 on the template 2, the target pose of the positioning clamping structure 24 in the world coordinate system is obtained. The specific method of visual positioning can adopt existing suitable methods. For example, let the pose of the visual positioning mark 5 fixed on the template 2 in the world coordinate system be determined by the position vector t. QR5 ∈R 3 and rotation matrix R QR5 ∈SO(3) characterization. The fixed offset of the positioning clamping structure 24 in the local coordinate system of the visual positioning mark 5 is δ. H3 =[x offset ,y offset ,z offset ] T Based on the principles of rigid body kinematics, the position of the positioning clamping structure 24 in the world coordinate system is determined. It can be represented as In the formula, R QR5 Let the constant offset in the local coordinate system be δ. H3 Mapped to the world coordinate system direction, t QR5 This represents the global translation of visual positioning marker 5. The visual positioning system uses calibration parameters to determine the detected pose {R} of visual positioning marker 5. QR5 ,t QR5} Transform to the base coordinate system of the robotic arm, combined with the pre-calibrated δ H3 This allows the target pose of the positioning and clamping structure 24 to be calculated. Based on the calculated target pose of the positioning and clamping structure 24, the control system drives the robotic arm to move automatically, moving the clamping mechanism to the positioning and clamping structure 24 of the template 2. Accordingly, the relative position of the clamping mechanism and the template 2 can be adjusted, thus aligning the X-axis of the force measurement coordinate system. a axis and Y a The axes are along the transverse and longitudinal directions of template 2, respectively.

[0062] Before moving and adjusting the position, first align the template 2 horizontally and vertically along the world coordinate system O. c Xc Y c Z c X c axis and Y c The axis, at this time the X of the force measurement coordinate system a axis and Y a The axes are parallel to the world coordinate system O. c X c Y c Z c X c axis and Y c Shaft. This step can be completed when the template 2 is placed (before the clamping mechanism connects with the positioning clamping structure 24), or it can be completed by adjusting the position of the template 2 through the template pushing device.

[0063] During the movement and positioning adjustment, the robotic arm's movement control end drives the template 2 to move, first along the X... c Move towards the positioning side, bringing it closer to the positioning block 4. During the movement, via X... c The motion of the mobile control end is controlled by adjusting the motion mode, wherein the X-axis determination threshold F is... X0 =10N, the positioning block 4 constitutes the above-mentioned X c To the limit stop. The control system acquires the real-time X-axis force detected by the six-dimensional force sensor. c Force F on the axis X If F X <F X0 If the positioning side of template 2 does not contact the positioning block 4, the control system will continue to move the template 2 along the X-axis. c The axis moves, causing the positioning side to continue moving closer to the positioning stop 4; when F X ≥F X0 When it is determined that the positioning side is against the positioning block 4, the template 2 can be stopped in the X direction. c Movement on the axis, and can also be based on F X With F X0 To check the deviation, fine-tune the movement control terminal at X. c Position on the axis to ensure force F X Keep greater than or equal to F X0 This ensures that the positioning side of template 2 always remains in position abutting against positioning block 4, at which point template 2 reaches the preset target position at X. c The upward coordinate position. The movement control terminal moves the template 2 in the X direction. c On-axis movement control can employ admittance control, mapping contact force to pose correction parameters to achieve compliant control. c Push template 2.

[0064] In F X Keep greater than or equal to FX0 In this case, the robotic arm's movement control end then drives the template 2 in the Y direction. c The movement causes the positioning slot 23 to approach the positioning pin 3, and through the Y... c The motion of the mobile control end is controlled by adjusting the motion mode, wherein the Y-axis determination threshold F is... Y0 =10N, and a threshold F is also set. Y1 =0.5N, at this time, the locating pin 3 is the Y mentioned above. c To the limit stop. When F Y Less than F Y0 At that time, the mobile control terminal is in Y c Continue moving upwards; as template 2 moves along the Y... c When the target position is successfully reached, the positioning slot 23 and the positioning pin 3 are assembled in place, Y a Axial force F Y It should be less than or equal to F Y0 , such as F Y Greater than F Y0 This indicates that the contact pressure between the positioning slot 23 and the positioning pin 3 is high, causing a jamming and collision problem. At this time, based on force F... Y Adjust and correct template 2 in Y a Position on the axis, such that F Y1 ≤F Y ≤F Y0 This indicates that template 2 has accurately reached the target position, and the positioning slot 23 and positioning pin 3 have appropriate contact pressure, thus template 2 has moved into place. This is confirmed by the real-time detected force F. Y Adjusting the control method for template 2's movement can employ various existing control methods, such as an admittance control model, to adjust the force F. Y Mapped to pose correction, achieving compliant control of the push template 2, if force F Y >F Y0 It needs to be along Y a Axis adjustment of position and orientation. For Y a Displacement adjustment on the axis, K Y For the moving end effector of the robotic arm in Y a The stiffness coefficient in the axial direction is manually set according to the characteristics of the robotic arm.

[0065] The mobile control terminal drives template 2 in X a Y-axis harmonic a Throughout the entire process of axis movement, it is through Z... c To adjust the motion control method to control the movement control terminal in Z c The upward pose is determined by the force F detected in real time by the force sensor. Z The control system is based on force F Z The force F is used to control the adjustment of the moving end effector of the robotic arm. ZStay in Z c Preset expected force F in the direction z0 The pre-set expectation force F z0 It can be a specific value or a range of values, thereby controlling the pressure applied to the template 2 by the clamping mechanism. Specifically, Z c Preset expected force F in the direction Z0 =5N, when F Z When the force is 5N, it is considered as force F. z The requirements are met. If a force deviation occurs, then it is determined according to the deviation value F. Z -F Z0 The pose correction is calculated, and the motion control terminal is adjusted based on the pose correction. Existing control algorithms can be used, such as a proportional-integral force controller, to convert the force error into a position correction.

[0066]

[0067] Where e z (t) represents the direction along Z. a Force deviation on the shaft, i.e., e z (t)=F Z0 -F Z (t), F Z (t) represents the force sensor reading along Z. c A force that is axial and varies with time, K p and K i These represent the proportional and integral gains, respectively, where t is time and u is the integral gain. Z (t) Output is Z c The axis position correction command is used to control the height adjustment of the moving end effector of the robotic arm. Throughout the entire process of the template pushing device pushing the template 2 horizontally, the height is adjusted according to the force F. Z The specific control method for adjusting the height position of the moving end effector using the control drive mechanism adopts the existing admittance control model. Admittance control is a common active compliant control method for robots, modeling the robot as an equivalent force control system, similar to a spring-damped system. Its dynamic characteristics are described by the admittance model, which simulates the robot's response to externally applied forces and torques by setting equivalent inertia, stiffness, and damping parameters. The main components include: Among them, M, B, K Z These represent the virtual mass, damping coefficient, and stiffness coefficient, respectively. c For template 2 in Z a The coordinate position on the axis is a function of time t. and z c The first and second derivatives.

[0068] Through the above method, the template 2 can be automatically and intelligently pushed in the template machine 1 to accurately assemble with the positioning pin 3, and the assembly contact pressure can be guaranteed to avoid jamming and collision problems. During the movement, the pressure that the template 2 bears can also be guaranteed to meet the requirements.

[0069] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a terminal, implements the aforementioned force-position hybrid control method. Those skilled in the art will understand that all or part of the steps in the aforementioned force-position hybrid control method can be implemented by instructing a processor via a program. The program can be stored in a computer-readable storage medium, which is a non-transitory medium, such as random access memory, read-only memory, flash memory, hard disk, solid-state drive, magnetic tape, floppy disk, optical disc, and any combination thereof. The aforementioned storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. This available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital video disc (DVD)), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0070] The present invention also provides a terminal, including a processor and a memory; the memory is used to store computer programs and includes various media capable of storing program code, such as ROM, RAM, magnetic disk, USB flash drive, memory card, or optical disk. The processor is connected to the memory and is used to execute the computer program stored in the memory, so that the terminal performs the above-mentioned force-position hybrid control method. Preferably, the processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0071] As can be seen from the above, the position mixing control method, medium, and terminal of the present invention have the following beneficial effects:

[0072] 1. It can achieve intelligent automatic pushing of template 2, automatically judging the position and state of template 2 during the pushing process. Based on the force-position hybrid method, it improves the positioning accuracy of template 2, and can control the position error of template 2 within ±0.15mm.

[0073] 2. It can achieve constant force pressing on the Z-axis and pressure adjustment on the X and Y axes through admittance compliance control, avoiding damage to the template 2 caused by rigid collision.

[0074] 3. It can replace manual operation, reduce reliance on skilled workers, dynamically respond to force disturbances during assembly, adaptively adjust the motion trajectory, and reduce the failure rate.

[0075] 4. Based on QR code visual positioning technology, it can improve the positioning error of template 2, making it easier for the template pushing device to grasp and move template 2.

[0076] In summary, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0077] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A force-position hybrid control method for an automatic template pusher, used to control a template pushing device to push the template to a preset target position, comprising: Template positioning and moving grasping: Determining the target pose of the positioning and clamping structure on the template, including: determining the target pose of the positioning and clamping structure on the template in the template pushing device coordinate system using visual positioning, wherein the template pushing device coordinate system is aligned with the world coordinate system O. c X c Y c Z c Parallel; based on the target pose, control the movement control end of the template pushing device to drive the clamping mechanism to move to the positioning clamping structure, so that the clamping mechanism is connected to the positioning clamping structure; Movement and positioning adjustment: The movement control terminal moves the template to a preset target position. During the movement, the coordinates between the clamping mechanism and the movement control terminal in the world coordinate system O are obtained. c X c Y c Z c X c Y c and Z c Directional force F X F Y and F Z And based on F X F Y F Z Based on preset motion judgment conditions, the movement control terminal is adjusted in X... c Y c and Z c The motion state in the direction; wherein the motion state adjustment methods of the mobile control terminal include: X c Adjustment method for motion: When the acquired F X Less than the preset X-axis judgment threshold F X0 At that time, the mobile control terminal is in X c Continue moving upwards, when the acquired F X Greater than or equal to the preset X-axis judgment threshold F X0 At that time, the mobile control terminal is based on F X With F X0 The deviation is X c Upward posture adjustment; Y c Adjustment method for motion: When the acquired F Y Less than the preset Y-axis judgment threshold F Y0 At that time, the mobile control terminal is in Y c Continue moving upwards, when the acquired F Y Greater than or equal to the preset Y-axis judgment threshold F Y0 At that time, the mobile control terminal is based on F Y With F Y0 The deviation of Y c Upward posture adjustment; According to the preset target location at X c Set the X coordinate upwards. c To the limit stop, in Y c Set the upward coordinate Y c To the limit stop; the moving control end first moves the template to the X c To move, and through X c The motion adjustment method controls the movement of the mobile control end, keeping the template aligned with X. c When the template reaches the preset target position at the position where it abuts against the limit block, it is at the X position. c The upward coordinate position; then the movement control terminal moves the template in the Y direction. c To move, and through Y c The motion control terminal is moved according to the motion adjustment method, so that the template is positioned relative to the Y-axis. c When the template reaches the preset target position at the position where it abuts against the limit block, it is at the Y-axis. c The upward coordinate.

2. The force-position hybrid control method according to claim 1, characterized in that: The visual positioning method includes: A visual positioning mark is fixedly provided on the template. The detected pose of the visual positioning mark in the world coordinate system is obtained, and the fixed offset between the visual positioning mark and the positioning clamping structure is obtained. The detected pose is converted to obtain the transformed pose of the visual positioning mark in the template pushing device coordinate system; Based on the transformed pose and the fixed offset, the target pose of the positioning clamping structure in the template pushing device coordinate system is obtained.

3. The force-position hybrid control method according to claim 1, characterized in that: In the motion and positioning adjustment process, the motion state adjustment methods of the motion control terminal include: Z c Adjustment method for motion: The acquired force F Z With Z c Comparison of the preset expected force in the direction, if Z is generated c The force deviation on the axis is used to calculate the pose correction amount, and the motion control terminal is adjusted based on the pose correction amount.

4. The force-position hybrid control method according to claim 3, characterized in that: The Z c In the motion adjustment method, the pose correction amount is obtained based on the force deviation as follows: ,in, For Z c Force deviation on the shaft and These are the proportional and integral gains, respectively. This is the pose correction amount.

5. The force-position hybrid control method according to claim 1, characterized in that: The Y c In the motion adjustment method, the motion control terminal is based on F Y With F Y0 The deviation of Y c Upward pose adjustment includes: , For Y c Displacement adjustment on the shaft This is the stiffness coefficient.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the terminal, it implements the force-position hybrid control method as described in any one of claims 1 to 5.

7. A terminal, characterized in that, include: Processor and memory; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory to cause the terminal to perform the force-position hybrid control method according to any one of claims 1 to 5.

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