An electric clamp jaw control system, method, and computer readable storage medium

Abstract

The application discloses an electric clamp control system, method and computer readable storage medium, relates to the electric clamp technical field, and comprises a multi-source signal access and data bus module, which is used for synchronously acquiring various physical quantities of an electric clamp, and encapsulating various physical quantities acquired at the same sampling time into a synchronous data packet in a preset standardized data format; a contact state information generation module, which is connected with a data output interface of the multi-source signal access and data bus module through a data input interface, is used for receiving the synchronous data packet, analyzing various physical quantities contained in the synchronous data packet, and generating contact state information of the electric clamp; a control strategy calling and executing module, which is connected with a data output interface of the contact state information generation module through a data input interface and connected with the electric clamp through an instruction output interface, is used for receiving the contact state information, generating a target control strategy of the electric clamp according to the contact state information, and controlling the electric clamp to operate according to the target control strategy.

Description

Technical Field

[0001] This application relates to the field of electric gripper technology, and in particular to an electric gripper control system, method and computer-readable storage medium. Background Technology

[0002] As a core end effector in robots and automation equipment, electric grippers are widely used in tasks such as workpiece gripping, handling, and assembly. With the increasing complexity of industrial applications, higher requirements are being placed on the control accuracy and reliability of electric grippers in high-speed operation, gripping workpieces of different materials, and under complex working conditions.

[0003] Existing electric gripper control systems typically rely on a single physical quantity (such as motor current or displacement signal) to determine the gripping state and trigger control strategy switching based on a preset threshold. However, this approach is susceptible to environmental interference under complex working conditions, leading to misjudgments of the gripping state and poor system robustness. Furthermore, the control strategy switching is based on a preset threshold, which cannot adapt to changes in workpiece type or operating conditions, resulting in poor system adaptability. Summary of the Invention

[0004] The main objective of this application is to provide an electric gripper control system, method, and computer-readable storage medium, which aims to improve the robustness of the electric gripper control system and its adaptability to actual working conditions of the electric gripper.

[0005] This application provides an electric gripper control system, including: The multi-source signal access and data bus module includes a data output interface for synchronously acquiring various physical quantities of the electric gripper, and encapsulating the various physical quantities acquired at the same sampling time into a synchronous data packet in a preset standardized data format. The various physical quantities include the motor current, position information, contact information and / or motion characteristic information of the electric gripper. The contact state information generation module includes a data input interface and a data output interface. The data input interface of the contact state information generation module is connected to the data output interface of the multi-source signal access and data bus module, and is used to receive the synchronization data packet, analyze the various physical quantities contained in the synchronization data packet, and generate contact state information between the electric gripper and the workpiece. The control strategy invocation and execution module includes a data input interface and an instruction output interface. The data input interface of the control strategy invocation and execution module is connected to the data output interface of the contact state information generation module, and the instruction output interface of the control strategy invocation and execution module is connected to the electric gripper. It is used to: receive the contact state information, generate a target control strategy for the electric gripper based on the contact state information, and control the operation of the electric gripper according to the target control strategy.

[0006] In one embodiment, the contact state information generation module is further configured to: Upon receiving the synchronization data packet, the first source module identifier carried by the synchronization data packet is identified; Verify whether the identifier of the first source module is the same as the valid data source identifier pre-stored by the contact state information generation module; If so, then the step of analyzing the various physical quantities contained in the synchronization data packet and generating the contact state information of the electric gripper is performed.

[0007] In one embodiment, the control strategy invocation and execution module is further configured to: After receiving the contact status information, identify the second source module identifier carried by the contact status information; Verify whether the identifier of the second source module is the same as the valid data source identifier pre-stored by the control strategy invocation and execution module; If so, then the step of generating the target control strategy for the electric gripper based on the contact state information is executed.

[0008] In one embodiment, the multi-source signal access and data bus module is further configured to: The validity of various physical quantities acquired at the same sampling time is verified; Among the various physical quantities acquired at the same sampling time, those that have passed the validity verification are encapsulated into the synchronization data packet using the standardized data format.

[0009] In one embodiment, the contact state information generation module is further configured to: The various physical quantities contained in the synchronization data packet are evaluated respectively to obtain the contact state sub-information corresponding to each of the various physical quantities contained in the synchronization data packet. The contact state sub-information is fused to obtain the contact state information between the electric gripper and the workpiece; The contact state sub-information includes contact occurrence-related state information, contact stability-related state information, and / or contact abnormal change-related state information.

[0010] In one embodiment, the control strategy invocation and execution module is further configured to: Based on the preset mapping relationship between contact state information and control strategy, the control strategy corresponding to the contact state information is obtained as the target control strategy.

[0011] In one embodiment, the data output interface of the multi-source signal access and data bus module, the data input interface and data output interface of the contact state information generation module, and the data input interface and instruction output interface of the control strategy invocation and execution module all adopt the same interface specification.

[0012] In one embodiment, when the multi-source signal access and data bus module synchronously acquires various physical quantities of the electric gripper, the sampling period used is less than 1 millisecond.

[0013] Furthermore, to achieve the above objectives, this application also provides an electric gripper control method, applied to the electric gripper control system described above, the method comprising: Synchronously acquire various physical quantities of the electric gripper, and encapsulate the various physical quantities acquired at the same sampling time into a synchronous data packet in a preset standardized data format. The various physical quantities include the motor current, position information, contact information and / or motion characteristic information of the electric gripper. Analyze the various physical quantities contained in the synchronization data packet to generate contact state information between the electric gripper and the workpiece; Based on the contact state information, a target control strategy for the electric gripper is generated; The electric gripper is controlled to operate according to the target control strategy.

[0014] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the electric gripper control method as described above.

[0015] This application provides an electric gripper control system, comprising: a multi-source signal access and data bus module, which includes a data output interface for synchronously acquiring various physical quantities of the electric gripper and encapsulating the various physical quantities acquired at the same sampling time into a synchronous data packet in a preset standardized data format. The various physical quantities include the motor current, position information, contact information, and / or motion characteristic information of the electric gripper; and a contact state information generation module, which includes a data input interface and a data output interface. The data input interface of the contact state information generation module is connected to the multi-source signal access and data bus module. The data output interface of the line module is used to receive synchronous data packets, analyze the various physical quantities contained in the synchronous data packets, and generate contact state information between the electric gripper and the workpiece. The control strategy invocation and execution module includes a data input interface and an instruction output interface. The data input interface of the control strategy invocation and execution module is connected to the data output interface of the contact state information generation module, and the instruction output interface of the control strategy invocation and execution module is connected to the electric gripper. It is used to: receive contact state information, generate a target control strategy for the electric gripper based on the contact state information, and control the operation of the electric gripper according to the target control strategy.

[0016] Therefore, the technical solution provided in this application, by setting up a multi-source signal access and data bus module, synchronously acquires multiple physical quantities such as motor current, position information, contact information, and / or motion characteristic information of the electric gripper, and encapsulates them into a synchronous data packet in a standardized data format. This enables subsequent processing to acquire multi-dimensional sensing information, overcoming the problem of misjudgment caused by environmental interference when relying on a single physical quantity for state judgment. Based on this, by setting up a contact state information generation module, the various physical quantities in the synchronous data packet are comprehensively analyzed to generate unified contact state information, providing a standardized basis for control decisions. This ensures that the triggering of the control strategy no longer directly depends on the original sensor signal. Furthermore, by setting up a control strategy invocation and execution module, the target control strategy is dynamically generated based on the contact state information, enabling the control strategy to adaptively adjust according to the real-time contact state, rather than switching based on a fixed preset threshold.

[0017] Furthermore, since the multi-source signal access and data bus module has only one data output interface, the contact state information generation module has only one data input interface and one data output interface, and the control strategy invocation and execution module has only one data input interface and one instruction output interface, this makes the data interaction channels between the modules in the electric gripper control system unique and standardized. This avoids the confusion of data sources and control logic conflicts caused by parallel access of multiple interfaces, which helps the electric gripper control system generate accurate and reliable control strategies and further improves the robustness of the electric gripper control system.

[0018] In summary, the technical solution provided in this application can improve the robustness of the electric gripper control system and its adaptability to the actual working conditions of the electric gripper. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the module structure of the electric gripper control system provided in the first embodiment of this application; Figure 2 This is a schematic flowchart of the fuel electric gripper control method provided in an embodiment of this application.

[0022] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0023] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0024] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0025] As a core end effector in robots and automation equipment, electric grippers are widely used in tasks such as workpiece gripping, handling, and assembly. With the increasing complexity of industrial applications, higher requirements are being placed on the control accuracy and reliability of electric grippers in high-speed operation, gripping workpieces of different materials, and under complex working conditions.

[0026] Existing electric gripper control systems typically rely on a single physical quantity (such as motor current or displacement signal) to determine the gripping state and trigger control strategy switching based on a preset threshold. However, this approach is susceptible to environmental interference under complex working conditions, leading to misjudgments of the gripping state and poor system robustness. Furthermore, the control strategy switching is based on a preset threshold, which cannot adapt to changes in workpiece type or operating conditions, resulting in poor system adaptability.

[0027] Based on this, this application provides an electric gripper control system, including: a multi-source signal access and data bus module, which includes a data output interface for synchronously acquiring various physical quantities of the electric gripper and encapsulating the various physical quantities acquired at the same sampling time into a synchronous data packet in a preset standardized data format. The various physical quantities include the motor current, position information, contact information, and / or motion characteristic information of the electric gripper; and a contact state information generation module, which includes a data input interface and a data output interface. The data input interface of the contact state information generation module is connected to the multi-source signal access and data bus module. The bus module's data output interface receives synchronous data packets, analyzes the various physical quantities contained in the synchronous data packets, and generates contact state information between the electric gripper and the workpiece. The control strategy invocation and execution module includes a data input interface and an instruction output interface. The data input interface of the control strategy invocation and execution module is connected to the data output interface of the contact state information generation module, and the instruction output interface of the control strategy invocation and execution module is connected to the electric gripper. It is used to: receive contact state information, generate a target control strategy for the electric gripper based on the contact state information, and control the operation of the electric gripper according to the target control strategy.

[0028] Therefore, the technical solution provided in this application, by setting up a multi-source signal access and data bus module, synchronously acquires multiple physical quantities such as motor current, position information, contact information, and / or motion characteristic information of the electric gripper, and encapsulates them into a synchronous data packet in a standardized data format. This enables subsequent processing to acquire multi-dimensional sensing information, overcoming the problem of misjudgment caused by environmental interference when relying on a single physical quantity for state judgment. Based on this, by setting up a contact state information generation module, the various physical quantities in the synchronous data packet are comprehensively analyzed to generate unified contact state information, providing a standardized basis for control decisions. This ensures that the triggering of the control strategy no longer directly depends on the original sensor signal. Furthermore, by setting up a control strategy invocation and execution module, the target control strategy is dynamically generated based on the contact state information, enabling the control strategy to adaptively adjust according to the real-time contact state, rather than switching based on a fixed preset threshold.

[0029] Furthermore, since the multi-source signal access and data bus module has only one data output interface, the contact state information generation module has only one data input interface and one data output interface, and the control strategy invocation and execution module has only one data input interface and one instruction output interface, this makes the data interaction channels between the modules in the electric gripper control system unique and standardized. This avoids the confusion of data sources and control logic conflicts caused by parallel access of multiple interfaces, which helps the electric gripper control system generate accurate and reliable control strategies and further improves the robustness of the electric gripper control system.

[0030] In summary, the technical solution provided in this application can improve the robustness of the electric gripper control system and its adaptability to the actual working conditions of the electric gripper.

[0031] This application presents a first embodiment of an electric gripper control system; please refer to [link / reference]. Figure 1 The electric gripper control system may include: The multi-source signal access and data bus module 10 includes a data output interface for synchronously acquiring various physical quantities of the electric gripper, and encapsulating the various physical quantities acquired at the same sampling time into a synchronous data packet in a preset standardized data format. The various physical quantities include the motor current, position information, contact information and / or motion characteristic information of the electric gripper. The contact state information generation module 20 includes a data input interface and a data output interface. The data input interface of the contact state information generation module 20 is connected to the data output interface of the multi-source signal access and data bus module 10. It is used to receive synchronous data packets, analyze the various physical quantities contained in the synchronous data packets, and generate contact state information between the electric gripper and the workpiece. The control strategy invocation and execution module 30 includes a data input interface and an instruction output interface. The data input interface of the control strategy invocation and execution module 30 is connected to the data output interface of the contact state information generation module 20, and the instruction output interface of the control strategy invocation and execution module 30 is connected to the electric gripper. It is used to: receive contact state information, generate a target control strategy for the electric gripper based on the contact state information, and control the operation of the electric gripper according to the target control strategy.

[0032] It should be noted that physical quantities refer to quantitative data reflecting the operating state of the electric gripper, obtained directly by sensors or indirectly by calculation. Motor current refers to the current value of the motor driving the electric gripper during operation, reflecting changes in driving torque and contact force. Position information refers to the displacement or position feedback value of the gripper's fingertips or drive mechanism, reflecting the gripper's motion state. Contact information refers to signals directly measured by force sensors, tactile sensors, or pressure sensors, reflecting the force state at the interface between the electric gripper and the workpiece. Motion characteristic information refers to dynamic characteristics derived from basic physical quantities (such as motor current, position information, and contact information), such as velocity, acceleration, or spectral characteristics. Synchronous acquisition refers to simultaneous latching and sampling of all access signal channels under the trigger of the same sampling clock. Standardized data format refers to a predefined unified data structure that specifies the arrangement, data type, and length of each field. A synchronous data packet refers to a frame of standardized data formed by encapsulating various physical quantities acquired at the same sampling moment according to a preset standardized data format.

[0033] Additionally, it should be noted that the contact state information is a comprehensive abstract description of the current contact process between the electric gripper and the workpiece. It is a continuous value or a multi-dimensional vector used to characterize the occurrence, degree, stability, and / or abnormal trends of contact. The target control strategy refers to the control strategy that needs to be invoked or switched to in order to adapt to the current contact state between the electric gripper and the workpiece and achieve stable and reliable gripping of the workpiece. The control strategy can be a force feedback control strategy or a position feedback control strategy, etc., and this embodiment does not specifically limit it.

[0034] In one feasible implementation, when the multi-source signal access and data bus module 10 encapsulates various physical quantities acquired at the same sampling time into a synchronization data packet using a preset standardized data format, it can first verify the validity of various physical quantities acquired at the same sampling time; then, among the various physical quantities acquired at the same sampling time, each physical quantity that has passed the validity verification is encapsulated into a synchronization data packet using a standardized data format.

[0035] It should be noted that validity verification involves checking the values ​​or signal states of various physical quantities before encapsulating synchronization data packets to determine whether they are within a reasonable range or meet preset quality conditions, in order to determine whether the physical quantity can be used for subsequent analysis.

[0036] In the first feasible implementation, when validating various physical quantities acquired at the same sampling time, a reasonable numerical range can be pre-set for each type of physical quantity. This reasonable numerical range can be determined based on the physical parameters and working conditions of the electric gripper. For example, the reasonable numerical range for motor current is 0 to 1.2 times the rated current, and the reasonable numerical range for position information is between the start and end limits of the mechanical stroke. Thus, when the acquired physical quantity value falls within the reasonable numerical range corresponding to that physical quantity, the physical quantity can be determined to have passed the validity verification; otherwise, the physical quantity has not passed the validity verification. In the second feasible implementation, considering that various physical quantities can be transmitted from the sensor to the multi-source signal access and data bus module 10 through a digital communication interface, the data frame usually carries a cyclic redundancy check code or parity check bit during transmission. Therefore, the check code carried by the physical quantity can be verified. If the verification passes, it indicates that no error occurred in the data transmission, and the validity verification is determined to have passed; if the verification fails, it indicates that a bit error occurred in the data transmission, and the verification is determined to have failed. In a third feasible implementation, a maximum allowable rate of change can be preset for each type of physical quantity. Therefore, if the change between the current sampled value and the previous sampled value of a physical quantity exceeds the maximum rate of change corresponding to that physical quantity, it is determined to be an abnormal jump, and the physical quantity fails the validity verification. This embodiment does not specifically limit the implementation method for validating various types of physical quantities acquired at the same sampling time.

[0037] This embodiment limits the multi-source signal access and data bus module 10 to performing validity verification on each physical quantity before encapsulating it into a synchronous data packet using a preset standardized data format. Only the verified physical quantities are encapsulated and output. Therefore, invalid or unreliable physical quantities are not transmitted to the subsequent contact state information generation module 20, effectively avoiding invalid analysis of abnormal or erroneous physical quantities and improving the accuracy and reliability of the subsequently generated contact states.

[0038] In one feasible implementation, when the contact state information generation module 20 analyzes the various physical quantities contained in the synchronization data packet and generates contact state information between the electric gripper and the workpiece, it can first evaluate the various physical quantities contained in the synchronization data packet separately to obtain the contact state sub-information corresponding to each of the various physical quantities contained in the synchronization data packet; then, it merges the contact state sub-information to obtain the contact state information between the electric gripper and the workpiece; wherein, each contact state sub-information includes contact occurrence-related state information, contact stability-related state information, and / or contact abnormal change-related state information.

[0039] It should be noted that the contact state sub-information is a component obtained by independently analyzing a single type of physical quantity, reflecting the contact state between the electric gripper and the workpiece from a certain dimension. Contact occurrence-related state information describes whether contact has occurred between the electric gripper and the workpiece and the degree of contact. Contact stability-related state information describes whether the current contact state between the electric gripper and the workpiece is stable and whether there are fluctuations. Contact anomaly change-related state information describes whether the contact state between the electric gripper and the workpiece has undergone abrupt changes or exhibits a slippage trend.

[0040] When evaluating the various physical quantities contained in the synchronization data packet to obtain the contact state sub-information corresponding to each physical quantity, the contact occurrence-related state information can be determined based on the motor current. For example, if the motor current is less than the preset contact current threshold, the contact occurrence-related state information can be determined to be 0 or close to 0, indicating that the electric gripper is not in contact with the workpiece. If the motor current is greater than or equal to the preset contact current threshold and less than the preset sufficient contact current threshold, the contact occurrence-related state information can be determined to be linearly or nonlinearly mapped to a certain range (such as 0.2~0.8) with the current value, indicating the contact transition stage. If the motor current is greater than or equal to the preset sufficient contact current threshold, the contact occurrence-related state information can be determined to be 1 or close to 1, indicating that the electric gripper has made sufficient contact with the workpiece.

[0041] Contact-related status information can be determined based on position information. For example, a contact reference position can be preset. If the current actual position is far from the contact reference position, the contact-related status information value can be determined to be 0 or close to 0, indicating that the electric gripper is not in contact with the workpiece. If the current actual position reaches or exceeds the contact reference position, the contact-related status information value can be determined to be close to 1, indicating that the electric gripper has made contact with the workpiece. Alternatively, contact-related status information can be determined based on the stagnation characteristics of position information changes. When the change in position information is consistently lower than a preset stagnation threshold over multiple consecutive sampling periods, it indicates that the movement of the electric gripper's fingertips is obstructed and it has made contact with the workpiece. In this case, the value of the contact-related status information can be adjusted in the direction of contact.

[0042] Contact occurrence-related state information and / or contact stability-related state information can be determined based on contact information. For example, a preset contact force threshold can be used. If the force signal is below this threshold, the value of the contact occurrence-related state information is close to 0, indicating that the electric gripper is not in contact with the workpiece. If the force signal exceeds this threshold, the value of the contact occurrence-related state information increases monotonically with the force value, and approaches 1 when the force value reaches a preset maximum clamping force. Alternatively, the force signal can be differentially processed. When the force increment suddenly increases positively from near zero within adjacent sampling periods and exceeds a preset increment threshold, it is determined as the instant of contact. At this time, the contact occurrence-related state information can be determined to rapidly increase from a low value. Furthermore, contact stability-related state information can be determined based on the fluctuation amplitude of the force signal after contact. If the fluctuation amplitude of the force signal is less than a preset stable fluctuation threshold, the value of the contact stability-related state information is close to 1, indicating that the contact state is stable. If the fluctuation amplitude of the force signal is large, the value of the contact stability-related state information is low, indicating that the contact state is fluctuating.

[0043] Based on motion characteristic information, contact-related state information and / or contact anomaly change-related state information can be determined. For example, during the closing process of an electric gripper, if the fingertip movement speed decreases significantly without receiving a deceleration command, it indicates that the electric gripper is experiencing external resistance and has made contact with the workpiece. In this case, the value of the contact-related state information can be adjusted towards the contact direction. Similarly, acceleration signals can be monitored. If the acceleration shows a sudden increase or decrease beyond the normal range of motion, a collision or slippage event can be identified, and the value of the contact anomaly change-related state information can be increased accordingly to indicate an abnormal change in the contact state.

[0044] In the first feasible implementation, when fusing various contact state sub-information to obtain the contact state information between the electric gripper and the workpiece, a weighting coefficient can be preset for each type of contact state sub-information. Therefore, the preset weighting coefficients can be used to perform weighted fusion processing on each contact state sub-information to obtain the contact state information between the electric gripper and the workpiece. In the second feasible implementation, the values ​​of each contact state sub-information can be directly compared, and the maximum value is taken as the final contact state information. This implementation is suitable for scenarios where each contact state sub-information independently reflects the degree of contact, and the system tends to use the most sensitive dimension as the judgment criterion, ensuring the response speed of the contact state. In the third feasible implementation, each contact state sub-information can be accompanied by a corresponding confidence evaluation value during generation. During fusion, contact state sub-information with higher confidence can be assigned a larger fusion weight, and contact state sub-information with lower confidence can be assigned a smaller fusion weight. Based on this, weighted fusion processing is performed on each contact state sub-information to obtain the contact state information between the electric gripper and the workpiece. This implementation can automatically suppress the contribution of unreliable dimensions when sensor signal quality fluctuates. This embodiment does not specifically limit the implementation method of fusing the contact state sub-information to obtain the contact state information between the electric gripper and the workpiece.

[0045] In this embodiment, the contact state information generation module 20, when analyzing the various physical quantities contained in the synchronous data packet to generate contact state information between the electric gripper and the workpiece, first independently evaluates each type of physical quantity to obtain contact state sub-information corresponding to each physical quantity, and then fuses the sub-information to generate the final contact state information. Therefore, since each physical quantity is processed independently first, anomalies or fluctuations in a single type of physical quantity only affect its corresponding sub-information and do not directly contaminate the evaluation results of other dimensions. Based on this, through subsequent fusion steps, contact state sub-information from multiple dimensions is integrated, and the dimensions can complement and verify each other, making the final generated contact state information more accurate and reliable.

[0046] In one feasible implementation, when the control strategy invocation and execution module 30 generates the target control strategy for the electric gripper based on the contact state information, it can obtain the control strategy corresponding to the contact state information based on the preset mapping relationship between the contact state information and the control strategy, and use it as the target control strategy.

[0047] It should be noted that the mapping relationship between contact state information and control strategy can be recorded using relational tables, relational functions, or other methods. This embodiment does not impose any specific limitations on this.

[0048] In this embodiment, the control strategy invocation and execution module 30 directly maps the contact state information to the target control strategy through a preset mapping relationship. This makes the determination of the control strategy no longer dependent on a fixed preset threshold, but rather forms a dynamic correspondence with the real-time contact state. When the workpiece type, size, or operating conditions change, the contact state information will change accordingly, and the control strategy will also be adaptively adjusted, thereby improving the adaptability of the electric gripper control system to different working conditions.

[0049] In one feasible implementation, the data output interface of the multi-source signal access and data bus module 10, the data input interface and data output interface of the contact status information generation module 20, and the data input interface and instruction output interface of the control strategy call and execution module 30 all adopt the same interface specifications.

[0050] It should be noted that an interface specification refers to a predefined set of unified rules for defining the data interaction methods between modules. This may include, but is not limited to, data structure definitions, field arrangement, data types, and lengths. This embodiment does not impose specific limitations on these aspects. The interface specification is used to ensure that different modules can correctly parse the data they transmit to each other.

[0051] This embodiment adopts the same interface specification for the data output and input interfaces of the multi-source signal access and data bus module 10, the contact state information generation module 20, and the control strategy invocation and execution module 30, ensuring that data interaction between modules follows a unified rule. Because the data interaction between modules follows a unified rule, when a module needs to be replaced or upgraded, the new module can be directly connected as long as it conforms to the interface specification, without modifying other modules it interfaces with. Similarly, when a new sensor type or a new control algorithm needs to be added, expansion can be achieved simply by following the interface specification. Therefore, this embodiment reduces the coupling between the modules of the electric gripper control system and improves the scalability and maintainability of the electric gripper control system.

[0052] In one feasible implementation, when the multi-source signal access and data bus module 10 synchronously acquire various physical quantities of the electric gripper, the sampling period used is less than 1 millisecond.

[0053] It should be noted that the sampling period refers to the time interval between two adjacent sampling operations of various physical quantities by the multi-source signal access and data bus module 10, and its reciprocal is the sampling frequency.

[0054] This embodiment uses a multi-source signal access and data bus module 10 to synchronously acquire various physical quantities with a sampling period of less than 1 millisecond. Because the sampling period is sufficiently short, the instantaneous changes in the contact state of the electric gripper during high-speed operation can be captured and reflected in the synchronous data packet in a timely manner, avoiding the problem of missed contact events or delayed response due to excessively large sampling intervals. Based on this, the contact state information generation module 20 and the control strategy invocation and execution module 30 can perform state determination and control output based on high-density real-time data, enabling the electric gripper control system to respond promptly to transient conditions such as rapid contact, sliding, or collision, thereby improving the dynamic response performance and real-time control of the electric gripper system.

[0055] As can be seen from the above, the technical solution provided in this embodiment, by setting up a multi-source signal access and data bus module 10, synchronously acquires multiple physical quantities such as motor current, position information, contact information, and / or motion characteristic information of the electric gripper, and encapsulates them into a synchronous data packet in a standardized data format. This enables subsequent processing to acquire multi-dimensional sensing information, overcoming the problem of misjudgment caused by environmental interference when relying on a single physical quantity for state judgment. On this basis, by setting up a contact state information generation module 20, the various physical quantities in the synchronous data packet are comprehensively analyzed and a unified contact state information is generated, providing a standardized judgment basis for control decisions, so that the triggering of the control strategy no longer directly depends on the original sensor signal. Furthermore, by setting up a control strategy invocation and execution module 30, the target control strategy is dynamically generated based on the contact state information, so that the control strategy can be adaptively adjusted according to the real-time contact state, rather than switching based on a fixed preset threshold.

[0056] Furthermore, since the multi-source signal access and data bus module 10 has only one data output interface, the contact state information generation module 20 has only one data input interface and one data output interface, and the control strategy invocation and execution module 30 has only one data input interface and one instruction output interface, this makes the data interaction channel between the modules in the electric gripper control system unique and standardized. This avoids the confusion of data sources and control logic conflicts caused by parallel access of multiple interfaces, which helps the electric gripper control system generate accurate and reliable control strategies and further improves the robustness of the electric gripper control system.

[0057] In summary, the technical solution provided in this embodiment can improve the robustness of the electric gripper control system and its adaptability to the actual working conditions of the electric gripper.

[0058] Based on the first embodiment described above, a second embodiment of the electric gripper control system of this application is proposed. In the second embodiment, the contact state information generation module 20 is further configured to: Upon receiving the synchronization data packet, identify the first source module identifier carried in the synchronization data packet; Verify whether the identifier of the first source module is the same as the valid data source identifier pre-stored in the contact status information generation module 20; If so, then the steps of analyzing the various physical quantities contained in the synchronization data packet and generating contact status information of the electric gripper are performed.

[0059] It should be noted that the first source module identifier refers to the identity marker information carried in the synchronization data packet, used to identify which module generated and sent the synchronization data packet. The legitimate data source identifier pre-stored in the contact state information generation module 20 refers to the identity marker information pre-stored in the contact state information generation module 20, used to characterize the legitimate source module that is allowed to provide data to this module.

[0060] In this embodiment, after receiving a synchronization data packet, the contact status information generation module 20 first verifies the source of the data packet. Only when the source module identifier matches the valid data source identifier pre-stored by the contact status information generation module 20 will subsequent analysis be performed based on the synchronization data packet and contact status information be generated. Through this verification strategy, the contact status information generation module 20 can reject input from illegal or unexpected data sources, ensuring that the data source entering the status generation stage is reliable and preventing errors in status information generation due to chaotic data sources or incorrect injection, thereby improving the reliability and safety of the electric gripper control system.

[0061] Based on the first and / or second embodiments described above, a third embodiment of the electric gripper control system of this application is proposed. In the third embodiment, the control strategy invocation and execution module 30 is further configured to: After receiving the contact status information, identify the second source module identifier carried in the contact status information; Verify whether the identifier of the second source module is the same as the valid data source identifier pre-stored in the control policy invocation and execution module 30; If so, then execute the step of generating a target control strategy for the electric gripper based on the contact state information.

[0062] It should be noted that the second source module identifier refers to the identity marker information carried in the contact status information, used to identify which module generated and issued the contact status information. The legitimate data source identifier pre-stored in the control policy invocation and execution module 30 refers to the identity marker information pre-stored in the control policy invocation and execution module 30, used to characterize the legitimate source module that is allowed to provide contact status information to this module.

[0063] In this embodiment, after receiving the contact status information, the control strategy invocation and execution module 30 first verifies the source of the contact status information. Only when the source module identifier is the same as the valid data source identifier pre-stored by the control strategy invocation and execution module 30, will the target control strategy be generated based on the contact status information. Through this verification strategy, the control strategy invocation and execution module 30 can reject inputs from illegal or unexpected sources, ensuring that all control decisions are based on the output of the contact status information generation module 20, the unique state center. This prevents any signal that bypasses the contact status information generation module 20 from directly driving the control output, thereby ensuring the uniqueness and reliability of the system's control decision source and improving the operational safety and reliability of the electric gripper control system.

[0064] This application also provides an electric gripper control method, please refer to... Figure 2 The electric gripper control method may include steps S10 to S40: Step S10: Synchronously acquire various physical quantities of the electric gripper, and encapsulate the various physical quantities acquired at the same sampling time into a synchronous data packet in a preset standardized data format. The various physical quantities include the motor current, position information, contact information and / or motion characteristic information of the electric gripper. Step S20: Analyze the various physical quantities contained in the synchronization data packet to generate contact state information between the electric gripper and the workpiece; Step S30: Generate the target control strategy for the electric gripper based on the contact state information; Step S40: Control the operation of the electric gripper according to the target control strategy.

[0065] In one feasible implementation, prior to step S20, the electric gripper control method may further include: Upon receiving the synchronization data packet, identify the first source module identifier carried in the synchronization data packet; Verify whether the identifier of the first source module is the same as the valid data source identifier pre-stored by the contact status information generation module; If so, then the steps of analyzing the various physical quantities contained in the synchronization data packet and generating contact status information of the electric gripper are performed.

[0066] In one feasible implementation, prior to step S30, the electric gripper control method may further include: After receiving the contact status information, identify the second source module identifier carried in the contact status information; Verify whether the identifier of the second source module is the same as the valid data source identifier pre-stored in the control policy invocation and execution module; If so, then execute the step of generating a target control strategy for the electric gripper based on the contact state information.

[0067] In one feasible implementation, step S10 may include: The validity of various physical quantities acquired at the same sampling time is verified; Among the various physical quantities acquired at the same sampling time, those that have passed validity verification are encapsulated into a synchronization data packet in a standardized data format.

[0068] In one feasible implementation, step S20 may include: The various physical quantities contained in the synchronization data packet are evaluated to obtain the contact state sub-information corresponding to each of the various physical quantities contained in the synchronization data packet. By fusing the contact state sub-information, the contact state information between the electric gripper and the workpiece is obtained; Each contact state sub-information includes contact occurrence-related state information, contact stability-related state information, and / or contact abnormal change-related state information.

[0069] In one feasible implementation, step S30 may include: Based on the preset mapping relationship between contact state information and control strategy, the control strategy corresponding to the contact state information is obtained as the target control strategy.

[0070] Compared with the prior art, the beneficial effects of the electric gripper control method provided in this application embodiment are the same as the beneficial effects of the electric gripper control system provided in the above embodiment, and other technical features in the electric gripper control method are the same as the features disclosed in the above embodiment, and will not be repeated here.

[0071] This application also provides a computer-readable storage medium storing a computer program that can run on a processor. The computer program is used to execute the electric gripper control method in the above embodiments.

[0072] The computer-readable storage medium provided in this application embodiment may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0073] The aforementioned computer-readable storage medium may be included in the electric gripper control system; or it may exist independently and not be assembled into the electric gripper control system.

[0074] The aforementioned computer-readable storage medium carries one or more programs. When the aforementioned one or more programs are executed by the electric gripper control system, the electric gripper control system causes the following: synchronously acquires various physical quantities of the electric gripper, and encapsulates the various physical quantities acquired at the same sampling time into a synchronous data packet in a preset standardized data format. The various physical quantities include the motor current, position information, contact information, and / or motion characteristic information of the electric gripper; analyzes the various physical quantities contained in the synchronous data packet to generate contact state information between the electric gripper and the workpiece; generates a target control strategy for the electric gripper based on the contact state information; and controls the operation of the electric gripper according to the target control strategy.

[0075] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0076] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0077] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0078] The computer-readable storage medium provided in this application embodiment stores computer-readable program instructions for executing the above-described electric gripper control method, which can improve the robustness of the electric gripper control system and its adaptability to actual working conditions of the electric gripper. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application embodiment are the same as the beneficial effects of the electric gripper control method provided in the above embodiments, and will not be repeated here.

[0079] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the electric gripper control method described above.

[0080] The computer program product provided in this application can improve the robustness of the electric gripper control system and its adaptability to actual working conditions of the electric gripper. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the electric gripper control method provided in the above embodiments, and will not be repeated here.

[0081] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An electric gripper control system, characterized in that, include: The multi-source signal access and data bus module includes a data output interface for synchronously acquiring various physical quantities of the electric gripper, and encapsulating the various physical quantities acquired at the same sampling time into a synchronous data packet in a preset standardized data format. The various physical quantities include the motor current, position information, contact information and / or motion characteristic information of the electric gripper. The contact state information generation module includes a data input interface and a data output interface. The data input interface of the contact state information generation module is connected to the data output interface of the multi-source signal access and data bus module, and is used to receive the synchronization data packet, analyze the various physical quantities contained in the synchronization data packet, and generate contact state information between the electric gripper and the workpiece. The control strategy invocation and execution module includes a data input interface and an instruction output interface. The data input interface of the control strategy invocation and execution module is connected to the data output interface of the contact state information generation module, and the instruction output interface of the control strategy invocation and execution module is connected to the electric gripper. It is used to: receive the contact state information, generate a target control strategy for the electric gripper based on the contact state information, and control the operation of the electric gripper according to the target control strategy.

2. The electric gripper control system as described in claim 1, characterized in that, The contact state information generation module is also used for: Upon receiving the synchronization data packet, the first source module identifier carried by the synchronization data packet is identified; Verify whether the identifier of the first source module is the same as the valid data source identifier pre-stored by the contact state information generation module; If so, then the step of analyzing the various physical quantities contained in the synchronization data packet and generating the contact state information of the electric gripper is performed.

3. The electric gripper control system as described in claim 1, characterized in that, The control strategy invocation and execution module is also used for: After receiving the contact status information, identify the second source module identifier carried by the contact status information; Verify whether the identifier of the second source module is the same as the valid data source identifier pre-stored by the control strategy invocation and execution module; If so, then the step of generating the target control strategy for the electric gripper based on the contact state information is executed.

4. The electric gripper control system as described in claim 1, characterized in that, The multi-source signal access and data bus module is also used for: The validity of various physical quantities acquired at the same sampling time is verified; Among the various physical quantities acquired at the same sampling time, those that have passed the validity verification are encapsulated into the synchronization data packet using the standardized data format.

5. The electric gripper control system as described in claim 1, characterized in that, The contact state information generation module is also used for: The various physical quantities contained in the synchronization data packet are evaluated respectively to obtain the contact state sub-information corresponding to each of the various physical quantities contained in the synchronization data packet. The contact state sub-information is fused to obtain the contact state information between the electric gripper and the workpiece; The contact state sub-information includes contact occurrence-related state information, contact stability-related state information, and / or contact abnormal change-related state information.

6. The electric gripper control system as described in claim 1, characterized in that, The control strategy invocation and execution module is also used for: Based on the preset mapping relationship between contact state information and control strategy, the control strategy corresponding to the contact state information is obtained as the target control strategy.

7. The electric gripper control system as described in any one of claims 1 to 6, characterized in that, The data output interface of the multi-source signal access and data bus module, the data input interface and data output interface of the contact state information generation module, and the data input interface and instruction output interface of the control strategy call and execution module all use the same interface specifications.

8. The electric gripper control system as described in any one of claims 1 to 6, characterized in that, When the multi-source signal access and data bus module synchronously acquires various physical quantities of the electric gripper, the sampling period used is less than 1 millisecond.

9. A method for controlling an electric gripper, characterized in that, The method, applied to the electric gripper control system as described in any one of claims 1 to 8, comprises: Synchronously acquire various physical quantities of the electric gripper, and encapsulate the various physical quantities acquired at the same sampling time into a synchronous data packet in a preset standardized data format. The various physical quantities include the motor current, position information, contact information and / or motion characteristic information of the electric gripper. Analyze the various physical quantities contained in the synchronization data packet to generate contact state information between the electric gripper and the workpiece; Based on the contact state information, a target control strategy for the electric gripper is generated; The electric gripper is controlled to operate according to the target control strategy.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the electric gripper control method as described in claim 9.

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