A machining error compensation method and system based on jaw clamping data

Abstract

The present application relates to a kind of machining error compensation method and system based on gripper clamping data, it is related to workpiece clamping technical field, it includes obtaining current workpiece surface image;Determine mark point based on current workpiece surface image;Determine clamping position based on mark point;Determine the depth of recess of clamping position;When the depth of recess of clamping position falls into adjustable telescopic length range, determine recess clamping end;Determine recess clamping parameter, and control recess clamping end to execute clamping operation;When the depth of recess of clamping position does not fall into adjustable telescopic length range but falls into two adjustable telescopic length range, determine recess auxiliary end;Determine recess clamping parameter and recess auxiliary parameter, and execute clamping operation, control recess auxiliary end to execute clamping operation;Determine correction machining parameter, to execute machining operation.The present application has the effect of expanding the depth of recess of clamping position that gripper can be stably handled, and then reducing machining positioning error.

Description

Technical Field

[0001] This invention relates to the field of workpiece clamping technology, and in particular to a machining error compensation method and system based on gripper clamping data. Background Technology

[0002] In the process of high-precision machining of workpieces, gripper holding is the core link to achieve accurate workpiece positioning and ensure machining accuracy.

[0003] Before machining, the workpiece needs to be firmly clamped at the preset clamping position by the chucks to keep the workpiece in the preset posture, providing a stable reference for subsequent cutting, grinding and other machining operations. The adaptability of the chucks directly determines the machining positioning accuracy, and thus affects the final machining quality.

[0004] Regarding the aforementioned technologies, traditional grippers rely solely on the extension and retraction of a single gripping end to adapt to the recessed position of the workpiece on one side. When the depth of the recess exceeds the adjustable range of the single gripping end, problems such as gripping suspension and workpiece tilting can easily occur, leading to machining positioning errors. Summary of the Invention

[0005] To overcome the problem that a single gripping end of the gripper cannot adapt to a gripping position depression that exceeds its adjustable range, this invention provides a machining error compensation method and system based on gripper gripping data.

[0006] In a first aspect, the present invention provides a machining error compensation method based on gripper clamping data, which adopts the following technical solution: A machining error compensation method based on gripper clamping data includes: Step S1: In response to the clamping signal, acquire the current workpiece surface image through the camera; Step S2: Determine the marker points based on the current workpiece surface image; Step S3: Determine the gripping position based on the marked points; Step S4: Determine the depth of the clamping position recess based on the current workpiece surface image and clamping position; Step S40: When the depth of the recess at the clamping position falls within the preset adjustable telescopic length range, determine the current recessed clamping position and the recessed clamping end corresponding to the current recessed clamping position. Step S41: Determine the recess clamping parameters based on the current recess clamping position, and control the recess clamping end of the clamping component to perform clamping operation according to the recess clamping parameters; Step S42: When the depth of the recess at the clamping position does not fall within the adjustable telescopic length range but falls within twice the preset adjustable telescopic length range, determine the recess assisting end based on the recessed clamping end. Step S43: Determine the depression clamping parameters and depression assistance parameters based on the current depression clamping position, and control the depression clamping end of the clamping component to perform the clamping operation according to the depression clamping parameters, and at the same time control the depression assistance end of the clamping component to perform the clamping operation according to the depression assistance parameters. Step S44: When a concave assistance parameter exists, obtain the current machining parameters and determine the corrected machining parameters through the current workpiece surface image to perform the machining operation.

[0007] By adopting the above technical solution, when a depression exists at the clamping position, the system acquires an image of the current workpiece surface using a camera, identifies the positioning markers, and thus determines the clamping position. Subsequently, the depth of the depression at that clamping position is calculated. If the depression depth is within the adjustable extension range of a single clamping end, the system controls the depressed clamping end to perform clamping according to the calculated depression clamping parameters, ensuring stable clamping. However, when the depression depth exceeds the adjustable range of a single clamping end but is still within twice the adjustable range, the system activates the depression assistance end. At this time, the system not only determines the depression clamping parameters for the depressed clamping end but also determines the depression assistance parameters for the depression assistance end, enabling both to work together to clamp the depressed position, effectively addressing the problem of insufficient travel of a single clamping end.

[0008] Optionally, methods for determining corrected machining parameters using the current workpiece surface image include: Step S440: Determine the corrected gripping position based on the current workpiece surface image; Step S441: Determine the workpiece tilt angle based on the corrected clamping position and the clamping position; Step S442: Determine the correction processing area based on the workpiece tilt angle and the preset processing area; Step S443: Determine the correction processing parameters based on the correction processing area; Step S444: Analyze and correct the machining parameters to determine the angle adjustment amount of the machining components; Step S445: Obtain the current processing component angle, and determine the target processing component angle based on the current processing component angle and the processing component angle adjustment amount; Step S446: When the angle of the target processing component does not fall within the preset range of executable processing angles, output a manual alarm signal; Step S447: When the angle of the target machining component falls within the range of executable machining angles, output the corrected machining parameters.

[0009] By adopting the above technical solution, the corrected clamping position is determined based on the current workpiece surface image. By comparing and analyzing the corrected clamping position with the original clamping position, the potential tilt angle of the workpiece due to clamping can be calculated. Based on this tilt angle and in conjunction with the processing area, the system can determine the corrected processing area, ensuring that the processing operation always acts on the correct target area. This effectively improves the accuracy and reliability of the processing.

[0010] Optionally, methods for outputting a manual alarm signal when the angle of the target machining component does not fall within the range of executable machining angles include: Step S4460: Determine the angle adjustment direction based on the target machining component angle and the range of operable machining angles; Step S4461: Determine the adjustable range of the current concave clamping parameter and the adjustable range of the current concave assistance parameter based on the angle adjustment direction, the adjustable telescopic length range, the concave clamping parameter and the concave assistance parameter; Step S4462: When there is no adjustable range for the current dent clamping parameter or the current dent assistance parameter, output a manual alarm signal; Step S4463: When there is an adjustable range for the current indentation clamping parameter and an adjustable range for the current indentation assistance parameter, output an adjustable signal; Step S4464: In response to the adjustable signal, perform the clamping operation.

[0011] By adopting the above technical solution, based on the comparison between the target machining component angle and the range of operable machining angles, the required angle adjustment direction is determined. The system considers the determined angle adjustment direction, the adjustable telescopic length range of the clamping component itself, and the currently used recess clamping parameters and recess assistance parameters. The algorithm calculates the specific range within which the recess clamping parameters and recess assistance parameters can be further adjusted under the current working conditions. It then assesses whether the existing clamping parameters have adjustment space to adapt to the angle requirements of the machining component.

[0012] Optionally, methods for performing clamping operations in response to an adjustable signal include: Step S44640: Determine the angle mapping relationship through the indentation assistance parameters and the angle of the target machining component; Step S44641: Determine the target adjustment angle based on the angle mapping relationship, the concave assistance parameters, and the range of operable machining angles; Step S44642: Determine the target depression clamping parameters and target depression assistance parameters based on the target adjustment angle, the current adjustable range of the depression clamping parameters, and the current adjustable range of the depression assistance parameters; Step S44643: Perform a clamping operation based on the target depression clamping parameters and the target depression assisting parameters; Step S44644: When there are no target indentation clamping parameters or target indentation assistance parameters, output a manual alarm signal.

[0013] By employing the above technical solution, an angular mapping relationship is established between the concave assistance parameters and the angle of the target machining component, thereby clarifying the change value of the target machining component angle under different concave assistance parameters. Combining the current concave assistance parameters and the range of executable machining angles, the target adjustment angle required to bring the target machining component angle into the range of executable machining angles is calculated and determined. Subsequently, based on the target adjustment angle, and referring to the adjustable ranges of the current concave clamping parameters and the current concave assistance parameters, the target concave clamping parameters and target concave assistance parameters that can achieve the target adjustment angle are selected from feasible parameter combinations. This improves the accuracy of the system's clamping parameter adjustment.

[0014] Optional, also includes: Step S50: Determine the height of the clamping position protrusion based on the current workpiece surface image and clamping position; Step S51: When the height of the protrusion at the clamping position falls within the adjustable telescopic length range, determine the current protrusion clamping position and the corresponding protrusion clamping end; Step S52: Determine the protrusion clamping parameters based on the current protrusion clamping position, and control the corresponding protrusion clamping end of the clamping component to perform clamping operation according to the protrusion clamping parameters; Step S53: When the height of the protrusion at the clamping position does not fall within the adjustable telescopic length range but falls within twice the adjustable telescopic length range, determine the protrusion assisting end based on the protrusion clamping end; Step S54: Determine the protrusion clamping parameters and protrusion assistance parameters based on the current protrusion clamping position, and control the protrusion clamping end to perform clamping operation according to the protrusion clamping parameters, while controlling the protrusion assistance end to perform clamping operation according to the protrusion assistance parameters; Step S55: When there is a protrusion assistance parameter, obtain the current processing parameters and determine the corrected processing parameters through the current workpiece surface image to perform the processing operation; Step S56: When the height of the protrusion at the clamping position does not fall within twice the adjustable telescopic length range, output a manual alarm signal.

[0015] By adopting the above technical solution, the height of the protrusion at the clamping position is determined. If the protrusion height is within the adjustable telescopic length range of a single protrusion clamping end, the protrusion clamping end will perform clamping according to the protrusion clamping parameters to avoid clamping instability caused by the protrusion. When the protrusion height exceeds the adjustable range of a single clamping end, but is within twice the adjustable range, the system will activate the protrusion assistance end to work in conjunction with the protrusion clamping end, performing clamping according to the protrusion clamping parameters and the protrusion assistance parameters respectively, jointly overcoming the clamping obstacles caused by the protrusion, so as to ensure the smooth progress and machining accuracy of subsequent processing.

[0016] Optionally, when the height of the protrusion at the clamping position does not fall within twice the adjustable telescopic length range, the methods for outputting a manual alarm signal include: Step S560: Determine the protrusion pushing position based on the current protrusion gripping position; Step S561: Generate a bump pushing scheme based on the bump pushing position; Step S562: Control the protrusion clamping end and the protrusion assisting end to perform the protrusion pushing operation according to the protrusion pushing scheme; Step S563: Obtain the distance the bump has moved after the bump pushing operation; Step S564: When the protrusion moves 0 distance, output a manual alarm signal; Step S565: When the protrusion movement distance is not 0, continue to perform the protrusion pushing operation until there is no more protrusion height at the gripping position.

[0017] By adopting the above technical solution, when the height of the protrusion at the clamping position exceeds twice the adjustable telescopic length range, a protrusion pushing scheme is generated. The system controls the two cooperating execution components, the protrusion clamping end and the protrusion assisting end, to strictly execute the protrusion pushing operation according to the generated protrusion pushing scheme. During the pushing process, the protrusion displacement feedback is monitored in real time to determine whether the pushing is effective and reduce the impact of the protrusion on the machining accuracy.

[0018] Optionally, step S564 further includes: Step S5640: Obtain the number of protrusions at the gripping position; Step S5641: When the number of protrusions at the clamping position is 2 and the protrusion movement distance is not 0, determine the position of the movable protrusion; Step S5642: When the movable bump position falls into the gripping position, determine the position of the immovable bump and the corresponding gripping position protrusion height; Step S5643: Determine the avoidance angle based on the height of the protrusion at the gripping position corresponding to the position of the immovable protrusion; Step S5644: When the avoidance angle falls within the preset adjustable angle range of the clamping end, determine the clamping limit end and determine the limit clamping parameters corresponding to the clamping limit end; Step S5645: Determine the clamping pushing end based on the clamping limiting end, and determine the clamping pushing parameters based on the position of the movable protrusion; Step S5646: Control the clamping limit end to perform clamping operation according to the limit clamping parameters, and simultaneously control the clamping push end to perform clamping push operation according to the clamping push parameters; Step S5647: If the movable bump does not fall into the gripping position, execute steps S50 to S56.

[0019] By employing the above technical solution, the specific location of the movable protrusion is identified. If the movable protrusion is located within the clamping area, the system will distinguish the location of the immovable protrusion and its corresponding protrusion height. For the immovable protrusion, the system will calculate the required clearance angle of the clamping end based on its protrusion height to avoid interference with the protrusion during clamping. If the calculated clearance angle is within the adjustable angle range of the clamping end itself, the system will select a clamping limit end to ensure that the clamping end provides stable support while avoiding the immovable protrusion. Simultaneously, based on the location of the movable protrusion, the system applies a directional thrust to the movable protrusion through the clamping push end, causing it to disengage from the clamping position or adjust to a state that does not affect clamping, thereby effectively handling the movable protrusion and ensuring that the gripper can stably clamp the workpiece.

[0020] Optionally, it also includes a method for performing a clamping impact operation when the avoidance angle does not fall within the adjustable angle range of the clamping end, the method comprising: Step S56440: Analyze the propulsion scheme to obtain the propulsion direction; Step S56441: Determine the relative distance between the immovable bump grippers based on the position and pushing direction of the immovable bump; Step S56442: Determine the relative distance between the movable bump grippers based on the position and pushing direction of the movable bump; Step S56443: When the relative distance between the movable bump grippers is greater than the relative distance between the immovable bump grippers, output a manual alarm signal; Step S56444: When the relative distance between the movable bump grippers is less than the relative distance between the immovable bump grippers, determine the relative distance difference; Step S56445: Determine the impact scheme based on the relative distance difference and the direction of impact; Step S56446: Control the clamping and pushing end to perform clamping and impact operations according to the impact scheme.

[0021] By adopting the above technical solution, when the relative distance between the movable protrusion grippers is less than the relative distance between the immovable protrusion grippers, the difference in relative distance between the two is calculated. Based on this, a specific impact scheme is formulated in conjunction with the pushing direction. The movable protrusion is subjected to directional impact by the gripping pushing end. The impact force generated by the impact causes the movable protrusion to shift, thereby changing its relative positional relationship with the grippers and creating favorable conditions for subsequent gripping operations.

[0022] Optional, also includes: Step S510: When there is a protrusion height at the gripping position, perform a gripper push test operation based on the current protrusion gripping position; Step S511: Determine the bump state based on the gripper push test operation; Step S512: When the bump is in the state of a movable bump, execute steps S560 to S565.

[0023] By adopting the above technical solution and performing the gripper push test operation, the mobility of the protrusion can be pre-judged before the actual clamping, avoiding the workpiece positioning deviation caused by directly clamping the movable protrusion, and further improving the system's adaptability to complex workpiece surface conditions and the safety of clamping operation.

[0024] Secondly, the present invention provides a machining error compensation system based on gripper clamping data, which adopts the following technical solution: A machining error compensation system based on gripper clamping data includes: The acquisition module is used to acquire the current workpiece surface image; The memory is used to store the program of the machining error compensation method based on gripper clamping data as described above; The processor loads and executes programs from memory.

[0025] By adopting the above technical solution, the acquisition module is responsible for acquiring the surface image of the current workpiece in real time, providing raw visual data for subsequent clamping position analysis, protrusion and depression detection, etc.; the memory is used to store the program code that implements the above processing error compensation method, as well as intermediate and result data generated during processing, ensuring stable data storage and fast retrieval; the processor, as the core of the system, loads and executes the program stored in the memory to analyze and process the image data acquired by the acquisition module, executes a series of logical judgments and control instructions such as clamping position determination, depression and protrusion parameter calculation, clamping parameter adjustment, processing parameter correction, and alarm signal output, thereby driving the entire system to complete the processing error compensation process based on the gripper clamping data, ensuring processing accuracy and stability.

[0026] In summary, the present invention has at least one of the following beneficial technical effects: By employing a hierarchical adaptation strategy that combines independent clamping at a single clamping end with coordinated clamping at the main and auxiliary clamping ends, the range of workpiece concave and convex defects that the grippers can stably handle is expanded from a single adjustable telescopic length range to twice the adjustable telescopic length range. This effectively avoids clamping suspension and workpiece tilting, significantly improving the gripper's clamping adaptation capability and clamping stability for workpieces with surface defects. Establish a linkage correction mechanism between clamping state and machining parameters, automatically correct the machining area and machining parameters according to the actual tilt angle of the workpiece, realize automatic compensation for machining errors, solve the problem of machining positioning deviation caused by clamping defects, and ensure high-precision machining of workpieces; For complex protrusion defects that exceed twice the adjustable range, a protrusion interference is eliminated without changing the default clamping position by using a protrusion pushing, avoidance to release the limit of immovable protrusions, and high-frequency impact processing strategy. This maintains the unique correspondence between the default clamping position and the processing parameters, avoids the failure of processing parameters, and improves the system's automated processing capability and adaptability to working conditions for complex surface workpieces. Attached Figure Description

[0027] Figure 1 This is a flowchart of a machining error compensation method based on gripper clamping data in an embodiment of this application; Figure 2 This is a schematic diagram of a scenario in which a gripper holds a workpiece according to an embodiment of this application; Figure 3 This is a schematic diagram of a scenario in which the depth of the recess at the clamping position is measured using a reference plane in an embodiment of this application. Figure 4 This is a schematic diagram of a scenario in which the gripper holds the workpiece when the depth of the recessed gripping position does not fall within the adjustable telescopic length range but falls within twice the adjustable telescopic length range.

[0028] The parts referred to by the numbers in the above figures are as follows: 1. First clamping arm; 2. Second clamping arm; 3. Workpiece; 4. Recessed clamping end; 5. Recessed assisting end. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0030] This invention discloses a machining error compensation method based on gripper clamping data.

[0031] Reference Figure 1 A machining error compensation method based on gripper clamping data includes: Step S1: In response to the clamping signal, acquire the current workpiece surface image through the camera.

[0032] The clamping signal refers to the instruction signal received by the gripper control system to start the workpiece 3 clamping process. It is issued by the workpiece 3 loading position detection device or the host computer, indicating that the workpiece 3 has been positioned and the clamping operation can be performed.

[0033] The current workpiece surface image refers to a two-dimensional visual image that is captured in real time by a camera and includes the overall view and surface features of the workpiece surface.

[0034] Reference Figure 2 In this embodiment, the gripper adopts a symmetrical structure with two gripping ends, including a first gripping arm 1 and a second gripping arm 2. Each gripping arm has an independently extendable gripping end at its end, corresponding to two fixed gripping points of the cylindrical workpiece 3. The workpiece 3 in the figure is a cylindrical rotating workpiece 3, and the gripping position is preset at two symmetrical machining reference points on the outer peripheral wall of the workpiece 3.

[0035] Step S2: Determine the marker points based on the current workpiece surface image.

[0036] Marker points refer to unique workpiece 3 feature points extracted from the current workpiece surface image, such as workpiece 3 edge corner points or pre-marked machining reference marks.

[0037] Step S3: Determine the gripping position based on the marked points.

[0038] The clamping position refers to a pre-defined fixed point on the workpiece 3 for the gripper to hold, serving as the target reference point for the gripper to hold the workpiece 3. The clamping position is calculated using a combination of surface markings on the workpiece 3 and a visual algorithm. It corresponds to a fixed area on the workpiece 3 and is unaffected by surface depressions or protrusions, always remaining the same pre-defined point on the workpiece 3. As the target reference point for the gripper to hold the workpiece 3, the clamping position clearly defines the fixed position on the workpiece 3 that the gripper needs to align with, ensuring that the gripper always holds the same target point on the workpiece 3.

[0039] Step S4: Determine the depth of the clamping position indentation based on the current workpiece surface image and clamping position.

[0040] The depth of the clamping position recess refers to the difference between the ideal distance from the clamping position to the preset reference planes on both sides under standard defect-free working conditions and the actual measured distance from the current workpiece 3 clamping position to the reference planes on both sides.

[0041] Reference Figure 3 The method for obtaining the indentation depth of the gripping position is as follows: The system pre-stores the ideal distances between the gripping ends of the two grippers and the reference planes on both sides under the ideal gripping state. The actual distances from the left and right gripping positions to the reference planes on both sides are measured by laser range sensors. The indentation depth of the gripping position is obtained by the difference between the ideal distance and the actual distance. Here, the reference planes on both sides refer to the reference planes pre-set on the outer sides of the gripping arms away from the grippers.

[0042] The clamping positions corresponding to this embodiment are two independent clamping positions, and both positions may have depressions. Therefore, it is necessary to calculate the depression depth of each clamping position separately, and take the end with the larger depression depth as the depression clamping end 4, and the end with the smaller depression depth as the depression assisting end 5.

[0043] Step S40: When the depth of the recess at the clamping position falls within the preset adjustable telescopic length range, determine the current recessed clamping position and the recessed clamping end 4 corresponding to the current recessed clamping position.

[0044] The adjustable telescopic length range refers to the maximum effective telescopic stroke corresponding to the gripping end of the jaws, that is, the maximum depth threshold at which the gripping end can directly abut and adapt to the recess without assistance.

[0045] The current dent clamping position refers to the specific clamping point where a dent defect has been confirmed by inspection and the dent depth falls within the adjustable telescopic length range.

[0046] The recessed clamping end 4 refers to the clamping end in the jaws that corresponds to the current recessed clamping position and is responsible for directly abutting the recessed area. When there is a recessed depth at both clamping positions, the recessed clamping end 4 is determined by the recessed depth at both clamping positions.

[0047] Step S41: Determine the recess clamping parameters based on the current recess clamping position, and control the recess clamping end 4 of the clamping component to perform the clamping operation according to the recess clamping parameters.

[0048] The recessed clamping parameters refer to the parameters that control the recessed clamping end 4 to perform the clamping action, specifically including the extension and retraction displacement of the clamping end and the magnitude of the clamping force. The clamping operation refers to the clamping action by which the jaws fix the workpiece 3.

[0049] Step S42: When the depth of the recess at the clamping position does not fall within the adjustable telescopic length range but falls within twice the preset adjustable telescopic length range, the recess assisting end 5 is determined based on the recessed clamping end 4.

[0050] The range of twice the adjustable telescopic length refers to a preset threshold value that is twice the adjustable telescopic length range. It is the upper limit of the concave depth for the gripper to cooperate in clamping. Its range is between the adjustable telescopic length range and the maximum clamping capacity threshold of the gripper. It is used to determine whether the concave clamping end 4 and the concave assisting end 5 can cooperate in clamping, thereby adapting to the concave clamping position.

[0051] The recessed assisting end 5 refers to the auxiliary clamping end in the gripper assembly that is paired with the recessed clamping end 4 and located on the other side of the workpiece 3 away from the recessed area. It is used to assist the recessed clamping end 4 in completing the cooperative clamping.

[0052] Reference Figure 4If the depth of the recessed position does not fall within the adjustable telescopic length range but falls within twice the adjustable telescopic length range, it indicates that the recessed clamping end 4 of the jaw alone cannot reach the lowest point of the recess and achieve stable clamping. However, the depth of the recess does not exceed the maximum capacity of the jaw's coordinated clamping. It is necessary to coordinate the actions of the recessed clamping end 4 and the recessed assisting end 5 to achieve stable clamping of the workpiece 3 by the jaw. Figure 3 The recessed clamping end 4 has space to move closer to the workpiece 3. This is only a schematic diagram for illustrative purposes. In reality, the recessed clamping end 4 has reached its maximum limit position of its own mechanical structure, requiring the recessed assisting end 5 to assist in clamping. The end of the workpiece 3 closest to the grippers is used for clamping. Defects at this location do not affect the quality of the workpiece 3, because the processing area and quality inspection standards for the workpiece 3 are mainly concentrated at the other end, away from the clamping end. Defects at the clamping end will not have a substantial impact on the performance and precision of the final product.

[0053] Step S43: Determine the concave clamping parameters and concave assistance parameters based on the current concave clamping position, and control the concave clamping end 4 of the clamping component to perform the clamping operation according to the concave clamping parameters, while controlling the concave assistance end 5 of the clamping component to perform the clamping operation according to the concave assistance parameters.

[0054] The recessed assistance parameters refer to the parameters that control the recessed assistance end 5 of the gripper to perform auxiliary clamping actions. Specifically, they include the extension and retraction displacement and pushing force of the assistance end, which are used to control the recessed assistance end 5 to accurately push the workpiece 3 so that the workpiece 3 fits in the direction of the recessed clamping end 4, and cooperates with the recessed clamping end 4 to achieve coordinated and stable clamping of the workpiece 3 by the gripper.

[0055] Step S44: When a concave assistance parameter exists, obtain the current machining parameters and determine the corrected machining parameters through the current workpiece surface image to perform the machining operation.

[0056] The current machining parameters refer to the preset theoretical machining parameters based on the ideal posture of the workpiece, that is, the theoretical machining parameters with no tilting, no dents, and stable clamping. Specifically, they include machining trajectory, tool speed, feed rate, and depth of cut.

[0057] The corrected processing parameters refer to the parameters obtained by adjusting the current processing parameters based on the current workpiece surface image captured by the camera after the workpiece 3 is slightly tilted due to the participation of the concave assist end 5 in the cooperative clamping. These parameters are used to offset the processing error caused by the tilt of the workpiece 3.

[0058] Machining operation refers to the specific machining actions such as cutting, milling, and drilling performed on workpiece 3 by the matching machining components according to preset or modified machining parameters after the jaws stably hold the workpiece 3.

[0059] When a recess assist parameter is present, it indicates that the recess depth at the clamping position exceeds the adjustable telescopic length range of the recess clamping end 4 alone. The current clamping jaw is in a cooperative clamping state of the recess clamping end 4 and the recess assist end 5. Because the recess assist end 5 pushes the workpiece 3, the workpiece 3 will inevitably tilt slightly. If the current processing parameters are used, it will lead to processing errors. Therefore, the processing parameters need to be corrected by determining the current workpiece surface image in order to ensure processing accuracy.

[0060] The methods for determining corrected machining parameters based on the current workpiece surface image include: Step S440: Determine the corrected clamping position based on the current workpiece surface image.

[0061] The corrected clamping position refers to the fixed clamping position on workpiece 3. Even after workpiece 3 tilts or shifts due to the coordinated clamping of the grippers, the actual spatial coordinates relative to the equipment's reference coordinate system remain the same preset point on workpiece 3. Only the spatial coordinates change due to the overall change in workpiece 3's posture. The equipment reference coordinate system refers to the globally fixed spatial reference coordinate system followed by the entire processing equipment, which consists of the grippers, camera, processing components, and worktable. The corrected clamping position is determined by re-identifying the fixed clamping position on workpiece 3 using real-time surface images of the tilted or shifted workpiece 3 captured by the camera, extracting its current spatial coordinates, and calculating them.

[0062] Step S441: Determine the tilt angle of workpiece 3 based on the corrected clamping position and the clamping position.

[0063] The tilt angle of workpiece 3 refers to the spatial tilt angle of workpiece 3 relative to the reference posture, formed by the ideal clamping position and the actual corrected clamping position.

[0064] Step S442: Determine the correction processing area based on the tilt angle of workpiece 3 and the preset processing area.

[0065] The machining area refers to the target area that is pre-marked on workpiece 3 and needs to be machined. The corrected machining area refers to the actual machining area obtained after correcting the spatial position and orientation of the machining area according to the tilt angle of workpiece 3.

[0066] Step S443: Determine the correction processing parameters based on the correction processing area.

[0067] Correcting machining parameters refers to the set of directly executable machining parameters obtained by compensating and adjusting the original machining parameters in order to enable the machining components to align with the correction machining area and offset the machining error caused by the overall tilt of the workpiece 3.

[0068] Step S444: Analyze and correct the machining parameters to determine the angle adjustment amount of the machining components.

[0069] The machining component angle adjustment amount refers to the angle difference that needs to be adjusted to align the machining component with the correction machining area. The machining component is the workpiece machining execution part that is matched with the gripper, including but not limited to cutting, milling, drilling, and grinding components. It can be adjusted around the equipment reference coordinate system to adapt to the machining requirements after the workpiece 3 is tilted.

[0070] Step S445: Obtain the current processing component angle, and determine the target processing component angle based on the current processing component angle and the processing component angle adjustment amount.

[0071] The target machining component angle refers to the final attitude angle that the machining component should achieve after completing attitude adjustment. It is also the angle that can be aligned with the machining area and meet the machining accuracy requirements. The target machining component angle is obtained by acquiring the current actual angle of the machining component through its angle sensor and then superimposing it with the angle adjustment amount of the machining component.

[0072] Step S446: When the angle of the target processing component does not fall within the preset range of executable processing angles, output a manual alarm signal.

[0073] Manual alarm signals are warning signals automatically generated by the gripper control system or machining control system and output to the on-site operators. They are used to notify the operators that the current equipment cannot autonomously complete the attitude adjustment of the machining components and that manual intervention is required.

[0074] When the angle of the target processing component does not fall within the range of executable processing angles, the target angle that the processing component needs to be adjusted to has exceeded its own mechanical movement limit. The system cannot automatically adjust to align the processing component with the correction processing area. If processing is forced to continue, it will inevitably lead to serious displacement of the processing position, workpiece 3 dimensional deviation, interference and collision between the tool and workpiece 3, or even damage to the equipment. Therefore, the automatic processing process must be stopped immediately, and a manual alarm signal must be output for on-site inspection by the operator.

[0075] Step S447: When the angle of the target machining component falls within the range of executable machining angles, output the corrected machining parameters.

[0076] When the angle of the target machining component falls within the range of the operable machining angle, it means that the target angle that the machining component needs to adjust is within its own mechanical movement limit. The system can automatically control the machining component to complete the posture adjustment. The adjusted machining component can be aligned with the correction machining area, and then with the machining area on the workpiece 3. At this time, the machining is performed using the correction machining parameters, which can effectively offset the machining error caused by the overall tilt of the workpiece 3.

[0077] The methods for outputting a manual alarm signal when the angle of the target machining component does not fall within the range of executable machining angles include: Step S4460: Determine the angle adjustment direction based on the target machining component angle and the range of operable machining angles.

[0078] The angle adjustment direction refers to the directional trend of adjusting the tilt posture of the workpiece 3 to correct the angle of the target machining component that is outside the range of the operable machining angle to the range of the operable machining angle. This direction is determined by the deviation direction of the angle of the target machining component relative to the range of the operable machining angle, and is used to guide the parameter adjustment direction of the recessed clamping end 4 and the recessed assisting end 5.

[0079] Step S4461: Determine the adjustable range of the current concave clamping parameter and the adjustable range of the current concave assistance parameter based on the angle adjustment direction, the adjustable telescopic length range, the concave clamping parameter, and the concave assistance parameter.

[0080] The adjustable range of the current concave clamping parameters refers to the safe parameter range in which the concave clamping parameters can be adjusted along the angle direction, under the premise that the adjustable extension length of the clamping jaws is constrained, the jaws do not leave the concave area, and the clamping reference is guaranteed.

[0081] The adjustable range of the current concave assistance parameters refers to the safe parameter range in which the concave assistance parameters can be adjusted synchronously along the angle adjustment direction, under the constraints of the adjustable extension length range of the gripper, matching the adjustable range of the current concave clamping parameters, and ensuring that the workpiece is clamped stably and does not loosen.

[0082] Step S4462: When there is no adjustable range for the current dent clamping parameter or the current dent assistance parameter, output a manual alarm signal.

[0083] When there is no adjustable range for the current concave clamping parameter or the current concave assistance parameter, it means that the adjustment along the unique angle adjustment direction corresponding to the tilt of workpiece 3 has reached the limit of the mechanical stroke of the gripper, which will cause the clamping end to detach from workpiece 3 and the clamping failure. There is no safe and feasible automatic adjustment margin, and it is impossible to pull the angle of the target processing component back to the executable range. Manual intervention is required.

[0084] Step S4463: When there is an adjustable range for the current concave clamping parameter and an adjustable range for the current concave assistance parameter, output an adjustable signal.

[0085] Adjustable signal refers to the instruction signal generated by the control system that allows the adjustment of clamping parameters. It indicates that there is a safe and feasible adjustment range along the angle adjustment direction, which can correct the tilt posture of workpiece 3.

[0086] When there is an adjustable range for the current concave clamping parameter and the current concave assistance parameter, it means that the jaws have a safe parameter adjustment space along the angle adjustment direction corresponding to the tilt of workpiece 3. The tilt of workpiece 3 can be corrected by adjusting the clamping parameters, so that the angle of the target machining component returns to the executable range. Therefore, an adjustable signal is output.

[0087] Step S4464: In response to the adjustable signal, perform the clamping operation.

[0088] The method for performing a clamping operation in response to an adjustable signal includes: Step S44640: Determine the angle mapping relationship using the concave assistance parameters and the target machining component angle.

[0089] The angle mapping relationship refers to the unique quantitative functional relationship between the change in the concave assistance parameter and the change in the tilt angle of workpiece 3 and the change in the angle of the target machining component under the constraints of the adjustable extension length range of the gripper and the cooperative clamping geometry; this relationship is obtained in advance by multiple clamping parameter experimental data.

[0090] Step S44641: Determine the target adjustment angle based on the angle mapping relationship, the concave assistance parameters, and the range of operable machining angles.

[0091] The target adjustment angle refers to the unique target angle correction amount required to correct the out-of-range target machining component angle to within the operable machining angle range. The target adjustment angle is calculated by converting the machining angle deviation into the workpiece 3's attitude correction angle through an angle mapping relationship.

[0092] Step S44642: Determine the target depression clamping parameters and target depression assistance parameters based on the target adjustment angle, the adjustable range of the current depression clamping parameters, and the adjustable range of the current depression assistance parameters.

[0093] The target depression clamping parameters refer to the final clamping execution parameters that match the target adjustment angle and the target depression assistance parameters and fall within the adjustable range of the current depression clamping parameters, under the premise of constraining the adjustable extension length range of the gripper along the angle adjustment direction, not disengaging from the depression area, and ensuring the stability of the clamping reference.

[0094] The target concavity assistance parameter refers to the final assistance execution parameter that matches the target adjustment angle and falls within the adjustable range of the current concavity assistance parameter, under the premise of constraining the adjustable extension length range of the gripper, matching the target concavity clamping parameter, and ensuring that the workpiece is clamped stably and does not loosen, along the angle adjustment direction.

[0095] Step S44643: Perform a clamping operation based on the target depression clamping parameters and the target depression assist parameters.

[0096] When there are target indentation clamping parameters and target indentation assistance parameters, it means that the system has calculated a set of cooperative clamping parameters that meet the requirements of adjustable telescopic length range, clamping safety, and attitude correction. The target processing component angle can be pulled back to the executable range through the synchronous action of the indentation clamping end 4 and the indentation assistance end 5.

[0097] Step S44644: When there are no target indentation clamping parameters or target indentation assistance parameters, output a manual alarm signal.

[0098] When there are no target indentation clamping parameters or target indentation assistance parameters, it means that although there is an adjustable range, it is impossible to simultaneously meet all the conditions such as target adjustment angle, adjustable telescopic length constraint, clamping without disengagement, and cooperative matching. Automatic adjustment is no longer feasible and manual intervention is necessary.

[0099] This also includes: Step S50: Determine the height of the clamping position protrusion based on the current workpiece surface image and clamping position.

[0100] The height of the protrusion at the clamping position refers to the vertical distance from the reference planes on both sides of the clamping position to the highest point of the protrusion area, which is used to determine the degree of protrusion defect at the clamping position.

[0101] Step S51: When the height of the protrusion at the clamping position falls within the adjustable telescopic length range, determine the current protrusion clamping position and the corresponding protrusion clamping end.

[0102] The current protrusion clamping position refers to the fixed clamping point of the workpiece 3 where the protrusion defect has been confirmed by inspection and the protrusion height falls within the adjustable telescopic length range.

[0103] The protruding clamping end refers to the clamping end of the jaws that corresponds to the current protruding clamping position and is responsible for directly abutting the protruding area. When the height of the protrusion at the clamping position falls within the adjustable telescopic length range, it indicates that there is a protrusion defect at the clamping position, but the height of the protrusion does not exceed the effective telescopic stroke of the protruding clamping end itself. The protruding clamping end can abut and adapt to the protrusion defect on its own, and stable clamping can be achieved without the participation of the protruding assisting end.

[0104] Step S52: Determine the protrusion clamping parameters based on the current protrusion clamping position, and control the corresponding protrusion clamping end of the clamping component to perform clamping operation according to the protrusion clamping parameters.

[0105] The protrusion clamping parameters refer to the parameters that control the protrusion clamping end to perform clamping actions. Specifically, they include the extension and retraction displacement of the protrusion clamping end, which are used to control the protrusion clamping end to accurately abut against the protrusion area and achieve stable clamping.

[0106] Step S53: When the height of the protrusion at the clamping position does not fall within the adjustable telescopic length range but falls within twice the adjustable telescopic length range, determine the protrusion assisting end based on the protrusion clamping end.

[0107] The raised assisting end refers to the auxiliary clamping end in the gripper assembly that is paired with the raised clamping end and located on the other side of the workpiece 3 away from the raised area. It is used to cooperate with the raised clamping end to achieve coordinated clamping and is symmetrical in structure and corresponding in function with the recessed assisting end 5.

[0108] When the height of the protrusion at the gripping position does not fall within the adjustable telescopic length range but falls within twice the adjustable telescopic length range, it indicates that the extension and retraction of the protrusion gripping end alone cannot adapt to the protrusion height and achieve stable gripping. However, the protrusion height does not exceed the maximum adaptability of the gripper's collaborative gripping, and gripping needs to be completed through the coordinated action of the protrusion gripping end and the protrusion assisting end.

[0109] Step S54: Determine the protrusion clamping parameters and protrusion assistance parameters based on the current protrusion clamping position, and control the protrusion clamping end to perform clamping operation according to the protrusion clamping parameters, while controlling the protrusion assistance end to perform clamping operation according to the protrusion assistance parameters.

[0110] The protrusion assistance parameters refer to the parameters that control the protrusion assistance end to perform auxiliary clamping actions, including telescopic displacement, which are used to cooperate with the protrusion clamping end to form a coordinated clamping and ensure the workpiece 3 is clamped stably.

[0111] Step S55: When there is a protrusion assistance parameter, obtain the current machining parameters and determine the corrected machining parameters through the current workpiece surface image to perform the machining operation.

[0112] When a protrusion assistance parameter is present, it indicates that the height of the protrusion at the clamping position exceeds the range of the independently adjustable telescopic length of the protrusion clamping end, and the current state is one of coordinated clamping by the protrusion clamping end and the protrusion assistance end; the workpiece 3 is tilted in one direction due to coordinated clamping, and the tilting error needs to be offset by correcting the processing parameters.

[0113] Step S56: When the height of the protrusion at the clamping position does not fall within twice the adjustable telescopic length range, output a manual alarm signal.

[0114] When the height of the protrusion at the gripping position does not fall within twice the adjustable telescopic length range, it indicates that the height of the protrusion at the gripping position has exceeded the adjustable telescopic length of the gripper and twice the adjustable telescopic length range. Whether gripping alone or in conjunction with other grippers, it cannot accommodate the protrusion defect, and the gripper cannot achieve stable gripping. A manual alarm signal needs to be output for manual intervention.

[0115] The methods for outputting a manual alarm signal when the height of the protrusion at the clamping position does not fall within twice the adjustable telescopic length range include: Step S560: Determine the protrusion pushing position based on the current protrusion gripping position.

[0116] The bump pushing position refers to the target point of action around the protruding area on the workpiece 3, which is used to apply directional thrust to the protruding clamping end and the protruding assisting end to eliminate protruding interference or adjust the posture of the workpiece 3. It is determined by the protruding clamping position and the spatial distribution of the protruding area.

[0117] Step S561: Generate a bump pushing scheme based on the bump pushing position.

[0118] A bump pushing scheme refers to a set of execution instructions that include the pushing timing, pushing displacement, applied force, and pushing trajectory of the bump gripping end and the bump assisting end, used to regulate the pushing action of the gripper on the bump area.

[0119] Step S562: Control the protrusion clamping end and the protrusion assisting end to perform the protrusion pushing operation according to the protrusion pushing scheme.

[0120] The bump pushing operation refers to the operation in which the bump clamping end and the bump assisting end work together to apply a directional pushing force to the bump area of ​​the workpiece 3 according to the bump pushing scheme.

[0121] Step S563: Obtain the distance the bump has moved after the bump pushing operation.

[0122] The bump movement distance refers to the spatial displacement of the bump area relative to the equipment's reference coordinate system before and after the bump pushing operation is performed. It is calculated by comparing the current workpiece surface image and is used to determine the adjustment effect of the pushing operation.

[0123] Step S564: When the protrusion moves 0 distance, output a manual alarm signal.

[0124] When the protrusion movement distance is 0, it indicates that the protrusion pushing operation has not caused effective displacement of the protrusion area. The protrusion interference cannot be eliminated by automatic pushing, the clamping posture cannot be automatically corrected, and manual intervention is required.

[0125] Step S565: When the protrusion movement distance is not 0, continue to perform the protrusion pushing operation until there is no more protrusion height at the gripping position.

[0126] When the protrusion movement distance is not 0, it indicates that the protrusion pushing operation can effectively change the spatial position of the protrusion area or workpiece 3, and can gradually eliminate the protrusion height of the clamping position by continuous pushing.

[0127] Step S564 further includes: Step S5640: Obtain the number of protrusions at the gripping position.

[0128] The number of protrusions at the clamping position refers to the total number of independent protrusion defects detected within the clamping position area of ​​workpiece 3 through current workpiece surface image recognition, used to determine the distribution pattern of protrusions at the clamping position. In this embodiment, there are two clamping positions by default, so the upper limit of the number of protrusions at the clamping position is 2.

[0129] Step S5641: When the number of protrusions at the clamping position is 2 and the protrusion movement distance is not 0, determine the position of the movable protrusion.

[0130] The movable bump position refers to the spatial positioning point of the bump in the equipment's reference coordinate system that can generate effective spatial displacement under the pushing action of the gripper among the two bumps at the clamping position.

[0131] When the number of protrusions at the gripping position is 2 and the movement distance of the protrusion is not 0, it indicates that there are two independent protrusions at the gripping position at the same time, and at least one protrusion can be pushed and moved by the gripper. It is not completely rigid and cannot be adjusted. The height of the protrusion at the gripping position can be reduced by pushing one of the protrusion areas.

[0132] In this embodiment, the height of the protrusion at the clamping position is the sum of the vertical distances between the highest points of the corresponding protrusion areas at the two clamping positions and the reference plane.

[0133] Step S5642: When the movable bump position falls into the gripping position, determine the position of the immovable bump and the corresponding gripping position protrusion height.

[0134] The immovable bump position refers to the spatial positioning point in the equipment's reference coordinate system of the bump that cannot produce effective spatial displacement under the pushing action of the gripper at the clamping position.

[0135] The height of the gripping position corresponding to the position of the immovable bump refers to the vertical distance from the reference planes on both sides to the highest point of the immovable bump at the gripping position where the immovable bump is located. It is used to determine whether the bump can be directly adapted to and avoided by one end of the gripper.

[0136] When the movable bump falls into the gripping position, it means that the movable bump is located inside the core gripping area, which will cause the total protrusion height to exceed the limit and it needs to be pushed out of the gripping position. However, the immovable bump is also located in the gripping position, which will directly block the gripper and form a movement limit block, preventing the gripper from continuing to push in the current direction. It is necessary to first determine whether the immovable bump can be avoided by the gripping end.

[0137] Step S5643: Determine the avoidance angle based on the height of the gripping position corresponding to the position of the immovable bump.

[0138] The avoidance angle refers to the angle at which the clamping limit end needs to deflect in order to avoid the immovable protrusion and remove the immovable protrusion from the movement limit of the gripper. This angle is determined by the position of the immovable protrusion, the height of the protrusion at the clamping position, and the relative geometric relationship between the gripper and the workpiece 3. It is the attitude adjustment angle required for the clamping limit end to achieve avoidance.

[0139] Step S5644: When the avoidance angle falls within the preset adjustable angle range of the clamping end, determine the clamping limit end and determine the limit clamping parameters corresponding to the clamping limit end.

[0140] The adjustable angle range of the clamping end refers to the angle range within which the clamping limit end is allowed to be adjusted in posture without detaching from the workpiece 3, without damaging the clamping reference, and without exceeding the mechanical structure and movement limits of the clamp itself; this is used to determine whether the clamping limit end can safely avoid the immovable protrusion through angle adjustment.

[0141] The clamping limiting end refers to the clamping end in the jaw that directly corresponds to the position of the immovable protrusion and is pressed against by the immovable protrusion to form a movement limit; this clamping end needs to be extended and adjusted to avoid the immovable protrusion in order to release the obstruction to the overall movement of the jaw.

[0142] Limit clamping parameters refer to the parameters that control the clamping limit end to perform telescopic avoidance, including telescopic displacement, which are used to make the clamping limit end adapt to the height of the immovable protrusion, and release the immovable protrusion from the limit obstruction of the gripper without disengaging from the workpiece 3 or damaging the clamping reference.

[0143] When the avoidance angle corresponding to the clamping limit end falls within the adjustable angle range of the clamping end, it means that the height of the immovable protrusion can be adapted and avoided by the clamping limit end through its own angle adjustment, which can release the movement limit of the immovable protrusion on the gripper, so that the gripper can have space to continue pushing, thereby pushing the movable protrusion outward to the clamping position.

[0144] Step S5645: Determine the clamping push end based on the clamping limit end, and determine the clamping push parameters based on the position of the movable protrusion.

[0145] The clamping push end refers to the clamping end in the jaws that works in conjunction with the clamping limit end and is specifically used to apply a directional pushing force to the movable protrusion. After the clamping limit end releases the limiting obstruction of the immovable protrusion, the clamping push end continues to perform the pushing action to push the movable protrusion out of the clamping position.

[0146] Clamping and pushing parameters refer to the parameters that control the clamping and pushing end to perform the pushing action, including pushing displacement, applied force, and movement speed.

[0147] Step S5646: Control the clamping limit end to perform clamping operation according to the limit clamping parameters, and simultaneously control the clamping push end to perform clamping push operation according to the clamping push parameters.

[0148] The clamping and pushing operation refers to the operation in which the clamping and pushing end applies a directional pushing force to the movable protrusion after the clamping and pushing end has completed the extension and retraction avoidance at the clamping and limiting end, and pushes it out of the clamping position in a specified direction.

[0149] Step S5647: If the movable bump does not fall into the gripping position, execute steps S50 to S56.

[0150] When the movable bump does not fall into the clamping position, it means that the movable bump has been successfully pushed out of the clamping position and no longer interferes with the clamping and positioning. The current state of workpiece 3 can return to the normal bump detection and clamping compensation process, and steps S50 to S56 can be executed again.

[0151] This also includes a method for performing a clamping impact operation when the avoidance angle does not fall within the adjustable angle range of the clamping end, the method comprising: Step S56440: Analyze the propulsion scheme to obtain the propulsion direction.

[0152] The pushing direction refers to the direction of force applied when the clamping pushing end performs a pushing or impacting action on the movable protrusion, which is obtained by analyzing the pushing trajectory in the pushing scheme.

[0153] Step S56441: Determine the relative distance between the immovable bump grippers based on the position and pushing direction of the immovable bump.

[0154] The relative distance between the immovable bump grippers refers to the straight-line distance from the current position of the gripping and pushing end to the position of the immovable bump along the pushing direction. It is used to determine whether the immovable bump will form an initial obstruction on the pushing path.

[0155] Step S56442: Determine the relative distance between the movable bump grippers based on the position and pushing direction of the movable bump.

[0156] The relative distance between the movable bump grippers refers to the straight-line distance from the current position of the gripping push end to the position of the movable bump along the pushing direction. It is used to determine whether the gripping push end can contact the movable bump first.

[0157] Step S56443: When the relative distance between the movable bump grippers is greater than the relative distance between the immovable bump grippers, output a manual alarm signal.

[0158] When the relative distance between the movable bump and the gripper is greater than the relative distance between the immovable bump and the gripper, it means that along the pushing direction, the immovable bump is closer to the gripping pushing end than the movable bump. The gripping pushing end will touch the immovable bump first and will not be able to contact the movable bump at all. The gripping pushing operation and the gripping impact operation cannot be carried out, and a manual alarm signal must be output.

[0159] Step S56444: When the relative distance between the movable bump grippers is less than the relative distance between the immovable bump grippers, determine the relative distance difference.

[0160] The relative distance difference refers to the difference between the relative distance between the immovable bump jaws and the relative distance between the movable bump jaws along the pushing direction. It represents the effective stroke length that the clamping and pushing end can apply to the movable bump before it touches the immovable bump.

[0161] When the relative distance between the movable bump grippers is less than the relative distance between the immovable bump grippers, it means that the clamping and pushing end can contact the movable bump first along the pushing direction. However, the effective impact stroke is limited by the position of the immovable bump, resulting in a short stroke and poor conventional pushing effect. High-frequency impact operation is required to improve the displacement effect.

[0162] Step S56445: Determine the impact scheme based on the relative distance difference and the direction of propulsion.

[0163] The impact scheme refers to an execution plan that includes impact frequency, single impact amplitude, and impact force. It is used to apply high-frequency impacts to the movable protrusion within a short effective stroke, while cooperating with other clamping ends for limiting, so as to achieve gradual displacement of the movable protrusion. Here, "other clamping ends" refers to the other clamping end in the gripper that does not perform the impact action.

[0164] Step S56446: Control the clamping and pushing end to perform clamping and impact operations according to the impact scheme.

[0165] Clamping impact operation refers to the clamping and pushing end performing high-frequency, small-amplitude, short-stroke intermittent impact actions on the movable protrusion along the pushing direction according to the impact scheme. At the same time, other clamping ends of the gripper find effective limit positions for auxiliary limiting. Without changing the default clamping position, the movable protrusion is gradually pushed to produce effective displacement, avoiding the failure of processing parameters and the inability of the system to correct due to changing the clamping position.

[0166] Because there is a unique correspondence between the default gripping position and the machining parameters, only the attitude and angle changes caused by the default gripping position can be recognized by the system and the machining parameters can be corrected. If the main gripping position is changed, the system cannot establish a new mapping relationship for the machining parameters, which will cause the machining parameters to become completely invalid. Therefore, only auxiliary limiters are allowed, and the default main gripping position is not allowed to be changed. This ensures that the impact is effective while maintaining the correctability of the machining parameters.

[0167] If no effective auxiliary limit position is found, the system will directly output a manual alarm signal; if no other gripper end provides auxiliary limit, the posture of workpiece 3 cannot be fixed, and the clamping and impact operation cannot be effectively implemented.

[0168] This also includes: Step S510: When there is a protrusion height at the gripping position, perform a gripper push test operation based on the current protrusion gripping position.

[0169] The gripper push test operation refers to a tentative push action with low force and short stroke on the protrusion at the current protrusion gripping position in a specified direction before formally performing the gripping operation, after confirming that there is a protrusion height at the gripping position. This operation only tests the displacement characteristics of the protrusion and does not perform a formal gripping operation.

[0170] Step S511: Determine the bump state based on the gripper push test operation.

[0171] The bump state refers to the displacement characteristics of the bump relative to the workpiece 3 substrate, obtained through a gripper pushing test operation. It is divided into movable bumps and immovable bumps. An immovable bump is a bump whose spatial position relative to the workpiece 3 substrate does not change during the gripper pushing test operation.

[0172] Step S512: When the bump is in the state of a movable bump, execute steps S560 to S565.

[0173] A movable bump refers to a bump that can generate effective spatial displacement relative to the workpiece 3 substrate under low-force probing push during the gripper push test operation, and is not rigidly connected and stuck to the workpiece 3 substrate; if the bump is located in the default gripping position area, it will disrupt the gripping stability and cause the workpiece 3 to tilt.

[0174] When the bump is in the state of a movable bump, it means that the clamping operation will be affected by the movable bump. The height of the bump cannot be adapted by the conventional telescopic clamping. It is necessary to move the movable bump out of the clamping position through subsequent pushing, impact and auxiliary limiting operations.

[0175] Based on the same inventive concept, embodiments of the present invention provide a machining error compensation system based on gripper clamping data.

[0176] A machining error compensation system based on gripper clamping data includes: The acquisition module is used to acquire the current workpiece surface image; A memory for storing a program for a machining error compensation method based on gripper clamping data; The processor loads and executes programs from memory.

[0177] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A machining error compensation method based on gripper clamping data, characterized in that, include: Step S1: In response to the clamping signal, acquire the current workpiece surface image through the camera; Step S2: Determine the marker points based on the current workpiece surface image; Step S3: Determine the gripping position based on the marked points; Step S4: Determine the depth of the clamping position recess based on the current workpiece surface image and clamping position; Step S40: When the depth of the recessed position falls within the preset adjustable telescopic length range, determine the current recessed clamping position and the recessed clamping end (4) corresponding to the current recessed clamping position. Step S41: Determine the recess clamping parameters based on the current recess clamping position, and control the recess clamping end (4) of the clamping component to perform the clamping operation according to the recess clamping parameters; Step S42: When the depth of the recess at the clamping position does not fall within the adjustable telescopic length range but falls within twice the preset adjustable telescopic length range, the recess assisting end (5) is determined based on the recessed clamping end (4). Step S43: Determine the concave clamping parameters and concave assistance parameters based on the current concave clamping position, and control the concave clamping end (4) of the clamping component to perform the clamping operation according to the concave clamping parameters, while controlling the concave assistance end (5) of the clamping component to perform the clamping operation according to the concave assistance parameters. Step S44: When a concave assistance parameter exists, obtain the current machining parameters and determine the corrected machining parameters through the current workpiece surface image to perform the machining operation.

2. The machining error compensation method based on gripper clamping data according to claim 1, characterized in that, Methods for determining corrected machining parameters based on the current workpiece surface image include: Step S440: Determine the corrected gripping position based on the current workpiece surface image; Step S441: Determine the tilt angle of the workpiece (3) based on the corrected clamping position and the clamping position; Step S442: Determine the correction processing area based on the tilt angle of the workpiece (3) and the preset processing area; Step S443: Determine the correction processing parameters based on the correction processing area; Step S444: Analyze and correct the machining parameters to determine the angle adjustment amount of the machining components; Step S445: Obtain the current processing component angle, and determine the target processing component angle based on the current processing component angle and the processing component angle adjustment amount; Step S446: When the angle of the target processing component does not fall within the preset range of executable processing angles, output a manual alarm signal; Step S447: When the angle of the target machining component falls within the range of executable machining angles, output the corrected machining parameters.

3. The machining error compensation method based on gripper clamping data according to claim 2, characterized in that, Methods for outputting a manual alarm signal when the angle of the target machining component does not fall within the range of executable machining angles include: Step S4460: Determine the angle adjustment direction based on the target machining component angle and the range of operable machining angles; Step S4461: Determine the adjustable range of the current concave clamping parameter and the adjustable range of the current concave assistance parameter based on the angle adjustment direction, the adjustable telescopic length range, the concave clamping parameter and the concave assistance parameter; Step S4462: When there is no adjustable range for the current dent clamping parameter or the current dent assistance parameter, output a manual alarm signal; Step S4463: When there is an adjustable range for the current indentation clamping parameter and an adjustable range for the current indentation assistance parameter, output an adjustable signal; Step S4464: In response to the adjustable signal, perform the clamping operation.

4. The machining error compensation method based on gripper clamping data according to claim 3, characterized in that, Methods for performing clamping operations in response to an adjustable signal include: Step S44640: Determine the angle mapping relationship through the indentation assistance parameters and the angle of the target machining component; Step S44641: Determine the target adjustment angle based on the angle mapping relationship, the concave assistance parameters, and the range of operable machining angles; Step S44642: Determine the target depression clamping parameters and target depression assistance parameters based on the target adjustment angle, the current adjustable range of the depression clamping parameters, and the current adjustable range of the depression assistance parameters; Step S44643: Perform a clamping operation based on the target depression clamping parameters and the target depression assisting parameters; Step S44644: When there are no target indentation clamping parameters or target indentation assistance parameters, output a manual alarm signal.

5. The machining error compensation method based on gripper clamping data according to claim 1, characterized in that, Also includes: Step S50: Determine the height of the clamping position protrusion based on the current workpiece surface image and clamping position; Step S51: When the height of the protrusion at the clamping position falls within the adjustable telescopic length range, determine the current protrusion clamping position and the corresponding protrusion clamping end; Step S52: Determine the protrusion clamping parameters based on the current protrusion clamping position, and control the corresponding protrusion clamping end of the clamping component to perform clamping operation according to the protrusion clamping parameters; Step S53: When the height of the protrusion at the clamping position does not fall within the adjustable telescopic length range but falls within twice the adjustable telescopic length range, determine the protrusion assisting end based on the protrusion clamping end; Step S54: Determine the protrusion clamping parameters and protrusion assistance parameters based on the current protrusion clamping position, and control the protrusion clamping end to perform clamping operation according to the protrusion clamping parameters, while controlling the protrusion assistance end to perform clamping operation according to the protrusion assistance parameters; Step S55: When there is a protrusion assistance parameter, obtain the current processing parameters and determine the corrected processing parameters through the current workpiece surface image to perform the processing operation; Step S56: When the height of the protrusion at the clamping position does not fall within twice the adjustable telescopic length range, output a manual alarm signal.

6. The machining error compensation method based on gripper clamping data according to claim 5, characterized in that, Methods for outputting a manual alarm signal when the height of the protrusion at the clamping position does not fall within twice the adjustable telescopic length range include: Step S560: Determine the protrusion pushing position based on the current protrusion gripping position; Step S561: Generate a bump pushing scheme based on the bump pushing position; Step S562: Control the protrusion clamping end and the protrusion assisting end to perform the protrusion pushing operation according to the protrusion pushing scheme; Step S563: Obtain the distance the bump has moved after the bump pushing operation; Step S564: When the protrusion moves 0 distance, output a manual alarm signal; Step S565: When the protrusion movement distance is not 0, continue to perform the protrusion pushing operation until there is no more protrusion height at the gripping position.

7. The machining error compensation method based on gripper clamping data according to claim 6, characterized in that, Step S564 also includes: Step S5640: Obtain the number of protrusions at the gripping position; Step S5641: When the number of protrusions at the clamping position is 2 and the protrusion movement distance is not 0, determine the position of the movable protrusion; Step S5642: When the movable bump position falls into the gripping position, determine the position of the immovable bump and the corresponding gripping position protrusion height; Step S5643: Determine the avoidance angle based on the height of the protrusion at the gripping position corresponding to the position of the immovable protrusion; Step S5644: When the avoidance angle falls within the preset adjustable angle range of the clamping end, determine the clamping limit end and determine the limit clamping parameters corresponding to the clamping limit end; Step S5645: Determine the clamping pushing end based on the clamping limiting end, and determine the clamping pushing parameters based on the position of the movable protrusion; Step S5646: Control the clamping limit end to perform clamping operation according to the limit clamping parameters, and simultaneously control the clamping push end to perform clamping push operation according to the clamping push parameters; Step S5647: If the movable bump does not fall into the gripping position, execute steps S50 to S56.

8. The machining error compensation method based on gripper clamping data according to claim 7, characterized in that, It also includes a method for performing a clamping impact operation when the avoidance angle does not fall within the adjustable angle range of the clamping end, the method comprising: Step S56440: Analyze the propulsion scheme to obtain the propulsion direction; Step S56441: Determine the relative distance between the immovable bump grippers based on the position and pushing direction of the immovable bump; Step S56442: Determine the relative distance between the movable bump grippers based on the position and pushing direction of the movable bump; Step S56443: When the relative distance between the movable bump grippers is greater than the relative distance between the immovable bump grippers, output a manual alarm signal; Step S56444: When the relative distance between the movable bump grippers is less than the relative distance between the immovable bump grippers, determine the relative distance difference; Step S56445: Determine the impact scheme based on the relative distance difference and the direction of impact; Step S56446: Control the clamping and pushing end to perform clamping and impact operations according to the impact scheme.

9. A machining error compensation method based on gripper clamping data according to claim 5, characterized in that, Also includes: Step S510: When there is a protrusion height at the gripping position, perform a gripper push test operation based on the current protrusion gripping position; Step S511: Determine the bump state based on the gripper push test operation; Step S512: When the bump is in the state of a movable bump, execute steps S560 to S565.

10. A machining error compensation system based on gripper clamping data, characterized in that, include: The acquisition module is used to acquire the current workpiece surface image; A memory for storing a program for a machining error compensation method based on gripper clamping data as described in any one of claims 1 to 9; The processor loads and executes programs from memory.

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