CN114505861A - Direction compensation method and system based on pneumatic clamping jaw control - Google Patents
Direction compensation method and system based on pneumatic clamping jaw control Download PDFInfo
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- CN114505861A CN114505861A CN202210207367.5A CN202210207367A CN114505861A CN 114505861 A CN114505861 A CN 114505861A CN 202210207367 A CN202210207367 A CN 202210207367A CN 114505861 A CN114505861 A CN 114505861A
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- clamping jaw
- pneumatic clamping
- movement information
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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Abstract
The application provides a direction compensation method and a direction compensation system based on pneumatic clamping jaw control, when in actual implementation, a position acquisition device is used for acquiring a target position of pneumatic clamping jaw movement information, direction information to be compensated is acquired, direction error data of the target position matched with each pneumatic clamping jaw movement behavior in the pneumatic clamping jaw movement information are obtained, and therefore a direction compensation configuration result including the target position in the pneumatic clamping jaw movement information is determined.
Description
Technical Field
The application relates to the technical field of direction compensation, in particular to a direction compensation method and system based on pneumatic clamping jaw control.
Background
With the wide use of the pneumatic clamping jaw in the production field, certain movement errors often exist in the movement direction of the pneumatic clamping jaw, and how to effectively compensate and correct the movement direction of the pneumatic clamping jaw is of great importance.
Disclosure of Invention
In order to solve the technical problems in the related art, the application provides a direction compensation method and system based on pneumatic clamping jaw control.
The application provides a direction compensation method based on pneumatic clamping jaw control, which comprises the following steps:
acquiring to-be-compensated direction information included in the movement information of the pneumatic clamping jaw through a position acquisition device; determining direction error data of each pneumatic clamping jaw movement behavior in the pneumatic clamping jaw movement information, which is related to the target position, according to the to-be-compensated direction information; and determining that the pneumatic clamping jaw movement information comprises a direction compensation configuration result of a target position according to the direction error data.
Optionally, the pneumatic jaw movement information comprises uncompensated pneumatic jaw movement information.
Optionally, the acquiring, by the position acquiring device, the to-be-compensated direction information included in the movement information of the pneumatic clamping jaw includes:
acquiring the position information of the pneumatic clamping jaw of the uncompensated pneumatic clamping jaw movement information through a position acquisition device; and determining direction error data, which is associated with the target position, of each pneumatic clamping jaw movement behavior in the pneumatic clamping jaw movement information according to the to-be-compensated direction information, wherein the direction error data comprises: and determining direction error data of each pneumatic clamping jaw movement behavior in the pneumatic clamping jaw movement information, which is related to the target position, according to the pneumatic clamping jaw position information of the uncompensated pneumatic clamping jaw movement information.
Optionally, the determining, according to the direction error data, that the pneumatic clamping jaw movement information includes a direction compensation configuration result of the target position includes: and determining the direction compensation configuration result according to the moving position results of a plurality of pneumatic clamping jaw moving behaviors of which the direction error data related to the target position is not less than the set direction error data.
Optionally, the determining, according to the direction error data, that the pneumatic clamping jaw movement information includes a direction compensation configuration result of a target position further includes: determining coordinate axis distinguishing marks of the target positions in the movement information of the pneumatic clamping jaws, which comprises the direction compensation configuration results of the target positions, through a direction analysis module; and carrying out coordinate axis classification configuration on the coordinate axis distinguishing mark of the target position to obtain a moving position result and/or direction compensation information of the target position.
The embodiment of the application also provides a direction compensation system based on pneumatic clamping jaw control, which comprises a memory and a processor; wherein the memory and the processor are electrically connected directly or indirectly; the processor reads the computer program from the memory and runs the computer program to realize the method.
The technical scheme provided by the embodiment of the application can have the following beneficial effects.
According to the direction compensation method and system based on pneumatic clamping jaw control, the target position of the pneumatic clamping jaw movement information is obtained through the position obtaining device, the direction information to be compensated is obtained, the direction error data of the target position matched with the movement behavior of each pneumatic clamping jaw in the pneumatic clamping jaw movement information is obtained, and therefore the direction compensation configuration result including the target position in the pneumatic clamping jaw movement information is determined.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a flowchart of a direction compensation method based on pneumatic clamping jaw control according to an embodiment of the present disclosure.
Fig. 2 is a hardware structural diagram of a direction compensation system based on pneumatic clamping jaw control according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
Referring to fig. 1, an embodiment of the present application provides a flow chart of a direction compensation method based on pneumatic jaw control, which is applied to a direction compensation system based on pneumatic jaw control, and further, the method may specifically include the following steps 101 to 103.
101, acquiring direction information to be compensated included in the movement information of the pneumatic clamping jaw through a position acquisition device; wherein the pneumatic jaw movement information comprises uncompensated pneumatic jaw movement information.
In some embodiments, the recorded direction information to be compensated, which is included in the information about the movement of the pneumatic clamping jaw obtained by the position obtaining device, may specifically include the following: acquiring the position information of the pneumatic clamping jaw of the uncompensated pneumatic clamping jaw movement information through a position acquisition device; and determining direction error data, which is associated with the target position, of each pneumatic clamping jaw movement behavior in the pneumatic clamping jaw movement information according to the to-be-compensated direction information, wherein the direction error data comprises: and determining direction error data of each pneumatic clamping jaw movement behavior in the pneumatic clamping jaw movement information, which is related to the target position, according to the pneumatic clamping jaw position information of the uncompensated pneumatic clamping jaw movement information.
And 102, determining direction error data of each pneumatic clamping jaw movement behavior in the pneumatic clamping jaw movement information related to the target position according to the to-be-compensated direction information.
And 103, determining that the pneumatic clamping jaw movement information comprises a direction compensation configuration result of a target position according to the direction error data.
In some embodiments, the determining, according to the direction error data, that the pneumatic chuck movement information includes a direction compensation configuration result of the target position may specifically include: and determining the direction compensation configuration result according to the moving position results of a plurality of pneumatic clamping jaw moving behaviors of which the direction error data related to the target position is not less than the set direction error data.
In some embodiments, the determining, according to the direction error data, that the pneumatic chuck movement information includes a direction compensation configuration result of the target position may specifically include: determining coordinate axis distinguishing marks of the target position in the direction compensation configuration result of the target position in the pneumatic clamping jaw movement information through a direction analysis module; and carrying out coordinate axis classification configuration on the coordinate axis distinguishing marks of the target positions to obtain the moving position results and/or the direction compensation information of the target positions.
In conclusion, the position acquisition device is used for acquiring the target position of the movement information of the pneumatic clamping jaws, acquiring the direction information to be compensated and acquiring the direction error data of the target position matched with the movement behavior of each pneumatic clamping jaw in the movement information of the pneumatic clamping jaws so as to determine the direction compensation configuration result of the target position included in the movement information of the pneumatic clamping jaws, so that the direction compensation configuration result in the movement information of the pneumatic clamping jaws can be accurately acquired, and the accuracy of the movement direction of the pneumatic clamping jaws is further improved.
On the basis of the above, please refer to fig. 2 in combination, the present application further provides a hardware structure diagram of a direction compensation system 20 based on pneumatic clamping jaw control, which specifically includes a memory 21 and a processor 22. The memory 21 and the processor 22 are electrically connected, directly or indirectly, to enable transmission or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor 22 runs a software program stored in the memory 21.
The Memory 21 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), and the like. The memory 21 is configured to store a program, and the processor 22 executes the program after receiving the execution instruction.
The processor 22 may be an integrated circuit chip having data processing capabilities. The Processor 22 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like. The various methods, steps and logic blocks disclosed in embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Further, a readable storage medium is provided, on which a program is stored, which when executed by a processor implements the method described above.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
It is well known to those skilled in the art that with the development of electronic information technology such as large scale integrated circuit technology and the trend of software hardware, it has been difficult to clearly divide the software and hardware boundaries of a computer system. As any of the operations may be implemented in software or hardware. Execution of any of the instructions may be performed by hardware, as well as by software. Whether a hardware implementation or a software implementation is used for a certain machine function depends on non-technical factors such as price, speed, reliability, storage capacity, change period, and the like. Accordingly, it will be apparent to those skilled in the art of electronic information technology that a more direct and clear description of one embodiment is provided by describing the various operations within the embodiment. Knowing the operations to be performed, the skilled person can directly design the desired product based on considerations of said non-technical factors.
The present application may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present application.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present application may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry can execute computer-readable program instructions to implement aspects of the present application by utilizing state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).
Various aspects of the present application are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the application is defined by the appended claims.
Claims (6)
1. A method of directional compensation based on pneumatic jaw control, the method comprising:
acquiring to-be-compensated direction information included in the movement information of the pneumatic clamping jaw through a position acquisition device; determining direction error data of each pneumatic clamping jaw movement behavior in the pneumatic clamping jaw movement information related to the target position according to the direction information to be compensated; and determining that the pneumatic clamping jaw movement information comprises a direction compensation configuration result of a target position according to the direction error data.
2. The method of claim 1, wherein the pneumatic jaw movement information comprises uncompensated pneumatic jaw movement information.
3. The method according to claim 2, wherein the acquiring of the direction information to be compensated, which is included in the movement information of the pneumatic clamping jaw, by the position acquiring device comprises:
acquiring the position information of the pneumatic clamping jaw of the uncompensated pneumatic clamping jaw movement information through a position acquisition device; and determining direction error data, which is associated with the target position, of each pneumatic clamping jaw movement behavior in the pneumatic clamping jaw movement information according to the to-be-compensated direction information, wherein the direction error data comprises: and determining direction error data of each pneumatic clamping jaw movement behavior in the pneumatic clamping jaw movement information, which is related to the target position, according to the pneumatic clamping jaw position information of the uncompensated pneumatic clamping jaw movement information.
4. The method of claim 1, wherein said determining a directional compensation configuration result including a target position in said pneumatic jaw movement information based on said directional error data comprises: and determining the direction compensation configuration result according to the moving position results of a plurality of pneumatic clamping jaw moving behaviors of which the direction error data related to the target position is not less than the set direction error data.
5. The method of any of claims 1-4, wherein determining the directional compensation configuration for the target position included in the pneumatic jaw movement information based on the directional error data further comprises: determining coordinate axis distinguishing marks of the target position in the direction compensation configuration result of the target position in the pneumatic clamping jaw movement information through a direction analysis module; and carrying out coordinate axis classification configuration on the coordinate axis distinguishing mark of the target position to obtain a moving position result and/or direction compensation information of the target position.
6. A direction compensation system based on pneumatic clamping jaw control is characterized by comprising a memory and a processor; wherein the memory and the processor are electrically connected directly or indirectly; the processor implements the method of any one of claims 1-5 by reading the computer program from the memory and running it.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210207367.5A CN114505861A (en) | 2022-03-04 | 2022-03-04 | Direction compensation method and system based on pneumatic clamping jaw control |
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| CN202210207367.5A CN114505861A (en) | 2022-03-04 | 2022-03-04 | Direction compensation method and system based on pneumatic clamping jaw control |
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Cited By (1)
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