Control method of limit clamp

Abstract

The present invention discloses a control method for a position-limiting clamp, comprising the steps of determining position information of a product to be processed placed on a pallet; when the product to be processed is in a preset position, sending a first control instruction to a driver to drive a support member to move in a direction close to a positioning member, thereby driving the product to be processed on the pallet to move to a pre-limited position; when the product to be processed is in the pre-limited position, sending a second control instruction to the driver to drive the support member to continue to move in a direction close to the positioning member at a uniform speed, thereby driving the product to be processed to a contact position with the positioning member; when the product to be processed is in a contact position with the positioning member, sending a third control instruction to the driver to decelerate the driving of the support member to continue to move in a direction close to the positioning member, thereby driving the product to be processed to a pressed position with the positioning member. The present invention can perform precise pressing control operations on the product to be processed and improve the stability and reliability of the pressing operation.

Description

Technical Field

[0001] The present invention relates to the technical field of clamp drive control, and in particular to a control method for a position limiting clamp. Background Art

[0002] During the production of high-voltage control switches, wire bonding is required to ensure electrical connections between the internal electronic components. During this bonding process, the high-voltage control switch must be limited to prevent it from being pulled up by the bonding equipment. However, the current limiter structure is not rational and the overall limiter is too large, which hinders the bonding process of the bonding machine. Summary of the Invention

[0003] The main purpose of the present invention is to provide a control method for a limit clamp, aiming to improve the control accuracy and ensure the stability and reliability of the lifting and pressing.

[0004] To achieve the above-mentioned purpose, the control method of the limiting clamp proposed by the present invention comprises: a base, a mounting frame, a support member, a tray, a positioning member and a driving member, the mounting frame is mounted on the base and a position sensor is installed on the mounting frame; the support member can be lifted and mounted on the mounting frame; the tray is detachably mounted on the support member, and the tray is used to place the product to be processed; the positioning member is detachably mounted on the mounting frame, and the positioning member includes a first positioning plate and a second positioning plate arranged at intervals, the first positioning plate and the second positioning plate are located on the upper side of the tray; the first positioning plate and the second positioning plate are made of high-strength material, the first positioning plate and the second positioning plate are used to limit the product to be processed, and a positioning space is enclosed between the first positioning plate and the second positioning plate and the tray; the driving member is mounted on the base, and the output shaft of the driving member is connected to the support member to drive the support member to approach or move away from the positioning member to adjust the size of the positioning space so that the product to be processed is pressed or relaxed;

[0005] The control method of the limit clamp includes:

[0006] Determine the location information of the products to be processed placed on the pallet;

[0007] When the product to be processed is in a preset position, a first control instruction is sent to the driving member to drive the supporting member to move in a direction close to the positioning member, thereby driving the product to be processed on the tray to move to a pre-limited position;

[0008] When the product to be processed is in the pre-limited position, a second control instruction is sent to the driving member to drive the supporting member to continue to move toward the positioning member at a uniform speed, thereby driving the product to be processed on the tray to move to a contact position with the positioning member;

[0009] When the product to be processed is in contact with the positioning member, a third control instruction is sent to the driving member to slow down the driving support member to continue moving in the direction close to the positioning member, thereby driving the product to be processed on the pallet to move to a pressing position with the positioning member.

[0010] Optionally, the length L of the first positioning plate is greater than or equal to 260 mm and less than or equal to 300 mm, and a pressure sensor is provided at the bottom of the first positioning plate; and / or the length L of the second positioning plate is greater than or equal to 260 mm and less than or equal to 300 mm, and a pressure sensor is provided at the bottom of the second positioning plate;

[0011] After the product to be processed moves to the pressing position of the positioning member, the method further includes:

[0012] Determine the pressing force data between the product to be processed and the positioning part;

[0013] When the clamping force data is less than a set threshold, a fine-tuning instruction is sent to the driving member to drive the supporting member to move a fine-tuning distance toward the positioning member, thereby driving the product to be processed on the pallet to move to a clamping position with the positioning member.

[0014] Optionally, determining the position information of the product to be processed placed on the pallet includes:

[0015] Obtain the center coordinates of the placement position of the pallet and the center coordinates of the product to be processed;

[0016] When the center coordinates of the placement position and the center coordinates of the product to be processed are both within a threshold range, obtaining outer edge position data of the product to be processed and inner edge position data of the first positioning portion of the first positioning plate and the second positioning portion of the second positioning plate;

[0017] Determine whether the outer edge position data of the product to be processed partially overlaps with the inner edge position data of the first positioning portion of the first positioning plate and the second positioning portion of the second positioning plate;

[0018] If so, it is determined that the position information of the product to be processed is at a preset position.

[0019] Optionally, obtaining the center coordinates of the product to be processed includes:

[0020] Obtain the coordinates of multiple vertices of the pallet where the product to be processed is located;

[0021] The center coordinates of the product to be processed are determined based on the coordinates of multiple vertices.

[0022] Optionally, the first positioning plate is made of titanium alloy, and the second positioning plate is made of titanium alloy; pressure sensors are installed at the bottom of the first positioning plate and the second positioning plate;

[0023] The step of driving the product to be processed on the tray to move to a contact position with the positioning member includes:

[0024] Determining whether the product to be processed is in contact with the first positioning plate and the second positioning plate at the same time;

[0025] When the product to be processed contacts only the first positioning plate or the second positioning plate, the support member is driven at a constant speed to continue moving toward the positioning member until the product to be processed contacts both the first positioning plate and the second positioning plate.

[0026] Optionally, after the product to be processed moves to the pressing position of the positioning member, the method further includes:

[0027] Determine two pressing force data between the product to be processed and the first positioning plate and the second positioning plate;

[0028] When the clamping force data is less than a set threshold, a fine-tuning instruction is sent to the driving member to drive the supporting member to move a fine-tuning distance toward the positioning member, thereby driving the product to be processed on the pallet to move to a clamping position with the positioning member.

[0029] Optionally, after the product to be processed on the tray is driven to move to a pressing position with the positioning member, the method further includes:

[0030] Check whether the compaction operation of the product to be processed is completed;

[0031] If the pressing operation of the product to be processed is completed, a fourth control instruction is sent to the driving member to drive the supporting member to move away from the positioning member at a uniform speed, thereby driving the product to be processed on the tray to move to a preset position.

[0032] Optionally, it also includes:

[0033] a first fixing member and a second fixing member;

[0034] The mounting frame is provided with a first fixing hole and a second fixing hole, and the first fixing hole and the second fixing hole are spaced apart from each other;

[0035] The first connecting plate is provided with a first mounting hole, the first mounting hole is opposite to the first fixing hole, and the first fixing member is passed through the first mounting hole and connected to the first fixing hole;

[0036] The second connecting plate is provided with a second mounting hole, the second mounting hole is opposite to the second fixing hole, and the second fixing member is passed through the second mounting hole and connected to the second fixing hole.

[0037] Optionally, the mounting frame is provided with a first positioning protrusion and a second positioning protrusion, and the first positioning protrusion and the second positioning protrusion are spaced apart; the first connecting plate is provided with a first positioning hole, and the first positioning hole is used to at least partially plug and cooperate with the first positioning protrusion; the second connecting plate is provided with a second positioning hole, and the second positioning hole is used to at least partially plug and cooperate with the second positioning protrusion.

[0038] Optionally, the first positioning plate is provided with a first connecting protrusion, the first connecting protrusion is located between the first positioning plate and the second positioning plate, and the first positioning portion is installed on a side of the first connecting protrusion facing the tray; and / or,

[0039] The second positioning plate is provided with a second connecting protrusion, the second connecting protrusion is located between the first positioning plate and the second positioning plate, and the second positioning portion is installed on a side of the second connecting protrusion facing the tray.

[0040] The present invention first determines the position information of the product to be processed placed on the pallet; then, when the product to be processed is in the preset position, sends a first control instruction to the driving member to drive the supporting member to move in the direction close to the positioning member, thereby driving the product to be processed on the pallet to move to the pre-limited position; then, when the product to be processed is in the pre-limited position, sends a second control instruction to the driving member to drive the supporting member to continue to move in the direction close to the positioning member at a uniform speed, thereby driving the product to be processed on the pallet to move to the contact position with the positioning member; finally, when the product to be processed is in the contact position with the positioning member, sends a third control instruction to the driving member to slow down the driving support member to continue to move in the direction close to the positioning member, thereby driving the product to be processed on the pallet to move to the clamping position with the positioning member. By precisely controlling the movement of the pallet in stages, it is possible to ensure that the product to be processed is in a secure clamping position, which is beneficial to improving the stability and reliability of the clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0042] Figure 1 This is a structural diagram of a first perspective of an embodiment of a position limiting clamp of the present invention;

[0043] Figure 2 A schematic structural diagram of an embodiment of a position limiting clamp of the present invention from another perspective;

[0044] Figure 3 This is a schematic structural diagram of a support member of an embodiment of a position limiting clamp of the present invention;

[0045] Figure 4 This is a structural schematic diagram of a positioning member of an embodiment of a position limiting clamp of the present invention;

[0046] Figure 5 This is a structural diagram of a tray according to an embodiment of the position limiting fixture of the present invention;

[0047] Figure 6 This is a flow chart of the method for limiting control of the limiting clamp of the present invention.

[0048] Description of Figure Numbers:

[0049]

[0050] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0052] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0053] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text is to include three parallel solutions. Taking "A and / or B as an example", it includes Solution A, or Solution B, or a solution in which both A and B are satisfied. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that a person of ordinary skill in the art can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0054] The following will first describe the specific structure of the limiting clamp, and then describe the control method of the limiting clamp.

[0055] The present invention provides a limiting clamp.

[0056] In the embodiment of the present invention, Figures 1 to 5 As shown, the limiting fixture includes:

[0057] Base 1, the base 1 is provided with a mounting surface 11; mounting frame 2, mounted on the mounting surface 11; support member 3, which can be lifted and mounted on the mounting frame 2, and a mounting position 32 is provided on the upper side of the support member 3; tray 4, which can be detachably mounted on the mounting position 32, the tray 4 is provided with a placement position 41, the placement position 41 is used to place the product 8 to be processed; positioning member 5, which can be detachably mounted on the mounting frame 2, the positioning member 5 includes a first positioning plate 51 and a second positioning plate 52 arranged at intervals, the first positioning plate 51 and the second positioning plate 52 are located on the upper side of the tray 4; ... The plate 52 is made of high-strength material, the first positioning plate 51 is provided with a first positioning portion 511, and the second positioning plate 52 is provided with a second positioning portion 521. The first positioning portion 511 and the second positioning portion 521 are used to limit the product to be processed, and a positioning space is enclosed between the first positioning portion 511 and the second positioning portion 521 and the tray 4; the driving member 6 is installed on the mounting surface 11, and the output shaft of the driving member 6 is connected to the support member 3 to drive the support member 3 close to or away from the positioning member 5 to adjust the size of the positioning space so that the product to be processed 8 is pressed or relaxed.

[0058] In this embodiment, base 1 is used to support mounting bracket 2 and driver 6. The entire base 1 can be a cube, rectangular parallelepiped, or cylindrical, etc., without specific limitations here, as long as it can serve as a load-bearing medium. Mounting surface 11 is located on the upper side of base 1. In some embodiments, under special working conditions, mounting surface 11 can be provided on the side or bottom of base 1. In this embodiment, it is preferably provided on the top of the mounting base. Mounting bracket 2 can be integrally formed or assembled from multiple parts, without specific limitations here, as long as the formed mounting bracket 2 can support support member 3 and positioning member 5.

[0059] The support member 3 can be integrally formed or assembled from multiple parts, and there is no specific limitation here. It only needs to be able to serve as a medium for supporting the tray 4 after the support member 3 is formed. The mounting position 32 can be formed by a protrusion or a depression on the support member 3, and there is no specific limitation here. It only needs to be able to accommodate and position the tray 4. For example, when the support member 3 is integrally formed, the support member 3 is block-shaped as a whole, and one side of the support member 3 can be depressed to form the mounting position 32. The mounting position 32 is arranged in a groove shape. At the same time, a notch is opened on one side of the groove wall. The size of the notch is comparable to that of the tray 4, so that the tray 4 can be removably installed in the mounting position 32 through the notch. There are many ways to movably mount the support member 3 on the support frame, such as providing a guide rail extending along the height of the mounting frame 2, providing a slider on the support member 3 that cooperates with the guide rail, and the support member 3 can move up and down on the mounting frame 2 through the cooperation of the guide rail and the slider; another example is providing a lead screw extending along the height direction of the mounting frame 2, and providing a lead screw nut on the support member 3 that cooperates with the lead screw. In this way, when the lead screw is rotated, the support member 3 can move up and down on the mounting frame 2.

[0060] The tray 4 can be integrally formed or can be made up of multiple parts. There is no specific limitation here. It only needs to be able to serve as a medium for limiting the position of the product 8 to be processed. The tray 4 is provided with a placement position 41. The placement position 41 is used to place the product 8 to be processed. The shape of the placement position 41 can be a groove, a plane or a notch, etc. There is no specific limitation here. It only needs to be able to serve as a place for the product 8 to be processed. For example, when the placement position 41 is set in a plane, a limiting protrusion is provided on the placement surface. The limiting protrusion is used to cooperate with the limiting hole of the bottom plate of the product 8 to be processed to achieve the purpose of limiting the product 8 to be processed to the placement position 41. The tray 4 can be detachably installed in the installation position 32, which is beneficial for limiting different products by replacing different trays 4, thereby achieving the purpose of improving the versatility of the limiting fixture.

[0061] There are many ways in which the positioning member 5 can be detachably mounted on the mounting frame 2, such as being connected to the mounting frame 2 by bolts, being connected to the mounting frame 2 by snaps, being connected to the mounting frame 2 by magnetic components, or being connected to the mounting frame 2 by cable ties, etc., and no specific restrictions are imposed here, as long as it is easy to install and remove. The positioning member 5 can be integrally formed, or can be formed by splicing multiple parts, etc., and no specific restrictions are imposed here, as long as it can be able to fix the product to be processed 8 located at the placement position 41 by cooperating with the tray 4. The first positioning plate 51 is in the shape of a plate, and at the same time, the first positioning plate 51 is made of high-strength materials, such as aluminum alloy, titanium alloy, stainless steel, polyamide, polyetheretherketone, and resin materials, etc., and no specific restrictions are imposed here. It is only necessary to reduce the elastic deformation of the first positioning plate 51 when limiting the product to be processed 8. The second positioning plate 52 is in the shape of a plate, and at the same time, the second positioning plate 52 is made of high-strength materials, such as aluminum alloy, titanium alloy, stainless steel, polyamide, polyetheretherketone, and resin materials, etc., and no specific restrictions are imposed here. It is only necessary to reduce the elastic deformation of the second positioning plate 52 when limiting the product 8 to be processed.

[0062] Secondly, the first positioning plate 51 and the second positioning plate 52 are spaced apart, and the size of the space is equivalent to the length or width of the product 8 to be processed. For example, when the two sides of the length direction of the product 8 to be processed are adjacent to the first positioning plate 51 and the second positioning plate 52, the space between the first positioning plate 51 and the second positioning plate 52 is equivalent to the length of the product 8 to be processed. This facilitates the installation of the first positioning portion 511 on the first positioning plate 51 and the second positioning portion 521 on the second positioning plate 52. Through the cooperation of the first positioning portion 511 and the second positioning portion 521, the product to be processed is fixed to the placement position 41.

[0063] In addition, using aluminum alloy, titanium alloy, stainless steel, polyamide, polyetheretherketone and resin materials as the materials for making the first positioning plate 51 is conducive to ensuring that the first positioning plate 51 has a smaller volume and a stronger strength. In this way, after the first positioning plate 51 is made, it is conducive to the miniaturization and micro-miniaturization design of the limiting clamp. Similarly, using aluminum alloy, titanium alloy, stainless steel, polyamide, polyetheretherketone and resin materials as the materials for making the second positioning plate 52 is conducive to ensuring that the second positioning plate 52 has a smaller volume and a stronger strength. In this way, after the second positioning plate 52 is made, it is conducive to the miniaturization and micro-miniaturization design of the limiting clamp. The positioning member 5 can be detachably mounted on the mounting frame 2, which is conducive to replacing the corresponding positioning member 5 according to the requirements of different products when replacing different products, thereby further improving the versatility of the limiting clamp.

[0064] The driver 6 can be a motor, a pneumatic cylinder, a hydraulic cylinder, or a linear motor, without specific limitations, as long as it can provide power. The driver 6 is mounted on the mounting surface 11 and can be connected to the support member 3 directly or indirectly via its output shaft. The driver 6 is not specifically limited here, as long as it can drive the support member 3 to move up and down. This allows the driver 6 to adjust the size of the positioning space by driving the support member 3 up and down, thereby limiting the product placement in the placement position 41.

[0065] The positioning fixture of the present invention utilizes a first positioning plate 51 and a second positioning plate 52 made of a high-strength material, disposed on the mounting frame 2. This ensures that the first positioning plate 51 and the second positioning plate 52 have excellent mechanical strength when positioning the product 8 to be processed. Furthermore, the use of high-strength materials for the first positioning plate 51 and the second positioning plate 52 helps reduce their volume, thereby achieving a miniaturized, simplified, and lightweight design. Furthermore, the positioning member 5 is constructed from the first positioning plate 51 and the second positioning plate 52, simplifying its structure for ease of manufacture.

[0066] In one embodiment, if Figure 4 As shown, the length L of the first positioning plate 51 is greater than or equal to 260 mm and less than or equal to 300 mm; and / or the length L of the second positioning plate 52 is greater than or equal to 260 mm and less than or equal to 300 mm. The width W of the first positioning plate 51 is greater than or equal to 10 mm and less than or equal to 18 mm; and / or the width W of the second positioning plate 52 is greater than or equal to 10 mm and less than or equal to 18 mm. The thickness δ of the first positioning plate 51 is greater than or equal to 5 mm and less than or equal to 10 mm; the thickness δ of the second positioning plate 52 is greater than or equal to 5 mm and less than or equal to 10 mm.

[0067] The length L of the first positioning plate 51 must be greater than or equal to 260 mm, and at the same time, must be less than or equal to 300 mm. For example, when the length L of the first positioning plate 51 is less than 260 mm, the positioning space can only accommodate one product 8 to be processed, resulting in a waste of positioning space and a disadvantageous effect on improving production efficiency. When the length L of the first positioning plate 51 is greater than 300 mm, the length of the first positioning plate 51 is too long, which can easily reduce the strength of the first positioning plate 51 and is disadvantageous for limiting the position of the product 8 to be processed. Similarly, the length L of the second positioning plate 52 must be greater than or equal to 260 mm, and at the same time, must be less than or equal to 300 mm. For example, when the length L of the second positioning plate 52 is less than 260 mm, the positioning space can only accommodate one product 8 to be processed, resulting in a waste of positioning space and a disadvantageous effect on improving production efficiency. When the length L of the second positioning plate 52 is greater than 300 mm, the length of the second positioning plate 52 is too long, which can easily reduce the strength of the second positioning plate 52 and is disadvantageous for limiting the position of the product 8 to be processed.

[0068] The width W of the first positioning plate 51 must be greater than or equal to 10 mm and less than or equal to 18 mm. For example, if the width W of the first positioning plate 51 is less than 10 mm, the first positioning plate 51 is too thin, which can easily reduce the strength of the first positioning plate 51 and prevent it from effectively positioning the product 8 to be processed. If the width W of the first positioning plate 51 is greater than 18 mm, the first positioning plate 51 occupies a large space, wastes material, and is not conducive to material conservation. Similarly, the width W of the second positioning plate 52 must be greater than or equal to 10 mm and less than or equal to 18 mm. For example, if the width W of the second positioning plate 52 is less than 10 mm, the second positioning plate 52 is too thin, which can easily reduce the strength of the second positioning plate 52 and prevent it from effectively positioning the product 8 to be processed. If the width W of the second positioning plate 52 is greater than 18 mm, the second positioning plate 52 occupies a large space, wastes material, and is not conducive to material conservation.

[0069] The thickness δ of the first positioning plate 51 must be greater than or equal to 5mm and less than or equal to 10mm. For example, when the thickness δ of the first positioning plate 51 is less than 5mm, the thickness of the first positioning plate 51 is too thin, resulting in insufficient strength of the first positioning plate 51, and the inability to effectively position the product 8 to be processed. When the thickness δ of the first positioning plate 51 is greater than 10mm, the side of the first positioning plate 51 facing away from the product 8 to be processed is likely to interfere with the wire bonding machine, hindering the operation of the wire bonding machine. Similarly, the thickness δ of the second positioning plate 52 must be greater than or equal to 5mm and less than or equal to 10mm. For example, when the thickness δ of the second positioning plate 52 is less than 5 mm, the thickness of the second positioning plate 52 is too thin, resulting in insufficient strength of the second positioning plate 52, and the product 8 to be processed cannot be effectively limited when limiting the position of the product 8 to be processed; when the thickness δ of the second positioning plate is greater than 10 mm, the side of the second positioning plate 52 away from the product 8 to be processed is likely to interfere with the wire bonding machine, which is not conducive to the operation of the wire bonding machine.

[0070] In one embodiment, the first positioning plate 51 is made of a titanium alloy; and / or the second positioning plate 52 is made of a titanium alloy. Titanium alloy has advantages such as low density, high strength, good corrosion resistance, and good processability. Using titanium alloy to manufacture the first positioning plate 51 can reduce the weight of the first positioning plate 51, increase the service life of the positioning member 5, and facilitate processing. Similarly, using titanium alloy to manufacture the second positioning plate 52 can reduce the weight of the second positioning plate 52 and increase the service life of the positioning member 5.

[0071] In one embodiment, if Figure 4 As shown, the positioning member 5 also includes: a reinforcing plate 53, one end of the reinforcing plate 53 is connected to the first positioning plate 51, and the other end is connected to the second positioning plate 52. The shape of the reinforcing plate 53 can be plate-shaped or strip-shaped, and there is no specific limitation here. One end of the reinforcing plate 53 is connected to the side of the first positioning plate 51 facing the second positioning plate 52, and the other end is connected to the side of the second positioning plate 52 facing the first positioning plate 51. In this way, when the positioning member 5 limits the product 8 to be processed, the first positioning plate 51 can be limited by the reinforcing plate 53 to move toward the side away from the second positioning plate 52, or the second positioning plate 52 can be limited by the reinforcing plate 53 to move toward the side away from the first positioning plate 51, thereby further improving the strength and stability of the positioning member 5.

[0072] In one embodiment, if Figure 1 and Figure 4As shown, the positioning member 5 also includes: a first connecting plate 54, one end of which is connected to the first end of the first positioning plate 51, and the other end is connected to the first end of the second positioning plate 52; a second connecting plate 55, one end of which is connected to the second end of the first positioning plate 51, and the other end is connected to the second end of the second positioning plate 52. The limiting clamp also includes: a first fixing member and a second fixing member; the mounting frame 2 is provided with a first fixing hole and a second fixing hole, and the first fixing hole and the second fixing hole are spaced apart; the first connecting plate 54 is provided with a first mounting hole 541, the first mounting hole 541 is opposite to the first fixing hole, the first fixing member is passed through the first mounting hole 541 and is connected to the first fixing hole; the second connecting plate 55 is provided with a second mounting hole 551, the second mounting hole 551 is opposite to the second fixing hole, the second fixing member is passed through the second mounting hole 551 and is connected to the second fixing hole. The mounting frame 2 is provided with a first positioning protrusion 21 and a second positioning protrusion 22, and the first positioning protrusion 21 and the second positioning protrusion 22 are spaced apart; the first connecting plate 54 is provided with a first positioning hole 542, and the first positioning hole 542 is used to at least partially plug and cooperate with the first positioning protrusion 21; the second connecting plate 55 is provided with a second positioning hole 552, and the second positioning hole 552 is used to at least partially plug and cooperate with the second positioning protrusion 22.

[0073] By connecting the first and second connecting plates 54 and 55 to form a single unit, the first positioning plate 51 and the second positioning plate 51 are easily disassembled and replaced when the positioning member 5 is replaced, thereby improving replacement efficiency. The first fixing member can be a bolt, rivet, or magnetic component, without specific limitation, as long as it can serve as a medium for securing the first connecting plate 54. Similarly, the second fixing member can be a bolt, rivet, or magnetic component, without specific limitation, as long as it can serve as a medium for securing the second connecting plate 55.

[0074] The first fixing hole may be threaded or unthreaded, and is not specifically limited here. It only requires that the first fixing member can be connected to the first fixing hole. The first mounting hole 541 is set through the first connecting plate 54 and is opposite to the first fixing hole, so that the first fixing member is inserted into the first mounting hole 541 and enters the first fixing hole to connect with the first fixing hole. For example, when the first fixing member is a rivet, the rivet is inserted into the first mounting hole 541 and enters the first fixing hole. The first connecting plate 54 is fixed to the mounting frame 2 by the rivet and the first fixing hole. Similarly, the second fixing hole may be threaded or unthreaded, and is not specifically limited here. It only requires that the second fixing member can fix the second connecting plate 55 to the mounting frame 2 when it is inserted into the second fixing hole. The second mounting hole 551 is set through the second connecting plate 55 and is opposite to the second fixing hole, so that the second fixing member is inserted into the second mounting hole 551 and enters the second fixing hole to connect with the second fixing hole. For example, when the second fixing member is a rivet, the rivet is passed through the second mounting hole 551 and enters the second fixing hole. The second connecting plate 55 is fixed to the mounting frame 2 through the connection between the rivet and the second fixing hole.

[0075] The overall shape of the first positioning protrusion 21 can be a cylinder, a cube, or a cuboid, etc., and is not specifically limited here, as long as it can be positioned with the first positioning hole 542. For example, when the shape of the first positioning hole 542 is circular, the first positioning protrusion 21 is cylindrical. At the same time, the cylindrical first positioning protrusion 21 needs to be slightly smaller than the first positioning hole 542, so that when the positioning member 5 is installed, the first positioning protrusion 21 can be positioned with the first positioning hole 542 to achieve the correction of the relative state of the first fixing hole and the first mounting hole 541, thereby facilitating the insertion of the first fixing member into the first mounting hole 541 and the first fixing hole. Similarly, the overall shape of the second positioning protrusion 22 can be a cylinder, a cube, or a cuboid, etc., and is not specifically limited here, as long as it can be positioned with the second positioning hole 552. For example, when the shape of the second positioning hole 552 is circular, the second positioning protrusion 22 is cylindrical. At the same time, the cylindrical second positioning protrusion 22 needs to be slightly smaller than the second positioning hole 552, so that when the positioning member 5 is installed, the second positioning protrusion 22 can be positioned and matched with the second positioning hole 552 to achieve the correction of the relative state of the second fixing hole and the second mounting hole 551, thereby facilitating the second fixing member to be inserted into the second mounting hole 551 and the second fixing hole.

[0076] In one embodiment, if Figure 4As shown, the first positioning plate 51 is provided with a first connecting protrusion 512, the first connecting protrusion 512 is located between the first positioning plate 51 and the second positioning plate 52, and the first positioning portion 511 is installed on the side of the first connecting protrusion 512 facing the tray 4; and / or, the second positioning plate 52 is provided with a second connecting protrusion 522, the second connecting protrusion 522 is located between the first positioning plate 51 and the second positioning plate 52, and the second positioning portion 521 is installed on the side of the second connecting protrusion 522 facing the tray 4.

[0077] The first connecting protrusion 512 allows the first positioning plate 51 to avoid the product to be processed 8, so as to avoid interference between the shell of the product to be processed 8 and the first positioning plate 51. The first connecting protrusion 512 is located on the side of the first positioning plate 51 facing the second positioning plate 52, and extends toward the second positioning plate 52, so that after the first mounting portion is installed on the first connecting protrusion 512, the shell of the product is avoided by the first connecting protrusion 512 to achieve the purpose of protecting the product. In addition, the first positioning portion 511 is a first pressure head, and the first pressure head is made of an elastic material. The elastic material includes rubber, polyethylene or nylon, etc. There is no specific restriction here. It only needs to be able to deform to a certain extent, so that when positioning the product, the first pressure head can buffer part of the impact, thereby achieving the purpose of protecting the product to be processed 8. Similarly, the second connecting protrusion 522 allows the second positioning plate 52 to avoid the product to be processed 8, so as to avoid interference between the shell of the product to be processed 8 and the second positioning plate 52. The second connecting protrusion 522 is located on the side of the second positioning plate 52 facing the first positioning plate 51 and extends toward the first positioning plate 51. This allows the second mounting portion to be mounted on the second connecting protrusion 522, thereby avoiding the product's housing and protecting the product. Furthermore, the second positioning portion 521 is a second pressure head made of an elastic material, such as rubber, polyethylene, or nylon, without specific limitations. The material only needs to be deformable to a certain extent. This allows the second pressure head to partially cushion any impact when positioning the product, thereby protecting the product 8 to be processed.

[0078] In addition, as shown in Figure 3, the support member 3 includes: a support plate 31, and a first transverse positioning block 33, a second transverse positioning block 34 and a longitudinal positioning block 35 installed on the support plate 31; the first transverse positioning block 33, the second transverse positioning block 34 and the longitudinal positioning block 35 form a mounting position 32, and the mounting position 32 has an opening 36, and the opening 36 is opposite to the longitudinal positioning block 35.

[0079] The overall shape of the support plate 31 can be rectangular, square, or circular, etc., and there is no specific limitation here. It only needs to be able to serve as a medium for supporting the tray 4. The overall shape of the first horizontal positioning block 33 can be a cuboid, a cylinder, or other special shapes, etc., and there is no specific limitation here. It only needs to be installed on the support plate 31 to limit the movement of the tray 4 placed on the support plate 31 toward the first horizontal positioning block 33. Similarly, the overall shape of the second horizontal positioning block 34 can be a cuboid, a cylinder, or other special shapes, etc., and there is no specific limitation here. It only needs to be installed on the support plate 31 to limit the movement of the tray 4 placed on the support plate 31 toward the second horizontal positioning block 34. Similarly, the overall shape of the longitudinal positioning block 35 can be a cuboid, a cylinder, or other special shapes, etc., and there is no specific limitation here. It only needs to be installed on the support plate 31 to limit the movement of the tray 4 placed on the support plate 31 toward the longitudinal positioning block 35.

[0080] The first lateral positioning block 33 and the second lateral positioning block can extend in either the first or second direction, without limitation. However, there must be a gap between the first lateral positioning block 33 and the second lateral positioning block. Similarly, the longitudinal positioning block 35 can extend in either the second or first direction, but the longitudinal positioning block 35 must extend in a different direction than the first lateral positioning block 33 and the second lateral positioning block 34. For example, when the first lateral positioning block 33 and the second lateral positioning block extend in the first direction, the longitudinal positioning block 35 must extend in the second direction; when the first lateral positioning block 33 and the second lateral positioning block extend in the second direction, the longitudinal positioning block 35 must extend in the first direction. Furthermore, the longitudinal positioning block 35 must be located between the first lateral positioning block 33 and the second lateral positioning block. This allows the first lateral positioning block 33, the second lateral positioning block, and the longitudinal positioning block 35 to enclose the mounting position 32. When the first transverse positioning block 33, the second transverse positioning block and the longitudinal positioning block 35 form the installation position 32, the longitudinal positioning block 35 has an opening 36 relative to the installation position 32. The size of the opening 36 is comparable to the size of the tray 4, so that the tray 4 can be placed in the installation position 32 through the opening 36.

[0081] like Figure 3As shown, the first transverse positioning block 33 is provided with a first guide groove, which extends along the first transverse positioning block 33; the second transverse positioning block 34 is provided with a second guide groove, which extends along the second transverse positioning block 34, with the first guide groove and the second guide groove facing each other. The first transverse positioning block 33 is provided with a first guide protrusion 331, which is spaced apart from the support plate 31. The support plate 31, the first transverse positioning block 33, and the first guide protrusion 331 form the first guide groove; the second transverse positioning block 34 is provided with a second guide protrusion 341, which is spaced apart from the support plate 31. The support plate 31, the second transverse positioning block 34, and the second guide protrusion 341 form the second guide groove.

[0082] The first guide groove can be formed by the depression of the first transverse positioning block 33, or can be surrounded by the first guide block and the support plate 31. There is no specific limitation here. It only needs to be formed so that the tray 4 can be guided in the first guide groove. Similarly, the second guide groove can be formed by the depression of the second transverse positioning block 34, or can be surrounded by the second guide block and the support plate 31. There is no specific limitation here. It only needs to be formed so that the tray 4 can be guided in the second guide groove. For example, when the first guide groove is formed by the depression of the first positioning block, and the second guide groove is formed by the depression of the second positioning block, both sides of the tray 4 can be guided by the first guide groove and the second guide groove and installed in the installation position 32. In addition, since the tray 4 enters the installation position 32 through the first guide groove and the second guide groove, when the tray 4 enters the installation position 32, the first guide groove and the second guide groove can limit the tray 4 to avoid improper operation by the operator during disassembly, which may cause the product to collide with the positioning member 5, thereby causing product defects.

[0083] The first guide protrusion 331 can be rectangular or shaped, etc., and there are no specific restrictions here. It only needs to be able to serve as a limit tray 4. The first guide protrusion 331 is located on the side of the first lateral positioning block 33 facing the second lateral positioning block 34. The first guide protrusion 331 extends to both ends of the first lateral positioning block 33. At the same time, there is a gap between the first guide protrusion 331 and the support plate 31. In this way, a first guide groove is formed between the first guide protrusion 331, the first lateral positioning block 33, and the support plate 31. By enclosing the first guide protrusion 331, the first lateral positioning block 33, and the support plate 31 to form the first guide groove, it is helpful to reduce the thickness of the first lateral positioning block 33, thereby reducing the weight of the first lateral positioning block 33. Similarly. The second guide protrusion 341 can be rectangular or shaped, etc., and there are no specific restrictions here. It only needs to be able to serve as a limit tray 4. The second guide protrusion 341 is located on the side of the second lateral positioning block 34 facing the first lateral positioning block 33. The second guide protrusion 341 extends to both ends of the second lateral positioning block 34. A gap is formed between the second guide protrusion 341 and the support plate 31. Thus, a first guide groove is formed between the second guide protrusion 341, the first lateral positioning block 33, and the support plate 31. By forming the first guide groove with the first guide protrusion 331, the first lateral positioning block 33, and the support plate 31, the thickness of the first lateral positioning block 33 is reduced, thereby alleviating the weight of the first lateral positioning block 33.

[0084] like Figure 1 and Figure 5 As shown, the positioning fixture further includes a handle 42 , and the handle 42 is connected to the tray 4 .

[0085] The handle 42 can be shaped like a ring or a column, etc., as long as it is easily grasped by the operator, and there are no specific limitations here. The handle 42 can be connected to the tray 4 at the edge of the tray 4 or on the side of the tray 4 adjacent to the placement position 41, etc., and there are no specific limitations here. It is sufficient that after being connected to the tray 4, when the tray 4 is installed in the installation position 32, it avoids interference with the support plate 31, the first lateral positioning block 33, the second lateral positioning block 34, and the longitudinal positioning block 35. For example, the handle 42 is shaped like a ring and connected to the side of the tray 4 adjacent to the placement position 41. During use, the operator can grasp the handle 42 to perform the corresponding operation.

[0086] As shown in FIG1 , the positioning fixture further includes a pad 7 , which is mounted on the mounting surface 11 ; the driving member 6 includes a cylinder, which is mounted on the pad 7 , and the output shaft of the cylinder is connected to the support member 3 .

[0087] The spacer 7 is used to increase the height of the driving member 6. The overall shape of the spacer 7 can be cylindrical, cube-shaped, or rectangular, and is not specifically limited here, as long as it can provide support. The spacer 7 is mounted on the mounting surface 11, and the end of the cylinder away from the cylinder output shaft is mounted on the spacer 7. This facilitates the cylinder to be installed behind the spacer 7 and drive the support member 3 to move up and down.

[0088] On the basis of the above-mentioned embodiment of the limiting clamp, the present application further proposes a control method for the limiting clamp, which is used to accurately press the product to be processed on the pallet. The limiting clamp specifically includes a base 1, a mounting frame 2, a support member 3, a pallet 4, a positioning member 5 and a driving member 6. The mounting frame 2 is installed on the base 1 and a position sensor is installed on the mounting frame 2; the support member 3 can be lifted and installed on the mounting frame 2; the pallet 4 can be detachably installed on the support member 3, and the pallet 4 is used to place the product to be processed 8; the positioning member 5 can be detachably installed on the mounting frame 2, and the positioning member 5 includes a first positioning plate 51 and a second positioning plate 52 arranged at intervals. Plate 52, the first positioning plate 51 and the second positioning plate 52 are located on the upper side of the pallet 4; the first positioning plate 51 and the second positioning plate 52 are made of high-strength material, the first positioning plate 51 and the second positioning plate 52 are used to limit the product to be processed, and a positioning space is formed between the first positioning plate 51 and the second positioning plate 52 and the pallet 4; the driving member 6 is installed on the base 1, and the output shaft of the driving member 6 is connected to the support member 3 to drive the support member 3 close to or away from the positioning member 5 to adjust the size of the positioning space so that the product to be processed is pressed or relaxed.

[0089] Please refer to Figure 6 The control method of the limit clamp comprises the following steps:

[0090] S110: Determine the position information of the product to be processed placed on the pallet.

[0091] Specifically, the pallet is provided with a placement position for placing the products to be processed, and the products to be processed need to be accurately placed in the placement position to ensure that the products to be processed are accurately processed. Specifically, the placement position has a center position, and the center position of the product to be processed can be coincident with the placement position. In actual applications, the coincidence of the two can be detected by the cooperation of the positioning column and the groove. For example, a positioning column is set at the center position of the placement position, and a groove is set at the center position of the product to be processed. When the positioning column and the groove are fully matched, the bottom surface of the product to be processed is flush. In addition, the above-mentioned position coincidence can also be detected by laser shooting. A group of lasers is set above the limit clamp, and the laser is set directly at the center position of the placement position. After the product to be processed is placed on the pallet, the position of the laser spot on the product to be processed can be detected to determine whether the two coincide. It can be understood that when the two do not coincide, the position of the product to be processed on the pallet needs to be adjusted so that it is in the center position of the placement position.

[0092] Furthermore, the position information of the product to be processed placed on the pallet is determined, including:

[0093] Obtain the center coordinates of the placement position of the pallet and the center coordinates of the product to be processed;

[0094] When the center coordinates of the placement position and the center coordinates of the product to be processed are both within a threshold range, obtaining outer edge position data of the product to be processed and inner edge position data of the first positioning portion of the first positioning plate and the second positioning portion of the second positioning plate;

[0095] Determine whether the outer edge position data of the product to be processed partially overlaps with the inner edge position data of the first positioning portion of the first positioning plate and the second positioning portion of the second positioning plate;

[0096] If so, it is determined that the position information of the product to be processed is at the preset position.

[0097] Specifically, considering the size of the product to be processed placed in the placement position, in order to ensure that the positioning member can be pressed against the product to be processed, it is necessary to judge the size of the product to be processed, that is, whether the outer edge of the product to be processed coincides with the inner edge of the positioning member. In this embodiment, the positioning member presses the product to be processed through the first positioning portion of the first positioning plate and the second positioning portion of the second positioning plate. Therefore, this solution needs to consider whether the outer edge position data of the product to be processed partially overlaps with the inner edge position data of the first positioning portion of the first positioning plate and the second positioning portion of the second positioning plate. When there is a partial overlap, it means that the size of the product to be processed is appropriate and the pressing operation can be performed; when there is no partial overlap, it means that the size of the product to be processed is too small and the limit clamp cannot achieve a better pressing effect.

[0098] In order to accurately obtain the center coordinates of the product to be processed, the coordinates of multiple vertices of the pallet can be obtained. Specifically, obtaining the center coordinates of the product to be processed includes:

[0099] Obtain the coordinates of multiple vertices of the pallet where the product to be processed is located;

[0100] The center coordinates of the product to be processed are determined based on the coordinates of multiple vertices.

[0101] In this solution, the pallet is a square pallet, and the center coordinates of the pallet can be determined by obtaining multiple vertex coordinates. In particular, when the pallet is a circular pallet, multiple edge coordinates can also be obtained to determine the center coordinates of the push tray.

[0102] S120. When the product to be processed is at a preset position, a first control instruction is sent to the driving member to drive the supporting member to move toward the positioning member, thereby driving the product to be processed on the tray to move to a pre-limited position.

[0103] Specifically, the driver acts as a support member when it receives no control instructions. Upon receiving a first control instruction, the driver drives the support member to move, thereby moving the pallet and the products on the pallet to a pre-limited position. This means that the pallet's position is initially adjusted, and at this point, the positions of the products on the pallet cannot be adjusted.

[0104] S130. When the product to be processed is in the pre-limited position, a second control instruction is sent to the driving member to drive the supporting member to continue to move toward the positioning member at a uniform speed, thereby driving the product to be processed on the pallet to move to a contact position with the positioning member.

[0105] When the product to be processed is moved to the pre-limited position, the driving member receives a second control instruction and drives the support member to move at a uniform speed. By precisely controlling the movement displacement, the product to be processed on the tray is driven to move to the contact position with the positioning member. In addition, by driving the support member to move at a uniform speed, it is also possible to avoid rigid contact between the product to be processed and the positioning member, thereby damaging the product to be processed. It is understandable that the movement of the product to be processed to the contact position with the positioning member refers to the contact between the lower edge of the positioning member and the upper edge of the product to be processed. The contact part is preferably surface contact to ensure the reliability of the clamping. In this embodiment, the contact surfaces between the product to be processed and the first positioning portion of the first positioning plate and the second positioning portion of the second positioning plate in the positioning member are both U-shaped surfaces. It is understandable that this solution may also include other forms of surface contact.

[0106] Furthermore, the product to be processed on the tray is driven to move to a contact position with the positioning member, including:

[0107] Determining whether the product to be processed is in contact with the first positioning plate and the second positioning plate at the same time;

[0108] When the product to be processed contacts only the first positioning plate or the second positioning plate, the support member is driven at a constant speed to continue moving toward the positioning member until the product to be processed contacts both the first positioning plate and the second positioning plate.

[0109] Specifically, in order to prevent the product to be processed from only contacting the first positioning part of the first positioning plate, or the product to be processed from only contacting the second positioning part of the second positioning plate, which may cause uneven force on the product to be processed, it is necessary to simultaneously detect the two edges of the product to be processed respectively with the first positioning part of the first positioning plate, and the product to be processed only with the second positioning part of the second positioning plate.

[0110] S140. When the product to be processed is in contact with the positioning member, a third control instruction is sent to the driving member to decelerate the driving support member to continue moving toward the positioning member, thereby driving the product to be processed on the pallet to move to a pressing position with the positioning member.

[0111] Specifically, when the product to be processed moves into contact with the positioning member, the positions of the two are unstable. To ensure that the positioning member maintains the pressing effect on the product to be processed, the product to be processed must continue to move toward the positioning member. When the driver receives the third control instruction, it decelerates the driving of the support member, thereby driving the product to be processed on the pallet to a position where it is pressed against the positioning member. Given the short pressing stroke, this solution uses an accelerated driving mode to drive the support member to avoid a hard collision between the product to be processed and the positioning member, which could damage the processed product.

[0112] This solution drives the support parts to move in sections, thereby driving the products to be processed to move in sections. It can perform precise clamping control operations on the products to be processed, slow down or avoid hard collisions between the products to be processed and the positioning parts during the clamping process, which is beneficial to improving the stability and reliability of the clamping, and can also improve the processing quality of the products to be processed.

[0113] In a specific embodiment, after the product to be processed moves to the pressing position of the positioning member, the method further includes:

[0114] Determine the pressing force data between the product to be processed and the positioning part;

[0115] When the clamping force data is less than the set threshold, a fine-tuning instruction is sent to the driving part to drive the support part to move a fine-tuning distance toward the positioning part, thereby driving the product to be processed on the pallet to move to the clamping position with the positioning part.

[0116] Specifically, this solution can set a pressure sensor between the positioning member and the product to be processed, and obtain the pressing force data between the product to be processed and the positioning member through the pressure sensor. When the pressing force data is less than the set threshold, it is necessary to fine-tune the pressure between the product to be processed and the positioning member. That is, a fine-tuning instruction is sent to the driving member to drive the support member to move a fine-tuning distance in the direction close to the positioning member, thereby driving the product to be processed on the pallet to move to the pressing position with the positioning member. It can be understood that the fine-tuning distance is a set spacing, which is expressed as the pressing force data between the two from the actual product. Taking into account that the product to be processed is pressed against the first positioning part of the first positioning plate and the second positioning part of the second positioning plate at the same time, it is necessary to detect the pressing force at both places at the same time. When the pressing force data is greater than or equal to the set threshold, it means that the product to be processed and the positioning member have been pressed, and no further fine-tuning is required between the two. At this time, the next operation can be performed on the pressed product to be processed.

[0117] In a specific embodiment, after the product to be processed on the tray is driven to move to a pressing position with the positioning member, the method further includes:

[0118] Check whether the compaction operation of the product to be processed is completed;

[0119] If the pressing operation of the product to be processed is completed, a fourth control instruction is sent to the driving member to drive the support member at a constant speed in a direction away from the positioning member, thereby driving the product to be processed on the tray to move to a preset position. After the pressing operation is completed, the support member is controlled to descend at a constant speed to the unloading station to facilitate the unloading operation.

[0120] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A control method for a limit clamp, characterized in that: The limiting fixture includes: a base, a mounting frame, a support, a tray, a positioning member and a driving member, the mounting frame is installed on the base and a position sensor is installed on the mounting frame; the support member can be lifted and installed on the mounting frame; the tray can be detachably installed on the support member, and the tray is used to place the product to be processed; the positioning member can be detachably installed on the mounting frame, and the positioning member includes a first positioning plate and a second positioning plate arranged at intervals, and the first positioning plate and the second positioning plate are located on the upper side of the tray; the first positioning plate and the second positioning plate are made of high-strength material, and the first positioning plate and the second positioning plate are used to limit the product to be processed , a positioning space is enclosed between the first positioning plate and the second positioning plate and the tray; the driving member is installed on the base, and the output shaft of the driving member is connected to the support member to drive the support member to move closer to or away from the positioning member to adjust the size of the positioning space so that the product to be processed is pressed or relaxed; wherein, the positioning member further includes: a first connecting plate, one end of the first connecting plate is connected to the first end of the first positioning plate, and the other end is connected to the first end of the second positioning plate; a second connecting plate, one end of the second connecting plate is connected to the second end of the first positioning plate, and the other end is connected to the second end of the second positioning plate; The control method of the limit clamp includes: Determine the location information of the products to be processed placed on the pallet; When the product to be processed is in a preset position, a first control instruction is sent to the driving member to drive the supporting member to move in a direction close to the positioning member, thereby driving the product to be processed on the tray to move to a pre-limited position; When the product to be processed is in the pre-limited position, a second control instruction is sent to the driving member to drive the supporting member to continue to move toward the positioning member at a uniform speed, thereby driving the product to be processed on the tray to move to a contact position with the positioning member; When the product to be processed is in contact with the positioning member, a third control instruction is sent to the driving member to slow down the driving support member to continue moving in the direction close to the positioning member, thereby driving the product to be processed on the pallet to move to a pressing position with the positioning member.

2. The control method of the limiting clamp according to claim 1, characterized in that: The length L of the first positioning plate is greater than or equal to 260 mm and less than or equal to 300 mm, and a pressure sensor is provided at the bottom of the first positioning plate; the length L of the second positioning plate is greater than or equal to 260 mm and less than or equal to 300 mm, and a pressure sensor is provided at the bottom of the second positioning plate; After the product to be processed moves to the pressing position of the positioning member, the method further includes: Determine the pressing force data between the product to be processed and the positioning part; When the clamping force data is less than a set threshold, a fine-tuning instruction is sent to the driving member to drive the supporting member to move a fine-tuning distance toward the positioning member, thereby driving the product to be processed on the pallet to move to a clamping position with the positioning member.

3. The control method of the limiting clamp according to claim 1, characterized in that: Determining the position information of the product to be processed placed on the pallet includes: Obtain the center coordinates of the placement position of the pallet and the center coordinates of the product to be processed; When the center coordinates of the placement position and the center coordinates of the product to be processed are both within a threshold range, obtaining outer edge position data of the product to be processed and inner edge position data of the first positioning portion of the first positioning plate and the second positioning portion of the second positioning plate; Determine whether the outer edge position data of the product to be processed partially overlaps with the inner edge position data of the first positioning portion of the first positioning plate and the second positioning portion of the second positioning plate; If so, it is determined that the position information of the product to be processed is at a preset position.

4. The control method of the limiting clamp according to claim 3, characterized in that: The obtaining of the center coordinates of the product to be processed includes: Obtain the coordinates of multiple vertices of the pallet where the product to be processed is located; The center coordinates of the product to be processed are determined based on the coordinates of multiple vertices.

5. The control method of the limiting clamp according to claim 1, characterized in that: The first positioning plate is made of titanium alloy, and the second positioning plate is made of titanium alloy; pressure sensors are installed at the bottom of the first positioning plate and the second positioning plate; The step of driving the product to be processed on the tray to move to a contact position with the positioning member includes: Determining whether the product to be processed is in contact with the first positioning plate and the second positioning plate at the same time; When the product to be processed contacts only the first positioning plate or the second positioning plate, the support member is driven at a constant speed to continue moving toward the positioning member until the product to be processed contacts both the first positioning plate and the second positioning plate.

6. The control method of the limiting clamp according to claim 5, characterized in that: After the product to be processed moves to a pressing position with the positioning member, the method further includes: Determine two pressing force data between the product to be processed and the first positioning plate and the second positioning plate; When the clamping force data is less than a set threshold, a fine-tuning instruction is sent to the driving member to drive the supporting member to move a fine-tuning distance toward the positioning member, thereby driving the product to be processed on the pallet to move to a clamping position with the positioning member.

7. The method for controlling a position limiting clamp according to claim 1, further comprising: after the product to be processed on the tray is driven to move to a pressing position with the positioning member; Check whether the compaction operation of the product to be processed is completed; If the pressing operation of the product to be processed is completed, a fourth control instruction is sent to the driving member to drive the supporting member to move away from the positioning member at a uniform speed, thereby driving the product to be processed on the tray to move to a preset position.

8. The control method of the limiting clamp according to claim 1, wherein the limiting clamp further comprises: a first fixing member and a second fixing member; The mounting frame is provided with a first fixing hole and a second fixing hole, and the first fixing hole and the second fixing hole are spaced apart from each other; The first connecting plate is provided with a first mounting hole, the first mounting hole is opposite to the first fixing hole, and the first fixing member is passed through the first mounting hole and connected to the first fixing hole; The second connecting plate is provided with a second mounting hole, the second mounting hole is opposite to the second fixing hole, and the second fixing member is passed through the second mounting hole and connected to the second fixing hole.

9. The control method of the limiting clamp as described in claim 1, wherein the mounting frame is provided with a first positioning protrusion and a second positioning protrusion, and the first positioning protrusion and the second positioning protrusion are spaced apart; the first connecting plate is provided with a first positioning hole, and the first positioning hole is used to at least partially plug and match with the first positioning protrusion; the second connecting plate is provided with a second positioning hole, and the second positioning hole is used to at least partially plug and match with the second positioning protrusion.

10. The control method of the limiting clamp according to any one of claims 1 to 8, characterized in that: The first positioning plate is provided with a first connecting protrusion, the first connecting protrusion is located between the first positioning plate and the second positioning plate, and the first positioning portion is installed on a side of the first connecting protrusion facing the tray; and / or, The second positioning plate is provided with a second connecting protrusion, the second connecting protrusion is located between the first positioning plate and the second positioning plate, and the second positioning portion is installed on a side of the second connecting protrusion facing the tray.

Images