A forged piece intelligent positioning method, device, equipment and storage medium

Abstract

The application provides a forging intelligent positioning method and device, equipment and storage medium, and relates to the field of forging manufacturing technology. The control device is applied to a forging production line, and is in communication connection with a control device of a logistics roller and a control device of a positioning structure. The positioning structure is fixedly installed on both sides of the logistics roller. The logistics roller is used for transporting materials, and the positioning structure is used for positioning the materials transported on the logistics roller. The method comprises the following steps: based on the identification of the to-be-positioned materials, the material size of the to-be-positioned materials, the logistics roller size and the position information of the positioning structure on the logistics roller are acquired, and then the opening and closing parameters of the positioning structure are determined; the positioning instruction of the positioning structure is generated according to the opening and closing parameters of the positioning structure; and the positioning instruction is sent to the positioning structure, so that the positioning structure performs the positioning operation on the to-be-positioned materials according to the opening and closing parameters. By applying the embodiment of the application, the production efficiency of manufacturing forgings can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of forging manufacturing, in particular to a forging intelligent positioning method, device, equipment and storage medium. BACKGROUND

[0002] In the process of manufacturing forgings, materials required in multiple stages of manufacturing forgings can be transported by a roller conveyor, and the materials after the end of roller transportation can be positioned by a positioning mechanism, so that an industrial robot can grasp the materials at the end of the roller.

[0003] It can be understood that forgings have different size requirements, and the materials required in multiple stages of manufacturing forgings also have different sizes.

[0004] At present, different types of positioning structures are replaced for materials of different sizes by manual methods. This reduces the production efficiency of manufacturing forgings. SUMMARY

[0005] The present application aims at the deficiencies in the prior art, and provides a forging intelligent positioning method, device, equipment and storage medium, which can improve the production efficiency of manufacturing forgings.

[0006] To achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0007] In a first aspect, the embodiments of the present application provide a forging intelligent positioning method applied to a control device in a forging production line, wherein the control device is respectively communicatively connected with a control device of a logistics roller and a control device of a positioning structure, the positioning structure is fixedly installed on both sides of the logistics roller, the logistics roller is used for transporting materials, and the positioning structure is used for positioning the materials transported on the logistics roller. The method comprises the following steps:

[0008] Obtaining an identifier of a current material to be positioned on the logistics roller;

[0009] According to the identifier of the material to be positioned, obtaining a material size of the material to be positioned, a logistics roller size, and position information of the positioning structure on the logistics roller;

[0010] According to the material size of the material to be positioned, the logistics roller size, and the position information of the positioning structure on the logistics roller, determining opening and closing parameters of the positioning structure;

[0011] According to the opening and closing parameters of the positioning structure, generating a positioning instruction of the positioning structure;

[0012] Sending the positioning instruction to the positioning structure to control the positioning structure to perform positioning work on the material to be positioned according to the opening and closing parameters.

[0013] Optionally, after sending the positioning command to the positioning structure, the method further includes:

[0014] Determine whether the positioning structure has completed the positioning operation on the material to be positioned;

[0015] If so, then based on the current position information of the material to be positioned on the logistics roller conveyor, an operation instruction for the industrial robot is generated, and based on the opening and closing parameters of the positioning structure, a restoration instruction for the positioning structure is generated.

[0016] Send the operation command to the industrial robot to control the industrial robot to grasp the material to be positioned;

[0017] Send the restoration command to the positioning structure to control the positioning structure to restore itself.

[0018] Optionally, determining the opening and closing parameters of the positioning structure based on the material size of the material to be positioned, the size of the logistics roller conveyor, and the position information of the positioning structure on the logistics roller conveyor includes:

[0019] Based on the material size of the material to be positioned and the position information of the positioning structure on the logistics roller conveyor, a first distance is determined between the position of the positioning structure on the logistics roller conveyor and the projection point of the center of the material to be positioned on the edge of the logistics roller conveyor.

[0020] Based on the dimensions of the logistics roller conveyor and the first distance, a first angle and a second distance between the position of the positioning structure on the logistics roller conveyor and the center of the material to be positioned are determined.

[0021] The second angle is determined based on a preset relationship between the second distance and the size of the material to be positioned;

[0022] Based on the first angle and the second angle, the opening and closing angle of the positioning structure is determined, and the opening and closing angle is used as the opening and closing parameter.

[0023] Optionally, obtaining the identifier of the current material to be positioned on the logistics roller conveyor includes:

[0024] The image acquisition device is controlled to acquire the current image of the logistics roller conveyor;

[0025] Image recognition is performed on the current image, and the identifier of the material to be positioned on the logistics roller conveyor is obtained based on the recognition result.

[0026] Optionally, the step of performing image recognition on the current image and obtaining the identifier of the material to be positioned on the logistics roller conveyor based on the recognition result includes:

[0027] Determine whether a material code exists in the current image. If so, parse the material code to obtain the identifier of the material to be located.

[0028] Optionally, the step of performing image recognition on the current image and obtaining the identifier of the material to be positioned on the logistics roller conveyor based on the recognition result includes:

[0029] The current image is input into a pre-trained machine learning model, which outputs a recognition result. The recognition result is used to indicate the identification of the material to be located.

[0030] Optionally, obtaining the material size, roller conveyor size, and position information of the positioning structure on the logistics roller conveyor based on the identifier of the material to be positioned includes:

[0031] The material information corresponding to the identifier of the material to be positioned is retrieved from the pre-stored material information database to obtain the material size of the material to be positioned, the size of the logistics roller conveyor, and the position information of the positioning structure on the roller conveyor.

[0032] Optionally, before searching for the material information corresponding to the identifier of the material to be located from a pre-stored material information database, the method further includes:

[0033] The monitoring robot sends material information for each material in real time, including: material identification and material size.

[0034] The material information of each material is saved to the material information database.

[0035] Secondly, this application also provides an intelligent positioning device for forgings, applied to a control device in a forging production line. The control device is communicatively connected to a control device for a material conveyor and a control device for a positioning structure. The positioning structure is fixedly installed on both sides of the material conveyor, which is used to transport materials. The positioning structure is used to position the materials transported on the material conveyor. The device includes:

[0036] The first acquisition module is used to acquire the identifier of the material to be positioned on the logistics roller conveyor.

[0037] The second acquisition module is used to acquire the material size, logistics roller conveyor size, and position information of the positioning structure on the roller conveyor based on the identifier of the material to be positioned.

[0038] The determining module is used to determine the opening and closing parameters of the positioning structure based on the material size of the material to be positioned, the size of the logistics roller conveyor, and the position information of the positioning structure on the logistics roller conveyor.

[0039] The generation module is used to generate positioning instructions for the positioning structure based on the opening and closing parameters of the positioning structure.

[0040] The control module is used to send the positioning command to the positioning structure to control the positioning structure to perform positioning operations on the material to be positioned according to the opening and closing parameters.

[0041] Optionally, the control module is further configured to determine whether the positioning structure has completed the positioning operation on the material to be positioned; if so, based on the current position information of the material to be positioned on the logistics roller conveyor, generate an operation instruction for the industrial robot and a restoration instruction for the positioning structure based on the opening and closing parameters of the positioning structure; send the operation instruction to the industrial robot to control the industrial robot to grasp the material to be positioned; and send the restoration instruction to the positioning structure to control the positioning structure to restore itself.

[0042] Optionally, the determining module is specifically configured to: determine, based on the material size of the material to be positioned and the position information of the positioning structure on the logistics roller conveyor, a first distance between the position of the positioning structure on the logistics roller conveyor and the projection point of the center of the material to be positioned on the edge of the logistics roller conveyor; determine, based on the size of the logistics roller conveyor and the first distance, a first angle and a second distance between the position of the positioning structure on the logistics roller conveyor and the center of the material to be positioned; determine, based on a preset relationship between the second distance and the material size of the material to be positioned, a second angle; and determine, based on the first angle and the second angle, the opening and closing angle of the positioning structure, and use the opening and closing angle as the opening and closing parameter.

[0043] Optionally, the first acquisition module is specifically used to control the image acquisition device to acquire the current image of the logistics roller conveyor; perform image recognition on the current image, and obtain the identifier of the material to be positioned on the logistics roller conveyor based on the recognition result.

[0044] Optionally, the first acquisition module is further configured to determine whether there is a material code in the current image, and if so, to parse the material code to obtain the identifier of the material to be located.

[0045] Optionally, the first acquisition module further inputs the current image into a pre-trained machine learning model, and the machine learning model outputs a recognition result, which is used to indicate the identifier of the material to be located.

[0046] Optionally, the second acquisition module is specifically used to search for the material information corresponding to the identifier of the material to be positioned from a pre-stored material information database, and to obtain the material size of the material to be positioned, the size of the logistics roller conveyor, and the position information of the positioning structure on the roller conveyor.

[0047] Optionally, the device further includes: a storage module;

[0048] The storage module is used to acquire material information of each material sent in real time by the monitoring robot. The material information includes: material identification and material size; and to save the material information of each material to the material information database.

[0049] Thirdly, embodiments of this application provide an electronic device, including: a processor, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the intelligent positioning method for forgings described in the first aspect.

[0050] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the intelligent positioning method for forgings described in the first aspect.

[0051] The beneficial effects of this application are:

[0052] This application provides a method, apparatus, device, and storage medium for intelligent positioning of forgings, applied to a control device in a forging production line. The control device is communicatively connected to the control device of the material conveyor and the control device of the positioning structure. The positioning structure is fixedly installed on both sides of the material conveyor. The material conveyor is used to transport materials, and the positioning structure is used to position the materials transported on the material conveyor. The method includes: obtaining the identifier of the material to be positioned on the material conveyor; obtaining the material size of the material to be positioned, the size of the material conveyor, and the position information of the positioning structure on the material conveyor based on the identifier of the material to be positioned; determining the opening and closing parameters of the positioning structure based on the material size of the material to be positioned, the size of the material conveyor, and the position information of the positioning structure on the material conveyor; generating a positioning command for the positioning structure based on the opening and closing parameters of the positioning structure; and sending the positioning command to the positioning structure to control the positioning structure to perform positioning operations on the material to be positioned according to the opening and closing parameters.

[0053] Using the intelligent forging positioning method provided in this application, the control equipment can automatically obtain the material size of the material to be positioned, the size of the logistics roller conveyor, and the position information of the positioning structure on the logistics roller conveyor based on the identification of the material to be positioned. Then, based on the material size, the size of the logistics roller conveyor, and the position information of the positioning structure on the logistics roller conveyor, the opening and closing parameters of the positioning structure are automatically adjusted. In this way, under the control of the control equipment, the positioning structure can position materials of different sizes transported on the material roller conveyor. It can be seen that this application does not require changing to different types of positioning structures for materials of different sizes, which can improve the production efficiency of forging manufacturing and reduce labor costs. Attached Figure Description

[0054] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 A schematic diagram of a forging production line provided in an embodiment of this application;

[0056] Figure 2 This is a schematic diagram illustrating a scenario for locating materials, provided as an embodiment of this application.

[0057] Figure 3 A flowchart illustrating an intelligent positioning method for forgings provided in an embodiment of this application;

[0058] Figure 4 A flowchart illustrating another intelligent positioning method for forgings provided in this application embodiment;

[0059] Figure 5 A flowchart illustrating another intelligent positioning method for forgings provided in this application embodiment;

[0060] Figure 6 A schematic diagram illustrating a scenario where a positioning structure, provided in an embodiment of this application, positions a material to be positioned at the end of a logistics roller conveyor.

[0061] Figure 7 A flowchart illustrating another intelligent positioning method for forgings provided in an embodiment of this application;

[0062] Figure 8 A flowchart illustrating another intelligent positioning method for forgings provided in this application embodiment;

[0063] Figure 9 This is a schematic diagram of the structure of a forging positioning device provided in an embodiment of this application;

[0064] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0066] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0067] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0068] Before providing a detailed explanation of the embodiments of this application, the application scenario of this application will first be introduced. Specifically, this application scenario can be used to locate materials at various stages of forging manufacturing. Depending on the stage, the materials can be called bars, billets, initial ring forgings, etc. It can be applied in the aerospace field as well as other fields of forging production. The forgings can specifically be ring forgings, but can also be other types of forgings. It should be noted that this application does not limit them.

[0069] The intelligent positioning method for forgings mentioned in the following examples of this application can be applied to control equipment in a production line management system. In order to enable those skilled in the art to clearly understand at which stages of the forging production line it is necessary to position the forgings, the forging production line can be introduced first. Figure 1 This is a schematic diagram of a forging production line provided in an embodiment of this application. Figure 1As shown, the forging production line includes: a production line control system, a billet preparation area 10, an auxiliary area 30, a forming area 50, a first material conveyor roller 70, and a second material conveyor roller 90. The control device 100 in the production line control system is communicatively connected to all equipment in the billet preparation area 10, the auxiliary area 30, and the forming area 50. For example, the control device 100 can communicate with the control devices of the first material conveyor roller 70, the second material conveyor roller 90, and the third material conveyor roller 11. The material conveyors (e.g., the first material conveyor roller 70, the second material conveyor roller 90, and the third material conveyor roller 11) are transport devices that use the rotation of cylindrical rollers to transport materials. Through the transmission of the material conveyors, the various stages of the production process can be interconnected, thereby achieving mechanization and automation of the operation.

[0070] like Figure 1 As shown, the billet preparation area 10 includes: a third material conveyor 11, a first forging robot 13, a press system 15, and a first set of heating furnaces 17. The first forging robot 13 moves between the third material conveyor 11, the first set of heating furnaces 17, and the press system 15. The first forging robot 13 is used to transport the bar stock on the third material conveyor 11 to the first set of heating furnaces 17 for heating, and then transport the heated bar stock to the press system 15 to form billets. The bar stock is the initial material for the forging, and the forging is ultimately obtained through processing on the production line.

[0071] The auxiliary area 30 includes: a first gantry robot 31; a first logistics roller conveyor 70 and a second logistics roller conveyor 90 located at both ends of the first gantry robot 31; the first forging robot 13 is also used to transport the billet to the first logistics roller conveyor 70 for dispersed cooling, and the first gantry robot 31 is used to transfer the dispersed cooled billet to the second logistics roller conveyor 90.

[0072] The forming area 50 includes: a second forging robot 51, a rolling mill 53, and a second set of heating furnaces 55; the second forging robot 51 moves between the second material conveyor 90, the second set of heating furnaces 55, and the rolling mill 53; the second forging robot 51 is used to transfer the billet on the second material conveyor 90 to the second set of heating furnaces 55, and after heating, transport the heated billet to the rolling mill 53 to form the initial forging.

[0073] As described above, the forging robot needs to acquire materials from the logistics roller conveyors in the following two stages. For example, the first forging robot 13 is used to transport the bar stock on the third logistics roller conveyor 11 to the first heating furnace 17 for heating, and then transport the heated bar stock to the press system 15 to form billets; the second forging robot 51 is used to transfer the billets on the second logistics roller conveyor 90 to the second heating furnace 55. That is to say, during the operation of the third logistics roller conveyor 11 and the second logistics roller conveyor 90, the control equipment 100 needs to execute the intelligent forging positioning method mentioned in the example below to automatically control the positioning structures pre-installed on both sides of the third logistics roller conveyor 11 and the second logistics roller conveyor 90, so as to control the positioning structures to position the materials transported on the third logistics roller conveyor 11 and the second logistics roller conveyor 90, thereby enabling the forging robot to grab the materials transported to the end of the third logistics roller conveyor 11 and the second logistics roller conveyor 90. It should be noted that this application does not limit the production stage of positioning the materials transported on the logistics roller conveyor.

[0074] This application describes the stage of positioning the material on the third logistics roller conveyor 11; other stages are similar. Figure 2 This is a schematic diagram illustrating a scenario for positioning materials, provided as an embodiment of this application. Figure 2 As shown, a positioning structure 200 is installed at a preset position at the end of the third logistics roller conveyor 11. The two positioning arms of the positioning structure 200 are located on both sides of the third logistics roller conveyor 11. Figure 1 The control device 100 is communicatively connected to the control unit of the positioning structure 200. In one exemplary case, the forging production line includes an input device for receiving user settings, which may include operating parameters or other parameters. The input device is communicatively connected to the control device 100, and the input device and control device 100 may be integrated on the same device or be two separate devices; this application does not limit this. For example, the user can set a first operating speed of the third material conveyor 11 and a second operating speed of the positioning structure 200 through an output device. The third material conveyor 11 can transport material 20 according to a first operating command generated by the control device 100 based on the first operating speed, and the positioning structure 200 positions material 20 at the end of the third material conveyor 11 according to a second operating command generated by the control device 100 based on the second operating speed.

[0075] It is understandable that forgings have different size requirements, and the materials (such as bars, billets, etc.) required for multiple stages of forging manufacturing also have different sizes. The intelligent positioning method for forgings mentioned in the following examples of this application can automatically control the positioning results to position materials of various sizes. The intelligent positioning method for forgings will not be described in detail here, but please refer to the following examples of this application for details.

[0076] The intelligent positioning method for forgings mentioned in this application is illustrated below with reference to the accompanying drawings. Figure 3 This is a flowchart illustrating an intelligent positioning method for forgings provided in an embodiment of this application. Figure 3 As shown, the method may include:

[0077] S301. Obtain the identifier of the material to be positioned on the current logistics roller conveyor.

[0078] It is understood that the forging production line mentioned above also includes information identification equipment. For example, this information identification equipment can be installed at the beginning of the material conveyor or in a preset area on the starting side of the material conveyor. When the material to be positioned is at the beginning of the material conveyor or reaches the starting side of the material conveyor, the information identification equipment can identify the material to be positioned, obtain its identifier, and send the identifier to the control equipment, i.e., the control equipment can obtain the identifier of the material to be positioned. The identifier of the material to be positioned is used to indicate the type of the material to be positioned, and can be an alphanumeric code, a numeric code, or a mixed alphanumeric code. It should be noted that this application does not limit it.

[0079] S302. Based on the identifier of the material to be positioned, obtain the material size, logistics roller conveyor size, and position information of the positioning structure on the logistics roller conveyor.

[0080] The dimensions of the logistics track and the position information of the positioning structure on the logistics roller conveyor are fixed data, which can be pre-stored in a material information database associated with the control equipment. The material dimensions of the material to be positioned can be pre-stored in this material information database, or dynamically stored during the forging process; however, this application does not limit these storage methods. It should be understood that the material dimensions of the material to be positioned, the dimensions of the logistics roller conveyor, and the position information of the positioning structure on the logistics roller conveyor in the material information database all correspond to identification information, such as a correspondence between the material dimensions of the material to be positioned and the identification of the material to be positioned.

[0081] Based on this, after acquiring the identifier of the material to be positioned, the control equipment can obtain the material dimensions of the material corresponding to the identifier from the material information database. If the material to be positioned is annular, the material dimensions can specifically refer to the radius of the material. The control equipment can also obtain the dimensions of the logistics roller conveyor corresponding to the identifier of the material to be positioned, as well as the position information of the positioning structure on the logistics roller conveyor, from the material information database. The dimensions of the logistics roller conveyor can be the width of the logistics roller conveyor, and the position information of the positioning structure on the logistics roller conveyor is the distance between the installation position of the positioning structure on the logistics roller conveyor and the end of the logistics roller conveyor.

[0082] S303. Determine the opening and closing parameters of the positioning structure based on the material size of the material to be positioned, the size of the logistics roller conveyor, and the position information of the positioning structure on the logistics roller conveyor.

[0083] This section uses a ring forging as an example. It's important to understand that when the material to be positioned is transported to the end of the logistics roller conveyor, the positioning structure needs to open by a specific angle so that the outer circle of the material is tangent to the edge of the end of the logistics roller conveyor. Based on this, after obtaining the radius of the material to be positioned, the width of the logistics roller conveyor, and the distance between the installation position of the positioning structure on the logistics roller conveyor and the end of the logistics roller conveyor, the control equipment can obtain the opening and closing parameters of the positioning structure using trigonometric functions. These parameters represent the required opening angle.

[0084] S304. Generate positioning instructions for the positioning structure based on the opening and closing parameters of the positioning structure.

[0085] S305. Send the positioning command to the positioning structure to control the positioning structure to perform positioning operations on the material to be positioned according to the opening and closing parameters.

[0086] The control equipment generates a positioning command based on the required opening angle (i.e., opening and closing parameters) of the positioning structure and the preset running speed, and sends the positioning command to the control device on the positioning structure, such as a servo motor. The servo motor controls the positioning structure to rotate at the preset running speed based on the positioning command, and stops after rotating to the required opening angle. In this way, the positioning structure can position the material to be positioned at the end of the logistics roller conveyor.

[0087] In summary, the intelligent positioning method for forgings provided in this application allows the control equipment to automatically acquire the material size, logistics roller conveyor size, and position information of the positioning structure on the logistics roller conveyor based on the identification of the material to be positioned. Then, based on these information, the opening and closing parameters of the positioning structure are automatically adjusted. Thus, under the control of the control equipment, the positioning structure can position materials of different sizes transported on the material roller conveyor. It can be seen that this application eliminates the need to replace different types of positioning structures for materials of different sizes, thereby improving the production efficiency of forging manufacturing and reducing labor costs.

[0088] Figure 4 This is a flowchart illustrating another intelligent positioning method for forgings provided in an embodiment of this application. Figure 4 As shown, optionally, after sending the positioning command to the positioning structure, the method further includes:

[0089] S401. Determine whether the positioning structure has completed the positioning operation on the material to be positioned.

[0090] S402. If so, then based on the current position information of the material to be positioned on the logistics roller conveyor, generate the operation instructions of the industrial robot and the restoration instructions of the positioning structure based on the opening and closing parameters of the positioning structure.

[0091] For example, the control device can receive feedback information indicating that the positioning operation of the material to be positioned has been completed. If no feedback is received, it means that the positioning structure has not yet completed the positioning operation; otherwise, it means that the positioning structure has completed the positioning operation.

[0092] Once the positioning structure has completed its positioning operation, the current position information of the material to be positioned on the logistics roller conveyor can be determined based on the material dimensions (such as radius) and the dimensions of the logistics roller conveyor. This position information indicates the lateral and longitudinal positions of the center of the material to be positioned on the logistics roller conveyor. The lateral position of the center of the material to be positioned on the logistics roller conveyor is related to the material dimensions, while the longitudinal position is related to the dimensions of the logistics roller conveyor. Based on this, the control equipment can generate operation instructions for the industrial robot. Simultaneously, based on the opening and closing parameters of the positioning structure (such as the required opening angle), it can also generate instructions that are the opposite of the aforementioned positioning instructions—namely, the restoration instructions for the positioning structure.

[0093] S403. Send a work instruction to the industrial robot to control the industrial robot to grasp the material to be positioned.

[0094] S404. Send the restoration command to the positioning structure to control the positioning structure to restore.

[0095] The control equipment sends operation instructions to the industrial robot, controlling the robot to grasp the material to be positioned according to its center position on the horizontal and vertical axis of the logistics roller conveyor. This material can then be fed into a heating furnace for heating. For example, the control equipment can also send a reset instruction to the servo motor of the positioning structure, controlling the servo motor to reset the positioning structure according to the instruction. For instance, assuming the initial parameter of the positioning structure is +35°, the control equipment controls the positioning structure to rotate 35° clockwise to position the material; conversely, it controls the positioning structure to rotate 35° counterclockwise to reset.

[0096] Among them, industrial robots are the forging robots mentioned above, such as the first forging robot and the second forging robot.

[0097] As can be seen, after the automatic control positioning structure completes the positioning operation according to the opening and closing parameters, the control equipment sends an operation command to the industrial machine to grab the material to be positioned. This improves the automation level of the forging production line and further increases the production efficiency of forgings.

[0098] Figure 5 This is a flowchart illustrating another intelligent positioning method for forgings provided in an embodiment of this application. Figure 5 As shown, optionally, the above-mentioned determination of the opening and closing parameters of the positioning structure based on the material size of the material to be positioned, the size of the logistics roller conveyor, and the position information of the positioning structure on the logistics roller conveyor includes:

[0099] S501. Based on the material size of the material to be positioned and the position information of the positioning structure on the logistics roller conveyor, determine the first distance between the position of the positioning structure on the logistics roller conveyor and the projection point of the center of the material to be positioned on the edge of the logistics roller conveyor.

[0100] Understandably, the positioning structure needs to position the material to be positioned tangent to the end edge of the logistics roller conveyor. For example, after obtaining the material dimensions of the material to be positioned and the position information of the positioning structure on the logistics roller conveyor, the radius (D) of the annular material to be positioned and the distance (B) between the installation position of the positioning structure on the logistics roller conveyor and the end of the logistics roller conveyor can be obtained. Combined with... Figure 6 To explain, Figure 6 This is a schematic diagram illustrating a scenario where a positioning structure, as provided in an embodiment of this application, positions a material to be positioned at the end of a logistics roller conveyor. Figure 6 As shown, after determining the radius (D) of the annular material to be positioned and the distance (B) between the installation position of the positioning structure on the logistics roller conveyor and the end of the logistics roller conveyor, the difference between B and D is taken as the first distance (C). The first distance (C) is the distance between the position of the positioning structure on the roller conveyor and the projection point of the center of the material to be positioned on the edge of the roller conveyor.

[0101] S502. Based on the dimensions of the logistics roller conveyor and the first distance, determine the first angle and the second distance between the position of the positioning structure on the logistics roller conveyor and the center of the material to be positioned.

[0102] The dimensions of the logistics roller conveyor include the roller conveyor width (2A). Half the width (A) of the logistics roller conveyor is obtained from the roller conveyor width (2A). After A and the first distance (C) are determined, the first angle (a) and the second distance (G) can be determined based on the trigonometric function relationship between A, C, the first angle (a), and the second distance (G). Figure 6 As can be seen from this, A, C, and a are related by tangent trigonometric functions. Therefore, the first angle (a) and the second distance (G) can be obtained as follows:

[0103] a = arctanC / A

[0104]

[0105] S503. Determine the second angle based on the preset relationship between the second distance and the material size of the material to be positioned.

[0106] It is understandable that when the positioning structure positions the material to be positioned at a position tangent to the end edge of the logistics roller conveyor, the positioning arm of the positioning structure is also tangent to the material to be positioned, that is, the positioning arm of the positioning structure is perpendicular to the radius (D) of the material to be positioned at the point of tangency. Based on this, the second angle (b) is determined according to the trigonometric function relationship between the second distance (G), the radius (D) of the material to be positioned, and the second angle (b). From Figure 6 As can be seen from this, G, D, and b have a tangent trigonometric function relationship, and the second angle (b) can be obtained as follows:

[0107] b = arctanD / G

[0108] S504. Based on the first angle and the second angle, determine the opening and closing angle of the positioning structure, and use the opening and closing angle as the opening and closing parameter.

[0109] like Figure 6 As shown, after the first angle (a) and the second angle (b) are determined, the opening angle (g) of the positioning structure can be obtained by the following method based on the right-angle relationship between the first angle (a) and the second angle (b) and the opening angle (g) of the positioning structure:

[0110] g = 90° - (a + b)

[0111] It can be seen that by using the positioning command corresponding to the opening and closing angle of the positioning structure generated based on the material size of the material to be positioned, the size of the logistics roller conveyor, and the position information of the positioning structure on the logistics roller conveyor, the positioning structure can be controlled to position the material to be positioned. In this way, when the material to be positioned is tangent to the end edge of the logistics roller conveyor, the positioning structure can stop the material to be positioned, thus improving the positioning accuracy.

[0112] Figure 7 This is a flowchart illustrating another intelligent positioning method for forgings provided in an embodiment of this application. Figure 7 As shown, optionally, the acquisition of the identifier of the current material to be positioned on the logistics roller conveyor includes:

[0113] S701, Control the image acquisition device to acquire the current image of the logistics roller conveyor.

[0114] S702. Perform image recognition on the current image and obtain the identifier of the material to be positioned on the logistics roller conveyor based on the recognition result.

[0115] The aforementioned information recognition device is the image acquisition device. This image acquisition device can be installed at the beginning of the logistics roller conveyor, in a preset area on the starting side of the logistics roller conveyor, or in other areas; this application does not limit its installation location. The image acquisition device can acquire current images of the logistics roller conveyor at a preset acquisition frequency and send these images to the control device. The control device can identify the current image in the following manner to determine whether there is material to be positioned on the logistics roller conveyor. If there is material to be positioned, the device identifies the material to be positioned.

[0116] Optionally, the above-mentioned image recognition of the current image and obtaining the identifier of the material to be positioned on the logistics roller conveyor based on the recognition result includes: determining whether there is material in the current image; if so, parsing the material code to obtain the identifier of the material to be positioned.

[0117] The image acquisition device can be a QR code scanner. The QR code scanner is connected to the control device. The QR code scanner sends the acquired current image to the control device. The control device performs image segmentation on the current image to determine whether there is a material code in the current image. If there is, the material code is parsed based on the image parsing algorithm to obtain the identifier of the material to be located.

[0118] Optionally, the above-mentioned image recognition of the current image and obtaining the identifier of the current material to be positioned on the logistics roller conveyor based on the recognition result includes: inputting the current image into a pre-trained machine learning model, and having the machine learning model output the recognition result, which is used to indicate the identifier of the material to be positioned.

[0119] Among them, a machine learning model can be trained using pre-built training samples. The machine learning model can extract image feature vectors from the current image and obtain recognition results based on the image feature vectors.

[0120] Optionally, the above-mentioned method of obtaining the material size, roller conveyor size, and position information of the positioning structure on the logistics roller conveyor based on the identifier of the material to be positioned includes: searching for the material information corresponding to the identifier of the material to be positioned from a pre-stored material information database to obtain the material size, logistics roller conveyor size, and position information of the positioning structure on the roller conveyor.

[0121] In this process, after obtaining the identifier of the material to be positioned, the control equipment can retrieve the material size of the material to be positioned corresponding to the identifier from the material information database. If the material to be positioned is annular, the material size can specifically refer to the radius of the material to be positioned. The control equipment can also retrieve the dimensions of the logistics roller conveyor corresponding to the identifier of the material to be positioned and the position information of the positioning structure on the logistics roller conveyor from the material information database. As described above, different stages of forging manufacturing require the use of multiple logistics roller conveyors to transport materials. Each material roller conveyor can be of the same type or different types. This application does not limit them. For example, bar stock corresponds to logistics roller conveyor 1, and billet stock corresponds to logistics roller conveyor 2. Then, the control equipment can obtain the dimensions of the logistics roller conveyor and the position information of the positioning structure on the logistics roller conveyor based on the identifier of the material to be positioned.

[0122] Figure 8 This is a flowchart illustrating another intelligent positioning method for forgings provided in an embodiment of this application. Figure 8 As shown, optionally, before searching for the material information corresponding to the identifier of the material to be located in the pre-stored material information database, the method further includes:

[0123] S801: Obtain material information of each material sent in real time by the monitoring robot.

[0124] S802. Save the material information of each material to the material information database.

[0125] The material information includes: material identification and material dimensions. As an example, the forging production line also includes a monitoring robot. As another example, the monitoring robot's monitoring area covers the working area of ​​the press system. The monitoring robot is communicatively connected to the control equipment. The monitoring robot can monitor the dimensions, temperature, and damage status of the billet (material) during the pressing process, acquire process data, and upload the process data carrying the billet's identification to the control equipment. The control equipment then associates and stores the billet's identification and dimensions in a material information database. It should be noted that this application does not limit the production stage in which the monitoring robot is applied.

[0126] It can be seen that the control equipment can obtain the actual size of the material during the production process, which can improve the positioning accuracy.

[0127] Figure 9 This is a schematic diagram of the structure of an intelligent positioning device for forgings provided in an embodiment of this application. Figure 9 As shown, the device includes:

[0128] The first acquisition module 901 is used to acquire the identifier of the material to be positioned on the logistics roller conveyor.

[0129] The second acquisition module 902 is used to acquire the material size, logistics roller conveyor size, and position information of the positioning structure on the roller conveyor based on the identifier of the material to be positioned.

[0130] The determining module 903 is used to determine the opening and closing parameters of the positioning structure based on the material size of the material to be positioned, the size of the logistics roller conveyor, and the position information of the positioning structure on the logistics roller conveyor.

[0131] The generation module 904 is used to generate positioning instructions for the positioning structure based on the opening and closing parameters of the positioning structure.

[0132] The control module 905 is used to send positioning commands to the positioning structure to control the positioning structure to perform positioning operations on the material to be positioned according to the opening and closing parameters.

[0133] Optionally, the control module 905 is also used to determine whether the positioning structure has completed the positioning operation of the material to be positioned; if so, it generates the operation instruction of the industrial robot based on the current position information of the material to be positioned on the logistics roller conveyor and generates the restoration instruction of the positioning structure based on the opening and closing parameters of the positioning structure; it sends the operation instruction to the industrial robot to control the industrial robot to grasp the material to be positioned; and it sends the restoration instruction to the positioning structure to control the positioning structure to restore.

[0134] Optionally, the determining module 903 is specifically used to determine, based on the material size of the material to be positioned and the position information of the positioning structure on the logistics roller conveyor, a first distance between the position of the positioning structure on the logistics roller conveyor and the projection point of the center of the material to be positioned on the edge of the logistics roller conveyor; a first angle and a second distance between the position of the positioning structure on the logistics roller conveyor and the center of the material to be positioned, based on the logistics roller conveyor size and the first distance; a second angle, based on a preset relationship between the second distance and the material size of the material to be positioned; and an opening and closing angle of the positioning structure, based on the first angle and the second angle, using the opening and closing angle as an opening and closing parameter.

[0135] Optionally, the first acquisition module 901 is specifically used to control the image acquisition device to acquire the current image of the logistics roller conveyor; to perform image recognition on the current image, and to obtain the identifier of the current material to be positioned on the logistics roller conveyor based on the recognition result.

[0136] Optionally, the first acquisition module 901 is also specifically used to determine whether there is a material code in the current image. If so, the material code is parsed to obtain the identifier of the material to be located.

[0137] Optionally, the first acquisition module 901 further inputs the current image into a pre-trained machine learning model, and the machine learning model outputs a recognition result, which is used to indicate the identification of the material to be located.

[0138] Optionally, the second acquisition module 902 is specifically used to search for the material information corresponding to the identifier of the material to be positioned from the pre-stored material information database, and obtain the material size, logistics roller conveyor size, and position information of the positioning structure on the roller conveyor of the material to be positioned.

[0139] Optionally, the device further includes: a storage module;

[0140] This storage module is used to acquire material information of each material sent in real time by the monitoring robot. The material information includes: material identification and material size; and saves the material information of each material to the material information database.

[0141] The above-described device is used to execute the method provided in the foregoing embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0142] These modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a system-on-a-chip (SoC).

[0143] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 10 As shown, the electronic device may include a processor 1001, a storage medium 1002, and a bus 1003. The storage medium 1002 stores machine-readable instructions executable by the processor 1001. When the electronic device is running, the processor 1001 communicates with the storage medium 1002 via the bus 1003. The processor 1001 executes the machine-readable instructions to perform the steps of the above-described method embodiment. The specific implementation and technical effects are similar and will not be repeated here.

[0144] Optionally, this application also provides a computer-readable storage medium storing a computer program, which, when run by a processor, executes the steps of the above-described method embodiments.

[0145] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0146] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0147] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0148] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0149] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0150] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need further definition and explanation in subsequent figures. The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for intelligent positioning of forgings, characterized in that, A control device applied in a forging production line, wherein the control device is communicatively connected to a control device for a material conveyor and a control device for a positioning structure, the positioning structure being fixedly installed on both sides of the material conveyor, the material conveyor being used to transport materials, and the positioning structure being used to position the materials transported on the material conveyor, the method comprising: Obtain the identifier of the material to be positioned on the logistics roller conveyor; Based on the identifier of the material to be positioned, obtain the material size, logistics roller conveyor size, and position information of the positioning structure on the logistics roller conveyor. Based on the material size of the material to be positioned, the size of the logistics roller conveyor, and the position information of the positioning structure on the logistics roller conveyor, the opening and closing parameters of the positioning structure are determined. Based on the opening and closing parameters of the positioning structure, a positioning command for the positioning structure is generated; Send the positioning command to the positioning structure to control the positioning structure to perform positioning operation on the material to be positioned according to the opening and closing parameters; The step of determining the opening and closing parameters of the positioning structure based on the material size of the material to be positioned, the size of the logistics roller conveyor, and the position information of the positioning structure on the logistics roller conveyor includes: Based on the material size of the material to be positioned and the position information of the positioning structure on the logistics roller conveyor, a first distance is determined between the position of the positioning structure on the logistics roller conveyor and the projection point of the center of the material to be positioned on the edge of the logistics roller conveyor. Based on the dimensions of the logistics roller conveyor and the first distance, a first angle and a second distance between the position of the positioning structure on the logistics roller conveyor and the center of the material to be positioned are determined. The second angle is determined based on a preset relationship between the second distance and the size of the material to be positioned; Based on the first angle and the second angle, the opening and closing angle of the positioning structure is determined, and the opening and closing angle is used as the opening and closing parameter.

2. The method according to claim 1, characterized in that, After sending the positioning command to the positioning structure, the method further includes: Determine whether the positioning structure has completed the positioning operation on the material to be positioned; If so, then based on the current position information of the material to be positioned on the logistics roller conveyor, an operation instruction for the industrial robot is generated, and based on the opening and closing parameters of the positioning structure, a restoration instruction for the positioning structure is generated. Send the operation command to the industrial robot to control the industrial robot to grasp the material to be positioned; Send the restoration command to the positioning structure to control the positioning structure to restore itself.

3. The method according to claim 1, characterized in that, The step of obtaining the identifier of the material currently to be positioned on the logistics roller conveyor includes: The image acquisition device is controlled to acquire the current image of the logistics roller conveyor; The current image is subjected to image recognition, and the identifier of the material to be positioned on the logistics roller conveyor is obtained based on the recognition result.

4. The method according to claim 3, characterized in that, The step of performing image recognition on the current image and obtaining the identifier of the material to be positioned on the logistics roller conveyor based on the recognition result includes: Determine whether a material code exists in the current image. If so, parse the material code to obtain the identifier of the material to be located.

5. The method according to claim 3, characterized in that, The step of performing image recognition on the current image and obtaining the identifier of the material to be positioned on the logistics roller conveyor based on the recognition result includes: The current image is input into a pre-trained machine learning model, which outputs a recognition result. The recognition result is used to indicate the identification of the material to be located.

6. The method according to claim 1, characterized in that, The step of obtaining the material size, logistics roller conveyor size, and position information of the positioning structure on the logistics roller conveyor based on the identifier of the material to be positioned includes: The material information corresponding to the identifier of the material to be positioned is retrieved from the pre-stored material information database to obtain the material size of the material to be positioned, the size of the logistics roller conveyor, and the position information of the positioning structure on the logistics roller conveyor.

7. The method according to claim 6, characterized in that, Before searching for the material information corresponding to the identifier of the material to be located from the pre-stored material information database, the method further includes: The monitoring robot sends real-time material information for each material, including: material identification and material size. The material information of each material is saved to the material information database.

8. A smart positioning device for forgings, characterized in that, A control device applied in a forging production line, wherein the control device is communicatively connected to the control device of the material conveyor and the control device of the positioning structure, respectively. The positioning structure is fixedly installed on both sides of the material conveyor, which is used to transport materials. The positioning structure is used to position the materials transported on the material conveyor. The forging intelligent positioning device includes: The first acquisition module is used to acquire the identifier of the material to be positioned on the logistics roller conveyor. The second acquisition module is used to acquire the material size, logistics roller conveyor size, and position information of the positioning structure on the logistics roller conveyor based on the identifier of the material to be positioned. The determining module is used to determine the opening and closing parameters of the positioning structure based on the material size of the material to be positioned, the size of the logistics roller conveyor, and the position information of the positioning structure on the logistics roller conveyor. The generation module is used to generate positioning instructions for the positioning structure based on the opening and closing parameters of the positioning structure. The control module is used to send the positioning command to the positioning structure to control the positioning structure to perform positioning operations on the material to be positioned according to the opening and closing parameters; The determining module is specifically used to: determine, based on the material size of the material to be positioned and the position information of the positioning structure on the logistics roller conveyor, the first distance between the position of the positioning structure on the logistics roller conveyor and the projection point of the center of the material to be positioned on the edge of the logistics roller conveyor; Based on the dimensions of the logistics roller conveyor and the first distance, a first angle and a second distance between the position of the positioning structure on the logistics roller conveyor and the center of the material to be positioned are determined. The second angle is determined based on a preset relationship between the second distance and the size of the material to be positioned; Based on the first angle and the second angle, the opening and closing angle of the positioning structure is determined, and the opening and closing angle is used as the opening and closing parameter.

9. An electronic device, characterized in that, include: The electronic device includes a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the intelligent positioning method for forgings as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, performs the steps of the intelligent positioning method for forgings as described in any one of claims 1-7.

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