A clamp positioning method and device, electronic equipment and medium

Abstract

The application provides a clamp positioning method and device, electronic equipment and medium, and relates to the field of multi-station turntable welding.The method comprises the following steps: determining target sensing information according to the sensing block layout of any clamp recognized by a recognition device in a current welding station; positioning the target clamp number of the target clamp at the current welding station according to the target sensing information, so as to indicate the welding target of the target clamp for welding; the recognition device comprises a first preset number of recognition sensors arranged according to a preset position layout; the sensing block layout arranged on each clamp is different, and the sensing block layout is determined according to the number and orientation of the sensing blocks arranged on the clamp. The application not only reduces the recognition sensors required for welding and reduces the use cost, but also changes the relatively dispersed position distribution of the recognition sensors to a centralized layout. By moving the relatively narrow position above each clamp to a centralized layout, the installation space is saved, and the installation and debugging are facilitated.

Description

Technical Field

[0001] This invention relates to the field of multi-station rotary welding, and more particularly to a fixture positioning method, device, electronic device, and medium. Background Technology

[0002] In multi-station turntables, fixture identification and positioning are usually achieved by using one identification sensor per station. This requires a large number of identification sensors, which increases production costs. Furthermore, the scattered distribution of these sensors makes debugging difficult. Summary of the Invention

[0003] This invention provides a fixture positioning method, device, electronic device, and medium to address the technical shortcomings of existing technologies where too many workstation identification sensors lead to high costs, and provides a technical solution to reduce the number of workstation identification sensors.

[0004] In a first aspect, the present invention provides a fixture positioning method, comprising:

[0005] Based on the layout of the sensing blocks of any fixture identified by the identification equipment in the current welding station, the target sensing information is determined;

[0006] Based on the target sensing information, locate the target fixture number of the target fixture at the current welding station, and instruct the welding target of the target fixture to be welded according to the target fixture number;

[0007] The identification device includes a first preset number of identification sensors arranged in preset positions;

[0008] The layout of the sensing blocks on each fixture is different, and the layout of the sensing blocks is determined according to the number and orientation of the sensing blocks on the fixture.

[0009] According to the fixture positioning method provided by the present invention, before determining the target sensing information by identifying the sensor block layout of any fixture based on the identification equipment in the current welding station, the method further includes:

[0010] For any fixture, determine the preset fixture number of the fixture;

[0011] The preset trajectory coordinate mapping library is constructed based on the correspondence between the preset fixture number and the preset trajectory coordinate.

[0012] According to the fixture positioning method provided by the present invention, after determining the preset fixture number of the fixture, the method further includes:

[0013] For any fixture, according to the preset position layout in the identification device, different numbers of sensing blocks are set in different directions to determine the sensing block layout of the fixture;

[0014] Determine the correspondence between the layout of the sensing blocks of each fixture and the fixture number of the fixture.

[0015] According to the clamp positioning method provided by the present invention, the different orientations include different orientations in the horizontal direction and / or different orientations in the vertical direction.

[0016] In cases where the orientations are different, including those in the vertical direction, the target sensing information includes the sensing strength of the sensing block detected by each identification sensor.

[0017] According to the fixture positioning method provided by the present invention, the preset position layout can be any of the following:

[0018] The first preset number of identification sensors are arranged in a straight line;

[0019] The first preset number of identification sensors are arranged in a zigzag pattern;

[0020] Alternatively, the first preset number of identification sensors can be arranged in a circular pattern.

[0021] According to the fixture positioning method provided by the present invention, the method further includes:

[0022] If any fixture cannot be in the current welding station, it is determined that no fault information can be generated based on the target sensing information identified by the identification device in the current welding station.

[0023] The fault report information is used to instruct maintenance to be performed on the turntable station corresponding to the fixture.

[0024] According to the clamp positioning method provided by the present invention, the first preset quantity is four.

[0025] Secondly, a clamp positioning device is provided, comprising:

[0026] The determination module is used to determine the target sensing information based on the layout of the sensing blocks of any fixture identified by the identification equipment in the current welding station.

[0027] The positioning module is used to locate the target fixture number of the target fixture at the current welding station based on the target sensing information, so as to instruct the welding target of the target fixture to be welded according to the target fixture number;

[0028] The identification device includes a first preset number of identification sensors arranged in preset positions;

[0029] The layout of the sensing blocks on each fixture is different, and the layout of the sensing blocks is determined according to the number and orientation of the sensing blocks on the fixture.

[0030] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the fixture positioning method.

[0031] Fourthly, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the fixture positioning method as described above.

[0032] This invention provides a fixture positioning method, apparatus, electronic device, and medium. By setting different numbers of sensing blocks at different positions on the fixture, the uniqueness of the fixture's sensing block layout is achieved. After the identification device identifies the sensing block layout of any fixture, it determines the target sensing information and locates the target fixture number at the current welding station based on the target sensing information. Finally, based on the target fixture number, it instructs the welding target of the target fixture to be welded. This invention, through the preset layout of the identification device and the corresponding number and orientation of the sensing blocks on the fixture, not only reduces the number of identification sensors required for welding, thus lowering operating costs, but also transforms the relatively dispersed identification sensors into a centralized layout. By moving the narrower positions that would otherwise be installed on each fixture to a centralized layout, it not only saves installation space but also facilitates installation and debugging. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is one of the flowcharts illustrating the fixture positioning method provided by the present invention;

[0035] Figure 2 This is the second flowchart illustrating the fixture positioning method provided by the present invention;

[0036] Figure 3 This is the third flowchart illustrating the fixture positioning method provided by the present invention;

[0037] Figure 4 This is a schematic diagram of the correspondence between the sensing block and the recognition sensor on the fixture in the prior art;

[0038] Figure 5 This is one of the structural schematic diagrams of the sensor block layout provided on the identification device and fixture of the present invention;

[0039] Figure 6 This is a second schematic diagram of the layout of the sensing blocks on the identification device and fixture provided by the present invention;

[0040] Figure 7 This is the third schematic diagram of the layout of the sensing blocks on the identification device and fixture provided by the present invention;

[0041] Figure 8 This is a schematic diagram of the fixture positioning device provided by the present invention;

[0042] Figure 9 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0044] In conventional welding stations, the number of station identification sensors is the same as the number of stations. Especially in multi-station rotary welding stations, because multiple sets of fixtures are used and their positions change with the rotation of the rotary table, the welding trajectory of the welding mechanism located on the outer perimeter of the rotary table needs to be adjusted according to different fixtures. Therefore, fixture identification and positioning are necessary. Currently, the positioning method uses one station identification sensor per station. This requires a large number of station identification sensors, which are scattered. In some locations where station identification sensors need to be installed, narrow spaces make installation difficult, and the scattered sensors also hinder debugging. To solve these technical problems, this invention provides a fixture positioning method, device, electronic equipment, and medium. Figure 1 This is one of the flowcharts illustrating the fixture positioning method provided by the present invention, which includes:

[0045] Step 101: Determine the target sensing information by identifying the layout of the sensing blocks of any fixture in the current welding station based on the identification equipment.

[0046] Step 102: Based on the target sensing information, locate the target fixture number of the target fixture at the current welding station, and instruct the welding target of the target fixture to be welded according to the target fixture number;

[0047] The identification device includes a first preset number of identification sensors arranged in preset positions;

[0048] The layout of the sensing blocks on each fixture is different, and the layout of the sensing blocks is determined according to the number and orientation of the sensing blocks on the fixture.

[0049] In step 101, the turntable in the working state will rotate continuously, and the fixture set on the turntable will move around the circumference when the turntable rotates. The fixture is set on the circumference of the turntable. When the turntable stops rotating, there will be a fixture at the current welding station. However, since the number of the current fixture is not known at this time, the identity of the current fixture cannot be confirmed, and the welding equipment cannot be called to weld the welding target of the target fixture according to the target trajectory coordinates. Therefore, the purpose of this step is to identify the sensor block layout of any fixture in the current welding station based on the identification device and determine the target sensing information.

[0050] Optionally, the identification device is set at the current welding station to identify the fixture at the current welding station. Specifically, this invention differs from the prior art in that identification sensors are set at each turntable station. Instead, the identification device is set only at the current welding station. The identification device includes a first preset number of identification sensors arranged in a preset position. The preset position arrangement can be multiple identification sensors arranged horizontally, multiple identification sensors arranged vertically, or other shapes, such as sawtooth, wave, circle, rectangle, etc. In order to enable each identification sensor on the identification device to perform sensing and identification, each fixture is provided with a sensing groove adapted to the preset position arrangement. However, in order to distinguish the differences between each fixture, sensing blocks can be flexibly set in the sensing groove to achieve different sensing block layouts for different fixtures.

[0051] Optionally, in order to distinguish different fixtures, the layout of the sensing blocks on each fixture can be different. For example, since there is a preset position layout in the identification device, the layout of the sensing blocks can be determined according to the number and orientation of the sensing blocks on the fixture.

[0052] Optionally, the first preset quantity is three. In this case, according to the binary combination representation, the identification device formed by the three identification sensors can have seven different layouts of the sensing blocks on each fixture, which can satisfy welding work with a turntable station of 7 or less.

[0053] Optionally, the first preset quantity is four. In this case, according to the binary combination representation, the identification device formed by the four identification sensors can have 15 different layouts of the sensing blocks on each fixture, which can meet the welding work of up to 15 turntable stations. For common 10-station or 8-station turntables, the first preset quantity of four identification devices can fully meet the welding requirements of current related technologies.

[0054] Optionally, the first preset quantity is five. In this case, according to the binary combination representation, the identification device formed by the four identification sensors can have 31 ways of arranging the sensing blocks on each fixture. Theoretically, the more identification sensors on the identification device, the more fixtures it can identify. The value of the first preset quantity can also be flexibly adjusted according to the actual welding requirements, which will not be elaborated here.

[0055] Optionally, the sensing information is generated when the distance between the sensing block and the identification sensor is less than a preset distance. Since not every identification sensor in the identification device can identify the sensing information when performing sensing identification at the current welding station, the present invention needs to determine all the sensing information in the current identification device and determine all the sensing information as target sensing information, so as to locate the target fixture number of the target fixture at the current welding station based on the target sensing information identified by the identification device at the current welding station.

[0056] In step 102, after determining the target sensing information, the present invention locates the target fixture number of the target fixture at the current welding station based on the target sensing information, and instructs the welding target of the target fixture to be welded according to the target fixture number. That is, the fixture at the current welding station has been determined, and a call instruction is determined based on the fixture at the current welding station. The welding equipment is called to weld the welding target of the target fixture according to the target trajectory coordinates.

[0057] Optionally, the method further includes:

[0058] If any fixture cannot be in the current welding station, it is determined that no fault information can be generated based on the target sensing information identified by the identification device in the current welding station.

[0059] The fault report information is used to instruct maintenance to be performed on the turntable station corresponding to the fixture.

[0060] During long-term operation of the turntable, insufficient lubrication, equipment aging, or insufficient power may cause deviation errors in the motor angle, and the sensing blocks in the fixture may also become loose, resulting in the inability to accurately identify the sensing information. When the identification device cannot identify the target sensing information, it indicates that the turntable, fixture, or identification device may be aging or malfunctioning, thereby generating a fault report. The fault report is used to instruct the turntable station corresponding to the fixture to be repaired.

[0061] This invention can not only determine the target fixture based on the target sensing information identified by the identification equipment in the current welding station, but also generate fault information when the target sensing information cannot be identified by the identification equipment in the current welding station. This provides a theoretical basis for timely detection of equipment faults, equipment maintenance, and fault reporting, thereby improving the work efficiency of managers and maintenance personnel.

[0062] This invention provides a fixture positioning method, apparatus, electronic device, and medium. By setting different numbers of sensing blocks at different positions on the fixture, the uniqueness of the fixture's sensing block layout is achieved. After the identification device identifies the sensing block layout of any fixture, it determines the target sensing information and locates the target fixture number at the current welding station based on the target sensing information. Finally, based on the target fixture number, it instructs the welding target of the target fixture to be welded. This invention, through the preset layout of the identification device and the corresponding number and orientation of the sensing blocks on the fixture, not only reduces the number of identification sensors required for welding, thus lowering operating costs, but also transforms the relatively dispersed identification sensors into a centralized layout. By moving the narrower positions that would otherwise be installed on each fixture to a centralized layout, it not only saves installation space but also facilitates installation and debugging.

[0063] Figure 2 This is a second flowchart illustrating the fixture positioning method provided by the present invention. Before determining the target sensing information by identifying the sensor block layout of any fixture based on the identification equipment in the current welding station, the method further includes:

[0064] Step 201: For any fixture, determine the preset fixture number of the fixture;

[0065] Step 202: Construct the preset trajectory coordinate mapping library according to the correspondence between the preset fixture number and the preset trajectory coordinate.

[0066] In step 201, the present invention can number all the clamps according to the number of clamps in the turntable. For example, if there are 10 clamps in total, the clamp numbers of the clamps are preset as clamp 1, clamp 2, clamp 3, clamp 4, clamp 5, clamp 6, clamp 7, clamp 8, clamp 9, and clamp 10.

[0067] In step 202, the fixture number is the identification feature of the fixture. Since the welding trajectory needs to be adjusted according to different fixtures in the current welding station, the fixture needs to be identified and located. After the fixture number is determined, the preset trajectory coordinate mapping library can be constructed according to the correspondence between the preset fixture number and the preset trajectory coordinates, so that the calling instruction can be determined from the preset trajectory coordinate mapping library according to the target fixture number.

[0068] Figure 3 This is a third flowchart illustrating the fixture positioning method provided by the present invention. After determining the preset fixture number of the fixture, the method further includes:

[0069] Step 301: For any fixture, according to the preset position layout in the identification device, set different numbers of sensing blocks in different directions to determine the sensing block layout of the fixture;

[0070] Step 302: Determine the correspondence between the layout of the sensing blocks of each fixture and the fixture number of the fixture.

[0071] In step 301, for any fixture, in order to ensure that the layout of the sensing blocks of each fixture is different, the present invention can combine the number of sensing blocks and the orientation of the sensing blocks to place the sensing blocks in the corresponding sensing slots of the fixture, so that the identification device at the current welding station can identify the sensing blocks under different sensing block layouts and finally determine the target sensing information identified by the identification device.

[0072] In step 302, the correspondence between the layout of the sensing blocks of each fixture and the fixture number of the fixture is determined, so that after obtaining the target sensing information in the current welding station, the target fixture number of the target fixture at the current welding station can be located.

[0073] Optionally, the different orientations include different orientations in the horizontal direction and / or different orientations in the vertical direction;

[0074] In cases where the orientations are different, including those in the vertical direction, the target sensing information includes the sensing strength of the sensing block detected by each identification sensor.

[0075] Optionally, the different orientations include different orientations in the horizontal direction. That is, for each clamp, the sensor slot layout in each clamp is set according to the preset position layout in the identification device. After the sensor slot layout is set, a sensor block can be set in any sensor slot. For each clamp, the number of sensor blocks set is not limited, and whether a sensor block is set in each sensor slot is not limited. However, only one sensor block can be set in each sensor slot to ensure that the sensor block layout of each clamp is different.

[0076] Optionally, the different orientations include different orientations in the vertical direction. In this embodiment of the invention, the depth of the sensing groove can be set, that is, when the sensing block is placed in the sensing groove, the different depths of each sensing block relative to the sensing groove will be displayed. The purpose of this setting is to provide another way to distinguish different clamps, that is, to distinguish the depth of different sensing blocks in different clamps by the strength of the sensing information identified by the identification sensor, thereby distinguishing different clamps.

[0077] Optionally, the preset position layout can be any of the following methods:

[0078] The first preset number of identification sensors are arranged in a straight line;

[0079] The first preset number of identification sensors are arranged in a zigzag pattern;

[0080] Alternatively, the first preset number of identification sensors can be arranged in a circular pattern.

[0081] Figure 4 This is a schematic diagram illustrating the correspondence between the sensing block and the recognition sensor on the fixture in existing technology, such as... Figure 4 As shown, a sensing block is set on each fixture, and an identification sensor is set at each turntable station. Identifying each fixture in this way not only requires a large number of identification sensors, leading to increased costs, but also results in a narrow working space due to the installation of identification sensors in different areas, which is not only unfavorable for equipment installation, but also unfavorable for equipment debugging.

[0082] Figure 5 This is one of the structural schematic diagrams of the sensor block layout provided on the identification device and fixture of the present invention, such as... Figure 5 As shown, the first preset number of identification sensors are arranged in a straight line. Specifically, the identification sensors are arranged vertically. Correspondingly, all the sensing slots set on each fixture are adapted to the arrangement of the identification sensors. The black part indicates that the sensing slot is equipped with a sensing block, while the white part indicates that the sensing slot is not equipped with a sensing block.

[0083] Figure 6This is a second schematic diagram of the layout of the sensing blocks on the identification device and fixture provided by the present invention, as shown in the diagram. Figure 6 As shown, the first preset number of identification sensors are arranged in a straight line. Specifically, the identification sensors are arranged horizontally. Correspondingly, all the sensing slots set on each fixture are adapted to the arrangement of the identification sensors. The black part indicates that the sensing slot is equipped with a sensing block, while the white part indicates that the sensing slot is not equipped with a sensing block.

[0084] Figure 7 This is the third schematic diagram of the layout of the sensing blocks on the identification device and fixture provided by the present invention, as shown in Figure 3. Figure 7 As shown, the first preset number of identification sensors are arranged in a sawtooth pattern. Specifically, all the sensing slots set on each fixture are adapted to the arrangement of the identification sensors. The black part indicates that a sensing block is set in the sensing slot, while the white part indicates that a sensing block is not set in the sensing slot.

[0085] Optionally, the first preset quantity is four, and the first preset quantity of recognition sensors can also be arranged in a rectangular arrangement. If the first preset quantity exceeds four, the first preset quantity of recognition sensors can also be arranged in a circular arrangement, which will not be elaborated here.

[0086] Figure 8 This is a schematic diagram of the fixture positioning device provided by the present invention. The present invention provides a fixture positioning device, including a determination module 1, which is used to identify the layout of the sensing blocks of any fixture according to the identification equipment in the current welding station and determine the target sensing information. The working principle of the determination module 1 can be referred to the aforementioned step 101, and will not be repeated here.

[0087] The fixture positioning device further includes a positioning module 2, which is used to locate the target fixture number of the target fixture at the current welding station according to the target sensing information, so as to instruct the welding target of the target fixture to be welded according to the target fixture number. The working principle of the positioning module 2 can be referred to the aforementioned step 102, and will not be repeated here.

[0088] The identification device includes a first preset number of identification sensors arranged in preset positions;

[0089] The layout of the sensing blocks on each fixture is different, and the layout of the sensing blocks is determined according to the number and orientation of the sensing blocks on the fixture.

[0090] This invention provides a fixture positioning method, apparatus, electronic device, and medium. By setting different numbers of sensing blocks at different positions on the fixture, the uniqueness of the fixture's sensing block layout is achieved. After the identification device identifies the sensing block layout of any fixture, it determines the target sensing information and locates the target fixture number at the current welding station based on the target sensing information. Finally, based on the target fixture number, it instructs the welding target of the target fixture to be welded. This invention, through the preset layout of the identification device and the corresponding number and orientation of the sensing blocks on the fixture, not only reduces the number of identification sensors required for welding, thus lowering operating costs, but also transforms the relatively dispersed identification sensors into a centralized layout. By moving the narrower positions that would otherwise be installed on each fixture to a centralized layout, it not only saves installation space but also facilitates installation and debugging.

[0091] Figure 9 This is a schematic diagram of the structure of the electronic device provided by the present invention. For example... Figure 9 As shown, the electronic device may include a processor 910, a communication interface 920, a memory 930, and a communication bus 940, wherein the processor 910, the communication interface 920, and the memory 930 communicate with each other via the communication bus 940. The processor 910 can call logical instructions in the memory 930 to execute a fixture positioning method. This method includes: identifying the sensor block layout of any fixture in the current welding station based on the identification device, and determining target sensing information; locating the target fixture number of the target fixture at the current welding station based on the target sensing information, and instructing welding to be performed on the welding target of the target fixture based on the target fixture number; the identification device includes a first preset number of identification sensors arranged according to preset positions; the sensor block layout on each fixture is different, and the sensor block layout is determined based on the number and orientation of the sensor blocks on the fixture.

[0092] Furthermore, the logical instructions in the aforementioned memory 930 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. 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.

[0093] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute a fixture positioning method provided by the above methods. The method includes: identifying the layout of the sensing blocks of any fixture in the current welding station based on the identification device, and determining target sensing information; locating the target fixture number of the target fixture at the current welding station based on the target sensing information, so as to instruct welding to be performed on the welding target of the target fixture based on the target fixture number; the identification device includes a first preset number of identification sensors arranged according to preset positions; the layout of the sensing blocks on each fixture is different, and the layout of the sensing blocks is determined based on the number and orientation of the sensing blocks on the fixture.

[0094] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the fixture positioning method provided by the above methods. The method includes: identifying the sensor block layout of any fixture in the current welding station based on an identification device, and determining target sensing information; locating the target fixture number of the target fixture at the current welding station based on the target sensing information, and instructing welding of the welding target of the target fixture based on the target fixture number; the identification device includes a first preset number of identification sensors arranged according to preset positions; the sensor block layout on each fixture is different, and the sensor block layout is determined based on the number and orientation of the sensor blocks on the fixture.

[0095] The device embodiments described above are merely illustrative. 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 modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0096] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fixture positioning method, characterized in that, include: Based on the layout of the sensing blocks of any fixture identified by the identification equipment in the current welding station, the target sensing information is determined; Based on the target sensing information, locate the target fixture number of the target fixture at the current welding station, and instruct the welding target of the target fixture to be welded according to the target fixture number; The identification device includes a first preset number of identification sensors arranged in preset positions; The layout of the sensing blocks on each fixture is different, and the layout of the sensing blocks is determined according to the number and orientation of the sensing blocks on the fixture. For any fixture, according to the preset position layout in the identification device, different numbers of sensing blocks are set in different directions to determine the sensing block layout of the fixture; Determine the correspondence between the layout of the sensing blocks of each fixture and the fixture number of the fixture; In cases where the orientation includes different orientations in the vertical direction, by setting different depths of the sensing groove on the fixture, the sensing block is placed in the sensing groove, thus showing the different depths of each sensing block relative to the sensing groove. The target sensing information includes the sensing strength of the sensing block identified by each identification sensor, so as to identify the corresponding target fixture number through the sensing strength. The different orientations also include different orientations in the horizontal direction. The preset position layout is as follows: the first preset number of recognition sensors are arranged in a sawtooth pattern or in a circular pattern; correspondingly, all the sensing slots set on each fixture are adapted to the arrangement of the recognition sensors, and are arranged in a sawtooth pattern or in a circular pattern.

2. The fixture positioning method according to claim 1, characterized in that, Before determining the target sensing information by identifying the sensor block layout of any fixture in the current welding station based on the identification equipment, the method further includes: For any fixture, determine the preset fixture number of the fixture; The preset trajectory coordinate mapping library is constructed based on the correspondence between the preset fixture number and the preset trajectory coordinate.

3. The fixture positioning method according to claim 1, characterized in that, The preset position layout can be any of the following methods: The first preset number of identification sensors are arranged in a straight line; The first preset number of identification sensors are arranged in a zigzag pattern; Alternatively, the first preset number of identification sensors can be arranged in a circular pattern.

4. The fixture positioning method according to claim 1, characterized in that, The method further includes: If any fixture cannot be in the current welding station, it is determined that no fault information can be generated based on the target sensing information identified by the identification device in the current welding station. The fault report information is used to instruct maintenance to be performed on the turntable station corresponding to the fixture.

5. The fixture positioning method according to claim 1, characterized in that, The first preset quantity is four.

6. A clamp positioning device, characterized in that, include: The determination module is used to determine the target sensing information based on the layout of the sensing blocks of any fixture identified by the identification equipment in the current welding station. The positioning module is used to locate the target fixture number of the target fixture at the current welding station based on the target sensing information, so as to instruct the welding target of the target fixture to be welded according to the target fixture number; The identification device includes a first preset number of identification sensors arranged in preset positions; The layout of the sensing blocks on each fixture is different, and the layout of the sensing blocks is determined according to the number and orientation of the sensing blocks on the fixture. For any fixture, according to the preset position layout in the identification device, different numbers of sensing blocks are set in different directions to determine the sensing block layout of the fixture; Determine the correspondence between the layout of the sensing blocks of each fixture and the fixture number of the fixture; In cases where the orientation includes different orientations in the vertical direction, by setting different depths of the sensing groove on the fixture, the sensing block is placed in the sensing groove, thus showing the different depths of each sensing block relative to the sensing groove. The target sensing information includes the sensing strength of the sensing block identified by each identification sensor, so as to identify the corresponding target fixture number through the sensing strength. The different orientations also include different orientations in the horizontal direction. The preset position layout is as follows: the first preset number of recognition sensors are arranged in a sawtooth pattern or in a circular pattern; correspondingly, all the sensing slots set on each fixture are adapted to the arrangement of the recognition sensors, and are arranged in a sawtooth pattern or in a circular pattern.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the fixture positioning method as described in any one of claims 1-5.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the fixture positioning method as described in any one of claims 1-5.

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