Part clamping method, device, electronic equipment and readable medium

Abstract

The application relates to a part clamping method and device, electronic equipment and readable medium, wherein the method comprises the following steps: in the case that a target part is detected on a conveying device, conveying the target part to a detection platform; determining each clamping area on the target part through the detection platform, and adjusting the orientation of the clamping area with the largest area to a preset direction, wherein the clamping area is the contact area of the target part when a clamping device clamps the target part; calling a target clamping device matched with the clamping area, and clamping the target part in the preset direction through the target clamping device to complete the clamping operation of the target part. The conveying part is detected by the detection platform to determine each clamping area, and the clamping device matched with each clamping area is called to clamp the part, so that the problem that a corresponding clamping device cannot be flexibly matched according to the part conveyed from the front end to complete the clamping operation is solved.

Description

Technical Field

[0001] This application relates to the field of mechanical clamping technology, and in particular to a part clamping method, device, electronic device and readable medium. Background Technology

[0002] With the development of the Industrial Internet and the widespread application of 5G technology, the manufacturing industry is undergoing a technological transformation, and the concepts of unmanned factories and lights-out factories are gradually turning from ideals into reality. On a factory assembly line, when a part or component is transported in from the front end, the back end is usually equipped with corresponding tooling fixtures and robotic arms. However, these back-end clamping tools are manually configured and switched in advance based on the parts from the front end, and cannot automatically and flexibly match the appropriate clamping fixtures to complete the clamping operation based on the parts conveyed from the front end.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This application provides a part clamping method, apparatus, electronic device, and readable medium to solve the aforementioned technical problem of "inability to automatically and flexibly match the corresponding clamping fixture to complete the clamping operation based on the part delivered from the front end".

[0005] According to one aspect of the embodiments of this application, this application provides a part clamping method, including: when a target part is detected on a conveying device, conveying the target part to a detection platform; determining various clamping areas on the target part through the detection platform, and adjusting the orientation of the clamping area with the largest area to a preset direction, wherein the clamping area is the contact area between the clamper and the target part when the clamper clamps the target part; calling a target clamper that matches the clamping area, and clamping the target part in a preset direction through the target clamper to complete the clamping operation of the target part.

[0006] Optionally, determining the clamping areas on the target part through the detection platform includes: scanning the target part with a scanning device on the detection platform to obtain a scanned image, wherein the scanned image includes images of each surface of the target part; marking the center of gravity point corresponding to the structural center of gravity of the target part on each surface, and selecting a first candidate area with an area greater than a first preset value from each surface; selecting a second candidate area close to the center of gravity point from the first candidate area; and selecting a clamping area from the second candidate area, wherein the angle between the normal vectors of the planes containing the center points of each clamping area is greater than or equal to a preset angle.

[0007] Optionally, marking the center of gravity points corresponding to the structural center of gravity of the target part on each surface includes: extracting the part code of the target part from the scanned image; extracting the part structure of the target part from a preset part library according to the part code, and determining the structural center of gravity of the target part according to the part structure; taking the projection points of the structural center of gravity on each surface as the center of gravity points, and marking the center of gravity points.

[0008] Optionally, selecting a second candidate region that is close to the centroid from the first candidate region includes: defining each surface where the first candidate region is located as the target surface; constructing a two-dimensional coordinate system with the centroid on the target surface as the origin, extending it by a first length in the positive and negative directions of the horizontal axis, and extending it by a second length in the positive and negative directions of the vertical axis, to obtain a preset region; if the area of ​​the overlapping region between the first candidate region and the preset region on the target surface is greater than or equal to a second preset value, then the first candidate region is determined as the second candidate region on the target surface that is close to the centroid.

[0009] Optionally, calling the target gripper that matches the gripping area includes: selecting gripping heads from the gripping component library that correspond to the area of ​​each gripping area, wherein the number of gripping heads is the same as the number of gripping areas; calling a gripping arm for each gripping head; and combining the gripping head and the gripping arm to obtain the target gripper.

[0010] Optionally, after clamping the target part in a preset direction using the target gripper, the method further includes: detecting the actual clamping force on the target part using a piezoresistive sensor on the gripping head of the target gripper; obtaining a preset clamping force and comparing the actual clamping force with the preset clamping force, wherein the preset clamping force is the force applied by a single gripping arm when the target gripper clamps the target part; if the actual clamping force is greater than or equal to the preset clamping force, raising the target part to a preset height using the target gripper; if the actual clamping force is less than the preset clamping force, increasing the actual clamping force until the actual clamping force is greater than or equal to the preset clamping force, and raising the target part to a preset height using the target gripper; after the target part is raised to a preset height and maintained for a preset time, detecting whether the target part has displaced using a displacement sensor on the gripping head; if displacement occurs, increasing the actual clamping force; if no displacement occurs, determining that the clamping operation on the target part is complete.

[0011] Optionally, obtaining the preset clamping force includes: obtaining the part code, and extracting the weight value and surface friction coefficient of the target part from the preset part library according to the part code, wherein the part code is obtained by scanning the target part when determining each clamping area; and calculating the preset clamping force according to the number of clamping areas, weight value and surface friction coefficient on the target part.

[0012] According to another aspect of the embodiments of this application, this application provides a part clamping device, including: a conveying module, used to convey a target part to a detection platform when a target part is detected on the conveying device; a determining module, used to determine each clamping area on the target part through the detection platform, and adjust the orientation of the clamping area with the largest area to a preset direction, wherein the clamping area is the contact area between the clamp and the target part when the clamping device clamps the target part; and a clamping module, used to call a target clamp that matches the clamping area, and clamp the target part in a preset direction through the target clamp to complete the clamping operation of the target part.

[0013] According to another aspect of the embodiments of this application, this application provides an electronic device, including a memory, a processor, a communication interface and a communication bus. The memory stores a computer program that can run on the processor. The memory and the processor communicate with each other through the communication bus and the communication interface. When the processor executes the computer program, it implements the steps of the above method.

[0014] According to another aspect of the embodiments of this application, this application also provides a computer-readable medium having processor-executable non-volatile program code that causes the processor to perform the above-described method.

[0015] Compared with related technologies, the technical solutions provided in this application have the following advantages:

[0016] This application discloses a part clamping method, comprising: upon detecting the presence of a target part on a conveying device, conveying the target part to a detection platform; determining various clamping areas on the target part through the detection platform, and adjusting the orientation of the clamping area with the largest area to a preset direction, wherein the clamping area is the contact area between the clamper and the target part when clamping the target part; calling a target clamper matching the clamping area, and clamping the target part according to the preset direction using the target clamper to complete the clamping operation of the target part. By detecting the conveyed part through the detection platform to determine various clamping areas and calling the clamper matching each clamping area to clamp the part, the method solves the problem of not being able to automatically and flexibly match the corresponding jig to complete the clamping operation based on the part conveyed from the front end. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of an optional part clamping method provided according to an embodiment of this application;

[0020] Figure 2 This is a block diagram of an optional parts clamping device provided according to an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of an optional electronic device structure provided in an embodiment of this application. Detailed Implementation

[0022] 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, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustration and has no specific meaning in itself. Therefore, "module" and "part" may be used interchangeably.

[0024] With the development of the Industrial Internet and the widespread application of 5G technology, the manufacturing industry is undergoing a technological transformation. Modern factories in China are moving towards Industry 4.0, and the concepts of unmanned factories and lights-out factories are gradually becoming a reality. On a factory assembly line, when a part or component is transported from the front end, corresponding tooling fixtures and robotic arms are typically configured in the back end. However, these back-end clamping tools are manually configured and switched based on the parts received from the front end, and cannot automatically and flexibly match the appropriate fixtures to complete the clamping operation based on the parts delivered from the front end.

[0025] Traditional automated production lines cannot detect the size and relative position of parts, nor can they detect the surface roughness of parts; they also cannot autonomously select the clamping position and the number of clamping arms. Without this information, traditional automated production lines require process engineers to set parameters in advance, and cannot autonomously judge and control system parameters based on part information.

[0026] To address the problems mentioned in the background art, according to one aspect of an embodiment of this application, a part clamping method is provided, such as... Figure 1 As shown, it includes:

[0027] Step 101: If the target part is detected on the conveying device, the target part is conveyed to the detection platform;

[0028] Step 103: Determine each clamping area on the target part through the detection platform, and adjust the orientation of the clamping area with the largest area to a preset direction. The clamping area is the contact area between the clamper and the target part when the clamper clamps the target part.

[0029] Step 105: Call the target clamp that matches the clamping area, and clamp the target part in a preset direction using the target clamp to complete the clamping operation of the target part.

[0030] The clamping method provided in this application can be applied to parts of various shapes.

[0031] This application also provides a system capable of performing the above-described part clamping method, including a conveyor belt device, a detection platform, and a clamping worktable. The conveyor belt device is responsible for transporting the parts; the detection platform is responsible for detecting the parts, including their weight and surface features. The detection platform has a rotating device that drives the parts to rotate and can control and calculate the rotation angle. The detection platform is equipped with a camera device for capturing image information of the parts. The clamping worktable is equipped with a clamping component library, which mainly consists of clamping arms and parts that contact the parts (i.e., clamping heads), designated as clamping component library 1, clamping component library 2, and clamping component library 3. Each component library contains several clamping arms and several clamping heads with different clamping areas. Based on the area size marked on the part and the number and position of the marked clamping areas, the system selects clamping components from different clamping component libraries. Furthermore, the clamping heads are equipped with a piezoresistive sensor and a displacement sensor. The piezoresistive sensor is used to determine the clamping force on the part, i.e., the surface normal pressure, and the displacement sensor is used to monitor whether the clamped part undergoes relative displacement on the clamping head, i.e., whether it slips off.

[0032] Specifically, the flexible clamping control system needs to be activated first to determine whether there is a target part on the conveyor belt. If no target part is detected, the system remains in standby detection state. If a target part is detected, the part detection system is activated and the target part is transferred to the detection platform.

[0033] For example, infrared detection, camera detection, and other methods can be used to detect whether there are target parts on the conveyor belt.

[0034] As an optional embodiment, determining the clamping areas on the target part through the detection platform includes: scanning the target part with a scanning device on the detection platform to obtain a scanned image, wherein the scanned image includes images of each surface of the target part; marking the center point corresponding to the structural center of gravity of the target part on each surface, and selecting a first candidate area with an area greater than a first preset value from each surface; selecting a second candidate area close to the center point from the first candidate area; and selecting a clamping area from the second candidate area, wherein the angle between the normal vectors of the planes containing the center points of each clamping area is greater than or equal to a preset angle.

[0035] Scanning the target part on the inspection platform can obtain relevant information about the target part, including the scanned image and the part code (which can be used to retrieve relevant parameters of the target part from a preset part library).

[0036] This application does not limit the number of scanned images, as long as images of all surfaces of the target part can be acquired.

[0037] The clamping region is obtained by multi-level selection of various planes in the scanned image, including: selecting a first candidate region with a product greater than a first preset value from each plane, then further selecting a second candidate region that is close to the centroid from the first candidate region, and finally selecting a clamping region from the second candidate region.

[0038] The first preset value in this application can be set according to the actual situation, and this application does not limit it.

[0039] Optionally, the preset angle in this application can be 60°.

[0040] The method of obtaining the clamping area through multi-level selection will be explained next.

[0041] As an optional embodiment, marking the center of gravity points corresponding to the structural center of gravity of the target part on each surface includes: extracting the part code of the target part from the scanned image; extracting the part structure of the target part from a preset part library according to the part code, and determining the structural center of gravity of the target part according to the part structure; taking the projection points of the structural center of gravity on each surface as center of gravity points, and marking the center of gravity points.

[0042] By projecting the structural center of gravity onto each surface, an effective area close to the center of gravity can be obtained, and the contact surface between the gripper and the target part, i.e. the gripping area, can be further determined. The second candidate area close to the center of gravity is then selected.

[0043] As an optional embodiment, selecting a second candidate region that is close to the centroid from the first candidate region includes: determining each surface where the first candidate region is located as the target surface; constructing a two-dimensional coordinate system with the centroid on the target surface as the origin, extending a first length in the positive and negative directions of the horizontal axis, and extending a second length in the positive and negative directions of the vertical axis, to obtain a preset region; if the area of ​​the overlapping region between the first candidate region and the preset region on the target surface is greater than or equal to a second preset value, then the first candidate region is determined as the second candidate region on the target surface that is close to the centroid.

[0044] Generally speaking, the area of ​​the preset region is larger than both the first and second preset values.

[0045] This application does not limit the first length and the second length, but mainly sets them according to the size of the target part.

[0046] For example, a two-dimensional coordinate system is constructed with the center of gravity on the target surface as the origin. The X and Y directions on the plane of the part are set. Assuming the center of gravity is the origin, the effective range of the area near the center of gravity is defined to pick the effective plane area. The effective range is as follows: The effective range of the target part in the X-axis direction is: with the center of gravity as the origin, 0±30%X1 (i.e., the area from 0-30%X1 to 0+30%X1 on the X coordinate), where X1 is the first length; The effective range of the target part in the Y direction is: with the center of gravity as the origin, 0±30%Y1 (i.e., the area from 0-30%Y1 to 0+30%Y1 on the Y coordinate), where Y1 is the second length. A preset area can be formed, which is the effective area.

[0047] As an optional embodiment, calling the target gripper that matches the gripping area includes: selecting gripping heads from the gripping component library that correspond to the area of ​​each gripping area, wherein the number of gripping heads is the same as the number of gripping areas; calling a gripping arm for each gripping head; and combining the gripping head and the gripping arm to obtain the target gripper.

[0048] Each gripper head corresponds to a gripping area, and each gripper head also needs to be equipped with a gripping arm.

[0049] The gripper in this application is a flexible gripper, and its gripping head is made of soft rubber or an airbag structure. Compared with rigid gripping parts, it can avoid scratches and damage to the surface of the parts.

[0050] Specifically, the clamping components are mainly divided into clamping arms and clamping heads that contact the parts. They are designated as clamping component library 1, clamping component library 2, and clamping component library 3. Each component library contains several clamping arms and several clamping heads with different clamping areas. Based on the area size marked on the part and the number and position of the marked clamping areas, the system will select clamping components from different clamping component libraries. In clamping component library 1, the clamping head area is S1; in clamping component library 2, the clamping head area is S2; and in clamping component library 3, the clamping head area is S3, where S1 > S2 > S3.

[0051] The method for selecting the corresponding flexible clamping component based on the area of ​​the clamping region includes: if S3 ≤ clamping region area < S2, then clamping component library 3 is selected; if S2 ≤ clamping region area < S1, then clamping component library 2 is selected; if clamping region area ≥ S1, then clamping component library 1 is selected.

[0052] It should be noted that the optimal number of clamping areas in the embodiments of this application is 3 to 4.

[0053] As an alternative embodiment, if there is only one clamping area, the clamp can be replaced with a magnetic device.

[0054] As an optional embodiment, after the target part is clamped in a preset direction by the target gripper, the method further includes: detecting the actual clamping force on the target part by a piezoresistive sensor on the gripping head of the target gripper; obtaining a preset clamping force and comparing the actual clamping force with the preset clamping force, wherein the preset clamping force is the force applied by a single gripping arm when the target gripper clamps the target part; if the actual clamping force is greater than or equal to the preset clamping force, raising the target part to a preset height by the target gripper; if the actual clamping force is less than the preset clamping force, increasing the actual clamping force until the actual clamping force is greater than or equal to the preset clamping force, and raising the target part to the preset height by the target gripper; after the target part is raised to the preset height and maintained for a preset time, detecting whether the target part has been displaced by a displacement sensor on the gripping head; if displacement has occurred, increasing the actual clamping force; if no displacement has occurred, determining that the clamping operation of the target part is complete.

[0055] The preset height and preset duration values ​​in this application can be set according to actual conditions, and this application does not impose any restrictions.

[0056] For example, the piezoresistive sensor of the clamping head measures the clamping force on the clamped part at this time; it determines whether the detected actual clamping force is greater than or equal to the preset clamping force. If not, it determines the difference between the actual clamping force and the preset clamping force and increases the clamping arm force. If yes, it clamps the part, raises the part 10cm away from the clamping platform, and holds it for 3 seconds; the displacement sensor of the clamping head measures and determines the displacement value of the clamped part; if the displacement value is greater than 0, it means that relative displacement has occurred and the clamping force is insufficient, so the clamping force at that position is increased by 30%. If not, it means that no relative displacement has occurred, the clamping force is sufficient, the clamping action is effective, and the subsequent program is executed.

[0057] As an optional embodiment, obtaining the preset clamping force includes: obtaining a part code, and extracting the weight value and surface friction coefficient of the target part from a preset part library based on the part code, wherein the part code is obtained by scanning the target part when determining each clamping area; and calculating the preset clamping force based on the number of clamping areas, weight value and surface friction coefficient on the target part.

[0058] For example, the inspection platform is equipped with a weighing sensor, which can monitor the weight of the target part after it is transferred to the inspection platform.

[0059] For example, after obtaining the part code, the part material and structural center of gravity can be retrieved from the preset parts library in the PLM (Product Lifecycle Management) system. Based on the part material and structural information in the system, the material properties and part surface treatment information can be obtained, thus obtaining the material surface friction coefficient. The surface friction coefficients of each clamping area are equal.

[0060] Specifically, the formula for calculating the preset clamping force is: F=m*9.8*1.5 / (u*n), where F is the clamping force of a single clamping arm, m is the weight information of the part, u is the friction coefficient of the part surface, n is the number of clamping arms, and 1.5 is the structural safety factor.

[0061] This application provides a flexible clamping control method for smart unmanned factories. By judging the weight, surface roughness, and clamping area of ​​the parts, a suitable clamping device is retrieved from the clamping component library, and a corresponding number of clamping arms are added. During the clamping process, the pressure resistance and displacement of the clamping components are detected to judge the clamping reliability and stability, thereby realizing automatic clamping under unmanned control.

[0062] This application discloses a part clamping method, comprising: upon detecting the presence of a target part on a conveying device, conveying the target part to a detection platform; determining various clamping areas on the target part through the detection platform, and adjusting the orientation of the clamping area with the largest area to a preset direction, wherein the clamping area is the contact area between the clamper and the target part when clamping the target part; calling a target clamper matching the clamping area, and clamping the target part according to the preset direction using the target clamper to complete the clamping operation of the target part. By detecting the conveyed part through the detection platform to determine various clamping areas and calling the clamper matching each clamping area to clamp the part, the method solves the problem of not being able to automatically and flexibly match the corresponding jig to complete the clamping operation based on the part conveyed from the front end.

[0063] According to another aspect of the embodiments of this application, this application provides a part clamping device, such as... Figure 2 As shown, it includes:

[0064] The conveying module 202 is used to convey the target part to the detection platform when the presence of the target part is detected on the conveying device;

[0065] The determining module 204 is used to determine each clamping area on the target part through the detection platform, and adjust the orientation of the clamping area with the largest area to a preset direction. The clamping area is the contact area between the clamper and the target part when the clamper clamps the target part.

[0066] The clamping module 206 is used to call the target clamp that matches the clamping area, and clamp the target part in a preset direction through the target clamp to complete the clamping operation of the target part.

[0067] It should be noted that the transmission module 202 in this embodiment can be used to execute step 101 in this application embodiment, the determination module 204 in this embodiment can be used to execute step 103 in this application embodiment, and the clamping module 206 in this embodiment can be used to execute step 105 in this application embodiment.

[0068] Optionally, the determining module 204 includes:

[0069] The scanning submodule is used to scan the target part using the scanning device on the inspection platform to obtain scanned images, which include images of each surface of the target part.

[0070] The marking submodule is used to mark the center of gravity points corresponding to the structural center of gravity of the target part on each surface, and to select a first candidate region with an area greater than a first preset value on each surface.

[0071] The first selection submodule is used to select a second candidate region that is close to the centroid from the first candidate region;

[0072] The second selection submodule is used to select clamping regions from the second candidate regions, wherein the angle between the normal vectors of the plane containing the center points of each clamping region is greater than or equal to a preset angle.

[0073] Optionally, the marking submodule is also used to extract the part code of the target part from the scanned image; extract the part structure of the target part from a preset part library according to the part code, and determine the structural center of gravity of the target part according to the part structure; take the projection points of the structural center of gravity on each surface as the center of gravity points, and mark the center of gravity points.

[0074] Optionally, the first selection submodule is further configured to determine each surface where the first candidate region is located as the target surface; construct a two-dimensional coordinate system with the centroid of the target surface as the origin, extend a first length in the positive and negative directions of the horizontal axis, and extend a second length in the positive and negative directions of the vertical axis to obtain a preset region; if the area of ​​the overlapping region between the first candidate region of the target surface and the preset region is greater than or equal to a second preset value, then the first candidate region is determined as the second candidate region on the target surface that is close to the centroid.

[0075] Optionally, the clamping module 206 is further configured to select clamping heads corresponding to the area of ​​each clamping region from the clamping component library, wherein the number of clamping heads is the same as the number of clamping regions; call a clamping arm for each clamping head; and combine the clamping head and the clamping arm to obtain the target clamp.

[0076] Optionally, the device further includes a processing module, used to: after clamping the target part in a preset direction using the target gripper, detect the actual clamping force on the target part using a piezoresistive sensor on the gripping head of the target gripper; acquire a preset clamping force and compare the actual clamping force with the preset clamping force, wherein the preset clamping force is the force applied by a single gripping arm when the target gripper clamps the target part; if the actual clamping force is greater than or equal to the preset clamping force, raise the target part to a preset height using the target gripper; if the actual clamping force is less than the preset clamping force, increase the actual clamping force until the actual clamping force is greater than or equal to the preset clamping force, and raise the target part to the preset height using the target gripper; after the target part is raised to the preset height and maintained for a preset time, detect whether the target part has displaced using a displacement sensor on the gripping head; if displacement occurs, increase the actual clamping force; if no displacement occurs, determine that the clamping operation of the target part is complete.

[0077] Optionally, the processing module is also used to obtain the part code, and extract the weight value and surface friction coefficient of the target part from the preset part library according to the part code, wherein the part code is obtained by scanning the target part when determining each clamping area; and the preset clamping force is calculated based on the number of clamping areas, weight value and surface friction coefficient on the target part.

[0078] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments.

[0079] According to another aspect of the embodiments of this application, this application provides an electronic device, such as... Figure 3 As shown, the system includes a memory 301, a processor 303, a communication interface 305, and a communication bus 307. The memory 301 stores a computer program that can run on the processor 303. The memory 301 and the processor 303 communicate through the communication interface 305 and the communication bus 307. When the processor 303 executes the computer program, it implements the steps of the above method.

[0080] The memory and processor in the aforementioned electronic devices communicate with each other via a communication bus and a communication interface. The communication bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc.

[0081] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0082] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0083] According to another aspect of the embodiments of this application, a computer-readable medium having processor-executable non-volatile program code is also provided.

[0084] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0085] In specific implementation, the embodiments of this application can be referred to the above embodiments and have corresponding technical effects.

[0086] It is understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described herein, or combinations thereof.

[0087] For software implementation, the techniques described herein can be implemented by units that perform the functions described herein. The software code can be stored in memory and executed by a processor. The memory can be implemented in the processor or external to the processor.

[0088] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0089] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0090] In the 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 modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules 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 an indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0091] 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.

[0092] In addition, 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.

[0093] If the aforementioned function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, 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 this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks. It should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, 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. In the absence of further restrictions, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0094] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for clamping a part, characterized in that, include: If the target part is detected on the conveying device, the target part is conveyed to the detection platform; The detection platform determines each clamping area on the target part, and adjusts the orientation of the clamping area with the largest area to a preset direction. The clamping area is the contact area between the clamp and the target part when the clamping device clamps the target part. When there are multiple clamping areas, the clamping device is composed of clamping heads and clamping arms, with each clamping head corresponding to one clamping area. The clamping heads use soft rubber or airbag-like structures. If there is only one clamping area, the clamping device is a magnetic suction device. Invoke the target gripper that matches the gripping area, and use the target gripper to grip the target part in the preset direction to complete the gripping operation of the target part; The step of determining the various clamping areas on the target part through the detection platform includes: The target part is scanned by a scanning device on the detection platform to obtain a scanned image, wherein the scanned image includes images of each surface of the target part; Mark the center of gravity points corresponding to the structural center of gravity of the target part on each surface, and select a first candidate region with an area greater than a first preset value on each surface; Select a second candidate region that is close to the centroid from the first candidate region; The clamping region is selected from the second candidate region, wherein the angle between the normal vectors of the plane containing the center points of each clamping region is greater than or equal to a preset angle.

2. The method according to claim 1, characterized in that, Marking the center of gravity points on each surface, corresponding to the structural center of gravity of the target part, includes: Extract the part code of the target part from the scanned image; The part structure of the target part is extracted from the preset part library according to the part code, and the structural center of gravity of the target part is determined according to the part structure. The projection points of the structure's center of gravity onto each surface are taken as the center of gravity points, and these center of gravity points are marked.

3. The method according to claim 1, characterized in that, The step of selecting a second candidate region that is close to the centroid from the first candidate region includes: Each surface containing the first candidate region is identified as the target surface; A two-dimensional coordinate system is constructed with the centroid point on the target surface as the origin. The system is extended by a first length in the positive and negative directions of the horizontal axis, and by a second length in the positive and negative directions of the vertical axis, to obtain a preset area. If the area of ​​the overlapping region between the first candidate region and the preset region on the target surface is greater than or equal to a second preset value, then the first candidate region is determined as the second candidate region on the target surface that is close to the center of gravity.

4. The method according to claim 1, characterized in that, The invocation of the target gripper that matches the gripping area includes: Select clamping heads from the clamping component library that correspond to the area of ​​each clamping region, wherein the number of clamping heads is the same as the number of clamping regions; Call a clamping arm for each of the clamping heads; The clamping head and the clamping arm are combined to obtain the target clamp.

5. The method according to claim 1, characterized in that, After the target part is clamped by the target clamp in the preset direction, the method further includes: The actual clamping force on the target part is detected by the piezoresistive sensor on the clamping head of the target clamp; Obtain a preset clamping force and compare the actual clamping force with the preset clamping force, wherein the preset clamping force is the force applied by a single clamping arm when the target clamp holds the target part; If the actual clamping force is greater than or equal to the preset clamping force, the target part is raised to a preset height by the target clamp; if the actual clamping force is less than the preset clamping force, the actual clamping force is increased until the actual clamping force is greater than or equal to the preset clamping force, and the target part is raised to the preset height by the target clamp. After the target part is raised to the preset height and maintained for a preset time, the displacement sensor on the clamping head detects whether the target part has been displaced. If displacement occurs, the actual clamping force is increased; if no displacement occurs, the clamping operation on the target part is considered complete.

6. The method according to claim 5, characterized in that, The process of obtaining the preset clamping force includes: Obtain the part code, and extract the weight value and surface friction coefficient of the target part from a preset part library based on the part code, wherein the part code is obtained by scanning the target part when determining each clamping area; The preset clamping force is calculated based on the number of clamping areas on the target part, the weight value, and the surface friction coefficient.

7. A part clamping device, characterized in that, include: A conveying module is used to convey the target part to the detection platform when the presence of the target part is detected on the conveying device; The determining module is used to determine each clamping area on the target part through the detection platform, and adjust the orientation of the clamping area with the largest area to a preset direction. The clamping area is the contact area between the clamper and the target part when the clamper clamps the target part. When there are multiple clamping areas, the clamper is composed of clamping heads and clamping arms, with each clamping head corresponding to one clamping area. The clamping heads are made of soft rubber or an airbag-like structure. If there is only one clamping area, the clamper is a magnetic device. The clamping module is used to call a target clamp that matches the clamping area, and clamp the target part according to the preset direction through the target clamp to complete the clamping operation of the target part; The step of determining the various clamping areas on the target part through the detection platform includes: The target part is scanned by a scanning device on the detection platform to obtain a scanned image, wherein the scanned image includes images of each surface of the target part; Mark the center of gravity points corresponding to the structural center of gravity of the target part on each surface, and select a first candidate region with an area greater than a first preset value on each surface; Select a second candidate region that is close to the centroid from the first candidate region; The clamping region is selected from the second candidate region, wherein the angle between the normal vectors of the plane containing the center points of each clamping region is greater than or equal to a preset angle.

8. An electronic device comprising a memory, a processor, a communication interface, and a communication bus, wherein the memory stores a computer program executable on the processor, and the memory and the processor communicate via the communication bus and the communication interface, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable medium having processor-executable non-volatile program code, characterized in that, The program code causes the processor to execute the method of any one of claims 1 to 6.

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