A material direction adaptive clamping analysis method and device

Abstract

A material direction adaptive clamping analysis method and device, belonging to the field of material conveying technology, the method uses the torque value of the short side clamping electric cylinder when it is in the short side detection position as the short side teaching torque value; after the product teaching object after the short side clamping electric cylinder is taught is rotated 90 degrees, the torque value of the long side clamping electric cylinder when it is in the long side detection position is used as the long side teaching torque value; the short side clamping electric cylinder is controlled to move to the short side detection position, and the clamping torque value of the short side clamping electric cylinder for the designated product on the material platform is obtained; the long side clamping electric cylinder is controlled to move to the long side detection position, and the clamping torque value of the long side clamping electric cylinder for the designated product on the material platform is obtained; according to the size difference between the clamping torque value and the short side teaching torque value, and the size difference between the clamping torque value and the long side teaching torque value, it is judged whether the long and short side states of the designated product on the material platform are normal. The present invention solves the problems of deformation and breakage risks and inaccurate positioning in the panel clamping process.

Description

Technical Field

[0001] The invention belongs to the technical field of material conveying, and in particular relates to a material direction adaptive clamping analysis method and device. Background Art

[0002] At present, when the robot takes the panel to the arm, the panel taken to the robot arm will have a certain rotation angle due to the deviation of the incoming materials during the transportation process of OHT (workshop transport system, an automated handling system) or AGV cart. For some equipment with high precision requirements, there is a risk of damage to the panel when putting it in, so a whole row of clamping units is required.

[0003] At present, during the panel transfer process, cylinder clamping is used, and the cylinder limit needs to be adjusted manually. Because the panel has long and short sides, the clamping positions of the long and short side clamping cylinders are different. Under normal circumstances, the panel can be clamped and positioned well. However, when the incoming material direction is abnormal, the panel may be deformed during the cylinder clamping process and rebound when the clamping cylinder is released, making it impossible to achieve effective positioning, and the panel may even be crushed. If the system design is unreasonable, it may lead to uneven clamping force during the clamping process, which will directly affect the positioning accuracy and safety of the panel. These shortcomings are particularly serious in operations that require high precision. Summary of the invention

[0004] To this end, the present invention provides a material direction adaptive clamping analysis method and device to solve the deformation and breakage risks and inaccurate positioning problems in the panel clamping process.

[0005] In order to achieve the above object, the present invention provides the following technical solution: a material direction adaptive clamping analysis method, comprising:

[0006] Short side clamping electric cylinder teaching: Control the short side clamping electric cylinder to clamp the short side of the product teaching object placed in the center on the material platform, and use the position when the short side clamping electric cylinder contacts the short side of the product teaching object as the short side detection position, and use the torque value of the short side clamping electric cylinder at the short side detection position as the short side teaching torque value T 短边示教 ;

[0007] Long side clamping electric cylinder teaching: after the short side clamping electric cylinder is taught, the product teaching object is rotated 90 degrees and placed in the center on the material platform again, and the long side clamping electric cylinder is controlled to clamp the long side of the product teaching object placed in the center on the material platform, and the position when the long side clamping electric cylinder contacts the long side of the product teaching object is used as the long side detection position, and the torque value of the long side clamping electric cylinder at the long side detection position is used as the long side teaching torque value T 长边示教 ;

[0008] Material clamping torque acquisition: Control the short side clamping electric cylinder to move to the short side detection position, and obtain the clamping torque value of the short side clamping electric cylinder on the specified product on the material platform T 短边夹持 ; Control the long side clamping electric cylinder to move to the long side detection position, and obtain the clamping torque value of the long side clamping electric cylinder on the specified product on the material platform T 长边夹持 ;

[0009] Material placement status analysis: based on the clamping torque value T 短边夹持 And short side teaching torque value T 短边示教 The size difference and clamping torque value T 长边夹持 And long side teaching torque value T 长边示教 The size difference can be used to determine whether the long and short sides of the specified product on the material platform are normal.

[0010] As the preferred solution for the material direction adaptive clamping analysis method, if the clamping torque value T 短边夹持 Less than the short side teaching torque value T 短边示教 , and the clamping torque value T 长边夹持 Less than the long side teaching torque value T 长边示教 , determine that the specified product is insufficiently clamped, and send a reminder of the risk of slipping or loosening.

[0011] As the preferred solution for the material direction adaptive clamping analysis method, if the clamping torque value T 短边夹持 Greater than or equal to the short side teaching torque value T 短边示教 , and the clamping torque value T 长边夹持 Less than or equal to the long side teaching torque value T 长边示教 , determine whether the long and short sides of the specified product are clamped normally.

[0012] As the preferred solution for the material direction adaptive clamping analysis method, if the clamping torque value T 长边夹持 Greater than or equal to the long side teaching torque value T 长边示教 , and the clamping torque value T 短边夹持 Less than the short side teaching torque value T 短边示教 , determine whether the long and short sides of the specified product are clamped abnormally.

[0013] As the preferred solution for the material direction adaptive clamping analysis method, if the clamping torque value T 长边夹持 Greater than the long side teaching torque value T 长边示教 , and the clamping torque value T 短边夹持 Greater than the short side teaching torque value T 短边示教 , determine whether there is clamping offset for the specified product.

[0014] The present invention also provides a material direction adaptive clamping and analyzing device, comprising:

[0015] The short-side clamping electric cylinder teaching module is used to control the short-side clamping electric cylinder to clamp the short side of the product teaching object placed in the center on the material platform, and the position when the short-side clamping electric cylinder contacts the short side of the product teaching object is used as the short-side detection position, and the torque value of the short-side clamping electric cylinder at the short-side detection position is used as the short-side teaching torque value T 短边示教 ;

[0016] The long side clamping electric cylinder teaching module is used to rotate the product teaching object 90 degrees after the short side clamping electric cylinder is taught and then place it in the center on the material platform again, control the long side clamping electric cylinder to clamp the long side of the product teaching object placed in the center on the material platform, and use the position when the long side clamping electric cylinder contacts the long side of the product teaching object as the long side detection position, and use the torque value of the long side clamping electric cylinder at the long side detection position as the long side teaching torque value T 长边示教 ;

[0017] The material clamping torque acquisition module is used to control the short side clamping electric cylinder to move to the short side detection position and obtain the clamping torque value of the short side clamping electric cylinder on the specified product on the material platform. T 短边夹持 ; Control the long side clamping electric cylinder to move to the long side detection position, and obtain the clamping torque value of the long side clamping electric cylinder on the specified product on the material platform T 长边夹持 ;

[0018] Material placement status analysis module is used to analyze the material placement status according to the clamping torque value. T 短边夹持 And short side teaching torque value T 短边示教 The size difference and clamping torque value T 长边夹持 And long side teaching torque value T 长边示教The size difference can be used to determine whether the long and short sides of the specified product on the material platform are normal.

[0019] As a preferred solution of the material direction adaptive clamping analysis device, in the material placement state analysis module:

[0020] If the clamping torque value T 短边夹持 Less than the short side teaching torque value T 短边示教 , and the clamping torque value T 长边夹持 Less than the long side teaching torque value T 长边示教 , determine that the specified product is insufficiently clamped, and send a reminder of the risk of slipping or loosening.

[0021] As a preferred solution of the material direction adaptive clamping analysis device, in the material placement state analysis module:

[0022] If the clamping torque value T 短边夹持 Greater than or equal to the short side teaching torque value T 短边示教 , and the clamping torque value T 长边夹持 Less than or equal to the long side teaching torque value T 长边示教 , determine whether the long and short sides of the specified product are clamped normally.

[0023] As a preferred solution of the material direction adaptive clamping analysis device, in the material placement state analysis module:

[0024] If the clamping torque value T 长边夹持 Greater than or equal to the long side teaching torque value T 长边示教 , and the clamping torque value T 短边夹持 Less than the short side teaching torque value T 短边示教 , determine whether the long and short sides of the specified product are clamped abnormally.

[0025] As a preferred solution of the material direction adaptive clamping analysis device, in the material placement state analysis module:

[0026] If the clamping torque value T 长边夹持 Greater than the long side teaching torque value T 长边示教 , and the clamping torque value T 短边夹持 Greater than the short side teaching torque value T 短边示教 , determine whether there is clamping offset for the specified product.

[0027] The present invention has the following advantages: it can accurately control the clamping position during normal operation of the system, thereby improving the clamping accuracy and reducing the risk of workpiece deformation or damage due to improper clamping; reducing the occurrence of safety accidents and product damage caused by clamping failure; reducing the risk of deformation or breakage due to improper clamping, especially for the clamping of fragile materials such as glass, film, etc.; improving overall production efficiency; being able to discover and solve clamping problems in a timely manner, which can reduce the production downtime caused by clamping failure and improve equipment utilization; reducing the number of manual judgments and improving overall work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0029] Figure 1 It is a schematic diagram of the process flow of the material direction adaptive clamping analysis method provided in an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of insufficient clamping during the material direction adaptive clamping analysis process provided in an embodiment of the present invention;

[0031] Figure 3 A schematic diagram of the abnormality of long and short sides in the process of material direction adaptive clamping analysis provided in an embodiment of the present invention;

[0032] Figure 4 A normal schematic diagram of the long and short sides during the material direction adaptive clamping analysis process provided in an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the material direction adaptive clamping and analysis device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Example 1

[0036] See also Figure 1 The embodiment of the present invention provides a material direction adaptive clamping analysis method, comprising the following steps:

[0037] S1, short side clamping electric cylinder teaching: control the short side clamping electric cylinder to clamp the short side of the product teaching object placed in the center on the material platform, and use the position when the short side clamping electric cylinder contacts the short side of the product teaching object as the short side detection position, and use the torque value of the short side clamping electric cylinder at the short side detection position as the short side teaching torque value T 短边示教 ;

[0038] S2, long side clamping electric cylinder teaching: after the short side clamping electric cylinder is taught, the product teaching object is rotated 90 degrees and placed in the center on the material platform again, and the long side clamping electric cylinder is controlled to clamp the long side of the product teaching object placed in the center on the material platform, and the position when the long side clamping electric cylinder contacts the long side of the product teaching object is used as the long side detection position, and the torque value of the long side clamping electric cylinder at the long side detection position is used as the long side teaching torque value T 长边示教 ;

[0039] S3. Obtaining the material clamping torque: Control the short side clamping electric cylinder to move to the short side detection position, and obtain the clamping torque value of the short side clamping electric cylinder on the specified product on the material platform. T 短边夹持 ; Control the long side clamping electric cylinder to move to the long side detection position, and obtain the clamping torque value of the long side clamping electric cylinder on the specified product on the material platform T 长边夹持 ;

[0040] S4. Material placement status analysis: according to the clamping torque value T 短边夹持 And short side teaching torque value T 短边示教 The size difference and clamping torque value T 长边夹持 And long side teaching torque value T 长边示教 The size difference can be used to determine whether the long and short sides of the specified product on the material platform are normal.

[0041] In this embodiment, it is necessary to teach the position where two short-side clamping electric cylinders and two long-side clamping electric cylinders just clamp the product teaching object and have a little torque. The position when the short-side clamping electric cylinder contacts the short side of the product teaching object is used as the short-side detection position, and the position when the long-side clamping electric cylinder contacts the long side of the product teaching object is used as the long-side detection position. The torque value of the short-side clamping electric cylinder at the short-side detection position is recorded as the short-side teaching torque value, and the torque value of the long-side clamping electric cylinder at the long-side detection position is recorded as the long-side teaching torque value. T 长边示教 When the system is operating normally, place the specified product on the material platform, move the two short-side clamping cylinders and the two long-side clamping cylinders to the taught position, and compare the torque values ​​of the two short-side clamping cylinders and the two long-side clamping cylinders with the taught reference values ​​to determine the clamping status of the specified product.

[0042] In this embodiment, if the clamping torque value T 短边夹持 Less than the short side teaching torque value T 短边示教 , and the clamping torque value T 长边夹持 Less than the long side teaching torque value T 长边示教 , determine that the specified product is insufficiently clamped, and send a reminder of the risk of slipping or loosening.

[0043] See also Figure 2 Specifically, when teaching, the short side teaching torque value T 短边示教 =10, long side teaching torque value = 10, when the clamping torque value T 长边夹持 =3, clamping torque value T 短边夹持 =1, which is smaller than the torque value during teaching, that is, the clamping torque value T 短边夹持 <Short side teaching torque value T 短边示教 , clamping torque value T 长边夹持 <Long side teaching torque value T 长边示教 This situation will cause the short-side clamping electric cylinder and the long-side clamping electric cylinder to fail to clamp the product after they are in place, indicating insufficient clamping and the risk of sliding or loosening, prompting manual judgment.

[0044] Among them, if the clamping torque value T 长边夹持 Greater than the long side teaching torque value T 长边示教 , and the clamping torque value T 短边夹持 Greater than the short side teaching torque valueT 短边示教 This situation will cause the short-side clamping electric cylinder and the long-side clamping electric cylinder to clamp the specified product before they are in place, thereby determining that there is a clamping offset for the specified product, that is, the product is deflected.

[0045] In this embodiment, if the clamping torque value T 长边夹持 Greater than or equal to the long side teaching torque value T 长边示教 , and the clamping torque value T 短边夹持 Less than the short side teaching torque value T 短边示教 , determine whether the long and short sides of the specified product are clamped abnormally.

[0046] See also Figure 3 Specifically, when teaching, the short side teaching torque value T 短边示教 =10, long side teaching torque value = 10, when the clamping torque value T 长边夹持 =15, clamping torque value T 短边夹持 =2, the clamping torque value T 短边夹持 <Short side teaching torque value, clamping torque value T 长边夹持 >Long side teaching torque value T 长边示教 This situation will cause the long-side clamping electric cylinder to clamp the product before it is in place. At this time, if the long-side clamping electric cylinder moves into place again, the current torque value will be larger than the taught torque value. The torque value is greater than or equal to the taught torque value, and the short-side clamping electric cylinder will not be able to clamp the product after it is in place.

[0047] In this embodiment, if the clamping torque value T 短边夹持 Greater than or equal to the short side teaching torque value T 短边示教 , and the clamping torque value T 长边夹持 Less than or equal to the long side teaching torque value T 长边示教 , determine whether the long and short sides of the specified product are clamped normally.

[0048] See also Figure 4 Specifically, when teaching, the short side teaching torque value T 短边示教 =10, long side teaching torque value = 10, when the clamping torque value T 长边夹持 =10, clamping torque value T 短边夹持=10, the short side clamping electric cylinder is in place to clamp the product, the torque value is greater than or equal to the short side teaching torque value, and the long side clamping electric cylinder is in place and less than or equal to the long side teaching torque value, and it is judged that the long and short sides of the product are placed normally.

[0049] In summary, the present invention controls the short-side clamping electric cylinder to clamp the short side of the product teaching object placed centrally on the material platform, and uses the position when the short-side clamping electric cylinder contacts the short side of the product teaching object as the short-side detection position, and uses the torque value of the short-side clamping electric cylinder at the short-side detection position as the short-side teaching torque value. T 短边示教 ; After the short-side clamping electric cylinder is taught, the product teaching object is rotated 90 degrees and placed in the center on the material platform again, and the long-side clamping electric cylinder is controlled to clamp the long side of the product teaching object placed in the center on the material platform, and the position when the long-side clamping electric cylinder contacts the long side of the product teaching object is used as the long-side detection position, and the torque value of the long-side clamping electric cylinder at the long-side detection position is used as the long-side teaching torque value T 长边示教 ; Control the short side clamping electric cylinder to move to the short side detection position, and obtain the clamping torque value of the short side clamping electric cylinder on the specified product on the material platform T 短边夹持 ; Control the long side clamping electric cylinder to move to the long side detection position, and obtain the clamping torque value of the long side clamping electric cylinder on the specified product on the material platform T 长边夹持 ; According to the clamping torque value T 短边夹持 And short side teaching torque value T 短边示教 The size difference and clamping torque value T 长边夹持 And long side teaching torque value T 长边示教The difference in size can be used to determine whether the long and short side states of the specified product on the material platform are normal. The present invention determines the target torque value of each clamping electric cylinder by setting a teaching stage, and can accurately control the clamping position during normal operation, thereby improving the clamping accuracy and reducing the risk of workpiece deformation or damage due to improper clamping; by real-time monitoring of the torque value of the electric cylinder, it can promptly identify insufficient or uneven clamping, and prompt the operator through an alarm, thereby reducing the occurrence of safety accidents and product damage caused by clamping failure; real-time feedback on the torque value of the long and short side clamping electric cylinder can determine whether the clamping is stable, and adjust the clamping force when necessary to reduce the risk of deformation or breakage due to improper clamping, especially for the clamping of fragile materials such as glass, film, etc.; through the torque feedback mechanism Control can quickly respond to abnormal situations and reduce the time required for manual intervention, thereby improving overall production efficiency; the present invention can promptly discover and solve clamping problems, reduce production downtime caused by clamping failure, and improve equipment utilization; it can record the data of each operation to provide a basis for subsequent optimization, and can find out potential problems that may exist in the clamping process through data analysis, thereby improving the clamping strategy; it can set different clamping parameters according to the shape, material and other characteristics of different workpieces, so that it can be flexibly applied in a variety of production environments, thereby enhancing the versatility of the system; through the intelligent feedback mechanism, the number of manual judgments is reduced, and the overall work efficiency is improved.

[0050] Example 2

[0051] See also Figure 5 Embodiment 2 of the present invention further provides a material direction adaptive clamping and analysis device, comprising:

[0052] The short side clamping electric cylinder teaching module 100 is used to control the short side clamping electric cylinder to clamp the short side of the product teaching object placed in the center on the material platform, and the position when the short side clamping electric cylinder contacts the short side of the product teaching object is used as the short side detection position, and the torque value of the short side clamping electric cylinder at the short side detection position is used as the short side teaching torque value T 短边示教 ;

[0053] The long side clamping electric cylinder teaching module 200 is used to rotate the product teaching object 90 degrees after the short side clamping electric cylinder is taught and then place it in the center on the material platform again, control the long side clamping electric cylinder to clamp the long side of the product teaching object placed in the center on the material platform, and use the position when the long side clamping electric cylinder contacts the long side of the product teaching object as the long side detection position, and use the torque value of the long side clamping electric cylinder at the long side detection position as the long side teaching torque value T 长边示教 ;

[0054] The material clamping torque acquisition module 300 is used to control the short side clamping electric cylinder to move to the short side detection position, and obtain the clamping torque value of the short side clamping electric cylinder on the specified product on the material platform. T 短边夹持 ; Control the long side clamping electric cylinder to move to the long side detection position, and obtain the clamping torque value of the long side clamping electric cylinder on the specified product on the material platform T 长边夹持 ;

[0055] The material placement state analysis module 400 is used to analyze the material placement state according to the clamping torque value. T 短边夹持 And short side teaching torque value T 短边示教 The size difference and clamping torque value T 长边夹持 And long side teaching torque value T 长边示教 The size difference can be used to determine whether the long and short sides of the specified product on the material platform are normal.

[0056] In this embodiment, in the material placement status analysis module 400:

[0057] If the clamping torque value T 短边夹持 Less than the short side teaching torque value T 短边示教 , and the clamping torque value T 长边夹持 Less than the long side teaching torque value T 长边示教 , determine that the specified product is insufficiently clamped, and send a reminder of the risk of slipping or loosening.

[0058] In this embodiment, in the material placement status analysis module 400:

[0059] If the clamping torque value T 短边夹持 Greater than or equal to the short side teaching torque value T 短边示教 , and the clamping torque value T 长边夹持 Less than or equal to the long side teaching torque value T 长边示教 , determine whether the long and short sides of the specified product are clamped normally.

[0060] In this embodiment, in the material placement status analysis module 400:

[0061] If the clamping torque value T 长边夹持 Greater than or equal to the long side teaching torque value T 长边示教 , and the clamping torque valueT 短边夹持 Less than the short side teaching torque value T 短边示教 , determine whether the long and short sides of the specified product are clamped abnormally.

[0062] In this embodiment, in the material placement status analysis module 400:

[0063] If the clamping torque value T 长边夹持 Greater than the long side teaching torque value T 长边示教 , and the clamping torque value T 短边夹持 Greater than the short side teaching torque value T 短边示教 , determine whether there is clamping offset for the specified product.

[0064] It should be noted that the information interaction, execution process and other contents between the modules of the above-mentioned device are based on the same concept as the method embodiment in Example 1 of the present application, and the technical effects they bring are the same as those of the method embodiment of the present application. For specific contents, please refer to the description in the method embodiment shown in the previous part of the present application, and will not be repeated here.

[0065] Example 3

[0066] Embodiment 3 of the present invention provides a non-transitory computer-readable storage medium, in which a program code of a material direction adaptive clamping analysis method is stored. The program code includes instructions for executing the material direction adaptive clamping analysis method of embodiment 1 or any possible implementation thereof.

[0067] Computer-readable storage media can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0068] Example 4

[0069] Embodiment 4 of the present invention provides an electronic device, including: a memory and a processor;

[0070] The processor and the memory communicate with each other via a bus; the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the material direction adaptive clamping analysis method of Example 1 or any possible implementation thereof.

[0071] Specifically, the processor can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor can be a general-purpose processor implemented by reading software codes stored in a memory. The memory can be integrated in the processor or can be located outside the processor and exist independently.

[0072] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center.

[0073] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0074] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A material direction adaptive clamping analysis method, characterized in that: include: Short side clamping electric cylinder teaching: Control the short side clamping electric cylinder to clamp the short side of the product teaching object placed in the center on the material platform, and use the position when the short side clamping electric cylinder contacts the short side of the product teaching object as the short side detection position, and use the torque value of the short side clamping electric cylinder at the short side detection position as the short side teaching torque value T 短边示教 ; Long side clamping electric cylinder teaching: after the short side clamping electric cylinder is taught, the product teaching object is rotated 90 degrees and placed in the center on the material platform again, and the long side clamping electric cylinder is controlled to clamp the long side of the product teaching object placed in the center on the material platform, and the position when the long side clamping electric cylinder contacts the long side of the product teaching object is used as the long side detection position, and the torque value of the long side clamping electric cylinder at the long side detection position is used as the long side teaching torque value T 长边示教 ; Material clamping torque acquisition: Control the short side clamping electric cylinder to move to the short side detection position, and obtain the clamping torque value T of the short side clamping electric cylinder on the specified product on the material platform 短边夹持 ; Control the long side clamping electric cylinder to move to the long side detection position, and obtain the clamping torque value T of the long side clamping electric cylinder on the specified product on the material platform 长边夹持 ; Material placement status analysis: According to the clamping torque value T 短边夹持 And short side teaching torque value T 短边示教 The size difference and the clamping torque value T 长边夹持 And the long side teaching torque value T 长边示教 The size difference can be used to determine whether the long and short sides of the specified product on the material platform are normal; If the clamping torque value T 短边夹持 Less than the short side teaching torque value T 短边示教 , and the clamping torque value T 长边夹持 Less than the long side teaching torque value T 长边示教 , determine that the specified product is not clamped enough and send a warning of the risk of slipping or loosening; If the clamping torque value T 短边夹持 Greater than or equal to the short side teaching torque value T 短边示教 , and the clamping torque value T 长边夹持 Less than or equal to the long side teaching torque value T 长边示教 , determine whether the long and short sides of the specified product are clamped normally; If the clamping torque value T 长边夹持 Greater than or equal to the long side teaching torque value T 长边示教 , and the clamping torque value T 短边夹持 Less than the short side teaching torque value T 短边示教 , determine whether the long and short sides of the specified product are clamped abnormally; If the clamping torque value T 长边夹持 Greater than the long side teaching torque value T 长边示教 , and the clamping torque value T 短边夹持 Greater than the short side teaching torque value T 短边示教 , determine whether there is clamping offset for the specified product.

2. A material direction adaptive clamping and analysis device, characterized in that: include: The short side clamping electric cylinder teaching module is used to control the short side clamping electric cylinder to clamp the short side of the product teaching object placed in the center on the material platform, and the position when the short side clamping electric cylinder contacts the short side of the product teaching object is used as the short side detection position, and the torque value of the short side clamping electric cylinder at the short side detection position is used as the short side teaching torque value T 短边示教 ; The long side clamping electric cylinder teaching module is used to rotate the product teaching object 90 degrees after the short side clamping electric cylinder is taught and then place it in the center on the material platform again, control the long side clamping electric cylinder to clamp the long side of the product teaching object placed in the center on the material platform, and use the position when the long side clamping electric cylinder contacts the long side of the product teaching object as the long side detection position, and use the torque value of the long side clamping electric cylinder at the long side detection position as the long side teaching torque value T 长边示教 ; The material clamping torque acquisition module is used to control the short side clamping electric cylinder to move to the short side detection position, and obtain the clamping torque value T of the short side clamping electric cylinder on the specified product on the material platform. 短边夹持 ; Control the long side clamping electric cylinder to move to the long side detection position, and obtain the clamping torque value T of the long side clamping electric cylinder on the specified product on the material platform 长边夹持 ; Material placement state analysis module is used to analyze the material placement state according to the clamping torque value T 短边夹持 And short side teaching torque value T 短边示教 The size difference and the clamping torque value T 长边夹持 And the long side teaching torque value T 长边示教 The size difference can be used to determine whether the long and short sides of the specified product on the material platform are normal; In the material placement status analysis module: If the clamping torque value T 短边夹持 Less than the short side teaching torque value T 短边示教 , and the clamping torque value T 长边夹持 Less than the long side teaching torque value T 长边示教 , determine that the specified product is not clamped enough and send a warning of the risk of slipping or loosening; In the material placement status analysis module: If the clamping torque value T 短边夹持 Greater than or equal to the short side teaching torque value T 短边示教 , and the clamping torque value T 长边夹持 Less than or equal to the long side teaching torque value T 长边示教 , determine whether the long and short sides of the specified product are clamped normally; In the material placement status analysis module: If the clamping torque value T 长边夹持 Greater than or equal to the long side teaching torque value T 长边示教 , and the clamping torque value T 短边夹持 Less than the short side teaching torque value T 短边示教 , determine whether the long and short sides of the specified product are clamped abnormally; In the material placement status analysis module: If the clamping torque value T 长边夹持 Greater than the long side teaching torque value T 长边示教 , and the clamping torque value T 短边夹持 Greater than the short side teaching torque value T 短边示教 , determine whether there is clamping offset for the specified product.

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