A turning mechanism for large objects and a control method thereof

Abstract

The present invention relates to the technical field of flipping machines, and in particular to a flipping mechanism for large articles and a control method thereof, wherein the flipping machine comprises a flipping mechanism body for flipping materials, a driving mechanism for driving the flipping mechanism to flip and a flipping translation unit to move, a data acquisition unit for collecting material shape information, position information and weight information, and a control mechanism for controlling the flipping machine, wherein the control mechanism determines whether the material stability during the flipping process is qualified based on the slip rate, determines the preset rotational angular velocity during the flipping process based on the weight; determines to increase the pressure of the lifting cylinder by a preset pressure adjustment coefficient based on the unqualified material stability; determines whether the bracket stability is qualified based on the vibration amplitude based on the adjusted material stability, and determines to reduce the preset rotational angular velocity or increase the preset pressure adjustment coefficient under the condition that the bracket stability is unqualified. The present invention improves the stability of the flipping machine during the flipping process, thereby improving the safety of the flipping process.

Description

Technical Field

[0001] The present invention relates to the technical field of turning machines, and in particular to a turning mechanism for large articles and a control method thereof. Background Art

[0002] In the manufacturing industry, flipping of large molds, heavy plate structures and other equipment is a common requirement. These equipment usually need to be flipped 90° or 180° for installation, maintenance or other process operations. However, traditional flipping methods often have many inconveniences, such as low flipping efficiency, large space occupation, and complex operation.

[0003] In response to these problems, large-scale turning machines have emerged. Such turning machines usually have strong turning capabilities and can meet the turning requirements of various large and heavy equipment. However, in practical applications, the control method of large-scale turning machines has become a problem that needs to be solved urgently.

[0004] Traditional control methods for turning machines often use manual operation, which requires operators to have high skills and operating experience. At the same time, the low precision of manual operation will lead to insufficient stability of the turning machine during the turning process. If the operation is wrong, it may cause equipment damage or casualties.

[0005] Chinese Patent Publication No.: CN107444888B discloses a flipping mechanism, including a guide support assembly, a flipping assembly and a driving assembly, wherein the guide support assembly includes two support seats arranged at intervals and sliding supports respectively slidably arranged on the corresponding support seats along a preset direction; the flipping assembly includes two flipping arms and a clamping part arranged on the flipping arm, one end of the flipping arm is hinged between the two support seats, and the clamping part cooperates with the flipping arm to form a fixed position for fixing the element to be flipped; the driving assembly includes a driving member and a first connecting rod, one end of the first connecting rod is hinged to the mounting surface, and the other end is hinged to the flipping arm, the driving member includes a fixed end and a telescopic end, the fixed end of the driving member is hinged to the sliding support, and the telescopic end of the driving member is hinged to the flipping arm. The above flipping mechanism has a high degree of automation, is easy to operate, reduces labor intensity, improves production efficiency, and reduces damage to the composite wall panels compared to the traditional crane lifting method.

[0006] It can be seen that the flipping mechanism has the following problems: although the flipping mechanism achieves the purpose of reducing damage to the composite wall panels through the guide support assembly, the flipping assembly and the drive assembly, the invention does not monitor the stability of the material during the flipping process and cannot ensure the safety of the material flipping process. Summary of the invention

[0007] To this end, the present invention provides a flipping mechanism for large articles and a control method thereof, so as to overcome the problem in the prior art that the flipping process of the material is lacking in monitoring, resulting in low stability of the flipping process and thus failing to ensure the safety of the flipping process.

[0008] To achieve the above objectives, on the one hand, the present invention provides a turning mechanism for large articles, comprising:

[0009] The turning mechanism body includes a turning fixed bracket, a plurality of turning translation units symmetrically arranged on both sides of the turning fixed bracket for conveying materials, and a material fixing unit arranged in the middle of the turning fixed bracket for placing materials, wherein the material fixing unit includes a lifting cylinder and a material blocking cylinder;

[0010] A driving mechanism connected to the flipping mechanism body, comprising a flipping motor for controlling the flipping of the flipping mechanism and a translation motor for controlling the movement of the flipping and translational unit;

[0011] A data acquisition unit, comprising a plurality of cameras, a weighing sensor and a vibration sensor arranged on the flipping and fixing bracket, wherein the cameras are used to collect shape information and position information of the material, the weighing sensor is used to collect the weight of the material, and the vibration sensor is used to collect the vibration amplitude of the flipping and fixing bracket;

[0012] Control agencies, which include,

[0013] A data analysis unit connected to the data acquisition unit, configured to determine a shape characterization parameter based on the shape information, determine a slip rate of the material based on the position information, and determine a preset rotational angular velocity of the material flipping process based on the weight;

[0014] A lifting control unit connected to the data analysis unit, configured to determine a lifting strategy based on the shape characterization parameter, determine whether the material stability during the flipping process is qualified according to the slip rate, and determine to increase the pressure of the lifting cylinder by a preset pressure adjustment coefficient based on the unqualified material stability, wherein the preset pressure adjustment coefficient includes a first preset pressure adjustment coefficient and a second preset pressure adjustment coefficient;

[0015] A flip control unit is connected to the data analysis unit and is used to determine whether the support stability during the flipping process is qualified according to the vibration amplitude so as to reduce the preset rotation angular velocity or increase the preset pressure adjustment coefficient based on the unqualified support stability.

[0016] Furthermore, the lifting control unit determines to operate with a lifting strategy of asymmetric movement of the lifting cylinder based on a comparison result that the shape characterization parameter is greater than a preset evaluation value.

[0017] Further, the lifting control unit determines to operate with a lifting strategy of symmetrical movement of the lifting cylinder based on a comparison result that the shape characterization parameter is less than or equal to a preset evaluation value.

[0018] Furthermore, the lifting control unit determines that the material stability is unqualified based on the comparison result that the slip rate is greater than a preset slip rate under the determined lifting strategy.

[0019] Further, the lifting control unit determines to increase the pressure by a first preset pressure adjustment coefficient based on a comparison result that a first difference percentage between the slip rate and the preset slip rate is greater than a first preset percentage under the condition that the material stability is unqualified;

[0020] The pressure is increased by a second preset pressure adjustment coefficient based on a comparison result that the difference percentage is less than or equal to the preset percentage.

[0021] Furthermore, the overturning control unit determines that the stability of the support during the material overturning process is unqualified based on the adjusted material stability and according to the comparison result that the vibration amplitude is greater than the preset vibration amplitude.

[0022] Further, the flip control unit, based on the unqualified support stability, subtracts the vibration amplitude from the preset vibration amplitude to obtain an amplitude difference, and determines to reduce the preset rotation angular velocity based on a comparison result that the amplitude difference is greater than the preset difference;

[0023] Based on the comparison result that the amplitude difference is less than or equal to the preset difference, it is determined to increase the preset pressure adjustment coefficient.

[0024] Further, the flip control unit determines to reduce the preset rotation angular velocity by a first speed adjustment coefficient based on a comparison result that a second difference percentage between the amplitude difference and the preset difference is greater than a second preset percentage under the condition of determining to reduce the rotation angular velocity;

[0025] Based on the comparison result that the second difference percentage is less than or equal to the second preset percentage, it is determined to reduce the preset rotation angular speed by a second speed adjustment coefficient.

[0026] Further, the flip control unit, under the condition of determining to increase the preset pressure adjustment coefficient, subtracts the preset difference from the amplitude difference to obtain a third difference percentage, and determines to increase the preset pressure adjustment coefficient by the first adjustment ratio based on a comparison result that the third difference percentage is greater than the third preset percentage;

[0027] Based on the comparison result that the third difference percentage is less than or equal to the third preset percentage, it is determined to increase the preset pressure adjustment coefficient by a second adjustment ratio.

[0028] In another aspect, the present invention provides a control method for a turning mechanism of a large article, comprising:

[0029] Obtaining shape information, position information and weight of the material, determining shape characterization parameters based on the shape information to determine the lifting strategy, determining the slip rate based on the position information to determine whether the material stability during the flipping process is qualified, and determining a preset rotation angular velocity during the flipping process based on the weight;

[0030] Determining to increase the pressure of the lifting cylinder by a preset pressure adjustment coefficient based on the stability of the unqualified material;

[0031] Based on the adjusted material stability and based on the vibration amplitude of the flipping fixed bracket, it is determined whether the bracket stability is qualified, and if the bracket stability is unqualified, it is determined to reduce the preset rotation angular velocity or increase the preset pressure adjustment coefficient.

[0032] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention transports the material to the material fixing unit through the flipping and translation unit, and the flipping and translation unit also has the function of clamping the material under the action of the lifting cylinder, and the material blocking cylinder is used to prevent the material from moving out during the flipping process to cause significant losses, and the material stability and bracket stability during the flipping process are monitored, and the parameters of the unqualified stability are adjusted in a targeted manner, thereby ensuring the stability of the flipping process and improving the safety of the flipping process.

[0033] Furthermore, the present invention determines shape characterization parameters through shape information obtained by the camera, accurately identifies different material shapes, and determines the lifting strategy of the lifting cylinder according to the shape characterization parameters to improve the stability of materials of different shapes during the flipping process. By precisely controlling the lifting action, the downtime caused by improper operation can be reduced, thereby ensuring the stability of the flipping process and further improving the safety of the flipping process.

[0034] Furthermore, the present invention determines the stability of the material through the slip rate during the flipping process, which intuitively reflects the dynamic characteristics of the material during the flipping process. When the slip rate is too large, the material may lose balance due to sliding, resulting in flipping failure or material damage. By monitoring the slip rate, it can be ensured that the material remains stable during the flipping process and the safety of the material is improved, thereby ensuring the stability of the flipping process and further improving the safety of the flipping process.

[0035] Furthermore, the present invention determines the stability of the bracket by the vibration amplitude during the flipping process. The quantitative monitoring of the vibration amplitude can evaluate the stability of the bracket more accurately and objectively, avoid errors caused by subjective judgment, improve the accuracy and reliability of the evaluation, and dynamically adjust the control strategy during the flipping process according to the real-time monitoring results of the vibration amplitude. When the vibration amplitude is too large, corresponding measures can be taken to reduce the vibration and improve the stability of the bracket, thereby ensuring the stability of the flipping process and further improving the safety of the flipping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the structure of a large-scale turnover mechanism according to an embodiment of the present invention;

[0037] Figure 2 It is a three-dimensional diagram of a large-scale turnover mechanism according to an embodiment of the present invention;

[0038] Figure 3 It is a flow chart of a large-scale turning mechanism control method according to an embodiment of the present invention;

[0039] Figure 4 A flow chart for determining a lifting strategy according to an embodiment of the present invention;

[0040] Figure 5 A flow chart for determining whether material stability is qualified according to an embodiment of the present invention;

[0041] In the figure: 1. Flipping fixed bracket; 2. Driving motor; 3. Material platform; 4. Guide mechanism; 5. Lifting cylinder; 6. Material blocking cylinder; 7. Translation motor; 8. Conveyor chain; 9. Camera; 10. Weighing sensor; 11. Vibration sensor. DETAILED DESCRIPTION

[0042] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0043] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0044] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0045] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] See also Figure 1-Figure 5 As shown, Figure 1 This is a schematic diagram of the structure of a large-scale turnover mechanism according to an embodiment of the present invention; Figure 2 It is a three-dimensional diagram of a large-scale turnover mechanism according to an embodiment of the present invention; Figure 3 It is a flow chart of a large-scale turning mechanism control method according to an embodiment of the present invention; Figure 4 A flow chart for determining a lifting strategy according to an embodiment of the present invention; Figure 5 The present invention is a flowchart for determining whether the material stability is qualified according to an embodiment of the present invention.

[0047] An embodiment of the present invention provides a turning mechanism for large objects, comprising:

[0048] The flip mechanism body includes a flip fixed bracket 1, a plurality of flip translation units symmetrically arranged on both sides of the flip fixed bracket 1 for conveying materials, and a material fixing unit arranged in the middle of the flip fixed bracket 1 for placing materials.

[0049] The flip translation unit includes a plurality of conveying chains 8 symmetrically distributed on the upper and lower parts of the flip fixing bracket 1.

[0050] The material fixing unit includes a material platform 3, a lifting cylinder 5 for controlling the up and down movement of the flip translation unit, and a material blocking cylinder 6 which is centrally symmetrically distributed at the upper and lower edges of the flip fixing bracket 1;

[0051] A driving mechanism connected to the flip mechanism body, comprising a flip motor arranged outside the flip fixing bracket 1 to control the flipping of the flip mechanism, and a translation motor 7 arranged on the upper edge of the flip fixing bracket 1;

[0052] A guide mechanism 4, which is arranged on both sides of the flip fixing bracket 1 to enable the flip translation unit to move up and down along the track;

[0053] A data acquisition unit, which includes a plurality of cameras 9, a weighing sensor 10 and a vibration sensor 11 arranged on the flipping and fixing bracket 1, wherein the cameras 9 are used to respectively collect shape information and position information of the material, the weighing sensor 10 is used to collect the weight of the material, and the vibration sensor 11 is used to collect the vibration amplitude of the flipping and fixing bracket 1;

[0054] Control bodies, which include:

[0055] A data analysis unit connected to the data acquisition unit, configured to determine a shape characterization parameter based on the shape information, determine a slip rate of the material based on the position information, and determine a preset rotational angular velocity of the material flipping process based on the weight;

[0056] A lifting control unit connected to the data analysis unit, for determining a lifting strategy based on the shape characterization parameter, and determining whether the material stability in the flipping process is qualified according to the slip rate, and determining to increase the pressure of the lifting cylinder 5 by a preset pressure adjustment coefficient based on the unqualified material stability, wherein the preset pressure adjustment coefficient includes a first preset pressure adjustment coefficient and a second preset pressure adjustment coefficient;

[0057] A flip control unit is connected to the data analysis unit and is used to determine whether the support stability of the material flipping process is qualified according to the vibration amplitude so as to reduce the preset rotation angular velocity or increase the preset pressure adjustment coefficient based on the unqualified support stability.

[0058] Specifically, in the embodiment of the present invention, the number of the flipping and translation units is two, which are driven by the lifting cylinder 5 to translate up and down along the guide mechanism 4 to clamp the material in the vertical direction.

[0059] Specifically, the lifting cylinder 5 and the material blocking cylinder 6 use pneumatic lifting devices, which have lower costs than hydraulic devices. The lifting cylinders 5 are distributed around the turning fixed bracket 1 to reduce the impact of asynchronous lifting speeds caused by different cylinder pressures due to eccentricity of the material in the turning machine.

[0060] Specifically, the camera 9 is, for example, an industrial high-definition camera, and is not specifically limited, as long as it meets the image acquisition requirements; the specific models and parameters of the weighing sensor 10 and the vibration sensor 11 are not limited, as long as they meet the requirements.

[0061] Specifically, the data analysis unit determines that the preset rotation angular speed is 30° / min based on the comparison result that the weight of the material is greater than the preset weight of 300 kg;

[0062] The preset rotation angular velocity is determined to be 45° / min based on the comparison result that the weight of the material is less than or equal to the preset weight of 300 kg.

[0063] Specifically, the number of cameras 9 is not limited, as long as the shape information of the material can be accurately acquired at 360°. Four cameras are preferred in the embodiment of the present invention.

[0064] Specifically, the working process of the flip machine is:

[0065] The first turning cycle: the material waits to enter the turning machine from the left translation machine, the turning mechanism is in a horizontal state, the material blocking cylinder 6 rises, the turning translation unit works, the translation motor 7 electric chain rotates, the material enters the turning machine, the lifting cylinder 5 rises, and the material is lifted by the turning translation unit and clamped by the upper and lower turning translation systems. The driving motor 2 works, causing the turning mechanism to turn 180°, the material blocking cylinder 6 drops, the turning translation unit works, the material is discharged from the right side and enters the next station, and the material turning process is completed at this time;

[0066] The second flipping beat: the material waits to enter the flipping machine from the left translation machine, the flipping mechanism is in a horizontal state, the material blocking cylinder 6 rises, the flipping and translation unit works, the translation motor 7 electric chain rotates, the material enters the flipping machine, and the lifting cylinder 5 rises. At this time, the material is driven and lifted by the flipping and translation unit, and clamped by the upper and lower flipping and translation systems. The drive motor 2 works, causing the flipping mechanism to flip 180° in the opposite direction, the material blocking cylinder 6 drops, the flipping and translation unit works, the material is discharged from the right side and enters the next workstation. At this time, a material flipping process is completed; the difference between the two work processes is that the flipping mechanism flips 180° in the opposite direction.

[0067] Specifically, the shape characterization parameters are determined based on the shape information obtained by each camera 9. The acquired material image is grayed out and the contour is extracted to determine the shape of a single image. The shape features including aspect ratio, area and perimeter are extracted. The data are normalized and the shape characterization parameters are calculated using a formula. Irregular shaped objects can be quantitatively characterized, thereby quantifying the control process of the turning machine to facilitate control by the control system and avoid control deviations caused by human control.

[0068] Specifically, the shape characterization parameters are calculated according to the following formula:

[0069] ,

[0070] Where E represents the shape characterization parameter, α represents the evaluation coefficient of the aspect ratio, α is set to 0.35, r represents the average aspect ratio, and r min Indicates the minimum aspect ratio, r max represents the maximum aspect ratio, β represents the area evaluation coefficient, β=0.3, A represents the average area, A min Represents the minimum area, A maxrepresents the maximum area, γ represents the evaluation coefficient of the perimeter, and γ=0.35 is set. L represents the average perimeter, and L min Indicates the minimum perimeter, L max Indicates the maximum circumference.

[0071] Specifically, when rr min , A.A. min , LL min When all three are 0, it means that the shape of the material is a cube, and the lifting cylinder 5 works with a lifting strategy of symmetrical movement; when rr min , A.A. min , LL min When any one of the two items is 0, the item is discarded, and the result of calculating the remaining two items or one item is used as the shape characterization parameter.

[0072] Specifically, the lifting control unit determines to operate with the lifting strategy of asymmetrical movement of the lifting cylinder 5 based on the comparison result that the shape characterization parameter is greater than a preset evaluation value.

[0073] Specifically, the lifting control unit determines to operate with a lifting strategy of symmetrical movement of the lifting cylinder 5 based on a comparison result that the shape characterization parameter is less than or equal to a preset evaluation value.

[0074] Specifically, the lifting cylinder 5 works with an asymmetric lifting strategy, which means that the lifting heights of each lifting cylinder are inconsistent, which is used to flip materials with asymmetric shapes; the lifting cylinder 5 works with a symmetric lifting strategy, which means that the lifting heights of each lifting cylinder are consistent, which is used to flip materials with symmetrical shapes.

[0075] Specifically, the preset evaluation value is determined to be 1.4 according to the formula. When the shape characterization parameter is greater than 1.4, it indicates that the shape of the material is asymmetric. When the shape characterization parameter is less than or equal to 1.4, it indicates that the shape of the material is symmetric.

[0076] Specifically, the lifting control unit determines that the material stability is unqualified based on the comparison result that the slip rate is greater than a preset slip rate under the determined lifting strategy;

[0077] The material stability is determined to be qualified based on the comparison result that the slip rate is less than or equal to the preset slip rate.

[0078] Specifically, the slip rate is determined based on the position information collected by the camera 9, which is the ratio of the distance the material moves downward to the distance between the two flipping and translation units.

[0079] Specifically, the preset slip rate has a value range of [2%, 10%], and is preferably 4% in the embodiment of the present invention.

[0080] Specifically, a greater slip rate means a greater distance the material moves downward, which means the material stability is worse.

[0081] Specifically, the lifting control unit determines to increase the pressure by a first preset pressure adjustment coefficient based on a comparison result that a first difference percentage between the slip rate and the preset slip rate is greater than a first preset percentage under the condition that the material stability is unqualified;

[0082] Based on the comparison result that the difference percentage is less than or equal to the preset percentage, it is determined to increase the pressure by a second preset pressure adjustment coefficient.

[0083] Specifically, the value range of the first preset percentage is set to [3%, 6%], and 5% is preferred in the embodiment of the present invention; the value range of the first preset pressure adjustment coefficient is set to [1.3, 1.6], and 1.5 is preferred in the embodiment of the present invention; the value range of the second preset pressure adjustment coefficient is set to [1.1, 1.5], and 1.3 is preferred in the embodiment of the present invention.

[0084] Specifically, the flip control unit determines that the support stability during the material flipping process is unqualified based on the adjusted material stability and the comparison result that the vibration amplitude is greater than the preset vibration amplitude;

[0085] According to the comparison result that the vibration amplitude is less than or equal to the preset vibration amplitude, it is determined that the stability of the support during the material turning process is qualified.

[0086] Specifically, the value range of the preset vibration amplitude is set to [2 cm, 6 cm], and 3 cm is preferred in the embodiment of the present invention.

[0087] Specifically, a larger vibration amplitude indicates a worse support stability.

[0088] Specifically, the flip control unit, based on the unqualified support stability, subtracts the vibration amplitude from the preset vibration amplitude to obtain an amplitude difference, and determines to reduce the preset rotation angular velocity based on a comparison result that the amplitude difference is greater than the preset difference;

[0089] Based on the comparison result that the amplitude difference is less than or equal to the preset difference, it is determined to increase the preset pressure adjustment coefficient.

[0090] Specifically, the value range of the preset difference is set to [1 cm, 3 cm], and 2 cm is preferred in the embodiment of the present invention.

[0091] Specifically, the flip control unit determines to reduce the preset rotation angular velocity by the first speed adjustment coefficient based on a comparison result that a second difference percentage between the amplitude difference and the preset difference is greater than a second preset percentage under the condition of determining to reduce the rotation angular velocity;

[0092] Based on the comparison result that the second difference percentage is less than or equal to the second preset percentage, it is determined to reduce the preset rotation angular speed by a second speed adjustment coefficient.

[0093] Specifically, the value range of the second preset percentage is set to [4%, 10%], and 6% is preferred in the embodiment of the present invention; the value range of the first speed adjustment coefficient is set to [0.7, 0.8], and 0.75 is preferred in the embodiment of the present invention; the value range of the second speed adjustment coefficient is set to [0.85, 0.95], and 0.9 is preferred in the embodiment of the present invention.

[0094] Specifically, the flip control unit, under the condition of determining to increase the preset pressure adjustment coefficient, subtracts the preset difference from the amplitude difference to obtain a third difference percentage, and determines to increase the preset pressure adjustment coefficient by the first adjustment ratio based on a comparison result that the third difference percentage is greater than the third preset percentage;

[0095] Based on the comparison result that the third difference percentage is less than or equal to the third preset percentage, it is determined to increase the preset pressure adjustment coefficient by a second adjustment ratio.

[0096] Specifically, the value range of the third preset percentage is set to [2%, 6%], and 3% is preferred in the embodiment of the present invention; the value range of the first adjustment ratio is set to [1.4, 1.7], and 1.6 is preferred in the embodiment of the present invention; the value range of the second adjustment ratio is set to [1.2, 1.5], and 1.3 is preferred in the embodiment of the present invention.

[0097] Specifically, an embodiment of the present invention further provides a control method for a turning mechanism of a large object, comprising:

[0098] Step S1, obtaining shape information, position information and weight of the material, determining shape characterization parameters based on the shape information to determine the lifting strategy, determining the slip rate based on the position information to determine whether the material stability during the flipping process is qualified, and determining a preset rotation angular velocity during the flipping process based on the weight;

[0099] Step S2, determining to increase the pressure of the lifting cylinder 5 by a preset pressure adjustment coefficient based on the stability of the unqualified material;

[0100] Step S3, determining whether the bracket stability is qualified based on the adjusted material stability and the vibration amplitude of the flipping fixed bracket 1, and determining to reduce the preset rotation angular velocity or increase the preset pressure adjustment coefficient if the bracket stability is unqualified.

[0101] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A turning mechanism for large objects, characterized in that: include: The turning mechanism body includes a turning fixed bracket, a plurality of turning translation units symmetrically arranged on both sides of the turning fixed bracket for conveying materials, and a material fixing unit arranged in the middle of the turning fixed bracket for placing materials, wherein the material fixing unit includes a lifting cylinder and a material blocking cylinder; A driving mechanism connected to the flipping mechanism body, comprising a flipping motor for controlling the flipping of the flipping mechanism and a translation motor for controlling the movement of the flipping and translational unit; A data acquisition unit, comprising a plurality of cameras, a weighing sensor and a vibration sensor arranged on the flipping and fixing bracket, wherein the cameras are used to collect shape information and position information of the material, the weighing sensor is used to collect the weight of the material, and the vibration sensor is used to collect the vibration amplitude of the flipping and fixing bracket; Control agencies, which include, A data analysis unit connected to the data acquisition unit, configured to determine a shape characterization parameter based on the shape information, determine a slip rate of the material based on the position information, and determine a preset rotational angular velocity of the material flipping process based on the weight; A lifting control unit connected to the data analysis unit, configured to determine a lifting strategy based on the shape characterization parameter, determine whether the material stability during the flipping process is qualified according to the slip rate, and determine to increase the pressure of the lifting cylinder by a preset pressure adjustment coefficient based on the unqualified material stability, wherein the preset pressure adjustment coefficient includes a first preset pressure adjustment coefficient and a second preset pressure adjustment coefficient; A flip control unit is connected to the data analysis unit and is used to determine whether the support stability during the flipping process is qualified according to the vibration amplitude so as to reduce the preset rotation angular velocity or increase the preset pressure adjustment coefficient based on the unqualified support stability.

2. The turning mechanism for large articles according to claim 1, characterized in that: The lifting control unit determines to operate with a lifting strategy of asymmetric movement of the lifting cylinder based on a comparison result that the shape characterization parameter is greater than a preset evaluation value.

3. The turning mechanism for large articles according to claim 1, characterized in that: The lifting control unit determines to operate with a lifting strategy of symmetrical movement of the lifting cylinder based on a comparison result that the shape characterization parameter is less than or equal to a preset evaluation value.

4. The turning mechanism for large articles according to claim 3, characterized in that: The lifting control unit determines that the material stability is unqualified based on the comparison result that the slip rate is greater than a preset slip rate under the determined lifting strategy.

5. The turning mechanism for large articles according to claim 4, characterized in that: The lifting control unit determines to increase the pressure of the lifting cylinder by a first preset pressure adjustment coefficient based on a comparison result that a first difference percentage between the slip rate and the preset slip rate is greater than a first preset percentage under the condition that the material stability is unqualified; Based on the comparison result that the difference percentage is less than or equal to the preset percentage, it is determined to increase the pressure of the lifting cylinder by a second preset pressure adjustment coefficient.

6. The turning mechanism for large articles according to claim 5, characterized in that: The overturning control unit determines that the support stability during the material overturning process is unqualified based on the adjusted material stability and the comparison result that the vibration amplitude is greater than the preset vibration amplitude.

7. The turning mechanism for large articles according to claim 6, characterized in that: The flip control unit subtracts the vibration amplitude from the preset vibration amplitude to obtain an amplitude difference based on the unqualified support stability, and determines to reduce the preset rotation angular velocity based on a comparison result that the amplitude difference is greater than the preset difference; Based on the comparison result that the amplitude difference is less than or equal to the preset difference, it is determined to increase the preset pressure adjustment coefficient.

8. The turning mechanism for large articles according to claim 7, characterized in that: The flip control unit determines to reduce the preset rotational angular velocity by a first speed adjustment coefficient based on a comparison result that a second difference percentage between the amplitude difference and the preset difference is greater than a second preset percentage under the condition of determining to reduce the rotational angular velocity; Based on the comparison result that the second difference percentage is less than or equal to the second preset percentage, it is determined to reduce the preset rotation angular speed by a second speed adjustment coefficient.

9. The turning mechanism for large articles according to claim 7, characterized in that: The flip control unit, under the condition of determining to increase the preset pressure adjustment coefficient, subtracts the preset difference from the amplitude difference to obtain a third difference percentage, and determines to increase the preset pressure adjustment coefficient by the first adjustment ratio based on a comparison result that the third difference percentage is greater than the third preset percentage; Based on the comparison result that the third difference percentage is less than or equal to the third preset percentage, it is determined to increase the preset pressure adjustment coefficient by a second adjustment ratio.

10. A control method for a turning mechanism for large articles using any one of claims 1 to 9, characterized in that: include: Obtaining shape information, position information and weight of the material, determining shape characterization parameters based on the shape information to determine the lifting strategy, determining the slip rate based on the position information to determine whether the material stability during the flipping process is qualified, and determining a preset rotation angular velocity during the flipping process based on the weight; Determining to increase the pressure of the lifting cylinder by a preset pressure adjustment coefficient based on the stability of the unqualified material; Based on the adjusted material stability and based on the vibration amplitude of the flipping fixed bracket, it is determined whether the bracket stability is qualified, and if the bracket stability is unqualified, it is determined to reduce the preset rotation angular velocity or increase the preset pressure adjustment coefficient.

Images