Forging fixture clamping method and forging robot

Abstract

The present application is applicable to the technical field of forging fixtures, and in particular, relates to a forging fixture clamping method and a forging robot, wherein the forging fixture clamping method comprises: obtaining forging information; analyzing the forging information to obtain clamping information; obtaining landing point information; analyzing the clamping information and the landing point information to obtain clamping path information; wherein the clamping path information is used to reflect the moving trajectory of the forging from the starting point to the landing point; and the control device controls the fixture to clamp the forging based on the clamping information and the clamping path information. The method analyzes the forging information to determine a suitable clamping position and clamping speed; at the same time, generates detailed placement information and clamping path information based on the landing point information, so that the forging can be safely and efficiently moved from the starting point to the designated landing point, thereby significantly improving the safety and efficiency of the entire forging process.

Description

Technical Field

[0001] The present application belongs to the technical field of forging fixtures, and in particular, relates to a forging fixture clamping method and a forging robot. Background Art

[0002] In the forging process, the handling and positioning of forgings are crucial links. Traditional manual operations are not only inefficient, but also prone to worker injuries or damage to forgings. With the continuous improvement of industrial automation levels, automated fixture systems are gradually being used in the forging process to improve production efficiency and safety.

[0003] Most existing clamping systems operate based on pre-set parameters, which may not always be the optimal choice. Especially when handling forgings with complex shapes and uneven weights, improper clamping position or clamping speed and other parameters may cause the forgings to tilt, slide or even fall during handling, resulting in reduced clamping efficiency and clamping effect. Summary of the invention

[0004] The embodiments of the present application provide a forging clamping method and a forging robot, which can solve the problem that the parameters of the existing clamps are inappropriate, resulting in reduced clamping efficiency and clamping effect.

[0005] In a first aspect, an embodiment of the present application provides a forging clamping method, comprising: Acquiring forging information; wherein the forging information is used to reflect the shape and weight of the forging; Analyze the forging information to obtain clamping information; wherein the clamping information is used to reflect the clamping position and clamping speed of the clamp clamping the forging; Acquiring landing point information; wherein the landing point information is used to reflect the position and state where the forging needs to be placed; Analyze the clamping information and the landing point information to obtain clamping path information; wherein the clamping path information is used to reflect the movement trajectory of the forging from the starting point to the landing point; The control device controls the clamp to clamp the forging based on the clamping information and the clamping path information.

[0006] The above technical solutions in the embodiments of the present application have at least the following technical effects: The clamping method for forging provided by the present application first obtains forging information reflecting the shape and weight of the forging; then analyzes the forging information to obtain clamping information reflecting the clamping position and clamping speed of the clamp clamping the forging; then obtains the drop point information reflecting the position and state where the forging needs to be placed; then analyzes the clamping information and the drop point information to obtain the clamping path information reflecting the moving trajectory of the forging from the starting point to the drop point; finally, the control device controls the clamp to clamp the forging based on the clamping information and the clamping path information. The method analyzes the forging information to determine the appropriate clamping position and clamping speed; at the same time, generates detailed placement information and clamping path information according to the drop point information, so that the forging can be safely and efficiently moved from the starting point to the designated drop point, thereby significantly improving the safety and efficiency of the entire forging process.

[0007] In a possible implementation manner of the first aspect, the analyzing according to the forging information to obtain the clamping information includes: Analyze the forging information to obtain center of gravity information and at least one key feature; wherein the key feature is used to reflect the surface structure of the forging that is easy to clamp; The clamping information is obtained by analyzing the key features and the center of gravity information.

[0008] In a possible implementation manner of the first aspect, the analyzing according to the key features and the center of gravity information to obtain the clamping information includes: Analyze the key feature to obtain first position information; wherein the first position information is used to reflect the position of the key feature in the forging; Analyze the center of gravity information to obtain second position information; wherein the second position information is used to reflect that the center of gravity of the forging is located at the position of the forging; The clamping information is obtained by analyzing the first position information and the second position information.

[0009] In a possible implementation manner of the first aspect, the analyzing according to the first position information and the second position information to obtain the clamping information includes: Calculating the degree of overlap between the first position information and the second position information; wherein the degree of overlap is used to reflect the positional relationship reflected by the first position information and the second position information; Determining the clamping position of the clamping information based on the overlap; The clamping speed of the clamping information is obtained by analyzing the second position information and the clamping position.

[0010] In a possible implementation manner of the first aspect, determining the clamping position of the clamping information based on the overlap includes: When the overlap is less than a preset overlap, a key-value pair is constructed by taking the coordinate position of each key feature as a key and the structural complexity of each key feature as a value; Analyze the overlap degree and the key-value pair to obtain a stability coefficient; The position of the key feature corresponding to the maximum stability coefficient is determined as the clamping position of the clamping information.

[0011] In a possible implementation manner of the first aspect, the analyzing according to the overlap degree and the key-value pair to obtain a stability coefficient includes: Analyze the overlap to obtain a movement factor, wherein the movement factor is used to reflect the dynamic stability of the fixture when it is clamped at the position corresponding to the key feature; Analyze the key-value pairs to obtain a clamping factor, wherein the clamping factor is used to reflect the static stability of the fixture when clamping at the position corresponding to the key feature; The stability coefficient is obtained by analyzing the movement factor and the clamping factor.

[0012] In a possible implementation manner of the first aspect, the analyzing according to the movement factor and the clamping factor to obtain a stability coefficient includes: Determine the movement weight and the clamping weight according to the forging information; wherein the movement weight is used to reflect the importance of the dynamic stability, and the clamping weight is used to reflect the importance of the static stability; The movement factor is weighted based on the movement weight, and the clamping factor is weighted based on the clamping weight, and the stability coefficient is obtained by summing the sum.

[0013] In a possible implementation manner of the first aspect, determining the clamping position of the clamping information based on the overlap further includes: When the overlap degree is greater than the preset overlap degree, determining the position corresponding to the key feature as a potential clamping position; The contact overlaps of the multiple potential clamping positions are compared, and the potential clamping position with the largest contact overlap is determined as the clamping position of the clamping information; wherein the contact overlap is used to reflect the degree of contact between the clamp and the forging.

[0014] In a possible implementation manner of the first aspect, the analyzing according to the second position information and the clamping position to obtain the clamping speed of the clamping information includes: Analyze the weight of the forging information to obtain a basic clamping speed; Analyze the relative distance between the second position information and the clamping position to obtain a speed adjustment value; The basic clamping speed is adjusted based on the speed adjustment value to obtain the clamping speed of the clamping information.

[0015] In a second aspect, an embodiment of the present application provides a forging fixture clamping system, comprising: A first acquisition module is used to acquire forging information; wherein the forging information is used to reflect the shape and weight of the forging; A first analysis module is used to analyze the forging information to obtain clamping information; wherein the clamping information is used to reflect the clamping position and clamping speed of the clamp clamping the forging; A second acquisition module is used to acquire the landing point information; wherein the landing point information is used to reflect the position and state where the forging needs to be placed; A second analysis module is used to analyze the clamping information and the landing point information to obtain clamping path information; wherein the clamping path information is used to reflect the movement trajectory of the forging from the starting point to the landing point; A control module is used to control the device to control the clamp to clamp the forging based on the clamping information and the clamping path information.

[0016] In a third aspect, an embodiment of the present application provides a forging robot, comprising a clamp and a control device, wherein the control device is electrically connected to the clamp, and comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the methods described in the first aspect when executing the computer program.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of the above-mentioned first aspects is implemented.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a forging robot, the forging robot executes the forging fixture clamping method described in any one of the first aspects above.

[0019] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a schematic diagram of the process of the forging clamping method provided in the embodiment of the present application; Figure 2 It is a schematic diagram of the implementation process of the forging clamping method provided in the embodiment of the present application; Figure 3 It is a structural schematic diagram of a forging fixture clamping system provided in an embodiment of the present application; Figure 4 is a schematic diagram of the structure of a forging robot provided in an embodiment of the present application; Figure 5 It is a schematic diagram of the structure of the control device of the forging robot provided in the embodiment of the present application.

[0022] Among them, the reference numerals in the figure are: 100. Forging robot; 10. Fixture; 11. Gripper; 12. Adjustable joint; 6. Control device; 60. Processor; 61. Memory; 62. Computer program. DETAILED DESCRIPTION

[0023] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0024] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0025] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0026] As used in the specification of this application and the appended claims, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if the described condition or event is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce the described condition or event is detected" or "in response to detecting the described condition or event" depending on the context.

[0027] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0028] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0029] In the forging process, the handling and positioning of forgings are crucial links. Traditional manual operations are not only inefficient, but also prone to worker injuries or damage to forgings. With the continuous improvement of industrial automation levels, automated fixture systems are gradually being used in the forging process to improve production efficiency and safety.

[0030] Most existing clamping systems operate based on pre-set parameters, which may not always be the optimal choice. Especially when handling forgings with complex shapes and uneven weights, improper clamping position or clamping speed and other parameters may cause the forgings to tilt, slide or even fall during handling, resulting in reduced clamping efficiency and clamping effect.

[0031] In order to solve the above problems, the embodiment of the present application provides a forging clamping method and a forging robot. In this method, first, forging information reflecting the shape and weight of the forging is obtained; then, the forging information is analyzed to obtain clamping information reflecting the clamping position and clamping speed of the clamp clamping the forging; then, the landing point information reflecting the position and state of the forging to be placed is obtained; then, the clamping information and the landing point information are analyzed to obtain the clamping path information reflecting the movement trajectory of the forging from the starting point to the landing point; finally, the control device controls the clamp to clamp the forging based on the clamping information and the clamping path information. This method performs a detailed analysis of the forging information to determine the appropriate clamping position and clamping speed; at the same time, detailed placement information and clamping path information are generated according to the landing point information, so that the forging can be safely and efficiently moved from the starting point to the designated landing point, thereby significantly improving the safety and efficiency of the entire forging process.

[0032] The forging fixture clamping method provided in the embodiment of the present application can be applied to a forging robot. In this case, the forging robot is the executor of the forging fixture clamping method provided in the embodiment of the present application. The embodiment of the present application does not impose any restrictions on the specific type of the forging robot.

[0033] For example, a forging robot may include a fixture and a control device, and the control device and the fixture are electrically connected. The fixture is used to clamp the forging and control the forging to move. The fixture can adjust the size and angle of the clamping opening, and can move the clamped forging in three-dimensional space. For example, the fixture can be a mechanical claw fixture, that is, the fixture can include a mechanical claw and a plurality of adjustable joints, and the fixture can adjust the angle in multiple directions using the adjustable joint structure; it can also be a flexible buffer fixture, that is, the fixture can include a clamp made of soft material or with a buffer layer and a plurality of adjustable joints, and the soft material can adaptively clamp forgings of different structures, etc., but not limited to this. The control device monitors and controls the entire clamping process.

[0034] For example, the control device can be a mobile phone, a tablet computer, a wearable device, an augmented reality (AR) / virtual reality (VR) device, a laptop computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), a desktop computer, a smart screen, a smart TV and other terminal devices, a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, an Internet of Things terminal, a computer, a laptop computer, a handheld communication device, a handheld computing device, a satellite wireless device, a wireless modem card, a TV set top box (STB), a customer premises equipment (CPE) and / or other devices for communicating on a wireless system and a next-generation communication system, for example, a mobile terminal in a 5G network or a mobile terminal in a future evolved public land mobile network (PLMN).

[0035] In order to better understand the clamping method for forging provided by the embodiment of the present application, the specific implementation process of the clamping method for forging provided by the embodiment of the present application is exemplarily introduced below.

[0036] Figure 1 A schematic flow chart of a forging clamping method provided in an embodiment of the present application is shown, and the forging clamping method comprises: S100, obtaining forging information; wherein the forging information is used to reflect the shape and weight of the forging.

[0037] It is understandable that when processing reworked or scrapped forgings, forgings of different specifications often need to be processed. Therefore, the structure and weight of the forgings to be clamped will change in real time; it is also possible that in the same production line, when the forgings are clamped from the previous station to the next station, the weight of forgings of the same size may be different. The forging graphics can be obtained, and then the three-dimensional model of the forging is established by using image processing technology to obtain the shape of the forging and the simulated evaluation of the weight of the forging; the forging information can also be manually input, etc., but not limited to this.

[0038] S200, analyzing the forging information to obtain clamping information; wherein the clamping information is used to reflect the clamping position and clamping speed of the clamp clamping the forging.

[0039] It can be understood that when the clamp clamps the forging, in order to ensure that the clamp does not affect the quality of the forging, the clamping force is often controlled within a certain value or a certain range of values. In this case, the clamping position and the clamping speed play a decisive role in the clamping effect and efficiency. For example, the position of the center of gravity of the forging and the position on the surface of the forging that is easy to clamp can be obtained through the forging information, and the final clamping position can be evaluated through the center of gravity position and the position that is easy to clamp, and then the appropriate clamping speed can be calculated through the connection between the clamping position and the center of gravity position; the forging information can also be input into the learning model, and the learning model outputs the corresponding clamping information, etc., but is not limited to this. The learning model is trained through multiple sets of training data, and each set of training data in the multiple sets of training data includes forging information and clamping information, that is, the forging information is used as input information, and the clamping information is used as output information to train the learning model.

[0040] In a possible implementation, in step S200, the clamping information is obtained by analyzing the forging information, including: S210, analyzing the forging information to obtain the center of gravity information and at least one key feature; wherein the key feature is used to reflect the surface structure of the forging that is easy to clamp.

[0041] It can be understood that the center of gravity information refers to the location of the center of gravity of the forging. After the forging is three-dimensionally modeled, the center of gravity of the forging can be obtained by obtaining information such as the material and the material density, and then the location of the center of gravity is determined based on the shape of the forging. The surface structure that is easy to clamp may include a flat surface, a specific groove design, or other parts suitable for the clamp to apply pressure without damaging the forging. Exemplarily, the corresponding key features can be obtained by matching the forging information in the forging database; the forging information can also be input into the learning model, and the learning model outputs the corresponding key features, etc., but is not limited to this. The forging database refers to a database containing the key features corresponding to forgings of different shapes. These data can be obtained through laboratory experiments, on-site measurements and monitoring, and previous experience. After obtaining, the collected data is sorted, classified and archived, useful information and rules are extracted, and the relevant data is saved in the database to form a forging database.

[0042] S220, analyzing the key features and the center of gravity information to obtain clamping information.

[0043] Exemplarily, the degree of connection between the position of each key feature and the position of the center of gravity can be calculated, and then the clamping stability of the key feature can be jointly evaluated through the structural characteristics of the key feature and the center of gravity position, the final clamping position can be determined through multiple clamping stabilities, and then the corresponding clamping speed can be calculated based on the clamping position; the key features and center of gravity information can also be input into the learning model, and the learning model outputs the corresponding clamping information, and so on, but not limited to this.

[0044] In this way, by analyzing the center of gravity information and key features of the forgings, the fixture settings can be automatically adjusted according to different forgings, and the production needs of forgings of different models and specifications can be quickly adapted without manual intervention. This method improves the flexibility and response speed of the production line, thereby improving overall production efficiency.

[0045] In a possible implementation, in step S220, the clamping information is obtained by analyzing the key features and the center of gravity information, including: S221, analyzing according to the key feature to obtain first position information; wherein the first position information is used to reflect the position of the key feature at the forging.

[0046] It can be understood that after determining the key feature, the position coordinate point of the key feature is obtained, and then all the position coordinate points of the structure where the key feature is located relative to the overall coordinate system of the forging are further determined based on the structure where the key feature is located. The collection of these position coordinate points is the first position information.

[0047] S222, analyzing according to the center of gravity information to obtain second position information; wherein the second position information is used to reflect the position where the center of gravity of the forging is located at the forging.

[0048] It can be understood that the second position information refers to the position of the forging where the center of gravity of the forging is located. For example, when the shape of the forging is regular or the center of gravity of the forging is on the forging, the position coordinate point of the center of gravity is used to obtain the position coordinate point where the fixture contacts the surface of the forging after the center line of the fixture coincides with the center of gravity coordinate point. The position of the surface or line formed by connecting these position coordinate points is the second position information; the forging may have an irregular size or shape so that the center of gravity (i.e., the center of mass) of the forging is not on the forging. At this time, after determining the center of gravity coordinate, the minimum distance between the center of gravity coordinate and the forging can be calculated, and the position coordinate of the surface of the forging where the minimum distance is located can be determined as the pseudo-center of gravity coordinate, and the position coordinate point where the fixture contacts the surface of the forging after the center line of the fixture coincides with the pseudo-center of gravity coordinate point. The position of the surface or line formed by connecting these position coordinate points is the second position information.

[0049] S223, analyzing the first position information and the second position information to obtain clamping information.

[0050] Exemplarily, the relative position of the first position information and the second position information can be calculated, the clamping position can be determined based on the result of the relative position, and then the clamping speed can be obtained by analyzing the clamping position and the second position information; the first position information and the second position information can also be input into a learning model, and the learning model outputs the clamping information.

[0051] With such a configuration, the best clamping strategy is determined by integrating the first position information of the key feature and the second position information of the center of gravity, which not only improves the accuracy and efficiency of clamping, but also enhances the quality of the product and the overall safety of production.

[0052] In a possible implementation, in step S223, the clamping information is obtained by analyzing the first position information and the second position information, including: S2231, calculating the degree of overlap between the first position information and the second position information; wherein the degree of overlap is used to reflect the positional relationship reflected by the first position information and the second position information.

[0053] It can be understood that the degree of overlap can be obtained by calculating the distance value between the first position information and the second position information. For example, the minimum distance between the center coordinates of the first position information and the center coordinates of the second position information can be calculated, and then the value of the minimum distance can be converted into the degree of overlap. The smaller the value of the minimum distance, the higher the degree of overlap. The distance between each position coordinate point in the first position information and each position coordinate point in the second position information can also be calculated, and each distance can be assigned a weight value. After weighted summation, a distance value is obtained, and then the distance value is converted into the degree of overlap, etc., but it is not limited to this.

[0054] S2232, determining the clamping position of the clamping information based on the overlap.

[0055] Exemplarily, the size of the overlap can be used to further judge and select one of the multiple first position information that is suitable as the clamping position as the clamping position; each first position information and the second position information can also be input into the learning model, and the learning model outputs the clamping position, etc., but is not limited to this.

[0056] In a possible implementation, in step S2232, determining the clamping position of the clamping information based on the overlap degree includes: S22321a, when the overlap is less than a preset overlap, a key-value pair is constructed using the coordinate position of each key feature as a key and the structural complexity of each key feature as a value.

[0057] It can be understood that the preset overlap is a pre-set value, which can be manually input or obtained from the forging database, etc., but is not limited to this. Structural complexity refers to the complexity of the surface shape of the structure where the key features are located. Exemplarily, the curvature of the forging structure where the first position information is located can be calculated, that is, the Gaussian curvature and / or average curvature of each vertex or small area can be calculated using numerical methods or existing CAD software tools (such as MeshLab, MATLAB, etc.), and then the standard deviation or entropy value of the curvature can be calculated as a structural complexity indicator. It can also be represented by calculating the number of edges at the forging position where the first information is located. The more edges there are, the higher the structural complexity, etc., but is not limited to this.

[0058] Using the coordinate position of each key feature as a key means using the representative position coordinates of the first position information corresponding to the key feature as a key. The representative position coordinates can be the average value of the coordinates of all points in the key feature area, or the coordinate set of the contact points when the fixture clamps the position corresponding to the key feature; it can also be manually specified. If the coordinate position (i.e., representative position) of one of the key features is (X1, Y1, Z1), and the structural complexity is M, its key-value pair is [(X1, Y1, Z1), M i ].

[0059] S22322a, analyze the overlap and key-value pairs to obtain the stability coefficient.

[0060] For example, the overlap degree and key-value pairs can be analyzed to obtain the influence of the key features on clamping, and then the stability coefficient can be obtained by weighted summation; the overlap degree and key-value pairs can also be input into the learning model, and the learning model can output the corresponding stability coefficient, etc., but not limited to this.

[0061] In a possible implementation, in step S22322a, the stability coefficient is obtained by analyzing the overlap degree and the key-value pair, including: S223221, analyze based on the overlap to obtain the movement factor; wherein the movement factor is used to reflect the dynamic stability of the fixture when it is clamped at the position corresponding to the key feature.

[0062] It can be understood that different overlaps correspond to a movement factor, and the higher the overlap, the greater the movement factor. For example, the overlap can be matched in the forging database to obtain the corresponding movement factor; the overlap can also be input into the learning model, and the learning model outputs the corresponding movement factor.

[0063] S223222, analyze the key-value pairs to obtain the clamping factor; wherein the clamping factor is used to reflect the static stability of the fixture when clamping at the position corresponding to the key feature.

[0064] It can be understood that the matching degree and stability between the contact point between the fixture and the workpiece can be evaluated through the specific numerical value or number ID of the position coordinate of the key of the key-value pair and the corresponding value. For example, the precise coordinates (X1, Y1, Z1) of the contact point between the fixture and the workpiece after simulation can be obtained, and then combined with the structural complexity M corresponding to the position coordinate i , using the learning model to obtain the clamping factor of the key feature, or directly inputting the key-value pair into the forging database for matching to obtain the corresponding clamping factor, etc., but not limited to this.

[0065] S223223, analyze based on the movement factor and clamping factor to obtain the stability coefficient.

[0066] It can be understood that the stability coefficient refers to the degree of stability when the fixture clamps the position corresponding to the key feature. For example, the stability coefficient can be obtained by obtaining the weights of the movement factor and the clamping factor and weighted summing them, or the movement factor and the clamping factor can be input into the learning model, and the learning model outputs the corresponding stability coefficient, etc., but is not limited thereto.

[0067] With this setting, the movement factor reflecting the dynamic stability of the fixture when clamping at the key feature position is obtained by analyzing the overlap, and the clamping factor reflecting the static stability is obtained by key-value pair analysis. The stability coefficient is then calculated by combining the movement factor and the clamping factor. This method can comprehensively evaluate the stability of the fixture clamping, taking into account both the dynamic changes in the clamping process and the stability under static conditions, thereby improving the reliability and safety of the clamping operation and optimizing the efficiency and precision of the manufacturing process.

[0068] In a possible implementation, in step S223223, the stability coefficient is obtained by analyzing the movement factor and the clamping factor, including: S2232231, determine the movement weight and clamping weight according to the forging information; wherein the movement weight is used to reflect the importance of the dynamic stability, and the clamping weight is used to reflect the importance of the static stability.

[0069] It is understandable that different forgings have different requirements for dynamic and static stability. For example, the forging information can be input into the learning model, and the learning model outputs the corresponding movement weight and clamping weight; the forging information can also be matched in the forging database, and the forging database outputs the corresponding movement weight and clamping weight, etc., but is not limited thereto.

[0070] S2232232, weight the movement factor based on the movement weight, weight the clamping factor based on the clamping weight, and sum them up to obtain the stability coefficient.

[0071] It can be understood that stability coefficient = movement weight × movement factor + clamping weight × clamping factor.

[0072] In this way, by determining the movement weight and the clamping weight according to the forging information and performing weighted summation of the movement factor and the clamping factor based on these weights, the overall stability of the fixture when clamping at the key feature position can be comprehensively and flexibly evaluated.

[0073] S22323a, determining the position of the key feature corresponding to the maximum stability coefficient as the clamping position of the clamping information.

[0074] It can be understood that the larger the stability coefficient is, the more stable the clamp is when clamping the forging.

[0075] In this way, when the overlap is less than a preset threshold, a key-value pair is constructed by taking the coordinate position of each key feature as the key and the structural complexity as the value, and the stability coefficient is obtained by analyzing the overlap and the key-value pair. Finally, the key feature position with the largest stability coefficient is selected as the clamping position. This method can identify and select the key feature position that is most suitable for clamping, so that the fixture can still achieve stable and reliable clamping operations under complex or undesirable conditions, thereby improving the success rate of the clamping operation and the stability and accuracy of the manufacturing process.

[0076] In a possible implementation, in step S2232, determining the clamping position of the clamping information based on the overlap degree further includes: S22321b, when the overlap is greater than a preset overlap, determine the position corresponding to the key feature as a potential clamping position.

[0077] It can be understood that when the overlap is greater than the preset overlap, it indicates that the position corresponding to the key feature has a higher matching degree and stability and is suitable for use as a clamping point.

[0078] S22322b, comparing the contact overlaps of multiple potential clamping positions, and determining the potential clamping position with the largest contact overlap as the clamping position of the clamping information; wherein the contact overlap is used to reflect the degree of contact between the fixture and the forging.

[0079] It is understood that the contact area between the clamp and the forging can be simulated by simulation software when the clamp is at the position corresponding to the key feature of the forging, and the proportion of the contact area of ​​the clamp is used as the contact overlap. The number of contact coordinate points on the forging can also be calculated and the number can be converted into the contact overlap, etc., but it is not limited thereto.

[0080] In this way, by determining the potential clamping position when the overlap is greater than a preset threshold, and further selecting the position with the highest overlap as the final clamping position, the key feature position most suitable for clamping can be identified and selected. This method not only improves the reliability and safety of the clamping operation, but also optimizes resource utilization.

[0081] S2233, analyzing the second position information and the clamping position to obtain the clamping speed of the clamping information.

[0082] It can be understood that the clamping speed refers to the speed at which the clamp clamps the forging from the starting point to the landing point. For example, the weight of the forging can be used for evaluation, an initial speed can be set, and then the distance between the second position information and the clamping position can be calculated, and the initially set speed can be adjusted according to the distance to obtain the clamping speed; the second position information and the clamping position can also be input into the learning model, and the learning model outputs the corresponding clamping speed, etc., but not limited to this.

[0083] With this arrangement, the corresponding clamping position and clamping speed can be dynamically analyzed according to different forgings, which can better support the clamping operation in the manufacturing process, thereby improving the overall production quality and efficiency, so that each forging can be moved or transported under better conditions.

[0084] In a possible implementation, in step S2233, analyzing the second position information and the clamping position to obtain the clamping speed of the clamping information includes: S22331, analyze the weight of the forging information and obtain the basic clamping speed.

[0085] It is understood that different weights correspond to a basic clamping speed. For example, a heavier forging may require a lower basic clamping speed to ensure safety and stability, while a lighter forging may allow a higher basic clamping speed. Exemplarily, the weight may be matched in a forging database to obtain the basic clamping speed; it may also be obtained using a learning model, etc., but is not limited thereto.

[0086] S22332, analyzing the relative distance between the second position information and the clamping position to obtain a speed adjustment value.

[0087] It can be understood that the relative distance can be calculated based on a certain position at the center corresponding to the second position information and the corresponding position at the center of the clamping position in the same direction along the forging surface. Different relative distances correspond to a speed adjustment value. For example, a distance threshold can be set. If the relative distance is less than the distance threshold, the speed adjustment value is a positive value, and the corresponding speed adjustment value is matched according to the relative distance. If the relative distance is greater than the distance threshold, the speed adjustment value is a negative value, and then the difference between the relative distance and the distance threshold is calculated to match the corresponding speed adjustment value; the relative distance can also be directly matched in the forging database to obtain the corresponding speed adjustment value, and so on, but not limited to this.

[0088] S22333, adjusting the basic clamping speed based on the speed adjustment value to obtain the clamping speed of the clamping information.

[0089] It can be understood that clamping speed = basic clamping speed + speed adjustment value.

[0090] With this setting, the clamping strategy can be adaptively adjusted according to different forging characteristics and operating environments, which enhances the flexibility and adaptability of the system and reduces the limitations caused by fixed parameters.

[0091] S300, acquiring drop point information; wherein the drop point information is used to reflect the position and state where the forging needs to be placed.

[0092] It can be understood that the position where the forging needs to be placed is the position where the fixture places the forging after clamping it from the starting point, and the placement state refers to the posture of the forging when it is placed at the landing point. The landing point information can be manually input or obtained from the forging database, etc., but is not limited thereto.

[0093] S400, analyzing the clamping information and the landing point information to obtain clamping path information; wherein the clamping path information is used to reflect the movement trajectory of the forging from the starting point to the landing point.

[0094] It can be understood that the path planning algorithm (such as A* algorithm, Dijkstra algorithm, RRT, etc.) can be used to calculate the best path from the starting point to the landing point, and then the generated path can be further optimized according to the clamping speed. For example, by adjusting the node distribution on the path to reduce the acceleration and deceleration time, the overall efficiency can be improved. If the forging has a specific posture requirement at the landing point, the posture of the forging is adjusted during the clamping process according to the clamping position. While planning the path, determine at which key points the posture of the forging needs to be adjusted, such as rotation, tilting and other operations, and use the inverse kinematics principle to calculate the precise action sequence required by the fixture during the movement process to ensure that the forging can reach the specified posture when it reaches the landing point, and obtain the clamping path information comprehensively.

[0095] S500: The control device controls the clamp to clamp the forging based on the clamping information and the clamping path information.

[0096] In this way, the optimal clamping position and speed are analyzed and determined by obtaining information such as the shape and weight of the forging, while taking into account the key features of the forging, the center of gravity, and the dynamic and static stability during clamping, ensuring the safety and accuracy of the clamping process; further, the optimal movement trajectory from the starting point to the landing point is planned based on the landing point information, and the clamp is controlled based on this to complete the clamping operation. This method not only improves the reliability and efficiency of the clamping operation, but also enhances the intelligence level and adaptability of the system, can handle forgings of different shapes and weights, optimizes the clamping process, and improves the overall clamping quality and efficiency.

[0097] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0098] Corresponding to the forging fixture clamping method described in the above embodiment, the embodiment of the present application further provides a forging fixture clamping system, and each module of the system can implement each step of the forging fixture clamping method. Figure 3 A structural block diagram of a forging fixture clamping system provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0099] Reference Figure 3 , the forging fixture clamping system includes: The first acquisition module is used to acquire forging information; wherein the forging information is used to reflect the shape and weight of the forging.

[0100] The first analysis module is used to analyze the forging information to obtain clamping information; wherein the clamping information is used to reflect the clamping position and clamping speed of the clamp clamping the forging.

[0101] The second acquisition module is used to acquire the landing point information; wherein the landing point information is used to reflect the position and state where the forging needs to be placed.

[0102] The second analysis module is used to analyze the clamping information and the landing point information to obtain the clamping path information; wherein the clamping path information is used to reflect the movement trajectory of the forging from the starting point to the landing point.

[0103] The control module is used to control the device to control the clamp to clamp the forging based on the clamping information and the clamping path information.

[0104] It should be noted that the information interaction, execution process and other contents between the above-mentioned modules are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0105] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above modules is used as an example for illustration. In practical applications, the above functions can be assigned to different modules as needed, that is, the internal structure of the system can be divided into different modules to complete all or part of the functions described above. The modules in the embodiment can be integrated into a processing unit, or each module can exist physically alone, or two or more modules can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the modules are only for the convenience of distinguishing from each other, and are not used to limit the scope of protection of this application. The specific working process of the modules in the above system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0106] The present application embodiment also provides a forging robot 100, such as Figure 4 and Figure 5 As shown, the clamp 10 and the control device 6 are included, and the control device 6 is electrically connected to the clamp 10. The clamp 10 includes a clamping jaw 11 and an adjustable joint 12. Figure 5 This is a schematic diagram of the structure of a control device 6 provided in an embodiment of the present application. Figure 5 As shown, the control device 6 of this embodiment includes: at least one processor 60 ( Figure 5 Only one is shown), at least one memory 61 ( Figure 5 Only one is shown in the figure) and a computer program 62 stored in the at least one memory 61 and executable on the at least one processor 60. When the processor 60 executes the computer program 62, the control device 6 implements the steps in any of the above-mentioned embodiments of the forging fixture clamping method, or implements the functions of the modules in the above-mentioned system embodiments.

[0107] Exemplarily, the computer program 62 may be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 62 in the control device 6.

[0108] The control device 6 can be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The forging robot may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that Figure 5 It is only an example of the control device 6 and does not constitute a limitation on the control device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, buses, etc.

[0109] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0110] In some embodiments, the memory 61 may be an internal storage unit of the control device 6, such as a hard disk or memory of the control device 6. In other embodiments, the memory 61 may also be an external storage device of the control device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the control device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the control device 6. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0111] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0112] The embodiment of the present application provides a computer program product. When the computer program product is run on a forging robot, the forging robot 100 implements the steps in any of the above method embodiments.

[0113] If the integrated unit is implemented in the form of 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 present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the forging robot, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0114] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0115] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example 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 performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0116] In the embodiments provided in the present application, it should be understood that the disclosed forging robot and forging fixture clamping system can be implemented in other ways. For example, the forging fixture clamping system embodiment described above is only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0117] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0118] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A forging fixture clamping method, characterized in that: include: Acquiring forging information; wherein the forging information is used to reflect the shape and weight of the forging; Analyze the forging information to obtain clamping information; wherein the clamping information is used to reflect the clamping position and clamping speed of the clamp clamping the forging; Acquiring landing point information; wherein the landing point information is used to reflect the position and state where the forging needs to be placed; Analyze the clamping information and the landing point information to obtain clamping path information; wherein the clamping path information is used to reflect the movement trajectory of the forging from the starting point to the landing point; The control device controls the clamp to clamp the forging based on the clamping information and the clamping path information.

2. The forging jig clamping method according to claim 1, characterized in that: The analyzing according to the forging information to obtain the clamping information includes: Analyze the forging information to obtain center of gravity information and at least one key feature; wherein the key feature is used to reflect the surface structure of the forging that is easy to clamp; The clamping information is obtained by analyzing the key features and the center of gravity information.

3. The forging jig clamping method according to claim 2, characterized in that: The clamping information is obtained by analyzing the key features and the center of gravity information, including: Analyze the key feature to obtain first position information; wherein the first position information is used to reflect the position of the key feature in the forging; Analyze the center of gravity information to obtain second position information; wherein the second position information is used to reflect that the center of gravity of the forging is located at the position of the forging; The clamping information is obtained by analyzing the first position information and the second position information.

4. The forging jig clamping method according to claim 3, characterized in that: The analyzing the first position information and the second position information to obtain the clamping information includes: Calculating the degree of overlap between the first position information and the second position information; wherein the degree of overlap is used to reflect the positional relationship reflected by the first position information and the second position information; Determining the clamping position of the clamping information based on the overlap; The clamping speed of the clamping information is obtained by analyzing the second position information and the clamping position.

5. The forging jig clamping method according to claim 4, characterized in that: The determining the clamping position of the clamping information based on the overlap degree comprises: When the overlap is less than a preset overlap, a key-value pair is constructed by taking the coordinate position of each key feature as a key and the structural complexity of each key feature as a value; Analyze the overlap degree and the key-value pair to obtain a stability coefficient; The position of the key feature corresponding to the maximum stability coefficient is determined as the clamping position of the clamping information.

6. The forging jig clamping method according to claim 5, characterized in that: The analyzing according to the overlap degree and the key-value pair to obtain the stability coefficient includes: Analyze the overlap to obtain a movement factor, wherein the movement factor is used to reflect the dynamic stability of the fixture when it is clamped at the position corresponding to the key feature; Analyze the key-value pairs to obtain a clamping factor, wherein the clamping factor is used to reflect the static stability of the fixture when clamping at the position corresponding to the key feature; The stability coefficient is obtained by analyzing the movement factor and the clamping factor.

7. The forging jig clamping method according to claim 6, characterized in that: The analysis based on the movement factor and the clamping factor to obtain the stability coefficient includes: Determine the movement weight and the clamping weight according to the forging information; wherein the movement weight is used to reflect the importance of the dynamic stability, and the clamping weight is used to reflect the importance of the static stability; The movement factor is weighted based on the movement weight, and the clamping factor is weighted based on the clamping weight, and the stability coefficient is obtained by summing the sum.

8. The forging jig clamping method according to claim 5, characterized in that: The determining the clamping position of the clamping information based on the overlap degree further comprises: When the overlap degree is greater than the preset overlap degree, determining the position corresponding to the key feature as a potential clamping position; The contact overlaps of the multiple potential clamping positions are compared, and the potential clamping position with the largest contact overlap is determined as the clamping position of the clamping information; wherein the contact overlap is used to reflect the degree of contact between the clamp and the forging.

9. The forging jig clamping method according to claim 4, characterized in that: The analyzing according to the second position information and the clamping position to obtain the clamping speed of the clamping information includes: Analyze the weight of the forging information to obtain a basic clamping speed; Analyze the relative distance between the second position information and the clamping position to obtain a speed adjustment value; The basic clamping speed is adjusted based on the speed adjustment value to obtain the clamping speed of the clamping information.

10. A forging robot, characterized in that: The invention comprises a fixture and a control device, wherein the control device is electrically connected to the fixture, and the control device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 9 when executing the computer program.

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