Forging Fixture Clamping Method and Forging Robot

Abstract

This application is applicable to the technical field of forging fixtures, and particularly relates to a forging fixture clamping method and a forging robot. The forging fixture clamping method includes: obtaining forging information; analyzing the forging information to obtain clamping information; obtaining landing point information; analyzing based on 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 fixture to clamp the forging based on the clamping information and the clamping path information. This method analyzes through the forging information to determine suitable clamping positions and clamping speeds; at the same time, detailed placement information and clamping path information are generated according to the landing point information, enabling the forging to move safely and efficiently 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] This application belongs to the technical field of forging fixtures, and particularly 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 steps. Traditional manual operations are not only inefficient but also prone to causing worker injuries or forging damage. With the continuous improvement of industrial automation levels, automated fixture systems are gradually applied in the forging process to improve production efficiency and safety.

[0003] Most existing fixture systems operate based on pre-set parameters, and these parameters may not always be the optimal choice. Especially when dealing with forgings with complex shapes and uneven weights, improper clamping position or clamping speed and other parameters may lead to risks such as tilting, sliding or dropping of the forging during handling, resulting in reduced clamping efficiency and clamping effect. Summary of the Invention

[0004] The embodiments of this application provide a forging fixture clamping method and a forging robot, which can solve the problem of reduced clamping efficiency and clamping effect caused by improper parameters of existing fixtures.

[0005] In a first aspect, the embodiments of this application provide a forging fixture clamping method, including:

[0006] Obtain forging information; wherein, the forging information is used to reflect the shape and weight of the forging;

[0007] Analyze according to the forging information to obtain clamping information; wherein, the clamping information is used to reflect the clamping position and clamping speed of the fixture for clamping the forging;

[0008] Obtain landing point information; wherein, the landing point information is used to reflect the position and state where the forging needs to be placed;

[0009] Analyze according to 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;

[0010] The control device controls the fixture to clamp the forging based on the clamping information and the clamping path information.

[0011] The above technical solutions in the embodiments of this application have at least the following technical effects:

[0012] The forging fixture clamping method provided by this application first obtains forging information used to reflect the shape and weight of the forging; then analyzes the forging information to obtain clamping information used to reflect the clamping position and clamping speed of the fixture for clamping the forging; then obtains landing point information used to reflect the position and state where the forging needs to be placed; then analyzes the clamping information and the landing point information to obtain clamping path information used to reflect the movement trajectory of the forging from the starting point to the landing point; finally, the control device controls the fixture to clamp the forging based on the clamping information and the clamping path information. This method analyzes through the forging information to determine the suitable clamping position and clamping speed; at the same time, detailed placement information and clamping path information are generated according to the landing point information, enabling the forging to move safely and efficiently from the starting point to the designated landing point, thus significantly improving the safety and efficiency of the entire forging process.

[0013] In a possible implementation manner of the first aspect, the analyzing the forging information to obtain clamping information includes:

[0014] Analyze 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.

[0015] Analyze based on the key feature and the center of gravity information to obtain the clamping information.

[0016] In a possible implementation manner of the first aspect, the analyzing based on the key feature and the center of gravity information to obtain the clamping information includes:

[0017] Analyze based on the key feature to obtain the first position information; wherein, the first position information is used to reflect the position of the key feature on the forging.

[0018] Analyze based on the center of gravity information to obtain the second position information; wherein, the second position information is used to reflect the position of the center of gravity of the forging on the forging.

[0019] Analyze based on the first position information and the second position information to obtain the clamping information.

[0020] In a possible implementation manner of the first aspect, the analyzing based on the first position information and the second position information to obtain the clamping information includes:

[0021] Calculate the coincidence degree of the first position information and the second position information; wherein, the coincidence degree is used to reflect the positional relationship reflected by the first position information and the second position information.

[0022] Determine the clamping position of the clamping information based on the coincidence degree.

[0023] Analyze based on the second position information and the clamping position to obtain the clamping speed of the clamping information.

[0024] In a possible implementation of the first aspect, the determining the clamping position of the clamping information based on the coincidence degree includes:

[0025] When the coincidence degree is less than a preset coincidence degree, use the coordinate position of each key feature as a key and the structural complexity of each key feature as a value to construct a key-value pair;

[0026] Analyze based on the coincidence degree and the key-value pair to obtain a stability coefficient;

[0027] Determine the position of the key feature corresponding to the maximum stability coefficient as the clamping position of the clamping information.

[0028] In a possible implementation of the first aspect, the analyzing based on the coincidence degree and the key-value pair to obtain a stability coefficient includes:

[0029] Analyze based on the coincidence degree to obtain a movement factor; wherein, the movement factor is used to reflect the dynamic stability degree when the fixture clamps at the position corresponding to the key feature;

[0030] Analyze based on the key-value pair to obtain a clamping factor; wherein, the clamping factor is used to reflect the static stability degree when the fixture clamps at the position corresponding to the key feature;

[0031] Analyze based on the movement factor and the clamping factor to obtain a stability coefficient.

[0032] In a possible implementation of the first aspect, the analyzing based on the movement factor and the clamping factor to obtain a stability coefficient includes:

[0033] Determine a movement weight and a clamping weight according to the forging information; wherein, the movement weight is used to reflect the importance degree of the dynamic stability degree, and the clamping weight is used to reflect the importance degree of the static stability degree;

[0034] Weight the movement factor based on the movement weight, weight the clamping factor based on the clamping weight, and sum them to obtain a stability coefficient.

[0035] In a possible implementation of the first aspect, the determining the clamping position of the clamping information based on the coincidence degree further includes:

[0036] When the coincidence degree is greater than the preset coincidence degree, determine the position corresponding to the key feature as a potential clamping position;

[0037] Compare the contact coincidence degrees of multiple said potential clamping positions, and determine the clamping position of the clamping information with the potential clamping position having the largest contact coincidence degree; wherein, the contact coincidence degree is used to reflect the degree of contact between the fixture and the forging.

[0038] In a possible implementation manner of the first aspect, the obtaining the clamping speed of the clamping information by analyzing according to the second position information and the clamping position includes:

[0039] Analyze according to the weight of the forging information to obtain a basic clamping speed;

[0040] Analyze according to the relative distance between the second position information and the clamping position to obtain a speed adjustment value;

[0041] Adjust the basic clamping speed based on the speed adjustment value to obtain the clamping speed of the clamping information.

[0042] In a second aspect, an embodiment of the present application provides a forging fixture clamping system, including:

[0043] A first acquisition module, configured to acquire forging information; wherein, the forging information is used to reflect the shape and weight of the forging;

[0044] A first analysis module, configured to analyze according to the forging information to obtain clamping information; wherein, the clamping information is used to reflect the clamping position and clamping speed of the fixture for clamping the forging;

[0045] A second acquisition module, configured to acquire landing point information; wherein, the landing point information is used to reflect the position and state where the forging needs to be placed;

[0046] A second analysis module, configured to analyze according to 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;

[0047] A control module, configured to control the device to control the fixture to clamp the forging based on the clamping information and the clamping path information.

[0048] In a third aspect, an embodiment of the present application provides a forging robot, including a fixture and a control device, the control device is electrically connected to the fixture, the control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method described in any one of the above first aspects is implemented.

[0049] Fourthly, an embodiment of the present application provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the method described in any one of the above first aspects.

[0050] Fifthly, an embodiment of the present application provides a computer program product, which when running on a forging robot enables the forging robot to execute the forging fixture clamping method described in any one of the above first aspects.

[0051] It can be understood that the beneficial effects of the above second to fifth aspects can be referred to the relevant descriptions in the above first aspect and will not be elaborated here. Description of the Drawings

[0052] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0053] Figure 1 is a schematic flowchart of the forging fixture clamping method provided by an embodiment of the present application;

[0054] Figure 2 is a schematic implementation flowchart of the forging fixture clamping method provided by an embodiment of the present application;

[0055] Figure 3 is a schematic structural diagram of the forging fixture clamping system provided by an embodiment of the present application;

[0056] Figure 4 is a schematic structural diagram of the forging robot provided by an embodiment of the present application;

[0057] Figure 5 is a schematic structural diagram of the control device of the forging robot provided by an embodiment of the present application.

[0058] Among them, the reference numerals in the drawings are as follows:

[0059] 100, forging robot; 10, fixture; 11, jaw; 12, adjustable joint; 6, control device; 60, processor; 61, memory; 62, computer program. Detailed Embodiments

[0060] In the following description, for purposes of illustration and not limitation, specific details such as specific system architectures, technologies, etc. are set forth in order to provide a thorough understanding of embodiments of the present application. However, those skilled in the art should understand that the present application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary details.

[0061] It should be understood that when used in the specification and claims of the present application, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or their combinations.

[0062] It should also be understood that the term "and / or" as used in the specification and claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0063] As used in the specification and claims of the present application, the term "if" may be construed, depending on the context, as "when" or "once" or "in response to determining" or "in response to detecting". Similarly, the phrase "if determined" or "if the described condition or event is detected" may be construed, depending on the context, as meaning "once determined" or "in response to determining" or "once the described condition or event is detected" or "in response to detecting the described condition or event".

[0064] In addition, in the description of the specification and claims of the present application, the terms "first", "second", "third", etc. are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0065] Reference to "an embodiment" or "some embodiments" or the like described in the specification of the present application means that a specific feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of the present application. Thus, statements such as "in an embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "comprising", "including", "having", and their variants all mean "including but not limited to", unless otherwise specifically emphasized in another way.

[0066] In the forging process, the handling and positioning of forgings are crucial steps. Traditional manual operations are not only inefficient but also prone to causing worker injuries or forging damage. With the continuous improvement of industrial automation levels, automated fixture systems are gradually applied in the forging process to improve production efficiency and safety.

[0067] Most existing fixture systems operate based on pre-set parameters, and these parameters may not always be the optimal choice. Especially when dealing with forgings with complex shapes and uneven weights, improper parameters such as clamping positions or clamping speeds may lead to risks such as tilting, sliding, or even dropping of the forgings during handling, resulting in reduced clamping efficiency and clamping effects.

[0068] To solve the above problems, the embodiments of this application provide a fixture clamping method for forging and a forging robot. In this method, first, forging information reflecting the shape and weight of the forging is obtained; then, based on the analysis of the forging information, clamping information reflecting the clamping position and clamping speed for the fixture to clamp the forging is obtained; next, landing point information reflecting the position and state where the forging needs to be placed is obtained; then, based on the analysis of the clamping information and the landing point information, clamping path information reflecting the movement trajectory of the forging from the starting point to the landing point is obtained; finally, the control device controls the fixture to clamp the forging based on the clamping information and the clamping path information. This method conducts a detailed analysis through the forging information to determine suitable clamping positions and clamping speeds; at the same time, detailed placement information and clamping path information are generated based on the landing point information, enabling the forging to move safely and efficiently from the starting point to the designated landing point, thus significantly improving the safety and efficiency of the entire forging process.

[0069] The fixture clamping method for forging provided by the embodiments of this application can be applied to a forging robot. In this case, the forging robot is the execution body of the fixture clamping method for forging provided by the embodiments of this application, and the specific type of the forging robot is not limited in the embodiments of this application.

[0070] For example, the forging robot may include a fixture and a control device, and the control device is electrically connected to the fixture. The fixture is used to clamp the forging and control the movement of the forging. The fixture can adjust the opening size and angle of the clamping, and can enable the clamped forging to move in three-dimensional space. For example, the fixture can be a mechanical claw-type fixture, that is, the fixture can include mechanical claws and multiple adjustable joints. Using the adjustable joint structure, the fixture can adjust the angle in multiple directions; it can also be a flexible buffer-type fixture, that is, the fixture can include jaws made of soft materials or with buffer layers and multiple adjustable joints. The soft materials can adaptively clamp forgings with different structures, etc., but are not limited to this. The control device monitors and controls the entire clamping process.

[0071] 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 large screen, a smart TV, etc. It can also be a handheld device, a computing device with wireless communication function, or other processing devices 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 set top box (STB), a customer premise equipment (CPE), and / or other devices for communicating on a wireless system, as well as next-generation communication systems, such as mobile terminals in a 5G network or mobile terminals in a future evolved Public Land Mobile Network (PLMN).

[0072] To better understand the forging fixture clamping method provided by the embodiments of the present application, the following provides an exemplary introduction to the specific implementation process of the forging fixture clamping method provided by the embodiments of the present application.

[0073] Figure 1 The schematic flowchart of the forging fixture clamping method provided by the embodiments of the present application is shown. The forging fixture clamping method includes:

[0074] S100, obtain forging information; where the forging information is used to reflect the shape and weight of the forging.

[0075] It can be understood that when dealing with reworked or scrapped forgings, multiple 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 clamping a forging from the previous station to the next station, there may be cases where forgings of the same size have different weights. The forging shape can be obtained by acquiring the forging graphics and then using image processing technology to establish a three-dimensional model of the forging, and a simulated evaluation of the forging weight can be obtained. It is also possible to manually input the forging information, etc., but not limited to this.

[0076] S200, analyze according to the forging information to obtain clamping information; where the clamping information is used to reflect the clamping position and clamping speed of the fixture for clamping the forging.

[0077] It can be understood that when the fixture clamps the forging, in order to ensure that the fixture will 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. Exemplarily, the position of the center of gravity of the forging and the positions on the forging surface that are easy to clamp can be obtained from the forging information. The final clamping position is evaluated based on the center of gravity position and the positions that are easy to clamp, and then the appropriate clamping speed is calculated based on the relationship between the clamping position and the center of gravity position; or the forging information can be input into a learning model, and the learning model outputs the corresponding clamping information, etc., but not limited to this. The learning model is trained with multiple sets of training data. 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 the input information and the clamping information is used as the output information to train the learning model.

[0078] In a possible implementation manner, in step S200, the forging information is analyzed to obtain the clamping information, including:

[0079] S210, analyze 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.

[0080] It can be understood that the center of gravity information refers to the position where the center of gravity of the forging is located. After three-dimensional modeling of the forging, by obtaining information such as the material and the material density, the center of gravity of the forging can be obtained, and then the position 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 fixture to apply pressure without damaging the forging. Exemplarily, the corresponding key features can be obtained by matching the forging information in the forging database; or the forging information can be input into a learning model, and the learning model outputs the corresponding key features, etc., but not limited to this. The forging database refers to a database that contains the key features corresponding to forgings of different shapes. These data can be obtained through means such as laboratory experiments, on-site measurements and monitoring, and past experience. After obtaining the data, the collected data is sorted, classified, and archived, useful information and rules are extracted, and then the relevant data is saved to the database to form the forging database.

[0081] S220, analyze the key feature and the center of gravity information to obtain the clamping information.

[0082] Exemplarily, the degree of connection between the position where each key feature is located and the position of the centroid can be calculated, and then the clamping stability of the key feature can be evaluated jointly by the structural features of the key feature and the centroid position. The final clamping position is determined based on the clamping stabilities of multiple key features, and the corresponding clamping speed is calculated based on the clamping position. Alternatively, the key feature and the centroid information can be input into a learning model, and the learning model outputs the corresponding clamping information, etc., but not limited thereto.

[0083] With such a setting, by analyzing the centroid information and key features of the forging, the fixture settings can be automatically adjusted according to different forgings, quickly adapting to the production requirements of different models and specifications of forgings without manual intervention. This method improves the flexibility and response speed of the production line, thereby enhancing the overall production efficiency.

[0084] In a possible implementation manner, in step S220, by analyzing based on the key features and the centroid information, clamping information is obtained, including:

[0085] S221, analyze according to the key features to obtain the first position information; wherein, the first position information is used to reflect the position where the key feature is located on the forging.

[0086] It can be understood that after determining the key feature, the position coordinate points of the key feature are obtained, and then according to the structure where the key feature is located, 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. The set of these position coordinate points is the first position information.

[0087] S222, analyze according to the centroid information to obtain the second position information; wherein, the second position information is used to reflect the position where the centroid of the forging is located on the forging.

[0088] It can be understood that the second position information refers to the position where the centroid of the forging is located on the forging. For example, when the shape of the forging is regular or the centroid of the forging is on the forging, through the position coordinate points of the centroid, after obtaining that the center line of the fixture coincides with the centroid coordinate point, the position coordinate points where the fixture contacts the surface of the forging are obtained, and the position of the surface or line formed by connecting these position coordinate points is the second position information; the centroid of the forging (i.e., the center of mass) may not be on the forging due to irregular size or shape. In this case, after determining the centroid coordinate, the minimum distance between the centroid coordinate and the forging is calculated, and the position coordinate of the surface of the forging where the minimum distance is located is determined as the pseudo-centroid coordinate. After the center line of the fixture coincides with the pseudo-centroid coordinate point, the position coordinate points where the fixture contacts the surface of the forging are obtained, and the position of the surface or line formed by connecting these position coordinate points is the second position information.

[0089] S223, analyze according to the first position information and the second position information to obtain the clamping information.

[0090] Exemplarily, the clamping position can be determined by calculating the relative position between the first position information and the second position information, and then analyzing based on the clamping position and the second position information to obtain the clamping speed; alternatively, the first position information and the second position information can be input into a learning model, and the learning model outputs the clamping information.

[0091] With such a setting, by comprehensively determining the best clamping strategy based on the first position information of the key features and the second position information of the center of gravity, not only the clamping accuracy and efficiency are improved, but also the product quality and the overall production safety are enhanced.

[0092] In a possible implementation manner, in step S223, analyzing based on the first position information and the second position information to obtain the clamping information includes:

[0093] S2231, calculating the coincidence degree between the first position information and the second position information; wherein, the coincidence degree is used to reflect the positional relationship reflected by the first position information and the second position information.

[0094] It can be understood that the coincidence degree can be obtained by calculating the distance value between the first position information and the second position information. Exemplarily, 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 is converted into the coincidence degree. The smaller the value of the minimum distance, the higher the coincidence degree; alternatively, the distance between each position coordinate point in the first position information and each position coordinate point in the second position information can be calculated, a weight value is assigned to each distance, and after weighted summation, a distance value is obtained, and then the distance value is converted into the coincidence degree, and so on, but not limited thereto.

[0095] S2232, determining the clamping position of the clamping information based on the coincidence degree.

[0096] Exemplarily, it can be further judged by the magnitude of the coincidence degree, and one first position information suitable as the clamping position among multiple first position information is selected as the clamping position; alternatively, each first position information and the second position information can be input into a learning model, and the learning model outputs the clamping position, and so on, but not limited thereto.

[0097] In a possible implementation manner, in step S2232, determining the clamping position of the clamping information based on the coincidence degree includes:

[0098] S22321a, when the coincidence degree is less than the preset coincidence degree, using the coordinate position of each key feature as the key and the structural complexity of each key feature as the value to construct a key-value pair.

[0099] It can be understood that the preset coincidence degree is a preset value, which can be manually input by humans or obtained from the forging database, etc., but not limited to this. The 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 mean curvature of each vertex or small area region are 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 is calculated as the structural complexity index. It can also be represented by calculating the number of edges at the position of the forging where the first information is located. The more the number of edges, the higher the structural complexity, etc., but not limited to this.

[0100] Taking the coordinate position of each key feature as the key means taking the representative position coordinates of the first position information corresponding to the key feature as the key. The representative position coordinates can be the average value of all point coordinates within the key feature region, or the coordinate set of the contact points when the fixture clamps the corresponding position of the key feature; it can also be specified manually. If the coordinate position (i.e., the representative position) of one of the key features is (X 1 Y 1 Z 1 ), and the structural complexity is M, its key-value pair is [(X 1 Y 1 Z 1 ), M i .

[0101] S22322a. Analyze according to the coincidence degree and the key-value pair to obtain the stability coefficient.

[0102] Exemplarily, it can be analyzed through the coincidence degree and the key-value pair to respectively obtain the influence degree of the key feature on clamping, and then the stability coefficient is obtained through weighted summation; it can also input the coincidence degree and the key-value pair into the learning model, and the learning model then outputs the corresponding stability coefficient, etc., but not limited to this.

[0103] In a possible implementation manner, in step S22322a, analyzing according to the coincidence degree and the key-value pair to obtain the stability coefficient includes:

[0104] S223221. Analyze according to the coincidence degree to obtain the movement factor; where the movement factor is used to reflect the dynamic stability degree when the fixture clamps at the position corresponding to the key feature.

[0105] It can be understood that different coincidence degrees correspond to a movement factor. The higher the coincidence degree, the larger the movement factor. Exemplarily, the corresponding movement factor can be obtained by matching the coincidence degree in the forging database; or the coincidence degree can be input into the learning model, and the learning model outputs the corresponding movement factor.

[0106] S223222. Analyze according to the key-value pairs to obtain the clamping factor, where the clamping factor is used to reflect the static stability degree when the fixture clamps at the position corresponding to the key feature.

[0107] It can be understood that through the specific numerical values or the number of ID of the position coordinates of the keys of the key-value pairs, and the corresponding values, the matching degree and stability between the fixture and the contact points of the workpiece can be evaluated. Exemplarily, the precise coordinates (X 1 , Y 1 , Z 1 ) of the contact points between the simulated fixture and the workpiece can be obtained, and then combined with the structural complexity M i corresponding to the position coordinates, the clamping factor of the key feature can be obtained by using the learning model, or the key-value pairs can be directly input into the forging database for matching to obtain the corresponding clamping factor, etc., but not limited to this.

[0108] S223223. Analyze according to the movement factor and the clamping factor to obtain the stability coefficient.

[0109] It can be understood that the stability coefficient refers to the stability degree when the fixture clamps at the position corresponding to the key feature. Exemplarily, the stability coefficient can be obtained by obtaining the weights of the movement factor and the clamping factor and performing weighted summation, 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 not limited to this.

[0110] With such a setting, the movement factor reflecting the dynamic stability degree when the fixture clamps at the key feature position is obtained by analyzing the coincidence degree, and the clamping factor reflecting the static stability degree is obtained by analyzing the key-value pairs. Furthermore, the stability coefficient is 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 during 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.

[0111] In a possible implementation manner, in step S223223, analyzing according to the movement factor and the clamping factor to obtain the stability coefficient includes:

[0112] S2232231. Determine the movement weight and the clamping weight according to the forging information, where the movement weight is used to reflect the importance degree of the dynamic stability degree, and the clamping weight is used to reflect the importance degree of the static stability degree.

[0113] It can be understood that different forgings have different requirements for dynamic and static stability. Exemplarily, forging information can be input into a learning model, and the learning model outputs corresponding moving weights and clamping weights; alternatively, the forging information can be matched in a forging database, and the forging database outputs corresponding moving weights and clamping weights, etc., but not limited to this.

[0114] S2232232, weight the moving factor based on the moving weight, weight the clamping factor based on the clamping weight, and obtain the stability coefficient after summation.

[0115] It can be understood that the stability coefficient = moving weight × moving factor + clamping weight × clamping factor.

[0116] With such a setting, by determining the moving weight and the clamping weight according to the forging information and performing weighted summation on the moving 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.

[0117] S22323a, determine the position of the key feature corresponding to the maximum stability coefficient as the clamping position of the clamping information.

[0118] It can be understood that the larger the stability coefficient, the more stable the fixture is when clamping the forging.

[0119] With such a setting, when the coincidence degree is less than the preset threshold, by constructing key-value pairs with the coordinate position of each key feature as the key and the structural complexity as the value, and analyzing in combination with the coincidence degree and the key-value pairs to obtain the stability coefficient, and finally selecting the key feature position with the maximum stability coefficient as the clamping position, this method can identify and select the most suitable key feature position for clamping, enabling the fixture to still achieve a firm and reliable clamping operation under complex or unfavorable conditions, thereby improving the success rate of the clamping operation and the stability and accuracy of the manufacturing process.

[0120] In a possible implementation manner, in step S2232, when determining the clamping position of the clamping information based on the coincidence degree, it further includes:

[0121] S22321b, when the coincidence degree is greater than the preset coincidence degree, determine the position corresponding to this key feature as the potential clamping position.

[0122] It can be understood that when the coincidence degree is greater than the preset coincidence degree, it indicates that the position corresponding to this key feature has a high matching degree and stability and is suitable as a clamping point.

[0123] S22322b, compare the contact coincidence degrees of multiple potential clamping positions, and determine the potential clamping position with the maximum contact coincidence degree as the clamping position of the clamping information; wherein, the contact coincidence degree is used to reflect the degree of contact between the fixture and the forging.

[0124] It can be understood that when simulating the fixture using simulation software at the position corresponding to the key feature of the forging being clamped, the contact area between the fixture and the forging can be obtained, and the proportion of the contact area of the fixture can be used as the contact coincidence degree. It is also possible to calculate the number of contact coordinate points on the forging and convert the number into the contact coincidence degree, etc., but not limited to this.

[0125] With such a setting, by determining the potential clamping position when the coincidence degree is greater than the preset threshold and further selecting the position with the highest coincidence degree 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.

[0126] S2233. Analyze based on the second position information and the clamping position to obtain the clamping speed of the clamping information.

[0127] It can be understood that the clamping speed refers to the speed at which the fixture clamps the forging from the starting point to the landing point. Exemplarily, it can be evaluated based on the weight of the forging. Initially set a speed, then calculate the distance between the second position information and the clamping position, and adjust the initially set speed according to the distance to obtain the clamping speed; it is also possible to input the second position information and the clamping position into a learning model, and the learning model outputs the corresponding clamping speed, etc., but not limited to this.

[0128] With such a setting, by dynamically analyzing the corresponding clamping position and clamping speed according to different forgings, it can better support the clamping operation during the manufacturing process, thereby improving the overall production quality and efficiency, enabling each forging to be moved or transported under better conditions.

[0129] In a possible implementation manner, in step S2233, analyzing based on the second position information and the clamping position to obtain the clamping speed of the clamping information includes:

[0130] S22331. Analyze based on the weight of the forging information to obtain the basic clamping speed.

[0131] It can be 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 can allow a higher basic clamping speed. Exemplarily, the weight can be matched in the forging database to obtain the basic clamping speed; it can also be obtained using a learning model, etc., but not limited to this.

[0132] S22332. Analyze based on the relative distance between the second position information and the clamping position to obtain the speed adjustment value.

[0133] 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 surface of the forging. 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 positive, 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 negative, and then the difference between the relative distance and the distance threshold is calculated to match the corresponding speed adjustment value. It is also possible to directly match the relative distance in the forging database to obtain the corresponding speed adjustment value, and so on, but not limited to this.

[0134] S22333, adjust the basic clamping speed based on the speed adjustment value to obtain the clamping speed of the clamping information.

[0135] It can be understood that the clamping speed = basic clamping speed + speed adjustment value.

[0136] With such settings, for different forging characteristics and operating environments, the clamping strategy can be adaptively adjusted, which enhances the flexibility and adaptability of the system and reduces the limitations brought by fixed parameters.

[0137] S300, obtain the landing point information; among them, the landing point information is used to reflect the position and state where the forging needs to be placed.

[0138] 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 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 by humans or obtained from the forging database, and so on, but not limited to this.

[0139] S400, analyze based on the clamping information and the landing point information to obtain the clamping path information; among them, the clamping path information is used to reflect the movement trajectory of the forging from the starting point to the landing point.

[0140] It can be understood that path planning algorithms (such as A* algorithm, Dijkstra algorithm, RRT, etc.) can be used to calculate the optimal 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 time of acceleration and deceleration and improve the overall efficiency. If there are specific posture requirements for the forging at the landing point, the posture of the forging is adjusted during the clamping process according to the clamping position. When planning the path, determine at which key points the posture of the forging needs to be adjusted, such as rotation, tilting, etc. Use the inverse kinematics principle to calculate the precise action sequence required for the fixture during movement to ensure that the forging can reach the specified posture when it reaches the landing point, and comprehensively obtain the clamping path information.

[0141] In S500, the control device controls the fixture to clamp the forging based on the clamping information and the clamping path information.

[0142] With such settings, by obtaining information such as the shape and weight of the forging to analyze and determine the optimal clamping position and speed, while considering the key features, center of gravity of the forging, and the dynamic and static stability during clamping, the safety and accuracy of the clamping process are ensured; further, based on the landing point information, the optimal movement trajectory from the starting point to the landing point is planned, and based on this, the fixture is controlled to complete the clamping operation. This method not only improves the reliability and efficiency of the clamping operation, but also enhances the intelligent 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.

[0143] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0144] Corresponding to the forging fixture clamping method described in the above embodiments, the embodiments of the present application further provide a forging fixture clamping system, and each module of this system can implement each step of the forging fixture clamping method. Figure 3 The block diagram of the forging fixture clamping system provided by the embodiments of the present application is shown. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown.

[0145] Refer to Figure 3 , the forging fixture clamping system includes:

[0146] A first acquisition module for acquiring forging information; wherein, the forging information is used to reflect the shape and weight of the forging.

[0147] A first analysis module for analyzing according to the forging information to obtain clamping information; wherein, the clamping information is used to reflect the clamping position and clamping speed of the fixture for clamping the forging.

[0148] A second acquisition module for acquiring landing point information; wherein, the landing point information is used to reflect the position and state where the forging needs to be placed.

[0149] A second analysis module for analyzing according to 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.

[0150] A control module for controlling the device to control the fixture to clamp the forging based on the clamping information and the clamping path information.

[0151] It should be noted that, regarding the information interaction, execution process, etc. between the above-mentioned modules, since they are based on the same concept as the method embodiments of the present application, for their specific functions and the technical effects brought about, reference can be specifically made to the method embodiment section, and details will not be elaborated here.

[0152] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each module is used as an example. In actual applications, the above functions can be allocated 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. Each module 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 a software functional unit. In addition, the specific names of each module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working process of the modules in the above system can refer to the corresponding process in the foregoing method embodiment, and details will not be elaborated here.

[0153] An embodiment of the present application also provides a forging robot 100, as Figure 4 and Figure 5 shown, including a fixture 10 and a control device 6. The control device 6 is electrically connected to the fixture 10. The fixture 10 includes jaws 11 and adjustable joints 12. Figure 5 It is a schematic structural diagram of the control device 6 provided by an embodiment of the present application. As Figure 5 shown, the control device 6 of this embodiment includes: at least one processor 60 ( Figure 5 only one is shown in Figure 5 ), at least one memory 61 (

[0154] only one is shown in

[0155] Figure 5 ), 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 forging fixture clamping method embodiments, or enables the control device 6 to implement the functions of each module in the above system embodiment.

[0154] Exemplarily, the computer program 62 can be divided into one or more modules / units. The one or more modules / units are stored in the memory 61 and executed by the processor 60 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 62 in the control device 6.

[0155] The control device 6 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The forging robot may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art can understand that Figure 5 merely examples of the control device 6, which do not constitute a limitation on the control device 6, may include more or fewer components than those shown in the figure, or combine certain components, or different components. For example, it may also include input and output devices, network access devices, buses, etc.

[0156] The processor 60 may be a central processing unit (CPU), and the processor 60 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0157] In some embodiments, the memory 61 may be an internal storage unit of the control device 6, such as the 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 the internal storage unit and the external storage device of the control device 6. The memory 61 is used to store an operating system, application programs, a boot loader, 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 will be output.

[0158] The embodiment of the present application also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0159] The embodiment of the present application provides a computer program product, and when the computer program product runs on the forging robot, the forging robot 100 implements the steps in any of the above method embodiments.

[0160] 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, to implement all or part of the processes in the above-described embodiment methods of this application, a computer program can be used to instruct relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the forging robot, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc.

[0161] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0162] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A professional technician can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0163] In the embodiments provided in this application, it should be understood that the disclosed forging robot and the forging fixture clamping system can be implemented in other ways. For example, the forging fixture clamping system embodiment described above is only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there can be other division methods. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be in an electrical, mechanical, or other form.

[0164] The module described as a separation component may or may not be physically separated. The component shown as a module may or may not be a physical module, that is, it may be located in one place or distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0165] The above embodiments 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 foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included within 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; Wherein, 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; Analyze the key features and the center of gravity information to obtain clamping information; 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; Analyze the first position information and the second position information to obtain clamping information; 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.

2. The forging jig clamping method according to claim 1, 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.

3. The forging jig clamping method according to claim 2, 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.

4. The forging jig clamping method according to claim 3, 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.

5. The forging jig clamping method according to claim 2, 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.

6. The forging jig clamping method according to claim 1, 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.

7. 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 6 when executing the computer program.

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