Multi-vehicle-type breaking and replacing clamp switching control method and device based on rotary table

Abstract

The invention discloses a multi-vehicle-type breaking and replacing clamp switching control method and device based on a rotary table. The method comprises the steps that undetermined machining breaking and replacing clamps corresponding to a machining vehicle type and the machining position are obtained, and a plurality of installed machining breaking and replacing clamps carried on the rotary table are obtained; judging whether the structure of the installed machining breaking and replacing clamp on the rotary table is the same as that of the to-be-machined breaking and replacing clamp or not; if yes, the rotary table is controlled to rotate the installed machining breaking replacement clamp with the same structure as the to-be-determined machining breaking replacement clamp to the machining position; and if not, the breaking and replacing robot is controlled to switch the installed machining breaking and replacing clamp at the corresponding machining position of the rotary table into the to-be-determined machining breaking and replacing clamp. By means of the rotary table, multiple replacement clamps needed by different vehicle types can be installed, rapid switching of the clamps is achieved, switching of machining equipment is achieved based on switching of the clamps, and the control efficiency during switching of the machining equipment is improved.

Description

Technical Field

[0001] The present invention relates to the field of control technology, and in particular to a method and device for controlling the switching of multiple types of breaking and replacing clamps based on a turntable. Background Art

[0002] When processing existing car models, they are usually processed by processing equipment fixed on a base. When the car model is changed, the processing equipment on the base needs to be replaced again, which is troublesome to operate and greatly affects the efficiency of switching the processing equipment.

[0003] Therefore, a multi-model fixture switching control strategy is urgently needed to solve the problem of low control efficiency when switching processing equipment. Summary of the invention

[0004] The embodiment of the present invention provides a large model-based power dispatching control method and device to solve the problem of low control efficiency when processing equipment is switched.

[0005] In order to solve the above problems, an embodiment of the present invention provides a large model-based power dispatching control method, including:

[0006] Obtain the pending processing replacement fixtures and processing positions corresponding to the processing vehicle model, as well as several installed processing replacement fixtures on the turntable;

[0007] Determine whether the structure of the installed processing and replacement fixture on the turntable is the same as that of the pending processing and replacement fixture;

[0008] If yes, the turntable is controlled to rotate the installed machining replacement fixture having the same structure as the pending machining replacement fixture to the machining position;

[0009] If not, the switching robot is controlled to switch the installed processing switching fixture at the corresponding processing position of the turntable to the pending processing switching fixture.

[0010] As an improvement of the above scheme, the turntable includes: a rotating device, a ground fixing device, a turntable maintenance latch mechanism, a turntable rotation zero point latch structure, a base and a plurality of fixture fixings;

[0011] Each of the clamp fixing members is disposed above the base;

[0012] The base is arranged above the rotating device;

[0013] The rotating device is arranged above the ground fixing device, the turntable maintenance latch mechanism is arranged on one side of the ground fixing device, and the turntable rotates to the zero point latch structure is arranged on the other side of the ground fixing device.

[0014] As an improvement of the above solution, each of the clamp fixing members comprises: three cylinders, three support blocks and two positioning pins;

[0015] The cylinders are respectively arranged at a first position, a second position and a third position on the base to form three outer ring clamping areas, and the outer sides of the installed processing replacement fixture or the pending processing replacement fixture are clamped through the three outer ring clamping areas;

[0016] The support blocks are respectively arranged at the fourth position, the fifth position and the sixth position on the base to form three inner support areas, and the installed processing replacement fixture or the pending processing replacement fixture is supported by the three inner support areas; wherein the area surrounded by the three outer ring clamping areas is larger than the area surrounded by the three inner support areas;

[0017] The positioning pins are respectively arranged at the seventh position and the eighth position on the base to form two positioning areas, and the installed processing replacement fixture or the pending processing replacement fixture is positioned through the two positioning areas.

[0018] As an improvement of the above solution, the method of switching the installed processing replacement fixture at the corresponding processing position of the turntable to the pending processing replacement fixture includes:

[0019] Generate a first clamping control signal of the switching robot, control the switching robot to clamp the installed processing switching fixture based on the first clamping control signal of the switching robot, and generate a turntable unlocking signal;

[0020] Based on the turntable unlocking signal, the working state of the turntable switching cylinder is controlled to release the installed processing break-off fixture;

[0021] Generate a first movement control signal of the replacement robot, and based on the first movement control signal of the replacement robot, control the replacement robot to lift the installed processing replacement fixture and move the installed processing replacement fixture to a preset area;

[0022] Generate a first unlocking control signal for the dismantling robot, and control the dismantling robot to release the installed processing dismantling fixture based on the first unlocking control signal for the dismantling robot;

[0023] Based on the position of the pending processing replacement fixture, control the replacement robot to move to the pending processing replacement fixture, generate a second clamping control signal for the replacement robot, and control the replacement robot to clamp the pending processing replacement fixture based on the second clamping control signal of the replacement robot;

[0024] Generate a second movement control signal of the replacement robot, and based on the second movement control signal of the replacement robot, control the replacement robot to lift the replacement fixture to be processed, and move the replacement fixture to be processed to the base; wherein, by identifying the positioning pin on the base, the replacement fixture to be processed is locked on the base along the positioning pin;

[0025] Generate a turntable locking signal, and based on the turntable locking signal, control the working state of the turntable switching cylinder to lock the pending processing replacement fixture;

[0026] Generate a second unlocking control signal for the replacement robot, and based on the second unlocking control signal for the replacement robot, control the replacement robot to release the pending processing replacement fixture to complete the switching from the installed processing replacement fixture to the pending processing replacement fixture.

[0027] As an improvement of the above solution, the control turntable rotates the installed processing replacement fixture of the same structure as the pending processing replacement fixture to the processing position, including:

[0028] Determine whether an installed machining replacement fixture having the same structure as the pending machining replacement fixture is a machining position;

[0029] If not, the rotation angle is determined based on the angle difference between the installed machining replacement fixture of the same structure as the pending machining replacement fixture and the machining position;

[0030] If so, do nothing.

[0031] Accordingly, an embodiment of the present invention further provides a multi-model breaking and replacing fixture switching control device based on a turntable, comprising: a data acquisition module, a data judgment module, a rotation module and a switching module;

[0032] The data acquisition module is used to obtain the pending processing replacement fixture and processing position corresponding to the processing vehicle model, as well as a number of installed processing replacement fixtures on the turntable;

[0033] The data judgment module is used to judge whether the structure of the installed processing and replacement fixture on the turntable is the same as that of the pending processing and replacement fixture;

[0034] The rotating module is used to control the turntable to rotate the installed processing replacement fixture with the same structure as the pending processing replacement fixture to the processing position;

[0035] The switching module is used to control the replacement robot to switch the installed processing replacement fixture at the corresponding processing position of the turntable to the pending processing replacement fixture if no.

[0036] As an improvement of the above scheme, the turntable includes: a rotating device, a ground fixing device, a turntable maintenance latch mechanism, a turntable rotation zero point latch structure, a base and a plurality of fixture fixings;

[0037] Each of the clamp fixing members is disposed above the base;

[0038] The base is arranged above the rotating device;

[0039] The rotating device is arranged above the ground fixing device, the turntable maintenance latch mechanism is arranged on one side of the ground fixing device, and the turntable rotates to the zero point latch structure is arranged on the other side of the ground fixing device.

[0040] As an improvement of the above solution, each of the clamp fixing members comprises: three cylinders, three support blocks and two positioning pins;

[0041] The cylinders are respectively arranged at a first position, a second position and a third position on the base to form three outer ring clamping areas, and the outer sides of the installed processing replacement fixture or the pending processing replacement fixture are clamped through the three outer ring clamping areas;

[0042] The support blocks are respectively arranged at the fourth position, the fifth position and the sixth position on the base to form three inner support areas, and the installed processing replacement fixture or the pending processing replacement fixture is supported by the three inner support areas; wherein the area surrounded by the three outer ring clamping areas is larger than the area surrounded by the three inner support areas;

[0043] The positioning pins are respectively arranged at the seventh position and the eighth position on the base to form two positioning areas, and the installed processing replacement fixture or the pending processing replacement fixture is positioned through the two positioning areas.

[0044] As an improvement of the above solution, the method of switching the installed processing replacement fixture at the corresponding processing position of the turntable to the pending processing replacement fixture includes:

[0045] Generate a first clamping control signal of the switching robot, control the switching robot to clamp the installed processing switching fixture based on the first clamping control signal of the switching robot, and generate a turntable unlocking signal;

[0046] Based on the turntable unlocking signal, the working state of the turntable switching cylinder is controlled to release the installed processing break-off fixture;

[0047] Generate a first movement control signal of the replacement robot, and based on the first movement control signal of the replacement robot, control the replacement robot to lift the installed processing replacement fixture and move the installed processing replacement fixture to a preset area;

[0048] Generate a first unlocking control signal for the dismantling robot, and control the dismantling robot to release the installed processing dismantling fixture based on the first unlocking control signal for the dismantling robot;

[0049] Based on the position of the pending processing replacement fixture, control the replacement robot to move to the pending processing replacement fixture, generate a second clamping control signal for the replacement robot, and control the replacement robot to clamp the pending processing replacement fixture based on the second clamping control signal of the replacement robot;

[0050] Generate a second movement control signal of the replacement robot, and based on the second movement control signal of the replacement robot, control the replacement robot to lift the replacement fixture to be processed, and move the replacement fixture to be processed to the base; wherein, by identifying the positioning pin on the base, the replacement fixture to be processed is locked on the base along the positioning pin;

[0051] Generate a turntable locking signal, and based on the turntable locking signal, control the working state of the turntable switching cylinder to lock the pending processing replacement fixture;

[0052] Generate a second unlocking control signal for the replacement robot, and based on the second unlocking control signal for the replacement robot, control the replacement robot to release the pending processing replacement fixture to complete the switching from the installed processing replacement fixture to the pending processing replacement fixture.

[0053] As an improvement of the above solution, the control turntable rotates the installed processing replacement fixture of the same structure as the pending processing replacement fixture to the processing position, including:

[0054] Determine whether an installed machining replacement fixture having the same structure as the pending machining replacement fixture is a machining position;

[0055] If not, the rotation angle is determined based on the angle difference between the installed machining replacement fixture of the same structure as the pending machining replacement fixture and the machining position;

[0056] If so, do nothing.

[0057] As can be seen from the above, the present invention has the following beneficial effects:

[0058] The present invention provides a large-scale model-based power dispatching control method, which obtains the pending processing replacement fixture and processing position corresponding to the processing vehicle model, as well as several installed processing replacement fixtures on a turntable; determines whether the structure of the installed processing replacement fixture on the turntable is the same as that of the pending processing replacement fixture; if so, controls the turntable to rotate the installed processing replacement fixture with the same structure as the pending processing replacement fixture to the processing position; if not, controls the replacement robot to switch the installed processing replacement fixture at the processing position corresponding to the turntable to the pending processing replacement fixture. The present invention uses a rotatable turntable to determine whether the pending processing replacement fixture exists, and if so, switches the fixture based on the rotation of the turntable; if not, controls the replacement robot to switch the fixture. The present invention can be applied to equipment generation processing of different vehicle models. The replacement fixtures required by multiple different vehicle models can be installed on the turntable to achieve rapid switching of fixtures, and the switching of processing equipment is achieved based on the switching of fixtures, thereby improving the control efficiency when switching processing equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is a flow chart of a method for switching and controlling a multi-model breaking and replacing fixture based on a turntable provided by an embodiment of the present invention;

[0060] Figure 2 It is a structural schematic diagram of a multi-type breaking and replacing fixture switching control device based on a turntable provided in one embodiment of the present invention;

[0061] Figure 3 This is a schematic diagram of the structure of a terminal device provided by an embodiment of the present invention;

[0062] Figure 4 It is a structural schematic diagram of a breaking and replacing fixture and a turntable provided in one embodiment of the present invention;

[0063] Figure 5 is a structural schematic diagram of a disconnecting and replacing fixture and a turntable provided in another embodiment of the present invention;

[0064] Figure 6 is a structural schematic diagram of a cylinder provided by an embodiment of the present invention;

[0065] Figure 7 is a schematic structural diagram of a support block provided by an embodiment of the present invention;

[0066] Figure 8 is a schematic structural diagram of a positioning pin provided by an embodiment of the present invention;

[0067] Fig. 9 is a schematic structural diagram of a turntable provided in one embodiment of the present invention;

[0068] Fig.10 It is a structural schematic diagram of a turntable provided in yet another embodiment of the present invention. DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0070] Embodiment 1

[0071] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a method for controlling the switching of multiple types of fixtures based on a turntable according to an embodiment of the present invention. Figure 1 As shown, this embodiment includes steps 101 to 104, and each step is specifically as follows:

[0072] Step 101: Obtain the pending processing replacement fixture and processing position corresponding to the processing vehicle model, as well as a number of installed processing replacement fixtures on the turntable.

[0073] In this embodiment, the turntable includes: a rotating device, a ground fixing device, a turntable maintenance latch mechanism, a turntable rotation zero point latch structure, a base and a plurality of fixture fixings;

[0074] Each of the clamp fixing members is disposed above the base;

[0075] The base is arranged above the rotating device;

[0076] The rotating device is arranged above the ground fixing device, the turntable maintenance latch mechanism is arranged on one side of the ground fixing device, and the turntable rotates to the zero point latch structure is arranged on the other side of the ground fixing device.

[0077] In a specific embodiment, to better illustrate the positions of the rotating device, the ground fixing device, the turntable maintenance latch mechanism, the turntable rotation zero point latch structure, the base and the plurality of fixture fixing parts, see Fig. 9 and 10 .

[0078] In this embodiment, each of the fixture fixings comprises: three cylinders, three support blocks and two positioning pins;

[0079] The cylinders are respectively arranged at a first position, a second position and a third position on the base to form three outer ring clamping areas, and the outer sides of the installed processing replacement fixture or the pending processing replacement fixture are clamped through the three outer ring clamping areas;

[0080] The support blocks are respectively arranged at the fourth position, the fifth position and the sixth position on the base to form three inner support areas, and the installed processing replacement fixture or the pending processing replacement fixture is supported by the three inner support areas; wherein the area surrounded by the three outer ring clamping areas is larger than the area surrounded by the three inner support areas;

[0081] The positioning pins are respectively arranged at the seventh position and the eighth position on the base to form two positioning areas, and the installed processing replacement fixture or the pending processing replacement fixture is positioned through the two positioning areas.

[0082] In a specific embodiment, the turntable can carry 4 break-out fixtures, see Figure 4 , 5 .

[0083] As shown in the figure, the turntable is divided into two sides, A / B, and each side can be placed with two sets of replacement fixtures. Two manual loading positions can be merged into one position to reduce the number of operators. Two sets of the same fixtures can load parts at the same loading port at the same time to reduce the investment in equipment. (such as transfer table, pickup robot, dotting robot).

[0084] Step 102: Determine whether the structure of the installed processing replacement fixture on the turntable is the same as that of the pending processing replacement fixture.

[0085] Step 103: If yes, the turntable is controlled to rotate the installed machining replacement fixture having the same structure as the pending machining replacement fixture to the machining position.

[0086] In this embodiment, each of the fixture fixings comprises: three cylinders, three support blocks and two positioning pins;

[0087] The cylinders are respectively arranged at a first position, a second position and a third position on the base to form three outer ring clamping areas, and the outer sides of the installed processing replacement fixture or the pending processing replacement fixture are clamped through the three outer ring clamping areas;

[0088] The support blocks are respectively arranged at the fourth position, the fifth position and the sixth position on the base to form three inner support areas, and the installed processing replacement fixture or the pending processing replacement fixture is supported by the three inner support areas; wherein the area surrounded by the three outer ring clamping areas is larger than the area surrounded by the three inner support areas;

[0089] The positioning pins are respectively arranged at the seventh position and the eighth position on the base to form two positioning areas, and the installed processing replacement fixture or the pending processing replacement fixture is positioned through the two positioning areas.

[0090] In a specific embodiment, to better illustrate the position of the cylinder, see Figure 6 ; For a better illustration of the position of the support blocks, see Figure 7 ; For better illustration of the location of the locating pins, see Figure 8 .

[0091] It can be understood that the three support blocks, two positioning pins and three cylinders of the fixture fixing on the turntable limit the six degrees of freedom of the breaking fixture after it is placed on the base.

[0092] Step 104: If not, the replacement robot is controlled to switch the installed processing replacement fixture at the corresponding processing position of the turntable to the pending processing replacement fixture.

[0093] In this embodiment, each of the fixture fixings comprises: three cylinders, three support blocks and two positioning pins;

[0094] The cylinders are respectively arranged at a first position, a second position and a third position on the base to form three outer ring clamping areas, and the outer sides of the installed processing replacement fixture or the pending processing replacement fixture are clamped through the three outer ring clamping areas;

[0095] The support blocks are respectively arranged at the fourth position, the fifth position and the sixth position on the base to form three inner support areas, and the installed processing replacement fixture or the pending processing replacement fixture is supported by the three inner support areas; wherein the area surrounded by the three outer ring clamping areas is larger than the area surrounded by the three inner support areas;

[0096] The positioning pins are respectively arranged at the seventh position and the eighth position on the base to form two positioning areas, and the installed processing replacement fixture or the pending processing replacement fixture is positioned through the two positioning areas.

[0097] See also Figure 2 , Figure 2 It is a schematic structural diagram of a multi-model breaking and replacing fixture switching control device based on a turntable provided by an embodiment of the present invention, comprising: a data acquisition module 201, a data judgment module 202, a rotation module 203 and a switching module 204;

[0098] The data acquisition module is used to obtain the pending processing replacement fixture and processing position corresponding to the processing vehicle model, as well as a number of installed processing replacement fixtures on the turntable;

[0099] The data judgment module is used to judge whether the structure of the installed processing and replacement fixture on the turntable is the same as that of the pending processing and replacement fixture;

[0100] The rotating module is used to control the turntable to rotate the installed processing replacement fixture with the same structure as the pending processing replacement fixture to the processing position;

[0101] The switching module is used to control the replacement robot to switch the installed processing replacement fixture at the corresponding processing position of the turntable to the pending processing replacement fixture if no.

[0102] As an improvement of the above scheme, the turntable includes: a rotating device, a ground fixing device, a turntable maintenance latch mechanism, a turntable rotation zero point latch structure, a base and a plurality of fixture fixings;

[0103] Each of the clamp fixing members is disposed above the base;

[0104] The base is arranged above the rotating device;

[0105] The rotating device is arranged above the ground fixing device, the turntable maintenance latch mechanism is arranged on one side of the ground fixing device, and the turntable rotates to the zero point latch structure is arranged on the other side of the ground fixing device.

[0106] As an improvement of the above solution, each of the clamp fixing members comprises: three cylinders, three support blocks and two positioning pins;

[0107] The cylinders are respectively arranged at a first position, a second position and a third position on the base to form three outer ring clamping areas, and the outer sides of the installed processing replacement fixture or the pending processing replacement fixture are clamped through the three outer ring clamping areas;

[0108] The support blocks are respectively arranged at the fourth position, the fifth position and the sixth position on the base to form three inner support areas, and the installed processing replacement fixture or the pending processing replacement fixture is supported by the three inner support areas; wherein the area surrounded by the three outer ring clamping areas is larger than the area surrounded by the three inner support areas;

[0109] The positioning pins are respectively arranged at the seventh position and the eighth position on the base to form two positioning areas, and the installed processing replacement fixture or the pending processing replacement fixture is positioned through the two positioning areas.

[0110] As an improvement of the above solution, the method of switching the installed processing replacement fixture at the corresponding processing position of the turntable to the pending processing replacement fixture includes:

[0111] Generate a first clamping control signal of the switching robot, control the switching robot to clamp the installed processing switching fixture based on the first clamping control signal of the switching robot, and generate a turntable unlocking signal;

[0112] Based on the turntable unlocking signal, the working state of the turntable switching cylinder is controlled to release the installed processing break-off fixture;

[0113] Generate a first movement control signal of the replacement robot, and based on the first movement control signal of the replacement robot, control the replacement robot to lift the installed processing replacement fixture and move the installed processing replacement fixture to a preset area;

[0114] Generate a first unlocking control signal for the dismantling robot, and control the dismantling robot to release the installed processing dismantling fixture based on the first unlocking control signal for the dismantling robot;

[0115] Based on the position of the pending processing replacement fixture, control the replacement robot to move to the pending processing replacement fixture, generate a second clamping control signal for the replacement robot, and control the replacement robot to clamp the pending processing replacement fixture based on the second clamping control signal of the replacement robot;

[0116] Generate a second movement control signal of the replacement robot, and based on the second movement control signal of the replacement robot, control the replacement robot to lift the replacement fixture to be processed, and move the replacement fixture to be processed to the base; wherein, by identifying the positioning pin on the base, the replacement fixture to be processed is locked on the base along the positioning pin;

[0117] Generate a turntable locking signal, and based on the turntable locking signal, control the working state of the turntable switching cylinder to lock the pending processing replacement fixture;

[0118] Generate a second unlocking control signal for the replacement robot, and based on the second unlocking control signal for the replacement robot, control the replacement robot to release the pending processing replacement fixture to complete the switching from the installed processing replacement fixture to the pending processing replacement fixture.

[0119] As an improvement of the above solution, the control turntable rotates the installed processing replacement fixture of the same structure as the pending processing replacement fixture to the processing position, including:

[0120] Determine whether an installed machining replacement fixture having the same structure as the pending machining replacement fixture is a machining position;

[0121] If not, the rotation angle is determined based on the angle difference between the installed machining replacement fixture of the same structure as the pending machining replacement fixture and the machining position;

[0122] If so, do nothing.

[0123] This embodiment obtains the pending processing replacement fixture and processing position corresponding to the processing vehicle model, as well as several installed processing replacement fixtures on the turntable; determines whether the structure of the installed processing replacement fixture on the turntable is the same as that of the pending processing replacement fixture; if so, controls the turntable to rotate the installed processing replacement fixture with the same structure as the pending processing replacement fixture to the processing position; if not, controls the replacement robot to switch the installed processing replacement fixture at the processing position corresponding to the turntable to the pending processing replacement fixture. The present invention uses a rotatable turntable to determine whether the pending processing replacement fixture exists, and if so, switches the fixture based on the rotation of the turntable; if not, controls the replacement robot to switch the fixture. It can be applied to equipment generation processing of different vehicle models. The turntable can be equipped with replacement fixtures required by multiple different vehicle models to achieve rapid switching of fixtures, and the switching of processing equipment is achieved based on the switching of fixtures, thereby improving the control efficiency when switching processing equipment.

[0124] Embodiment 2

[0125] See also Figure 3 , Figure 3 It is a schematic diagram of the structure of a terminal device provided in one embodiment of the present invention.

[0126] A terminal device of this embodiment includes: a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the processor 301 executes the computer program, the steps of the above-mentioned multi-type break-and-replace fixture switching control method based on a turntable in the embodiment are implemented, for example Figure 1 All steps of the multi-model break-and-replace fixture switching control method based on a turntable are shown. Alternatively, when the processor executes the computer program, the functions of each module in the above-mentioned device embodiments are realized, for example: Figure 2 All modules of the turntable-based multi-model fixture switching control device are shown.

[0127] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the multi-type disconnecting fixture switching control method based on a turntable as described in any of the above embodiments.

[0128] Those skilled in the art will understand that the schematic diagram is merely an example of a terminal device and does not constitute a limitation on the terminal device. The terminal device may include more or fewer components than shown in the diagram, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0129] The processor 301 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. The processor 301 is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

[0130] The memory 302 can be used to store the computer program and / or module. The processor 301 implements various functions of the terminal device by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory 302. The memory 302 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0131] Wherein, if the module / unit integrated in the terminal device 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 such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, 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, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0132] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0133] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A multi-model breaking and replacing fixture switching control method based on a turntable, characterized in that: include: Obtain the pending processing replacement fixtures and processing positions corresponding to the processing vehicle model, as well as several installed processing replacement fixtures on the turntable; Determine whether the structure of the installed processing and replacement fixture on the turntable is the same as that of the pending processing and replacement fixture; If yes, the turntable is controlled to rotate the installed machining replacement fixture having the same structure as the pending machining replacement fixture to the machining position; If not, the switching robot is controlled to switch the installed processing switching fixture at the corresponding processing position of the turntable to the pending processing switching fixture.

2. The method for controlling the switching of multiple types of fixtures based on a turntable according to claim 1 is characterized in that: The turntable comprises: a rotating device, a ground fixing device, a turntable maintenance latch mechanism, a turntable rotation zero point latch structure, a base and a plurality of fixture fixings; Each of the clamp fixing members is disposed above the base; The base is arranged above the rotating device; The rotating device is arranged above the ground fixing device, the turntable maintenance latch mechanism is arranged on one side of the ground fixing device, and the turntable rotates to the zero point latch structure is arranged on the other side of the ground fixing device.

3. The method for controlling the switching of multiple types of fixtures based on a turntable according to claim 2 is characterized in that: Each of the fixture fixings comprises: three cylinders, three support blocks and two positioning pins; The cylinders are respectively arranged at a first position, a second position and a third position on the base to form three outer ring clamping areas, and the outer sides of the installed processing replacement fixture or the pending processing replacement fixture are clamped through the three outer ring clamping areas; The support blocks are respectively arranged at the fourth position, the fifth position and the sixth position on the base to form three inner support areas, and the installed processing replacement fixture or the pending processing replacement fixture is supported by the three inner support areas; wherein the area surrounded by the three outer ring clamping areas is larger than the area surrounded by the three inner support areas; The positioning pins are respectively arranged at the seventh position and the eighth position on the base to form two positioning areas, and the installed processing replacement fixture or the pending processing replacement fixture is positioned through the two positioning areas.

4. The method for controlling the switching of multiple types of fixtures based on a turntable according to claim 3 is characterized in that: The method of switching the installed processing replacement fixture at the corresponding processing position of the turntable to the pending processing replacement fixture comprises: Generate a first clamping control signal of the switching robot, control the switching robot to clamp the installed processing switching fixture based on the first clamping control signal of the switching robot, and generate a turntable unlocking signal; Based on the turntable unlocking signal, the working state of the turntable switching cylinder is controlled to release the installed processing break-off fixture; Generate a first movement control signal of the replacement robot, and based on the first movement control signal of the replacement robot, control the replacement robot to lift the installed processing replacement fixture and move the installed processing replacement fixture to a preset area; Generate a first unlocking control signal for the dismantling robot, and control the dismantling robot to release the installed processing dismantling fixture based on the first unlocking control signal for the dismantling robot; Based on the position of the pending processing replacement fixture, control the replacement robot to move to the pending processing replacement fixture, generate a second clamping control signal for the replacement robot, and control the replacement robot to clamp the pending processing replacement fixture based on the second clamping control signal of the replacement robot; Generate a second movement control signal of the replacement robot, and based on the second movement control signal of the replacement robot, control the replacement robot to lift the replacement fixture to be processed, and move the replacement fixture to be processed to the base; wherein, by identifying the positioning pin on the base, the replacement fixture to be processed is locked on the base along the positioning pin; Generate a turntable locking signal, and based on the turntable locking signal, control the working state of the turntable switching cylinder to lock the pending processing replacement fixture; Generate a second unlocking control signal for the replacement robot, and based on the second unlocking control signal for the replacement robot, control the replacement robot to release the pending processing replacement fixture to complete the switching from the installed processing replacement fixture to the pending processing replacement fixture.

5. The method for controlling the switching of multiple types of fixtures based on a turntable according to claim 4 is characterized in that: The control turntable rotates the installed processing replacement fixture having the same structure as the pending processing replacement fixture to the processing position, including: Determine whether an installed machining replacement fixture having the same structure as the pending machining replacement fixture is a machining position; If not, the rotation angle is determined based on the angle difference between the installed machining replacement fixture of the same structure as the pending machining replacement fixture and the machining position; If so, do nothing.

6. A multi-model breaking and replacing fixture switching control device based on a turntable, characterized in that: include: Data acquisition module, data judgment module, rotation module and switching module; The data acquisition module is used to obtain the pending processing replacement fixture and processing position corresponding to the processing vehicle model, as well as a number of installed processing replacement fixtures on the turntable; The data judgment module is used to judge whether the structure of the installed processing and replacement fixture on the turntable is the same as that of the pending processing and replacement fixture; The rotating module is used to control the turntable to rotate the installed processing replacement fixture with the same structure as the pending processing replacement fixture to the processing position; The switching module is used to control the replacement robot to switch the installed processing replacement fixture at the corresponding processing position of the turntable to the pending processing replacement fixture if no.

7. The multi-model breaking and replacing fixture switching control device based on a turntable according to claim 6 is characterized in that: The turntable comprises: a rotating device, a ground fixing device, a turntable maintenance latch mechanism, a turntable rotation zero point latch structure, a base and a plurality of fixture fixings; Each of the clamp fixing members is disposed above the base; The base is arranged above the rotating device; The rotating device is arranged above the ground fixing device, the turntable maintenance latch mechanism is arranged on one side of the ground fixing device, and the turntable rotates to the zero point latch structure is arranged on the other side of the ground fixing device.

8. The multi-model breaking and replacing fixture switching control device based on a turntable according to claim 7 is characterized in that: Each of the fixture fixings comprises: three cylinders, three support blocks and two positioning pins; The cylinders are respectively arranged at a first position, a second position and a third position on the base to form three outer ring clamping areas, and the outer sides of the installed processing replacement fixture or the pending processing replacement fixture are clamped through the three outer ring clamping areas; The support blocks are respectively arranged at the fourth position, the fifth position and the sixth position on the base to form three inner support areas, and the installed processing replacement fixture or the pending processing replacement fixture is supported by the three inner support areas; wherein the area surrounded by the three outer ring clamping areas is larger than the area surrounded by the three inner support areas; The positioning pins are respectively arranged at the seventh position and the eighth position on the base to form two positioning areas, and the installed processing replacement fixture or the pending processing replacement fixture is positioned through the two positioning areas.

9. The multi-model breaking and replacing fixture switching control device based on a turntable according to claim 8 is characterized in that: The method of switching the installed processing replacement fixture at the corresponding processing position of the turntable to the pending processing replacement fixture comprises: Generate a first clamping control signal of the switching robot, control the switching robot to clamp the installed processing switching fixture based on the first clamping control signal of the switching robot, and generate a turntable unlocking signal; Based on the turntable unlocking signal, the working state of the turntable switching cylinder is controlled to release the installed processing break-off fixture; Generate a first movement control signal of the replacement robot, and based on the first movement control signal of the replacement robot, control the replacement robot to lift the installed processing replacement fixture and move the installed processing replacement fixture to a preset area; Generate a first unlocking control signal for the dismantling robot, and control the dismantling robot to release the installed processing dismantling fixture based on the first unlocking control signal for the dismantling robot; Based on the position of the pending processing replacement fixture, control the replacement robot to move to the pending processing replacement fixture, generate a second clamping control signal for the replacement robot, and control the replacement robot to clamp the pending processing replacement fixture based on the second clamping control signal of the replacement robot; Generate a second movement control signal of the replacement robot, and based on the second movement control signal of the replacement robot, control the replacement robot to lift the replacement fixture to be processed, and move the replacement fixture to be processed to the base; wherein, by identifying the positioning pin on the base, the replacement fixture to be processed is locked on the base along the positioning pin; Generate a turntable locking signal, and based on the turntable locking signal, control the working state of the turntable switching cylinder to lock the pending processing replacement fixture; Generate a second unlocking control signal for the replacement robot, and based on the second unlocking control signal for the replacement robot, control the replacement robot to release the pending processing replacement fixture to complete the switching from the installed processing replacement fixture to the pending processing replacement fixture.

10. The multi-model breaking and replacing fixture switching control device based on a turntable according to claim 9 is characterized in that: The control turntable rotates the installed processing replacement fixture having the same structure as the pending processing replacement fixture to the processing position, including: Determine whether an installed machining replacement fixture having the same structure as the pending machining replacement fixture is a machining position; If not, the rotation angle is determined based on the angle difference between the installed machining replacement fixture of the same structure as the pending machining replacement fixture and the machining position; If so, do nothing.

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