Forging piece transportation control method, system and equipment

Abstract

The invention is suitable for the technical field of forge piece transportation control, and particularly relates to a forge piece transportation control method, system and equipment. Analyzing according to the forging information to obtain first clamping information; wherein the first clamping information is used for reflecting the forge piece clamping position and force of the clamping device; the control device controls the clamping device to carry out clamping based on the first clamping information; analyzing according to the forging information and the first clamping information to obtain second clamping information; wherein the second clamping information is used for reflecting the rotating angle of the clamping device after the main forge piece is clamped, and the angle range is 0-90 degrees; and the control device controls the clamping device to rotate based on the second clamping information. According to the method, the situation that forgings are damaged or fall off due to improper clamping is reduced; the forge pieces are kept stable in the carrying process, and the adaptability of the forge piece conveying equipment to various forge pieces is enhanced.

Description

Technical Field

[0001] This application belongs to the technical field of forging transportation control, and particularly relates to a forging transportation control method, system and equipment. Background Art

[0002] In modern forging processes, to improve production efficiency, reduce the risks of manual operations, and ensure the quality consistency of forgings, the application of automated equipment is becoming increasingly widespread. Among them, the use of handling robots is particularly important for handling high-temperature, heavy, and irregularly shaped forgings.

[0003] In the prior art, traditional forging transportation equipment often relies on fixed handling modes for clamping and handling operations. Due to the wide variety of forgings, their shapes and weights vary, lacking adaptability to different forgings; secondly, during the handling process, since the forging transportation equipment moves, it may affect the clamping state, resulting in the forging slipping, and thus the handling efficiency and handling effect are not good. Summary of the Invention

[0004] Embodiments of this application provide a forging transportation control method, system and equipment, which can solve the problem of low quality of drip bucket lids caused by improper parameters of manufacturing processes or manufacturing equipment.

[0005] In a first aspect, embodiments of this application provide a forging transportation control method, including: Obtain forging information; wherein, the forging information is used to reflect the shape and weight of the forging; Analyze according to the forging information to obtain first clamping information; wherein, the first clamping information is used to reflect the position and strength of the clamping device of the forging transportation equipment for clamping the forging; The control device controls the clamping device to clamp based on the first clamping information; Analyze according to the forging information and the first clamping information to obtain second clamping information; wherein, the second clamping information is used to reflect the angle of rotation of the clamping device after clamping the main forging, and the range of the angle is 0 to 90°; The control device controls the clamping device to rotate based on the second clamping information.

[0006] The above technical solutions in the embodiments of this application have at least the following technical effects: The forging transportation control method provided by this application first obtains forging information that reflects the shape and weight of the forging; then analyzes the forging information to obtain first clamping information that reflects the position and force of the clamping device of the forging transportation equipment for clamping the forging; controls the clamping device to clamp based on the first clamping information through a control device; then analyzes the forging information and the first clamping information to obtain second clamping information that reflects the angle of rotation of the clamping device after clamping the main forging; the range of the angle is 0 to 90°; finally, controls the clamping device to rotate based on the second clamping information through the control device. This method determines appropriate clamping positions and forces through forging information, reducing the situation of forging damage or dropping caused by improper clamping; then analyzes and determines a reasonable rotation angle through the forging information and the first clamping information, enabling the forging to remain stable during handling, thereby enhancing the adaptability of the forging transportation equipment to complex and diverse forgings.

[0007] In a possible implementation manner of the first aspect, the analyzing the forging information to obtain the first clamping information includes: Analyzing the forging information to obtain the center of gravity information and potential clamping information; wherein, the center of gravity information is used to reflect the position where the center of gravity of the forging is located, and the potential clamping information is used to reflect multiple positions on the surface structure of the forging that meet the clamping conditions of the clamping device; Analyzing the center of gravity information and the potential clamping information to obtain the clamping position information of the first clamping information; Analyzing the forging information and the clamping position information to obtain the clamping force information of the first clamping information.

[0008] In a possible implementation manner of the first aspect, the analyzing the forging information to obtain the potential clamping information includes: Analyzing the forging information to obtain the forging contour information; wherein, the forging contour information is used to reflect the shape and size of the outer edge of the forging; Performing feature extraction on the forging contour information to obtain structural feature information; wherein the structural feature information includes a planar region, a convex structure, and a concave structure; Analyzing the structural feature information to obtain a slip coefficient array; wherein, the slip coefficient array is a set of slip coefficients used to reflect the likelihood of the forging slipping when clamped at different structural positions; Analyzing the slip coefficient array to obtain the potential clamping information.

[0009] In a possible implementation manner of the first aspect, the analyzing the slip coefficient array to obtain the potential clamping information includes: Analyze according to the sliding coefficient array to obtain a discrete distribution diagram; wherein, the discrete distribution diagram is used to reflect the discrete relationship between the values of each of the sliding coefficients; Analyze according to the discrete distribution diagram to obtain a dense interval and the number of intervals; wherein, the dense interval is used to reflect the regional range where the sliding coefficients are relatively concentrated, and the number of intervals is used to reflect the number of the dense intervals; Analyze according to the dense interval to obtain the potential position information of the potential clamping information; wherein, the potential position information is used to reflect the position where the sliding coefficient is the smallest in the dense interval; Determine the potential quantity information of the potential clamping information based on the number of intervals; wherein, the potential quantity information is used to reflect the number of positions where the potential clamping information reflects that the surface structure of the forging meets the clamping conditions of the clamping device.

[0010] In a possible implementation manner of the first aspect, the analyzing according to the centroid information and the potential clamping information to obtain the clamping position information of the first clamping information includes: Calculate the deviation degree between the centroid information and the potential clamping information; wherein, the deviation degree is used to reflect the distance between the position of the centroid and each position reflected by the potential clamping information; Sort the multiple potential position information reflected by the potential clamping information according to the deviation degree to obtain a position priority sequence; Analyze according to the potential position information to obtain a convenience coefficient; wherein, the convenience coefficient is used to reflect the difficulty degree for the clamping device to move from the current state to the position where the potential position information is located and clamp the forging; Weight the priority sequence based on the convenience coefficient to obtain a comprehensive priority sequence; Confirm the potential position information in the first place in the comprehensive priority sequence as the clamping position information of the first clamping information.

[0011] In a possible implementation manner of the first aspect, the analyzing according to the forging information and the clamping position information to obtain the clamping force information of the first clamping information includes: Analyze according to the forging information to obtain an initial clamping force; Analyze according to the clamping position information to obtain an adjustment factor; wherein, the adjustment factor is used to reflect the influence degree of the centroid information on the clamping position information; Adjust the initial clamping force based on the adjustment factor to obtain the clamping force information of the first clamping information.

[0012] In a possible implementation of the first aspect, analyzing according to the forging information and the first clamping information to obtain second clamping information includes: Analyzing according to the forging information and the first clamping information to obtain offset angle information; wherein, the offset angle information is used to indicate the angle between the line connecting the center of gravity position corresponding to the forging information and the center position when the clamping device clamps at the position corresponding to the first clamping information and the vertical direction; If the angle reflected by the offset angle information is 0°, then calculate the line segment length of the line connecting the center of gravity position corresponding to the forging information and the center position when the clamping device clamps at the position corresponding to the first clamping information; When the line segment length is greater than the preset length, the clamping device does not rotate, and the rotation angle of 0° is confirmed as the second clamping information; When the line segment length is less than or equal to the preset length, the clamping device rotates 90°, and the rotation angle of 90° is confirmed as the second clamping information.

[0013] In a possible implementation of the first aspect, analyzing according to the forging information and the first clamping information to obtain second clamping information further includes: If the angle reflected by the offset angle information is not 0°, then confirm the offset angle information as the second clamping information.

[0014] In a second aspect, an embodiment of the present application provides a forging transportation control system, including: An acquisition module, configured to acquire forging information; wherein, the forging information is used to reflect the shape and weight of the forging; A first analysis module, configured to analyze according to the forging information to obtain first clamping information; wherein, the first clamping information is used to reflect the position and strength of the clamping device clamping the forging; A first control module, configured to control the device to control the clamping device to clamp based on the first clamping information; A second analysis module, configured to analyze according to the forging information and the first clamping information to obtain second clamping information; wherein, the second clamping information is used to reflect the rotation angle of the clamping device after clamping the main forging, and the range of the angle is 0 to 90°; A second control module, configured to control the device to control the clamping device to rotate based on the second clamping information.

[0015] In a third aspect, an embodiment of the present application provides a forging transportation device, including a clamping device, a moving device, and a control device. The control device is electrically connected to the clamping device and the moving device. The control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method described in any one of the above first aspects is implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the method described in any one of the above first aspects is implemented.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a forging transportation device, the forging transportation device is enabled to execute the forging transportation control method described in any one of the above first aspects.

[0018] 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

[0019] In order 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, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 is a schematic flowchart of the forging transportation control method provided by an embodiment of the present application; Figure 2 is a schematic flowchart of the implementation of step S200 in the forging transportation control method provided by an embodiment of the present application; Figure 3 is a schematic structural diagram of the forging transportation control system provided by an embodiment of the present application; Figure 4 is a schematic structural diagram of the forging transportation device provided by an embodiment of the present application; Figure 5 is a schematic structural diagram of the control device of the forging transportation device provided by an embodiment of the present application. Detailed Embodiments

[0021] In the following description, specific details such as specific system architectures, technologies, etc. are presented for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0022] It should be understood that when used in the specification and the appended claims of the present application, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0023] It should also be understood that the term "and / or" used in the specification and the appended 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.

[0024] As used in the specification and the appended claims of the present application, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" depending on the context. Similarly, the phrases "if determined" or "if the described condition or event is detected" can be interpreted as meaning "once determined", "in response to determining", "once the described condition or event is detected", or "in response to detecting the described condition or event" depending on the context.

[0025] In addition, in the description of the specification and the appended claims of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0026] The reference to "one embodiment" or "some embodiments" etc. described in the specification of the present application means that a specific feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer 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.

[0027] In modern forging processes, in order to improve production efficiency, reduce the risks of manual operations, and ensure the quality consistency of forgings, the application of automated equipment is becoming increasingly widespread. Among them, the use of handling robots is particularly important for dealing with forgings that are hot, heavy, and irregular in shape.

[0028] In the prior art, traditional forging transportation equipment often relies on fixed handling modes for clamping and handling operations. Due to the wide variety of forgings, their shapes and weights vary, lacking adaptability to different forgings. Secondly, during the handling process, since the forging transportation equipment moves, it may affect the clamping state, causing the forging to slip, thereby resulting in poor handling efficiency and handling effects.

[0029] To solve the above problems, the embodiments of the present application provide a forging transportation control method, system, and equipment. 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, first clamping information reflecting the position and force of the clamping device of the forging transportation equipment for clamping the forging is obtained; the clamping device is controlled by a control device to clamp based on the first clamping information; then, based on the analysis of the forging information and the first clamping information, second clamping information reflecting the angle of rotation of the clamping device after clamping the main forging is obtained; the range of the angle is 0 to 90°; finally, the control device controls the clamping device to rotate based on the second clamping information. This method determines appropriate clamping positions and forces through forging information, reducing the situation of forging damage or dropping caused by improper clamping; then, through the analysis and determination of reasonable rotation angles by the forging information and the first clamping information, the forging can be kept stable during the handling process, thereby enhancing the adaptability of the forging transportation equipment to complex and diverse forgings.

[0030] The forging transportation control method provided by the embodiments of the present application can be applied to forging transportation equipment. At this time, the forging transportation equipment is the execution subject of the forging transportation control method provided by the embodiments of the present application. The embodiments of the present application do not impose any restrictions on the specific type of the forging transportation equipment.

[0031] For example, the forging transportation device may include a clamping device, a moving device, and a control device. The control device is electrically connected to the clamping device and the moving device. The clamping device is used to clamp the forging. For example, the clamping device may be a combined device of a fixture and a driving transmission mechanism, a robotic arm, etc., but is not limited thereto. Among them, the fixture is used to abut against the surface of the forging. The fixture may be a jaw, a clamp, etc., but is not limited thereto; the driving transmission mechanism is used to control the position, the opening and closing degree, and the clamping force of the fixture. For example, the driving transmission mechanism may be a combined mechanism of a motor, a hydraulic press, etc. cooperating with mechanical components such as gears, lead screws, and connecting rods. The moving device is a movable mechanism used to support and transport the clamping device. For example, the moving mode of the moving device may be rail-type movement, wheel-type movement, etc., but is not limited thereto. The control device monitors and controls the entire clamping process and moving process.

[0032] For example, the control device may 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 and other terminal devices, a handheld device with wireless communication function, a computing device 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 used for communication on a wireless system, and a next-generation communication system. For example, a mobile terminal in a 5G network or a mobile terminal in a future evolved Public Land Mobile Network (PLMN).

[0033] To better understand the forging transportation control method provided by the embodiments of the present application, the following provides an exemplary introduction to the specific implementation process of the forging transportation control method provided by the embodiments of the present application.

[0034] Figure 1 and Figure 2 Fig. shows a schematic flowchart of the forging transportation control method provided by the embodiments of the present application. The forging transportation control method includes: S100, obtaining forging information; where the forging information is used to reflect the shape and weight of the forging.

[0035] It can be understood that the forging information can be manually input by a person, or the current forging can be scanned by a scanner to obtain the shape of the forging, and then the corresponding weight can be matched in the forging database according to the shape of the forging, etc., but not limited to this. The forging database refers to a database that contains the weights corresponding to forgings of various 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 a forging database.

[0036] S200. Analyze according to the forging information to obtain first clamping information; wherein, the first clamping information is used to reflect the position and strength of the clamping device of the forging transportation equipment for clamping the forging.

[0037] It can be understood that the clamping positions and strengths of different forgings may be different, and for the same forging, if the clamping positions are different, the corresponding clamping strengths may also be different. Exemplarily, the position of the center of gravity of the forging and all positions suitable for clamping can be obtained by analyzing the forging information, and then the final clamping position and the corresponding clamping strength can be obtained through comprehensive analysis of the center of gravity and all positions suitable for clamping; or the forging information can be input into a learning model, and the learning model then outputs the corresponding first clamping information, etc., but not limited to this. The learning model is trained with multiple sets of training data, and each set of training data in the multiple sets of training data includes forging information and first clamping information.

[0038] In a possible implementation manner, in step S200, analyzing according to the forging information to obtain first clamping information includes: S210. Analyze according to the forging information to obtain center of gravity information and potential clamping information; wherein, the center of gravity information is used to reflect the position of the center of gravity of the forging, and the potential clamping information is used to reflect multiple positions on the surface structure of the forging that meet the clamping conditions of the clamping device.

[0039] Exemplarily, the center-of-gravity information can be selected according to the regularity of the forging shape. For forgings with regular shapes and uniform materials, the center of gravity can be obtained by the geometric center calculation method; for forgings with irregular shapes, the segmentation method can be used to divide them into multiple regular parts, calculate the center of gravity of each part respectively, and then comprehensively calculate the overall center of gravity according to the mass distribution. The potential clamping information is based on the analysis of the surface structure of the forging to find positions suitable for the operation of the clamping device. For example, the surface structure characteristics of the forging can be extracted through the contour of the forging, and then the possibility of the forging slipping when each structural feature is clamped can be analyzed based on the surface structure characteristics, and multiple suitable clamping positions can be determined based on the possibility; or the forging information can be input into a learning model, and the learning model outputs the corresponding center-of-gravity information and potential clamping information, etc., but not limited to this.

[0040] In a possible implementation manner, in step S210, according to the forging information analysis, potential clamping information is obtained, including: S211, according to the forging information analysis, forging contour information is obtained; wherein, the forging contour information is used to reflect the shape and size of the outer edge of the forging.

[0041] It can be understood that if a laser scanner is used to collect the forging information, the scanned point cloud data can be processed, and a three-dimensional model of the forging can be constructed using a three-dimensional reconstruction algorithm, so as to clearly present the shape and size of its outer edge. If the forging information is obtained from the forging database, the forging contour data recorded therein is directly extracted, etc., but not limited to this.

[0042] S212, according to the forging contour information, feature extraction is performed to obtain structural feature information; wherein the structural feature information includes a planar region, a convex structure, and a concave structure.

[0043] It can be understood that the structural features can be judged by calculating parameters such as the curvature and edge angle of the contour through geometric analysis methods. For example, a region with a small curvature change may be a plane, a region with a large and positive curvature change may be a convex, and a region with a large and negative curvature change may be a concave; or the forging contour information can be matched in the forging database to obtain the corresponding structural feature information, etc., but not limited to this. The forging database also includes the structural feature information corresponding to different forgings.

[0044] S213, according to the structural feature information analysis, a slip coefficient array is obtained; wherein, the slip coefficient array is a set of slip coefficients used to reflect the possibility of the forging slipping when clamped at different structural positions.

[0045] It can be understood that the slipping coefficients corresponding to different structures may be different. For example, in the case of a groove structure, due to the abutting effect between the groove sidewall and the clamping device, the slipping coefficient may be small. In the case of a convex structure, due to the relatively small contact area with the clamping device, compared with the slipping coefficient of the planar area, the convex structure may have a relatively large slipping coefficient, and different convex structures may have different slipping coefficients. The slipping coefficient array can construct a mathematical model based on the friction characteristics of the forging and the clamping device materials and the contact situation between the specific structure and the clamping device. For example, when calculating the slipping coefficient of a convex structure, first determine its actual contact area with the clamping device according to the geometric shape of the convex, and then calculate the frictional force in combination with the friction coefficient of the material. Without considering the component force of gravity in the direction that may cause slipping, calculate the likelihood of slipping, that is, the slipping coefficient, through mechanical formulas. For the groove structure, it may also be necessary to consider the hindering effect of the additional supporting force provided by the groove sidewall on the slipping trend and incorporate these factors into the formula calculation. By calculating each structure position one by one, the corresponding slipping coefficients are obtained, and then a slipping coefficient array is formed.

[0046] S214. Analyze according to the slipping coefficient array to obtain potential clamping information.

[0047] Exemplarily, by analyzing the slipping coefficient array, the degree of dispersion between the slipping coefficients at each position can be obtained. Then, according to the degree of dispersion, identify and divide the regions with relatively small degrees of dispersion, analyze this region to determine the positions suitable for clamping within this region. At the same time, according to the number of divided regions with relatively small degrees of dispersion, obtain the number of positions, and combine the specific positions comprehensively to obtain the potential clamping information; it is also possible to sort the slipping coefficients in the slipping coefficient array, arrange the slipping coefficients in ascending order. In this way, it can be intuitively seen the order of the likelihood of the forging slipping at different structure positions. A smaller slipping coefficient means that when clamping at this position, the risk of the forging slipping is lower. Multiple positions ranked in the front sequence of the slipping coefficients can be determined as potential clamping positions, and so on, but not limited to this.

[0048] With such a setting, the method of determining potential clamping information based on the structural characteristics of the forging and the corresponding slipping coefficients has good generality and adaptability. Whether for forgings with regular or complex shapes, it is possible to find suitable potential clamping positions through the analysis and comprehensive judgment of the slipping coefficient array.

[0049] In a possible implementation manner, in step S214, analyzing according to the slipping coefficient array to obtain potential clamping information includes: S2141. Analyze according to the slipping coefficient array to obtain a dispersion distribution diagram; wherein, the dispersion distribution diagram is used to reflect the dispersion relationship between the values of each slipping coefficient.

[0050] It can be understood that the discrete distribution diagram can be presented in various ways. For example, the slip coefficient can be used as the ordinate, and different structural positions (which can be represented by numbers or coordinates, etc.) can be used as the abscissa. The slip coefficient corresponding to each structural position is marked on the graph, so that the distribution of the slip coefficient can be clearly seen to form a discrete distribution diagram; a bar chart can also be used, with different structural positions as the categories of the bars, and the height of the bars representing the corresponding slip coefficients. This way can clearly compare the magnitudes of the slip coefficients at different positions, and so on, but not limited to this.

[0051] S2142. Analyze according to the discrete distribution diagram to obtain the dense interval and the number of intervals; among them, the dense interval is used to reflect the regional range where the slip coefficient is relatively concentrated, and the number of intervals is used to reflect the number of dense intervals.

[0052] It can be understood that a change amplitude threshold can be set to distinguish the degree of density. If the change amplitude of the slip coefficients between a certain number of adjacent slip coefficients is less than or equal to the change amplitude threshold, then these indicated slip coefficients are grouped into one dense interval. For example, statistical quantities such as the standard deviation or coefficient of variation between the slip coefficients can be calculated, and based on these statistical quantities, the degree of dispersion of the data can be determined, and then the boundaries of the dense intervals can be determined. A clustering analysis algorithm can also be used to cluster the data points with similar slip coefficients into one category, and each category corresponds to one dense interval, and so on, but not limited to this. Then count the number of dense intervals, which is the number of intervals.

[0053] S2143. Analyze according to the dense interval to obtain the potential position information of the potential clamping information; among them, the potential position information is used to reflect the position with the smallest slip coefficient in the dense interval.

[0054] It can be understood that by analyzing the slip coefficients in each dense interval and through iterative comparison, find the position with the smallest slip coefficient as the potential position of the potential clamping information, that is, within each dense interval, compare and screen the slip coefficients. For example, within a certain dense interval, the slip coefficients corresponding to multiple structural positions are 0.21, 0.23, 0.25, etc. By comparison, find the structural position corresponding to the smallest slip coefficient 0.21, which is one of the potential clamping positions reflected by the potential position information.

[0055] S2144. Determine the potential quantity information of the potential clamping information based on the number of intervals; among them, the potential quantity information is used to reflect the number of positions where the surface structure of the forging reflected by the potential clamping information meets the clamping conditions of the clamping device.

[0056] It can be understood that the number of intervals can be directly confirmed as the potential quantity information.

[0057] With such settings, by determining the dense intervals and the number of intervals through the discrete distribution diagram, it is possible to conduct in-depth analysis on the slip coefficient array, and discover the laws and characteristics behind the data. This enables us to move beyond the analysis of individual slip coefficients and instead comprehensively grasp the distribution of the slip probabilities at different structural positions, providing a comprehensive perspective for screening potential clamping positions. This analysis method can identify areas with similar slip characteristics, facilitating more detailed analysis and processing of these areas in the follow-up, improving the accuracy and efficiency of determining potential clamping information, and thus forming a systematic and scientific method system for determining potential clamping information. From the intuitive display of data (discrete distribution diagram) to feature analysis (dense intervals and the number of intervals), then to the screening of specific positions (potential position information) and quantity determination (potential quantity information), each step is interrelated and mutually supportive, providing strong guarantee for the forging transportation equipment to accurately determine potential clamping information, enhancing the intelligence and automation level of the entire handling process, and strengthening the adaptability and versatility of the system to different forgings.

[0058] S220. Analyze based on the center-of-gravity information and the potential clamping information to obtain the clamping position information of the first clamping information.

[0059] It can be understood that the center-of-gravity information reflects the mass concentration point of the forging, and the potential clamping information provides multiple alternative clamping positions. By comprehensively analyzing these two, the clamping position that is most conducive to maintaining the balance and stability of the forging can be found. When handling irregularly shaped forgings, their center-of-gravity positions may deviate from the geometric center. At this time, if the clamping position is randomly selected, the forging is extremely likely to tilt or even fall during the handling process.

[0060] Exemplarily, the final clamping position information can be determined through distance analysis by calculating the distance between the center of gravity and each potential clamping position; or the center-of-gravity information and the potential clamping information can be input into a learning model, and the learning model then outputs the corresponding clamping position information, and so on, but not limited to this.

[0061] In a possible implementation manner, in step S220, analyzing based on the center-of-gravity information and the potential clamping information to obtain the clamping position information of the first clamping information includes: S221. Calculate the deviation degree between the center-of-gravity information and the potential clamping information; wherein, the deviation degree is used to reflect the distance between the position of the center of gravity and each position reflected by the potential clamping information.

[0062] It can be understood that calculating the offset degree is to quantify the relationship between the center of gravity and each potential clamping position. A three-dimensional coordinate system can be established with a certain fixed point of the forging as the origin to determine the coordinates of the center of gravity and the coordinates of each potential clamping position. The offset degree value can intuitively reflect the situation where the center of gravity deviates from the clamping center when clamping the forging at this position. The smaller the offset degree, the more evenly the gravitational force on the forging is distributed on the clamping device when clamping at this position, reducing the torque generated by the offset of the center of gravity, and the forging is more likely to maintain balance, and the possibility of shaking or falling during subsequent handling is lower.

[0063] S222. Sort the multiple potential position information reflected by the potential clamping information according to the offset degree to obtain a position priority sequence.

[0064] It can be understood that the sorting method can be arranged in ascending order according to the offset degree. The potential clamping position with the smallest offset degree is ranked first, and so on to form a position priority sequence.

[0065] S223. Analyze according to the potential position information to obtain a convenience coefficient; wherein, the convenience coefficient is used to reflect the difficulty of the clamping device moving from the current state to the position where the potential position information is located and clamping the forging.

[0066] It can be understood that the convenience coefficient refers to the feasibility of the clamping device reaching the potential clamping position in actual operation. In an industrial production environment, the movement space of the handling robot may be restricted by various factors, such as the layout of other surrounding equipment, the placement method of the forging, etc. When analyzing the potential position information, these factors need to be comprehensively considered to determine the convenience coefficient. If the space around the potential clamping position is open and the clamping device can reach and perform clamping operations without obstacles quickly, then the convenience coefficient is high; on the contrary, if this position is in a narrow space or blocked by other objects, it is difficult for the clamping device to reach, or the time required to reach is long or the process is complex, its convenience coefficient is low. A evaluation model can be established to calculate the convenience coefficient, and factors such as the movement trajectory of the clamping device, the distance required for movement, and whether it is necessary to avoid obstacles are considered in the model. For example, using the principle of robot kinematics, combined with the three-dimensional model of the working scenario, simulate the process of the clamping device reaching each potential position, and evaluate the difficulty according to the simulation results and assign the corresponding convenience coefficient.

[0067] S224. Weight the priority sequence based on the convenience coefficient to obtain a comprehensive priority sequence.

[0068] It can be understood that the comprehensive priority sequence can be obtained by directly multiplying the convenience coefficient by the degree of offset corresponding to the potential clamping position in the priority sequence, or by matching the corresponding weight with the convenience coefficient and then weighting the degree of offset corresponding to the corresponding potential clamping position to obtain the comprehensive priority sequence, and so on, but not limited to this.

[0069] S225. Confirm the potential position information in the first place in the comprehensive priority sequence as the clamping position information of the first clamping information.

[0070] It can be understood that in actual production, selecting this optimal position as the clamping position can reduce the risks during the handling process, such as the forging falling, colliding with surrounding equipment, etc. At the same time, it improves the production efficiency and avoids the handling failure or operation delay caused by selecting an inappropriate clamping position.

[0071] With such a setting, by comprehensively considering various factors such as the center-of-gravity information, potential clamping information, degree of offset, convenience coefficient, etc. to determine the clamping position, it has significant technical effects. In terms of stability, the potential clamping position with a small degree of offset is preferentially selected, ensuring the balance of the forging during the handling process, reducing problems such as the forging shaking and falling caused by the center-of-gravity offset, and improving the product quality and production safety. In terms of operation convenience, considering the convenience coefficient and weighting it enables the clamping device to reach the clamping position more efficiently, reducing the handling time and improving the production efficiency. This way of comprehensively considering various factors enhances the adaptability of the handling system to forgings with different shapes and different placement environments. Whether the forging is regular or irregular in shape, a suitable clamping position can be found. At the same time, it also improves the intelligent level of the entire handling process, providing strong support for realizing automated forging production.

[0072] S230. Analyze based on the forging information and the clamping position information to obtain the clamping force information of the first clamping information.

[0073] It can be understood that the clamping position information affects the way the clamping device applies force to the forging. Without considering the different materials at different positions of the same forging, forgings of different weights require different sizes of clamping forces to overcome gravity to prevent falling; for example, heavier forgings require greater clamping forces to ensure that they do not slip due to the action of gravity during the handling process. The clamping position also affects the requirement for the clamping force. If the clamping position is close to the center of gravity, the required clamping force is relatively small and more uniform; if the clamping position deviates from the center of gravity, in order to maintain the balance of the forging, a greater clamping force may be required to overcome the torque generated by the center-of-gravity offset.

[0074] Exemplarily, a clamping force can be obtained based on the weight reflected by the forging information, and then the clamping force can be adjusted according to the specific clamping position to obtain the clamping force information; alternatively, the forging information and the clamping position information can be input into a learning model, and the learning model outputs the corresponding clamping force information, and so on, but not limited thereto.

[0075] With such a setting, by separately obtaining the center of gravity information and the potential clamping information, and then combining the two to determine the clamping position information, it is possible to locate the most suitable position for clamping the forging. This reduces the risks of shaking, tilting, and even dropping caused by the offset of the center of gravity, improving the accuracy and stability of the clamping position; analyzing the clamping force information based on the forging information and the determined clamping position information makes the setting of the clamping force more scientific and reasonable. Different forging weights, materials, and shapes require different clamping forces to ensure stable grasping, and the differences in the clamping positions will also affect the magnitude of the required clamping force. Considering these factors to determine the clamping force can not only ensure sufficient clamping force to prevent the forging from slipping, but also avoid damaging the surface of the forging due to excessive clamping force, effectively protecting the quality of the forging and ensuring reliable clamping under various working conditions.

[0076] In a possible implementation manner, in step S230, analyzing according to the forging information and the clamping position information to obtain the clamping force information of the first clamping information includes: S231, analyzing according to the forging information to obtain the initial clamping force.

[0077] It can be understood that the clamping force can be initially estimated based on the weight and material characteristics of the forging, which is the initial clamping force. Different forging information corresponds to an initial clamping force. The forging information can be matched in the forging database to obtain the corresponding initial clamping force; alternatively, the forging information can be input into a learning model, and the learning model then outputs the corresponding initial clamping force, and so on, but not limited thereto.

[0078] S232, analyzing according to the clamping position information to obtain an adjustment factor; wherein, the adjustment factor is used to reflect the influence degree of the center of gravity information on the clamping position information.

[0079] It can be understood that when the clamping position deviates from the center of gravity of the forging, a torque will be generated that causes the forging to rotate or tilt. To balance this torque and maintain the stability of the forging, an additional clamping force is required. The magnitude of the adjustment factor depends on the degree of deviation of the clamping position from the center of gravity, as well as the shape and weight distribution of the forging. If the clamping position is far from the center of gravity, and the forging has an irregular shape and a large weight, then the generated torque will be large, the corresponding adjustment factor will be large, and more clamping force needs to be increased. The adjustment factor can be calculated by establishing a mechanical model that takes into account factors such as the distance between the clamping position and the center of gravity, the mass distribution of the forging, and its shape. For example, using the lever principle and combining the geometric shape and mass distribution data of the forging, the torque generated due to the deviation of the center of gravity is calculated, and then the magnitude of the adjustment factor is determined based on the relationship between the torque and the clamping force.

[0080] S233, adjust the initial clamping force based on the adjustment factor to obtain the clamping force information of the first clamping information.

[0081] It can be understood that the clamping force information = adjustment factor × initial clamping force.

[0082] With such a setting, by separately determining the initial clamping force and the adjustment factor and then making a comprehensive adjustment, the clamping force can be determined more precisely, which has obvious technical advantages. In terms of stability, the influence of the center of gravity deviation on the clamping force is considered, ensuring that the forging can obtain sufficient clamping force to maintain stability at different clamping positions, effectively reducing the risk of shaking and dropping of the forging during handling. From the perspective of adaptability, whether it is a forging with a complex relationship between the center of gravity and the clamping position or forgings of different weights and materials, the appropriate clamping force can be accurately determined in this way, enhancing the adaptability of the handling system to various forgings.

[0083] S300, the control device controls the clamping device to clamp based on the first clamping information.

[0084] It can be understood that during the process of the clamping device moving from the initial position to the clamping position, the path it experiences can be path-planned according to path planning algorithms (such as the A* algorithm, Dijkstra algorithm).

[0085] S400, analyze based on the forging information and the first clamping information to obtain the second clamping information; where the second clamping information is used to reflect the angle of rotation of the clamping device after clamping the main forging, and the range of the angle is 0~90°.

[0086] It can be understood that the range of the angle is 0 to 90°, which can be 0°, 45°, 90°, etc., but is not limited thereto. Exemplarily, the angle between the line connecting the center of gravity position corresponding to the forging information and the center position when the clamping device is clamped at the position corresponding to the first clamping information and the vertical direction can be analyzed, and whether the clamping device needs to rotate can be judged according to the angle, and the rotation angle can be analyzed; alternatively, the forging information and the first clamping information can be input into a learning model, and the learning model outputs the corresponding second clamping information, etc., but is not limited thereto.

[0087] In a possible implementation manner, in step S400, by analyzing the forging information and the first clamping information, the second clamping information is obtained, including: S410, by analyzing the forging information and the first clamping information, the offset angle information is obtained; wherein, the offset angle information is used to indicate the angle between the line connecting the center of gravity position corresponding to the forging information and the center position when the clamping device is clamped at the position corresponding to the first clamping information and the vertical direction.

[0088] It can be understood that three-dimensional modeling technology can be used to present the position information of the forging and the clamping device in a virtual space. By calculating the coordinates of the center of gravity and the center position when the clamping device is clamped at the position corresponding to the first clamping information in the model, mathematical methods such as trigonometric functions are used to obtain the offset angle.

[0089] S420a, when the angle reflected by the offset angle information is 0°, the line segment length of the line connecting the center of gravity position corresponding to the forging information and the center position when the clamping device is clamped at the position corresponding to the first clamping information is calculated.

[0090] It can be understood that when the offset angle is 0°, it indicates that the forging is in a vertical equilibrium state in the current clamping state, but this does not mean that no further adjustment is required. Calculating the line segment length between the center of gravity and the clamping center is to more accurately evaluate the balance stability of the forging. Because even if the forging is in a vertical state, if the distance between the center of gravity and the clamping center is too large, the forging may still shake or even fall when subjected to minor disturbances during handling. When calculating the line segment length, the three-dimensional coordinate information is also used, and the distance formula between two points is used for calculation.

[0091] S421a, when the line segment length is greater than the preset length, the clamping device does not rotate, and the rotation angle of 0° is confirmed as the second clamping information.

[0092] It can be understood that the preset length is a pre-set value, which can be manually input by a person, or obtained from a forging database, etc., but is not limited thereto. The rotation angle of 0° means that the clamping device does not rotate.

[0093] S421b, when the length of the line segment is less than or equal to the preset length, the clamping device rotates 90°, and the rotated angle of 90° is confirmed as the second clamping information.

[0094] It can be understood that when the length of the line segment is less than or equal to the preset length, it indicates that the distance between the clamping position and the center of gravity is relatively far. After the clamping device rotates 90°, the clamp in contact with the forging of the clamping device can still play a supporting role for the forging.

[0095] In a possible implementation manner, in step S400, when analyzing according to the forging information and the first clamping information to obtain the second clamping information, it further includes: S420b, if the angle reflected by the offset angle information is not 0°, then the offset angle information is confirmed as the second clamping information.

[0096] It can be understood that when the offset angle is not 0°, it indicates that the forging is tilted in the current clamping state. Directly confirming the offset angle as the second clamping information is because this angle is exactly the angle to adjust the forging from the current tilted state to the state after the clamping device rotates 90° in step S421b.

[0097] With such a setting, this method of determining the second clamping information reduces unnecessary adjustment links. Quickly determine the rotation angle in different situations, enable the clamping device to quickly adjust to the appropriate posture, reduce the handling time, avoid the time waste caused by repeatedly adjusting the clamping angle, improve the work efficiency of the entire forging handling, and contribute to realizing efficient automated production. Adjusting the forging to the appropriate angle, especially the operation of rotating 90° in step S421b and the operation of adjusting the angle according to the offset angle information in step S420b, can support the forging when the clamping device clamps the forging, and further improve the stability of the forging during handling.

[0098] S500, the control device controls the clamping device to rotate based on the second clamping information.

[0099] With such a setting, through the shape and weight information of the forging, comprehensively analyze to obtain the first clamping information, accurately determine the clamping position and force, improve the stability and reliability of clamping, and avoid the forging from slipping or being damaged; use the slipping coefficient, etc. to analyze potential clamping information, and combine the center of gravity information to determine the optimal clamping position, enhancing the adaptability to different forgings; obtain the second clamping information through the analysis of the offset angle, etc., reasonably control the rotation angle of the clamping device, and keep the forging in a stable posture during handling, overall improving the handling efficiency and quality, ensuring the smooth progress of the forging production process, and enhancing the working performance of the forging transportation equipment under complex working conditions.

[0100] It should be understood that the sequence numbers of the steps in the above embodiments do not indicate the order of execution, and the execution order 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.

[0101] Corresponding to the forging transportation control method described in the above embodiments, the embodiments of the present application further provide a forging transportation control system, and each module of the system can implement each step of the forging transportation control method. Figure 3 The structure block diagram of the forging transportation control 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.

[0102] Refer to Figure 3 , the forging transportation control system includes: An acquisition module, configured to acquire forging information; wherein, the forging information is used to reflect the shape and weight of the forging.

[0103] A first analysis module, configured to analyze according to the forging information to obtain first clamping information; wherein, the first clamping information is used to reflect the position and strength of the clamping device for clamping the forging.

[0104] A first control module, configured to control the device to control the clamping device to clamp based on the first clamping information.

[0105] A second analysis module, configured to analyze according to the forging information and the first clamping information to obtain second clamping information; wherein, the second clamping information is used to reflect the angle of rotation of the clamping device after clamping the main forging, and the range of the angle is 0 to 90°.

[0106] A second control module, configured to control the device to control the clamping device to rotate based on the second clamping information.

[0107] It should be noted that, for the information interaction, execution process, etc. between the above 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, reference can be specifically made to the method embodiment part, and details are not described herein again.

[0108] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the division of the above-mentioned modules is used as an example. In actual applications, the above functions can be allocated to different modules according to needs, that is, the internal structure of the system is 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 this application. The specific working process of the modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be elaborated here.

[0109] An embodiment of this application also provides a forging transportation device 100. Please refer to Figure 4 , the forging transportation device 100 includes a clamping device 10, a moving device 20, and a control device. The control device is electrically connected to the clamping device 10 and the moving device 20. Figure 5 It is a schematic structural diagram of the control device 6 provided by an embodiment of this 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 (

[0110] only one is shown in

[0111] ), 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 foregoing forging transportation control method embodiments, or the control device 6 implements the functions of each module in the foregoing system embodiment. Figure 5This is only an example of the control device 6 and does not constitute a limitation on the control device 6. It may include more or fewer components than those shown in the figure, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, buses, etc.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] The embodiment of the present application provides a computer program product, and when the computer program product runs on the forging transportation device, the forging transportation device implements the steps in any of the above method embodiments.

[0116] When 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 method embodiments of this application, a computer program can be used to instruct the 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 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 transportation equipment, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, USB flash drive, mobile hard disk, magnetic disk or optical disc, etc.

[0117] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0118] 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 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. Professional technicians 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.

[0119] In the embodiments provided in this application, it should be understood that the disclosed forging transportation equipment and method can be implemented in other ways. For example, the forging transportation equipment or forging transportation control system embodiments described above are merely illustrative. For example, the division of the modules of the forging transportation control system 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.

[0120] 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 may be 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.

[0121] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; 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 embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A forging transportation control method, characterized in that, Including: Obtaining forging information; wherein, the forging information is used to reflect the shape and weight of the forging; Analyzing according to the forging information to obtain first clamping information; wherein, the first clamping information is used to reflect the position and strength of the clamping device for clamping the forging; The control device controls the clamping device to clamp based on the first clamping information; Analyzing according to the forging information and the first clamping information to obtain second clamping information; wherein, the second clamping information is used to reflect the angle of rotation of the clamping device after clamping the main forging, and the range of the angle is 0 to 90°; The control device controls the clamping device to rotate based on the second clamping information.

2. The forging transportation control method according to claim 1, wherein, The analyzing according to the forging information to obtain the first clamping information includes: Analyzing according to the forging information to obtain the center of gravity information and potential clamping information; wherein, the center of gravity information is used to reflect the position of the center of gravity of the forging, and the potential clamping information is used to reflect multiple positions on the surface structure of the forging that meet the clamping conditions of the clamping device; Analyzing according to the center of gravity information and the potential clamping information to obtain the clamping position information of the first clamping information; Analyzing according to the forging information and the clamping position information to obtain the clamping strength information of the first clamping information.

3. The forging transportation control method according to claim 2, characterized in that, The analyzing according to the forging information to obtain the potential clamping information includes: Analyzing according to the forging information to obtain the forging contour information; wherein, the forging contour information is used to reflect the shape and size of the outer edge of the forging; Performing feature extraction according to the forging contour information to obtain structure feature information; wherein the structure feature information includes a planar region, a convex structure, and a concave structure; Analyzing according to the structure feature information to obtain a slip coefficient array; wherein, the slip coefficient array is a set of slip coefficients used to reflect the likelihood of the forging slipping when clamped at different structural positions; Analyzing according to the slip coefficient array to obtain potential clamping information.

4. The forging transportation control method according to claim 3, wherein, The analyzing according to the slip coefficient array to obtain the potential clamping information includes: Analyzing according to the slip coefficient array to obtain a discrete distribution map; wherein, the discrete distribution map is used to reflect the discrete relationship between the values of each slip coefficient; Analyzing according to the discrete distribution map to obtain a dense interval and the number of intervals; wherein, the dense interval is used to reflect the range of the region where the slip coefficient is relatively concentrated, and the number of intervals is used to reflect the number of the dense intervals; Analyzing according to the dense interval to obtain the potential position information of the potential clamping information; wherein, the potential position information is used to reflect the position where the slip coefficient is the smallest in the dense interval; Determining the potential quantity information of the potential clamping information based on the number of intervals; wherein, the potential quantity information is used to reflect the number of positions on the surface structure of the forging that the potential clamping information reflects meets the clamping conditions of the clamping device.

5. The forging transportation control method according to claim 4, wherein The analyzing according to the center of gravity information and the potential clamping information to obtain the clamping position information of the first clamping information includes: Calculate the deviation degree between the centroid information and the potential clamping information; wherein, the deviation degree is used to reflect the distance between the position of the centroid and each position reflected by the potential clamping information; Sort the multiple potential position information reflected by the potential clamping information according to the deviation degree to obtain a position priority sequence; Analyze according to the potential position information to obtain a convenience coefficient; wherein, the convenience coefficient is used to reflect the difficulty degree for the clamping device to move from the current state to the position where the potential position information is located and clamp the forging; Weight the priority sequence based on the convenience coefficient to obtain a comprehensive priority sequence; Confirm the potential position information ranked first in the comprehensive priority sequence as the clamping position information of the first clamping information.

6. The forging transportation control method according to claim 2, wherein, The analysis according to the forging information and the clamping position information to obtain the clamping force information of the first clamping information includes: Analyze according to the forging information to obtain an initial clamping force; Analyze according to the clamping position information to obtain an adjustment factor; wherein, the adjustment factor is used to reflect the influence degree of the centroid information on the clamping position information; Adjust the initial clamping force based on the adjustment factor to obtain the clamping force information of the first clamping information.

7. The forging transportation control method according to claim 1, characterized in that The analysis according to the forging information and the first clamping information to obtain the second clamping information includes: Analyze according to the forging information and the first clamping information to obtain an offset angle information; wherein, the offset angle information is used to indicate the angle between the line connecting the centroid position corresponding to the forging information and the central position when the clamping device clamps at the position corresponding to the first clamping information and the vertical direction; If the angle reflected by the offset angle information is 0°, calculate the length of the line segment connecting the centroid position corresponding to the forging information and the central position when the clamping device clamps at the position corresponding to the first clamping information; When the line segment length is greater than the preset length, the clamping device does not rotate, and the rotation angle of 0° is confirmed as the second clamping information; When the line segment length is less than or equal to the preset length, the clamping device rotates 90°, and the rotation angle of 90° is confirmed as the second clamping information.

8. The forging transportation control method according to claim 7, wherein, The analysis according to the forging information and the first clamping information to obtain the second clamping information further includes: If the angle reflected by the offset angle information is not 0°, confirm the offset angle information as the second clamping information.

9. A forging transportation control system, characterized in that, Includes: An acquisition module, configured to acquire forging information; wherein, the forging information is used to reflect the shape and weight of the forging; A first analysis module, configured to analyze according to the forging information to obtain first clamping information; wherein, the first clamping information is used to reflect the position and force of the clamping device for clamping the forging; A first control module, configured to control the device to control the clamping device to clamp based on the first clamping information; A second analysis module, configured to analyze according to the forging information and the first clamping information to obtain second clamping information; wherein the second clamping information is used to reflect the rotation angle of the clamping device after clamping the main forging, and the range of the angle is 0 to 90°; A second control module, configured to control, by the control device, the clamping device to rotate based on the second clamping information.

10. A forging transportation device, characterized in that, It includes a clamping device, a moving device and a control device. The control device is electrically connected to the clamping device and the moving device. The control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

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