Multi-specification workpiece adaptive posture adjustment control method and device

Abstract

The application discloses a kind of multi-specification workpiece adaptive posture adjustment control method and device, wherein, multi-specification workpiece adaptive posture adjustment control method includes the following steps: end plate frame body is in place and adaptive clamping step: after container end plate frame body reaches overturning station, the first clamping part and the second clamping part of relatively arranged in overturning device are controlled to move towards each other, to adaptively clamp and be positioned in the opposite sides of the end plate frame body;Lifting and overturning step: after clamping, control lifting assembly drives the end plate frame body that has been clamped to rise, and control rotating assembly drives the end plate frame body to overturn in the air;Discharging step: control the lifting assembly drives the end plate frame body after overturning to descend, and control the clamping piece to loosen, and end plate frame body is placed on transfer device and is transported away.

Description

Technical Field

[0001] This invention relates to the field of container end panel frame transportation and processing technology, and in particular to a method and device for adaptive attitude adjustment control of multi-specification workpieces. Background Technology

[0002] On automated container assembly lines, end panel assembly is a critical process. During welding, painting, or accessory installation, the end panel frames often require precise flipping. Currently, end panel frame flipping on the production line primarily relies on manual operation combined with overhead cranes. This method is inefficient, poses safety hazards, and is prone to scratches or deformation of the end panel frame surface due to improper operation. Alternatively, dedicated rigid flipping machines can be used, but these devices typically only accommodate a single size of end panel frame. When the production line needs to switch to different sizes of container end panel frames, it must be stopped and cumbersome fixture changes and adjustments must be made, severely impacting the compatibility and overall efficiency of the production line. Summary of the Invention

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes an adaptive posture adjustment control method for multi-specification workpieces, which can realize automatic flipping of the end plate frame, improve operational safety, reduce manual intervention, and reduce the risk of equipment interference.

[0004] The present invention also proposes an adaptive attitude adjustment device for multi-specification workpieces for applying the above-mentioned adaptive attitude adjustment control method for multi-specification workpieces.

[0005] The adaptive attitude adjustment control method for multi-specification workpieces according to a first aspect of the present invention includes the following steps:

[0006] End plate frame positioning and adaptive clamping steps: After the container end plate frame arrives at the flipping station, the first clamping part and the second clamping part in the flipping device are controlled to move towards each other to adaptively clamp and position on the opposite sides of the end plate frame.

[0007] Lifting and flipping steps: After clamping is completed, the lifting component is controlled to drive the clamped end plate frame to rise, and the rotating component is controlled to drive the end plate frame to flip in the air;

[0008] Unloading steps: Control the lifting assembly to drive the flipped end plate frame to descend, and control the clamping parts to release, placing the end plate frame on the transfer device for transport away.

[0009] The adaptive posture adjustment control method for multi-specification workpieces according to the first aspect of the present invention has at least the following beneficial effects: During the lifting and flipping process of the container end plate frame, the control method of the present invention, through precise control of the movement of the lifting and rotating components and the use of sensors to monitor and provide real-time feedback on the flipping angle, ensures the accuracy of the lifting height and flipping angle of the end plate frame, effectively avoiding damage to the end plate frame or processing quality problems caused by inaccurate operation. The entire flipping process is automated, requiring no manual intervention, greatly shortening the flipping time and improving production efficiency. Simultaneously, it reduces fatigue and errors caused by manual operation, further ensuring the stability and reliability of the production process. Furthermore, the automated operation avoids potential dangers during manual flipping of the end plate frame, such as the end plate frame slipping and injuring personnel, effectively protecting the life safety of operators.

[0010] According to some embodiments of the first aspect of the present invention, the end plate frame positioning and adaptive clamping step includes:

[0011] Automatic feeding and inspection: The feeding device is controlled to automatically transport the container end plate frame to the predetermined position of the flipping station, and the sensor is used to detect and confirm that the end plate frame has been in place;

[0012] And / or, in the adaptive clamping step, the clamping force is monitored in real time by a pressure sensor, and when the clamping force reaches a preset safety threshold range, the movement of the clamping part is stopped and the clamping state is locked.

[0013] According to some embodiments of the first aspect of the present invention, in the adaptive clamping step, the first clamping part is an active driving end, and by controlling the first clamping part to move toward the end plate frame and push the end plate frame, the other side of the end plate frame contacts the second clamping part to complete the clamping.

[0014] Alternatively, in the adaptive clamping step, the first clamping part and the second clamping part are controlled to act as active driving ends simultaneously, moving towards each other to jointly clamp the end plate frame.

[0015] According to some embodiments of the first aspect of the present invention, in the lifting and flipping step, the control of the lifting assembly to drive the clamped end plate frame to rise includes an anti-interference control step:

[0016] Safety height control: Control the lifting assembly until a preset reference point reaches a target safety height; the target safety height is configured to ensure that during the subsequent flipping process, the movement trajectory of the lowest point of the end plate frame maintains a safe gap with the flipping workstation surface or any fixed obstacle.

[0017] According to some embodiments of the first aspect of the present invention, the reference point is any one of the axis of the rotating assembly of the flipping device, the mounting reference surface of the clamping member, and the lower edge of the end plate frame.

[0018] According to some embodiments of the first aspect of the present invention, the anti-interference control step further includes:

[0019] Real-time detection and adaptive adjustment: By using a distance sensor installed on the clamping member or frame, the distance from any one of the following to the reference plane is detected in real time: the axis of the rotating component of the flipping device, the mounting reference surface of the clamping member, and the lower edge of the clamped end plate frame. Based on this real-time distance, the control system dynamically calculates and adjusts the action of the lifting component to achieve adaptive control of the safety height.

[0020] According to some embodiments of the first aspect of the present invention, before or simultaneously with the end plate frame positioning and adaptive clamping step, an end plate frame specification acquisition step is further included: acquiring the specification and size information of the current end plate frame, wherein the safety height in the lifting and flipping step and / or the clamping parameters in the adaptive clamping step are set or adjusted based on the acquired specification and size information.

[0021] According to some embodiments of the first aspect of the present invention, the "acquiring of the specification and size information of the current endplate frame" is obtained by any of the following methods: non-contact scanning and measurement of the endplate frame located at the flipping station by a vision recognition system or a measurement sensor; reading information on an identification carrier that is synchronously transported with the endplate frame, the identification carrier storing endplate frame specification data; or receiving a data packet from a production database, the data packet containing the specification information of the current endplate frame.

[0022] According to some embodiments of the first aspect of the present invention, based on the specification and size information, a preset safety height and a preset clamping stroke corresponding to the specification are retrieved from a parameter database pre-stored in the control system.

[0023] According to a second aspect of the present invention, a multi-specification workpiece adaptive posture adjustment device is used to apply the multi-specification workpiece adaptive posture adjustment control method as described in any of the preceding claims. The multi-specification workpiece adaptive posture adjustment device includes two opposing flipping mechanisms, which are respectively configured as a first clamping part and a second clamping part. Each flipping mechanism includes a displacement component, a lifting component, a rotating component, and a clamping member arranged sequentially. The flipping mechanism moves to the width position of the end plate frame via the displacement component. The lifting component drives the clamping member to move up and down to the height position of the end plate frame. The clamping member is used to clamp or release the end plate frame. The clamping member is connected to the lifting component via the rotating component. The rotating component drives the clamping member to rotate around an axis to flip the end plate frame.

[0024] The automatic container tilting device according to a second aspect of the present invention has at least the following advantages: by modularly integrating the displacement component, lifting component, rotating component, and clamping component, and combining two opposing first and second clamping parts, adaptive clamping and precise tilting of end plate frames of different specifications are achieved. Specifically, this design solves the problems of inaccurate clamping and poor adaptability in traditional tilting methods, while ensuring the stability and efficiency of the tilting process, thus improving tilting safety and work efficiency.

[0025] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0027] Figure 1 This is a flowchart illustrating the adaptive attitude adjustment control method for multi-specification workpieces according to an embodiment of the present invention.

[0028] Figure 2 This is a schematic flowchart illustrating the anti-interference steps of the multi-specification workpiece adaptive attitude adjustment control method according to an embodiment of the present invention.

[0029] Figure 3 This is a schematic diagram of a multi-specification workpiece adaptive posture adjustment device according to an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the rotating component of the multi-specification workpiece adaptive posture adjustment device according to an embodiment of the present invention.

[0031] Reference numerals: 1000 for flipping mechanism; 100 for base; 110 for second linear guide pair; 120 for second drive unit; 200 for column; 210 for third linear guide pair; 220 for third drive unit; 300 for clamping member; 310 for clamping block; 320 for first linear guide pair; 330 for first drive unit; 400 for rotating assembly; 410 for fixed plate; 420 for rotating plate; 430 for driven toothed teeth; 440 for flipping drive member; 441 for drive gear; 500 for flipping station. Detailed Implementation

[0032] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0033] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0034] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0035] In the description of this invention, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of these terms in this invention in conjunction with the specific content of the technical solution. In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0036] Reference Figure 1 , Figure 3 and Figure 4 The first aspect of this invention proposes an adaptive attitude adjustment control method for multi-specification workpieces, comprising the following steps:

[0037] End plate frame positioning and adaptive clamping steps: After the container end plate frame reaches the flipping station 500, the first clamping part and the second clamping part in the flipping device are controlled to move towards each other to adaptively clamp and position on the opposite sides of the end plate frame.

[0038] Lifting and flipping steps: After clamping is completed, control the lifting component to drive the clamped end plate frame to rise, and control the rotating component 400 to drive the end plate frame to flip in the air;

[0039] Unloading steps: Control the lifting component to drive the flipped end plate frame to descend, and control the clamping part 300 to release, placing the end plate frame on the transfer device for transport away.

[0040] It should be noted that the multi-specification workpiece adaptive attitude adjustment control method is applied to a multi-specification workpiece adaptive attitude adjustment device. Specifically, the end plate frame positioning and adaptive clamping steps include: after the container end plate frame reaches the flipping station 500, controlling the first and second clamping parts, which are positioned opposite each other, to move towards each other in the flipping device. The first and second clamping parts employ a special structural design, such as their clamping surfaces having a certain elasticity or adjustable shape, which can automatically adjust the clamping force and angle according to the actual shape and size of the end plate frame to adaptively clamp and position it on opposite sides of the end plate frame. This adaptive clamping method ensures that container end plate frames of different specifications and shapes can be stably and accurately clamped, avoiding problems such as slippage of the end plate frame or shaking during flipping due to insecure clamping or inaccurate clamping position.

[0041] The lifting and flipping steps specifically include: After clamping, the lifting assembly drives the clamped end plate frame to rise. The lifting assembly can use common lifting mechanisms such as hydraulic cylinders or electric push rods, and the end plate frame is smoothly raised by precisely controlling its extension and retraction. Simultaneously, the rotating assembly 400 drives the end plate frame to flip in mid-air. The rotating assembly 400 can consist of components such as a motor, reducer, and drive shaft. The motor drives the drive shaft to rotate through the reducer, thereby driving the end plate frame to flip around a specific axis. During the flipping process, the flipping angle of the end plate frame can be monitored in real time by sensors, and the signal is fed back to the control system. The control system precisely controls the rotating assembly 400 according to the preset flipping angle to ensure that the end plate frame can be accurately flipped to the required angle.

[0042] The unloading process specifically includes: controlling the lifting assembly to drive the flipped end plate frame to descend, gradually bringing the end plate frame closer to the transfer device. Once the end plate frame has descended to a suitable position, controlling the clamping member 300 to release, and smoothly placing the end plate frame onto the transfer device. The transfer device can be a conveyor belt, forklift, etc., used to transport the flipped end plate frame away from the flipping station 500 for subsequent operations or processing.

[0043] In practical applications, the first and second clamping parts can be understood as actuators used to clamp and position the end plate frame. These can move in opposite directions via robotic arms, hydraulic rods, or electric actuators. For example, when using a robotic arm as the clamping part, the end effector of the robotic arm is controlled to move to both sides of the end plate frame to complete the clamping action. Alternatively, when using a hydraulic rod as the clamping part, the hydraulic system drives the hydraulic rod to extend and retract, bringing the clamping part closer to the end plate frame and applying clamping force. Furthermore, adaptive clamping can be achieved by setting elastic elements or adjustable limiting structures, such as installing spring assemblies on the contact surface of the clamping part to automatically adjust the clamping position according to the actual dimensions of the end plate frame during clamping. The lifting assembly can be understood as a mechanism used to drive the vertical movement of the end plate frame, which can be achieved through screw drives, chain drives, or hydraulic lifting columns. For example, when using a lead screw drive, the motor drives the lead screw to rotate, causing the slider that cooperates with the lead screw to move vertically, thereby achieving the lifting and lowering of the end plate frame; or when using a chain drive, the motor drives the sprocket to rotate, causing the connecting parts on the chain to move up and down along the guide rail, completing the lifting and lowering action. The rotating component 400 can be understood as a mechanism for driving the end plate frame to rotate around a certain axis, which can be achieved through gear drive, belt drive, or direct drive motor. For example, when using gear drive, the motor drives the driving gear to rotate, and the driving gear meshes with the driven gear fixed on the rotating shaft, thereby driving the rotating shaft and the connected clamping part 300 to rotate; or when using direct drive motor, the output shaft of the motor is directly connected to the rotating shaft, thereby achieving the flipping action of the end plate frame.

[0044] The working principle of this application embodiment is as follows: In the adaptive attitude adjustment control method for multi-specification workpieces, the precise positioning and stable clamping of the end plate frame are first achieved through the end plate frame positioning and adaptive clamping steps. Specifically, after the end plate frame reaches the flipping station 500, the first clamping part and the second clamping part are controlled to move in opposite directions to adapt to the width of the end plate frame and complete the clamping operation. This adaptive clamping method can effectively cope with the dimensional differences of end plate frames of different specifications, avoiding damage to the end plate frame or unstable clamping caused by improper clamping force, thus providing a reliable foundation for subsequent operations.

[0045] Furthermore, in the lifting and flipping steps, the lifting assembly is controlled to drive the clamped end plate frame to a certain height, and then the rotating assembly 400 drives the end plate frame to flip in mid-air. During this process, the mid-air flipping design of the end plate frame effectively avoids interference with the flipping station 500 table or other fixed obstacles, ensuring the safety and stability of the flipping action. Thus, this step solves the operational risks caused by physical collisions or interference in traditional flipping methods.

[0046] Finally, in the unloading step, the lifting assembly is again controlled to drive the flipped end plate frame to descend, and the clamping component 300 is released, placing the end plate frame onto the transfer device for transport. This automated unloading process reduces the need for manual intervention, lowers the safety risks for operators, and improves overall work efficiency. As a preferred implementation, the above three steps are executed sequentially and closely cooperate to form a complete closed-loop process. Among them, the adaptive clamping step ensures reliable positioning of the end plate frame, providing a prerequisite for lifting and flipping; the lifting and flipping step utilizes aerial flipping to eliminate physical interference and ensure flipping safety; the unloading step completes automated transfer, ultimately achieving high efficiency, stability, and safety in the flipping process.

[0047] In a specific embodiment, the container end plate frame is first transported to the flipping station 500 via a conveying device. Once the end plate frame arrives at the flipping station 500, the control system issues a command to control the first and second clamping parts in the flipping device to move towards each other. The first and second clamping parts can automatically adjust the clamping force and angle according to the surface shape of the end plate frame.

[0048] After clamping, the control system controls the lifting assembly to slowly raise the clamped end plate frame. During the raising process, the rising height of the end plate frame is monitored in real time by a displacement sensor, and the signal is fed back to the control system. When the end plate frame rises to the predetermined height, the control system controls the rotation assembly 400 to start, thereby driving the end plate frame to flip in the air. At the same time, an angle sensor installed near the end plate frame monitors the flipping angle of the end plate frame in real time and feeds the signal back to the control system. When the end plate frame flips to the preset angle, the control system controls the motor to stop rotating. Finally, the control system controls the lifting drive to lower the flipped end plate frame. When the end plate frame descends close to the transfer device, the control system controls the first and second clamping parts to release, and the end plate frame is smoothly placed on the conveyor belt and transported away from the flipping station 500 to enter the next process.

[0049] In other embodiments, for large, irregularly shaped container endplate frames, the endplate frames are first transported to the flipping station 500. Upon arrival, the control system controls the first and second clamping parts to move towards each other. Due to the irregular shape of the endplate frame, the elastic clamping surfaces of the first and second clamping parts automatically adjust according to the local shape of the endplate frame during clamping, ensuring that all parts of the endplate frame are effectively clamped and avoiding local suspension or insecure clamping. After stable clamping, the control system controls the lifting assembly to drive the endplate frame upwards. Through precise control, the control system ensures that the endplate frame rises to a suitable height for flipping. During flipping, the rotating assembly 400 drives the endplate frame to rotate according to the preset flipping speed and angle, based on instructions from the control system. Through real-time feedback from the angle sensor, the control system can adjust the motor speed in a timely manner to ensure that the endplate frame is accurately flipped to the required angle.

[0050] It is understood that the control method of the present invention, during the lifting and tilting of the container end panel frame, ensures accurate lifting height and tilting angle by precisely controlling the movement of the lifting and rotating components 400 and using sensors to monitor and provide feedback on the tilting angle in real time. This effectively avoids damage to the end panel frame or processing quality problems caused by inaccurate operation. The entire tilting process is automated, requiring no manual intervention, greatly shortening the tilting time and improving production efficiency. Simultaneously, it reduces fatigue and errors caused by manual operation, further ensuring the stability and reliability of the production process. Furthermore, the automated operation avoids potential dangers during manual tilting of the end panel frame, such as the end panel frame slipping and injuring personnel, effectively protecting the lives of operators.

[0051] The adaptive clamping design of the first and second clamping parts can adapt to container end plate frames of different specifications and shapes, eliminating the need for complex adjustments and clamp replacements for different end plate frames, thus greatly improving the versatility and flexibility of the equipment.

[0052] Furthermore, the endplate frame positioning and adaptive clamping step also includes automatic feeding and detection of the endplate frame: controlling the feeding device to automatically transport the container endplate frame to the predetermined position of the flipping station 500, and confirming that the endplate frame has been in place through sensor detection. Automatic feeding and detection refers to an integrated material conveying and status verification mechanism. In practical applications, the feeding device can use chain drive, roller conveyor, or robotic arm gripping to achieve automatic transportation of the endplate frame, the purpose of which is to ensure that the endplate frame can accurately reach the target position along a preset trajectory and speed. The sensor can be a photoelectric sensor, proximity switch, or laser rangefinder, etc., its function is to acquire the position information of the endplate frame in real time and determine whether the predetermined conditions are met. It can be understood that by transporting the endplate frame to the predetermined position of the flipping station 500 through the automatic feeding device, this process eliminates the randomness of traditional manual handling, and uses automated equipment to ensure that the endplate frame can accurately reach the preset coordinates each time, thereby providing a stable and repeatable initial positioning basis for subsequent clamping operations. Based on this, the sensor dynamically verifies the position of the endplate frame. Clamping action is triggered only when the feedback data fully meets the predetermined requirements, thus avoiding the risk of forced clamping due to positional deviations. Through this closed-loop feedback mechanism, the system not only achieves precise control of the endplate frame's positioning but also enhances its adaptability to abnormal situations, ensuring reliable execution of the clamping steps and effectively preventing equipment interference or endplate frame damage caused by positioning errors.

[0053] In a specific embodiment, a mechanical conveyor belt is used as the feeding device. This conveyor belt is driven by a motor and runs at a preset speed and direction. At the starting end of the conveyor belt, an end plate frame placement area is set up. Operators place the container end plate frames to be flipped neatly onto the conveyor belt in sequence. When the production line starts, the control system controls the motor to run, and the conveyor belt begins to move, smoothly transporting the container end plate frames to the flipping station 500. A photoelectric sensor is installed at a predetermined position in the flipping station 500. The photoelectric sensor detects whether the end plate frame has arrived by emitting and receiving light. When the container end plate frame reaches the predetermined position, it blocks the light emitted by the photoelectric sensor. After receiving the signal change, the sensor immediately feeds back the signal "end plate frame in place" to the control system. After receiving the signal, the control system stops the operation of the conveyor belt to ensure that the end plate frame stops accurately at the flipping station 500; on the other hand, it sends a command to the flipping device to control the first clamping part and the second clamping part to move towards each other and begin adaptively clamping the end plate frame.

[0054] In other embodiments, an industrial robot can be used as the loading device. The industrial robot is equipped with a specialized gripping fixture that can be flexibly adjusted according to the shape and size of the endplate frame. Specifically, the control system issues loading instructions to the industrial robot according to the production plan. After receiving the instruction, the industrial robot moves to the storage area and uses a vision sensor to identify and locate the endplate frame. The vision sensor can quickly and accurately acquire the shape, size, and position information of the endplate frame and transmit this data to the robot's control system. Based on the information fed back from the vision sensor, the industrial robot adjusts the posture and force of the gripping fixture to accurately grip the container endplate frame. Then, the robot transports the endplate frame to a predetermined position at the flipping station 500. A pressure sensor is installed at the flipping station 500. When the endplate frame is placed in the predetermined position, it generates a certain pressure on the pressure sensor, which converts the pressure signal into an electrical signal and feeds it back to the control system. After the control system confirms that the endplate frame is in place, it stops the robot's movement and controls the first and second gripping parts of the flipping device to perform adaptive gripping operations.

[0055] Understandably, by employing automated feeding devices and sensor detection technology, the container endplate frames can be accurately transported to the predetermined position at the flipping station 500. Compared to manual feeding, automated feeding devices can avoid feeding position deviations caused by human factors, ensuring consistent feeding positions each time and providing a stable foundation for subsequent flipping operations. The implementation of automated feeding and detection steps further automates the entire multi-specification workpiece adaptive posture adjustment control method. This reduces manual intervention, lowers labor intensity, and improves production efficiency. In the robot-grabbing feeding embodiment, the industrial robot can independently complete the grabbing, transportation, and positioning operations of the endplate frames based on preset programs and sensor feedback information, eliminating the need for manual operation, significantly shortening feeding time, and improving the overall operating efficiency of the production line.

[0056] This application further proposes that in the adaptive clamping step, the clamping force is monitored in real time by a pressure sensor, and when the clamping force reaches a preset safety threshold range, the movement of the clamping part is stopped and the clamping state is locked.

[0057] Specifically, a pressure sensor is a device that converts physical pressure signals into measurable electrical signals. It can employ various sensing technologies such as strain gauges, piezoelectric sensors, or capacitive sensors. In practical applications, the safety threshold range refers to a pre-set pressure range based on the material and structural characteristics of the end plate frame. Its purpose is to ensure that the clamping force is neither too low, causing the end plate frame to loosen, nor too high, causing damage. The movement stopping mechanism of the clamping part can be implemented through limit switches or servo drives in the electrical control system, aiming to respond promptly to the feedback signal from the pressure sensor. The locked clamping state can be maintained through a mechanical self-locking mechanism or an electromagnetic braking device, aiming to ensure stability during subsequent operations.

[0058] During the positioning and adaptive clamping of the endplate frame, pressure sensors continuously collect force data at the clamping interface and transmit this data to the control system in real time. The control system makes judgments based on a preset safety threshold range. When the clamping force reaches this range, it immediately issues a control command to interrupt the movement of the clamping unit. This process embodies the shift from traditional fixed-stroke clamping to closed-loop feedback control, enabling the system to automatically adjust clamping parameters according to the physical characteristics of endplate frames of different specifications. Simultaneously, by locking the current clamping state, the consistency of the endplate frame's position is ensured during the lifting and flipping stages. It is precisely because of this real-time monitoring and dynamic adjustment mechanism that the entire flipping process can adapt to the needs of endplate frames of different specifications while effectively avoiding damage or safety hazards caused by improper clamping.

[0059] This application further proposes that in the adaptive clamping step, the first clamping part is an active driving end, and by controlling the first clamping part to move towards the end plate frame and push the end plate frame, the other side of the end plate frame comes into contact with the second clamping part to complete the clamping; or, in the adaptive clamping step, the first clamping part and the second clamping part are controlled to act as active driving ends at the same time, and move towards each other to jointly clamp the end plate frame.

[0060] In detail, when there is an initial deviation in the position of the end plate frame, the first clamping part is used as the active driving end to push the end plate frame. This allows for dynamic adjustment of the clamping path based on the actual position of the end plate frame, causing the end plate frame to passively conform to the second clamping part. This avoids local stress concentration or displacement of the end plate frame caused by forced bidirectional clamping. This method ensures that the clamping force is evenly transmitted to the edge of the end plate frame, reducing the risk of deformation. When the end plate frame is centered and of standard specifications, a strategy of synchronous opposite movement of the two clamping parts is adopted. By coordinating the driving actions on both sides in real time, the clamping force is applied symmetrically to both sides of the end plate frame, enhancing clamping stability and suppressing slight wobbling before flipping. The driving mode is dynamically selected based on the end plate frame position detection results, ensuring precise matching between the clamping action and the physical state of the end plate frame. This solves the positioning offset problem easily caused by unidirectional clamping and overcomes the adaptability defects of fixed bidirectional clamping under non-standard working conditions, laying a safe foundation for subsequent flipping operations. Furthermore, the above-mentioned solution, combined with other technical features in the endplate frame positioning and adaptive clamping steps, further improves the reliability and efficiency of the overall clamping process.

[0061] In practical applications, for endplate frames with relatively regular shapes and light weight, a clamping method using the first clamping part as the active driving end is adopted. The control system controls the drive device of the first clamping part to start working, pushing the first clamping part towards the endplate frame. After the first clamping part contacts the endplate frame, it continues to apply pressure, pushing the endplate frame towards the second clamping part. As the endplate frame moves, the second clamping part remains stationary until the other side of the endplate frame contacts the second clamping part. At this time, the two clamping parts jointly apply clamping force to the endplate frame, completing the adaptive clamping operation. For endplate frames with complex shapes and heavy weight, a clamping method using both the first and second clamping parts as active driving ends is adopted. The control system simultaneously controls the drive devices of the first and second clamping parts, causing them to move towards each other. During the movement, the two clamping parts automatically adjust their movement speed and clamping force according to the shape and size of the endplate frame.

[0062] Two different clamping methods can be selected based on the shape, weight, and structural characteristics of the container endplate frame, improving the adaptability and versatility of the equipment. For endplate frames with regular shapes and lighter weight, the first method simplifies the operation process and improves efficiency; for endplate frames with complex shapes and heavier weight, the second method ensures clamping stability and precision.

[0063] Reference Figure 2To ensure safe height control during endplate frame flipping, this invention further proposes an anti-interference step: controlling the lifting assembly until a preset reference point reaches a target safe height; the target safe height is configured to ensure that during subsequent flipping, the movement trajectory of the lowest point of the endplate frame maintains a safe clearance between it and the flipping station 500 table surface or any fixed obstacle. Specifically, the reference point refers to a key reference position used to measure the lifting height of the endplate frame, which can be any one of the axis of the rotating assembly 400 of the flipping device, the mounting reference surface of the clamping member 300, or the lower edge of the endplate frame. The purpose is to avoid blindly relying on fixed height values ​​by selecting a reference point closely related to the actual movement state of the endplate frame, thereby providing a reliable basis for accurate calculation of the safe clearance. In practical applications, the target safe height refers to a height value specifically set according to the dynamic trajectory of the endplate frame during flipping. It can be dynamically adjusted by the control system in conjunction with the endplate frame specifications and station environment parameters to ensure that the movement trajectory of the lowest point of the endplate frame maintains a safe clearance with the obstacle.

[0064] This technical solution fundamentally solves the spatial interference risk during the endplate frame flipping process by introducing the concepts of reference points and target safety heights. During the lifting phase, the control system first determines a preset reference point and then raises it to the target safety height using a lifting assembly. This process considers not only the actual size and shape of the endplate frame but also the specific environment of the flipping station 500, ensuring that the endplate frame will not collide with the table or fixed obstacles due to insufficient height during flipping. Furthermore, the selection of reference points is closely related to the movement state of the endplate frame. For example, the axis of the rotating assembly 400 reflects the position of the endplate frame's rotation center, the mounting reference surface of the clamping component 300 reflects the spatial layout of the clamping structure, and the lower edge of the endplate frame directly corresponds to the movement trajectory of its lowest point. The selection of these reference points allows the height adjustment to accurately reflect the critical position of the endplate frame in space, thereby enhancing the system's adaptability to different working conditions.

[0065] In some embodiments, after acquiring the endplate frame specifications, the control system can dynamically adjust the target safety height according to the specific dimensions of the endplate frame, thereby ensuring that endplate frames of different specifications maintain sufficient safety clearance during the flipping process. For example, after the container endplate frame completes adaptive clamping, it enters the lifting and flipping step. The control system presets a target safety height based on the endplate frame specifications and the environment of the flipping station 500. For example, for a common container endplate frame, after calculation and experimentation, the target safety height is set to 1.5 meters. The control system selects the axis of the rotating component 400 of the flipping device as the reference point. Then, the lifting component is controlled to start working, driving the clamped endplate frame to rise. During the rising process, the displacement sensor installed on the lifting component monitors the height of the reference point in real time. When the displacement sensor detects that the reference point has reached the target safety height of 1.5 meters, the control system immediately stops the movement of the lifting component. At this time, the endplate frame is at a safe height position, and in the subsequent flipping process, the movement trajectory of its lowest point can maintain a safety clearance of at least 0.3 meters between the flipping station 500 table surface and surrounding fixed obstacles, ensuring that the flipping process will not interfere.

[0066] This control mechanism, based on a reference point and target safety height, not only effectively prevents collisions that may occur during the flipping process, but also significantly improves the system's automation level and adaptability, providing a strong guarantee for the efficient and safe flipping of the container end panel frame.

[0067] This application further proposes that the reference point be any one of the following: the axis of the rotating component 400 of the flipping device, the mounting reference surface of the clamping member 300, and the lower edge of the end plate frame. By specifying multiple selectable positions of the reference point, the safety height control can flexibly respond to changes in different end plate frame specifications, clamping states, or flipping device configurations. For example, when identifying thin end plate frames in the end plate frame specification acquisition step, the lower edge of the end plate frame is preferentially selected as the reference point to ensure that the height control directly responds to the actual contour of the end plate frame; while in high-precision clamping scenarios, the axis of the rotating component 400 is selected as the reference point to avoid trajectory calculation errors caused by clamping deviations or end plate frame deformation. In addition, the selection of the mounting reference surface of the clamping member 300 simplifies the compensation logic of the control system for clamping force or position offset, and reduces sensor redundancy and calculation delay. The above reference point selection mechanism, combined with the anti-interference control in the end plate frame positioning and adaptive clamping steps, and the lifting and flipping steps, further enhances the robustness of the overall solution and effectively solves the problem that a single reference point or a preset reference position cannot adapt to diverse flipping requirements.

[0068] In practical applications, for endplate frames with regular shapes and relatively fixed centers of gravity, the axis of the rotating component 400 of the tilting device is selected as the reference point. When lifting the endplate frame, the control system controls the movement of the lifting component based on the height of this axis. For example, after the endplate frame is clamped, the relative positional relationship between the axis of the rotating component 400 and the lowest point of the endplate frame is determined through measurement and calculation. During lifting, the lifting is stopped once the axis reaches the target safe height, at which point a safe clearance is maintained between the lowest point of the endplate frame and surrounding obstacles. Because the position of the axis of the rotating component 400 is relatively stable for this type of endplate frame, using it as the reference point simplifies the calculation and control process.

[0069] For endplate frames with unique shapes and uncertain center of gravity, the mounting reference surface of the clamping component 300 is selected as the reference point. This mounting reference surface is precisely designed and calibrated, and has a fixed geometric relationship with the clamping position of the endplate frame. When lifting the endplate frame, the control system controls the lifting assembly based on the height of this reference surface. For example, after the clamping component 300 completes clamping the endplate frame, the height of the mounting reference surface is measured by a sensor and used as a reference for lifting. During the lifting process, it is ensured that this reference surface reaches the target safe height, thereby ensuring the safety of the endplate frame during the flipping process. Because the center of gravity of such endplate frames is unstable, using the mounting reference surface of the clamping component 300 as a reference allows for more accurate control of the endplate frame's position.

[0070] In a container end-panel frame tilting scenario where space is limited and precise control of the lowest point of the end-panel frame is required, the lower edge of the end-panel frame is selected as the reference point. For example, if there are multiple fixed obstacles around tilting station 500, and the distance between these obstacles and the lower edge of the end-panel frame is strictly controlled, the control system directly controls the lifting assembly to ensure the lower edge of the end-panel frame reaches the target safe height during lifting. A height sensor installed on the lower edge of the end-panel frame monitors its height changes in real time and feeds the data back to the control system. Once the lower edge of the end-panel frame reaches the preset height, lifting stops, ensuring that the end-panel frame does not interfere with obstacles during tilting.

[0071] Reference Figure 2This application further proposes that the anti-interference control steps also include: real-time detection and adaptive adjustment: using a distance sensor installed on the clamping member 300 or the frame, the distance from any one of the following to the reference plane is detected in real time: the axis of the rotating component 400 of the flipping device, the mounting reference surface of the clamping member 300, and the lower edge of the clamped end plate frame. Based on this real-time distance, the control system dynamically calculates and adjusts the action of the lifting component to achieve adaptive control of the safety height. Specifically, the distance sensor is a device used to measure the distance between the target point and the reference plane, which can be implemented using a laser distance sensor, an ultrasonic distance sensor, or an infrared distance sensor. In practical applications, the placement of the distance sensor can be flexibly selected according to specific needs. For example, it can be set on the side of the clamping member 300 near the end plate frame, or fixed in the key monitoring area of ​​the frame, with the aim of ensuring accurate acquisition of distance information at key locations. The reference plane can be understood as a horizontal or vertical plane used for reference, which is usually defined by the table surface of the flipping station 500 or the surrounding fixed structure, with the aim of providing a unified reference standard for distance measurement. In addition, dynamic calculation refers to the control system performing calculations based on real-time collected distance data and generating corresponding lifting component action commands, with the aim of achieving real-time adjustment of the safe height.

[0072] Understandably, this solution uses distance sensors to detect in real time the distance from the axis of the rotating assembly 400, the mounting reference surface of the clamping component 300, or the distance from the lower edge of the end plate frame to the reference plane, thereby obtaining key position information of the end plate frame in its current state. Based on this, the control system dynamically adjusts the movement of the lifting assembly according to this real-time data, ensuring that the end plate frame maintains a safe clearance from obstacles during the flipping process. This mechanism based on real-time detection and dynamic adjustment effectively solves the problem that the preset safety height cannot adapt to changes in the end plate frame specifications or environmental interference. Simultaneously, because the distance sensors can directly obtain distance information at key positions, the impact of external interference on measurement accuracy is avoided, thus improving the system's reliability and adaptability. Furthermore, by selecting different monitoring points, the system can flexibly adjust the monitoring strategy according to the actual state of the end plate frame, further enhancing the solution's versatility. Ultimately, this adaptive control method significantly reduces the risk of interference with the workstation surface or obstacles during the flipping process, improving the overall operational safety and efficiency.

[0073] This application further proposes an end-plate frame specification acquisition step, which is included before or simultaneously with the end-plate frame positioning and adaptive clamping steps: acquiring the current end-plate frame's dimensional information, and setting or adjusting the safety height in the lifting and flipping steps and / or the clamping parameters in the adaptive clamping steps based on the acquired dimensional information. Based on the dimensional information, a preset safety height and preset clamping stroke corresponding to the specifications are retrieved from a parameter database pre-stored in the control system. Personalized control based on the dimensional information of different end-plate frames ensures that each end-plate frame receives the most suitable treatment during lifting and flipping, improving the accuracy and safety of the flipping process.

[0074] Specifically, dimensional specifications refer to key data reflecting the physical characteristics of the endplate frame. This data can be obtained through various methods, including visual recognition systems, measurement sensors, labeling carriers, and production databases. Visual recognition systems acquire features such as thickness and width by non-contact scanning and measurement of the endplate frame. Measurement sensors determine specifications by directly detecting changes in the surface position of the endplate frame. Labeling carriers store endplate frame specification data, allowing for rapid retrieval of relevant information. The production database transmits information by receiving data packets containing the current endplate frame specifications. The purpose of these methods is to ensure the accuracy and real-time nature of the dimensional specifications, providing a reliable basis for subsequent parameter retrieval.

[0075] In some embodiments, when the container endplate frame is transported to the vicinity of the flipping station 500, the endplate frame specification acquisition step begins. For example, before the endplate frame enters the flipping station 500, it is scanned by a vision recognition system installed on the conveyor line. The vision recognition system uses a high-definition camera to capture images of the endplate frame and analyzes the images using image processing algorithms to identify the endplate frame's length, width, thickness, and other dimensional information. Simultaneously, the control system sets or adjusts the safety height in the lifting and flipping steps and the clamping parameters in the adaptive clamping step based on the acquired dimensional information. For an endplate frame with a length of 3 meters, a width of 1.5 meters, and a thickness of 0.02 meters, the control system sets the target safety height for lifting to 1.8 meters according to preset rules to ensure sufficient safety clearance during the flipping process. At the same time, based on the thickness and weight of the endplate frame, the clamping parameters in the adaptive clamping step, such as clamping force and clamping stroke, are adjusted to ensure the endplate frame can be stably clamped. If the dimensions of the endplate frame change, the control system will readjust the safety height and clamping parameters based on the new information.

[0076] This application further proposes any of the following methods to obtain the specification and size information of the current endplate frame: non-contact scanning and measurement of the endplate frame located at the flipping station 500 by a vision recognition system or measurement sensor; reading information from an identification carrier that is synchronously transported with the endplate frame, the identification carrier storing the endplate frame specification data; or receiving a data packet from a production database, the data packet containing the specification information of the current endplate frame.

[0077] In practical applications, a visual recognition system refers to a technical means of extracting and analyzing features of target objects using image acquisition equipment and image processing algorithms. It can be implemented using deep learning-based target detection models or traditional image processing algorithms, aiming to quickly and accurately obtain the actual dimensional information of the endplate frame. Measurement sensors can be understood as devices capable of sensing the geometric parameters of target objects in a non-contact manner. These can be implemented using laser rangefinders, ultrasonic sensors, or structured light sensors, aiming to avoid the risk of damage to the endplate frame due to physical contact, while improving measurement efficiency and accuracy. Identification carriers refer to storage media attached to or synchronously transported with the endplate frame. These can be implemented using QR code tags, RFID chips, or barcode tags, aiming to ensure that specification data is transmitted synchronously with the endplate frame transport process, reducing errors that may be introduced by human intervention. The production database refers to the data storage module integrated into the production line management system. It can send data packets containing endplate frame specification information to the control system in real time via network communication protocols, aiming to ensure the consistency and integrity of the specification information.

[0078] Understandably, the aforementioned acquisition methods collectively constitute a multi-layered and highly complementary information acquisition system within the overall technical solution. First, the visual recognition system or measurement sensors, through non-contact scanning and measurement of the endplate frame on the flipping station 500, can capture the actual size data of the endplate frame in real time. This dynamic acquisition method significantly improves the system's response speed and adaptability, especially suitable for scenarios involving rapid switching between endplate frames of different specifications. Second, the introduction of the identification carrier allows specification data to be seamlessly transmitted to the control system during the endplate frame transport process. This method not only eliminates data transmission delays but also enhances the continuity of the automated process, making it particularly suitable for continuous production environments. Finally, by receiving data packets from the production database, the system can directly integrate authoritative data sources, thereby ensuring the consistency and reliability of specification information throughout the entire production process. The organic combination of these technical means not only compensates for the limitations that may exist with a single acquisition method but also provides a solid foundation for the subsequent dynamic adjustment of safety height and clamping parameters, effectively preventing safety risks caused by inaccurate or untimely information.

[0079] This application further proposes a method for retrieving preset safety heights and preset clamping strokes corresponding to specific specifications from a parameter database pre-stored in the control system, based on the specifications and dimensions. Specifications and dimensions refer to the specific dimensional data of the endplate frame obtained through a visual recognition system, measurement sensors, or a production database. This data can be obtained through non-contact scanning, identification carrier reading, or data packet reception, aiming to provide accurate input for subsequent parameter retrieval. The parameter database stores the safety heights and clamping strokes corresponding to various endplate frame specifications. It can be generated through historical data accumulation and optimization algorithms, aiming to automate and standardize parameter settings.

[0080] In a specific embodiment, by obtaining the endplate frame specifications and dimensions as input, the system directly retrieves the matching preset safety height and preset clamping stroke from the pre-stored parameter database in the control system. This retrieval method avoids the repetitive calculation process for each flip, significantly shortening parameter preparation time and eliminating deviations that may be introduced by human operation. The preset safety height is pre-optimized for different endplate frame specifications, ensuring a safe clearance between the lowest point of the endplate frame and the workbench surface or obstacles during flipping, fundamentally preventing the risk of motion interference. The preset clamping stroke precisely matches the clamping action according to the specifications and dimensions, making the clamping force and stroke parameters adaptive to the characteristics of the endplate frame, significantly improving the stability and adaptability of clamping. In addition, the standardized retrieval logic based on historical data efficiently associates the specifications and dimensions with the pre-stored parameters, ensuring the reliability of the flipping operation and providing a scalable technical foundation for handling multiple endplate frame specifications.

[0081] Reference Figure 3 and Figure 4 The second aspect of the present invention also proposes a multi-specification workpiece adaptive posture adjustment device for applying a multi-specification workpiece adaptive posture adjustment control method. The device includes two opposing flipping mechanisms 1000, which are respectively configured as a first clamping part and a second clamping part. Each flipping mechanism 1000 includes a displacement component, a lifting component, a rotating component 400, and a clamping member 300 arranged sequentially. The flipping mechanism 1000 moves to the width position of the end plate frame through the displacement component, and the lifting component drives the clamping member 300 to move up and down to the height position of the end plate frame. The clamping member 300 is used to clamp or release the end plate frame. The clamping member 300 is connected to the lifting component through the rotating component 400, which drives the clamping member 300 to rotate around an axis to flip the end plate frame.

[0082] Specifically, in practical applications, the working principle of this device is as follows: First, after the end plate frame reaches the flipping station 500, the first and second clamping parts move to the width position of the end plate frame via the displacement component, and the height position of the clamping component 300 is adjusted by the lifting component, thereby achieving precise positioning and adaptive clamping of the end plate frame. This adaptive clamping method effectively addresses the dimensional differences of end plate frames of different specifications, avoiding damage to the end plate frame or unstable clamping due to improper clamping force, providing a reliable foundation for subsequent operations. Further, after clamping, the lifting component drives the clamped end plate frame to rise to a certain height, and then the rotating component 400 drives the end plate frame to flip in mid-air. During this process, the mid-air flipping design of the end plate frame effectively avoids interference with the flipping station 500 table or other fixed obstacles during flipping, ensuring the safety and stability of the flipping action. Thus, this step solves the operational risks caused by physical collisions or interference in traditional flipping methods. After the flipping is completed, the lifting assembly drives the end plate frame to descend again and releases the clamping component 300, placing the end plate frame onto the transfer device for transport. This automated unloading process reduces the need for manual intervention, lowers the safety risks for operators, and improves overall work efficiency. As a preferred implementation, the above three steps are executed sequentially and closely cooperate to form a complete closed-loop process. Among them, the adaptive clamping step ensures reliable positioning of the end plate frame, providing a prerequisite for lifting and flipping; the lifting and flipping step uses aerial flipping to eliminate physical interference and ensure flipping safety; the unloading step completes automated transfer, ultimately achieving a highly efficient, stable, and safe flipping process.

[0083] Understandably, the entire device adopts a modular design concept, with each component, such as the displacement assembly, lifting assembly, rotation assembly 400, and clamping component 300, operating relatively independently and assembled using standard connection methods. This design makes the installation, commissioning, and maintenance of the device more convenient and efficient. In the event of a malfunction, the specific faulty component can be quickly located for individual replacement or repair, eliminating the need for large-scale disassembly of the entire device. This significantly shortens repair time, reduces maintenance costs, and improves the maintainability and availability of the device.

[0084] This application further proposes a flipping mechanism 1000 including a base 100, a lifting component and a clamping component 300 both disposed on the base 100, and a displacement component connected to the bottom of the base 100 to drive the entire flipping mechanism 1000 to move; or, the flipping mechanism 1000 includes a base 100, the base 100 is disposed adjacent to the flipping station 500, the displacement component is disposed between the base 100 and the lifting component, and the clamping component 300 is connected to the lifting component to drive the lifting component and the clamping component 300 to move closer to or away from the flipping mechanism 1000; or, the flipping mechanism 1000 includes a base 100, the base 100 is disposed adjacent to the flipping station 500, the lifting component is connected to the base 100, and the displacement component is connected between the clamping component 300 and the lifting component to drive the clamping component 300 to move closer to or away from the flipping mechanism 1000.

[0085] Specifically, the base 100 refers to the basic support structure of the entire tilting mechanism 1000. It can be made of a metal frame or high-strength composite material to provide sufficient rigidity to ensure overall stability. The displacement component can be a linear guide pair, ball screw pair, or pneumatic slide, etc., to achieve linear motion, and its purpose is to achieve precise control of the mechanism's horizontal position adjustment. The lifting component can be a hydraulic cylinder, electric push rod, or screw jack, etc., to achieve precise positioning of the clamping component 300 in the height direction. The clamping component 300 can be a pneumatic gripper, mechanical clamp, or electromagnetic adsorption device, and its purpose is to reliably fix the end plate frame and adapt to different specifications.

[0086] It's easy to understand that the flipping mechanism 1000 achieves flexible adaptability through three different configurations. In the first configuration, the design of the displacement component connected to the bottom of the base 100 allows the entire mechanism to move as a whole. This structure is particularly suitable for scenarios requiring high stability, effectively avoiding vibration problems caused by local movement, thus ensuring precise matching between the clamping point and the edge of the end plate frame. In the second configuration, the design of the displacement component located between the base 100 and the lifting component significantly reduces the movement mass and improves the response speed. Especially when frequently adjusting the clamping position, it can quickly adapt to changes in the width of the end plate frame and reduce movement delay. In the third configuration, the design of the displacement component connected between the clamping component 300 and the lifting component enables independent fine-tuning of the clamping action. When there are slight deviations in the end plate frame specifications, the clamping component 300 can dynamically correct itself based on real-time clamping force feedback, avoiding clamping failure due to size mismatch. These configurations can be flexibly selected according to actual working conditions. By clarifying the hierarchical relationship between the base 100, the displacement component and the lifting component, the flipping mechanism 1000 can adaptively adjust its movement trajectory during the lifting and flipping steps, ensuring that the lowest point of the end plate frame maintains a safe gap with the workstation surface, fundamentally improving the reliability of clamping and the smoothness of the flipping process.

[0087] Reference Figure 3 and Figure 4 This application further proposes a rotating assembly 400 including a fixed plate 410 and a rotating plate 420. The clamping member 300 is fixedly connected to the rotating plate 420. The fixed plate 410 is connected to the lifting assembly and is provided with a tilting drive 440. The output end of the tilting drive 440 passes through the fixed plate 410 and is connected to a drive gear 441. The side of the rotating plate 420 is provided with driven teeth 430. The drive gear 441 meshes with the driven teeth 430. The tilting drive 440 drives the drive gear 441 to rotate, thereby driving the clamping member 300 to rotate via the rotating plate 420. The fixed plate 410 serves as the basic support structure of the entire rotating assembly 400 and can be made of high-strength metal sheet or composite material to ensure the rigidity and stability of the overall structure. The rotating plate 420 can be understood as a component that supports the clamping member 300 and enables its rotational movement. It can be connected to the fixed plate 410 via a sliding bearing or a ball bearing to reduce friction and improve rotational smoothness. The tilting drive 440 is the core component that provides rotational power. It can be a servo motor, stepper motor, or other power source, and its purpose is to precisely control the rotation angle and speed. The meshing design between the drive gear 441 and the driven tooth 430 is used to efficiently transmit the driving force to the rotating plate 420. This can be achieved through transmission methods such as spur gears, helical gears, or worm gears, depending on the load requirements and accuracy requirements.

[0088] The connection between the fixed plate 410 and the lifting assembly ensures the stability of the axial position of the rotating assembly 400 during lifting, avoiding offset problems caused by height adjustments. The separate design of the rotating plate 420 and the fixed plate 410 effectively isolates the vibration source, making the rotation smoother and more reliable. The clamping member 300 is directly fixed to the rotating plate 420. This rigid connection eliminates the risk of relative displacement between the clamping member 300 and the rotating component, thus ensuring that the end plate frame is firmly clamped throughout the flipping process. The design of the output end of the flipping drive member 440 passing through the fixed plate 410 and connecting to the drive gear 441 not only simplifies the force transmission path but also integrates the power source and transmission components within the protective frame, reducing the impact of external interference on transmission accuracy. The meshing mechanism between the drive gear 441 and the driven tooth 430 is based on the adaptability requirements of end plate frame specification changes, maintaining a constant transmission ratio and avoiding positioning drift caused by load fluctuations, thereby significantly improving the compatibility and reliability of handling end plate frames of different specifications.

[0089] Understandably, the rotating component 400 in the aforementioned multi-specification workpiece adaptive attitude adjustment device effectively solves the slippage and positioning deviation problems that easily occur in traditional rotating designs through a gear meshing transmission mechanism. The fixed plate 410, as a basic support component, ensures the axial stability of the rotating component 400 during lifting by its connection with the lifting component; the rotating plate 420, as a motion carrier, further enhances the smoothness of rotation through its separate design from the fixed plate 410. The entire transmission chain forms a closed-loop feedback mechanism, efficiently converting the driving force into the rotational motion of the clamping component 300. This not only provides a rapid response but also maintains uniform rotation speed despite weight differences in the end plate frame, thereby achieving precise control and stable clamping of the end plate frame rotation.

[0090] This application further proposes that the clamping member 300 includes a first driving part 330, a first linear guide pair 320, and a clamping block 310; the lifting assembly includes a column 200 and a second driving part 120 and a second linear guide pair 110 connected to the column 200; the displacement assembly includes a third driving part 220 and a third linear guide pair 210 disposed on the base 100 or vertically connected to the column 200; at least two clamping blocks 310 are provided, which are driven by the first driving part 330 to move towards or away from each other along the first linear guide pair 320; the column 200 is connected to the base 100; the second driving part 120 is connected to and drives the clamping member 300 to rise and fall relative to the column 200 along the second linear guide pair 110; and the third driving part 220 is connected to the column 200 or the clamping member 300 to drive the clamping member 300 to move closer to or away from the end plate frame along the third linear guide pair 210.

[0091] Reference Figure 3Specifically, the clamping component 300 refers to the part used to directly contact and fix the end plate frame, which can be driven by hydraulic cylinders, pneumatic cylinders, or electric push rods. The first linear guide pair 320 is a structure that provides precise guidance for the clamping block 310, which can be implemented using ball bearing guides, sliding guides, or crossed roller guides, aiming to ensure that the clamping block 310 remains stable and has a precise trajectory during movement. The clamping block 310 is a clamping element that acts directly on the surface of the end plate frame; it can be a rigid block with anti-slip pads or a flexible gripper, aiming to avoid damage to the end plate frame by evenly distributing clamping force. In practical applications, the column 200 in the lifting assembly refers to the main structure that provides support for the entire clamping system, which can be implemented using rectangular tubing, I-beams, or custom profiles, aiming to ensure the stability of the overall structure. The second linear guide pair 110 is a mechanism that provides guidance for the lifting and lowering movement of the clamping member 300. It can be implemented by synchronous belt drive, lead screw drive, or gear and rack drive, etc., to ensure that the trajectory of the clamping member 300 is strictly controlled during the lifting and lowering process. The third linear guide pair 210 in the displacement assembly is a mechanism that provides guidance for the horizontal movement of the clamping member 300. It can be implemented by linear motor, ball screw, or pneumatic slide, etc., to ensure that the clamping member 300 can be accurately positioned to the end plate frame.

[0092] The precise clamping and stable flipping of the end plate frame are achieved through the coordinated operation of multiple components. The first drive unit 330, in conjunction with the first linear guide pair 320, drives the clamping block 310 to move along a predetermined trajectory, ensuring smooth and reliable clamping action. Simultaneously, the two clamping blocks 310 can adaptively adjust their spacing according to the actual width of the end plate frame, thereby achieving uniform clamping of end plate frames of different specifications. The column 200, as the core support component, not only provides a stable foundation for the clamping member 300, but also achieves precise lifting and lowering control of the clamping member 300 through the second drive unit 120 and the second linear guide pair 110, preventing the end plate frame from swaying or deviating from the predetermined path during lifting. Furthermore, the combination of the third drive unit 220 and the third linear guide pair 210 allows the clamping member 300 to move flexibly in the horizontal direction, efficiently completing both clamping near the end plate frame and releasing away from it. This structural design effectively solves the problems of inaccurate clamping and poor adaptability, significantly improving the safety and reliability of the flipping operation. It not only achieves precise clamping and stable rotation of the end plate frame, but also significantly enhances the device's ability to handle diverse end plate frames, especially exhibiting excellent adaptability when facing end plate frames of different thicknesses and widths, thereby greatly improving the efficiency and safety of production or maintenance processes.

[0093] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A method for adaptive attitude adjustment control of multi-specification workpieces, characterized in that, An adaptive attitude adjustment device for multi-specification workpieces is applied, the adaptive attitude adjustment device for multi-specification workpieces includes: Two opposing flipping mechanisms (1000) are configured as a first clamping part and a second clamping part, respectively. Each flipping mechanism (1000) includes a displacement component, a lifting component, a rotating component (400), and a clamping member (300) arranged sequentially. The flipping mechanism (1000) moves to the width position of the end plate frame through the displacement component. The lifting component drives the clamping member (300) to move up and down to the height position of the end plate frame. The clamping member (300) is used to clamp or release the end plate frame. The clamping member (300) is connected to the lifting component through the rotating component (400). The rotating component (400) is used to drive the clamping member (300) to rotate around an axis to flip the end plate frame. The adaptive attitude adjustment control method for multi-specification workpieces includes the following steps: End plate frame positioning and adaptive clamping steps: After the container end plate frame arrives at the flipping station, the first clamping part and the second clamping part in the flipping device are controlled to move towards each other to adaptively clamp and position on the opposite sides of the end plate frame. Lifting and flipping steps: After clamping is completed, the lifting component is controlled to drive the clamped end plate frame to rise, and the rotating component is controlled to drive the end plate frame to flip in the air; Unloading steps: Control the lifting assembly to drive the flipped end plate frame to descend, and control the clamping parts to release, placing the end plate frame on the transfer device for transport away; The end plate frame positioning and adaptive clamping steps include: Automatic feeding and inspection: The feeding device is controlled to automatically transport the container end plate frame to the predetermined position of the flipping station, and the sensor is used to detect and confirm that the end plate frame has been in place; And / or, in the adaptive clamping step, the clamping force is monitored in real time by a pressure sensor, and when the clamping force reaches a preset safety threshold range, the movement of the clamping component is stopped and the clamping state is locked; In the adaptive clamping step, the first clamping part is an active driving end. By controlling the first clamping part to move towards the end plate frame and push the end plate frame, the other side of the end plate frame comes into contact with the second clamping part to complete the clamping; or, in the adaptive clamping step, the first clamping part and the second clamping part are controlled to act as active driving ends at the same time and move towards each other to jointly clamp the end plate frame. In the lifting and flipping steps, the control lifting assembly driving the clamped end plate frame to rise includes an anti-interference control step: Safety height control: Control the lifting assembly until a preset reference point reaches a target safety height; the target safety height is configured to ensure that during the subsequent flipping process, the movement trajectory of the lowest point of the end plate frame maintains a safe gap with the flipping workstation surface or any fixed obstacle.

2. The adaptive attitude adjustment control method for multi-specification workpieces according to claim 1, characterized in that, The reference point is any one of the following: the axis of the rotating component of the flipping device, the mounting reference surface of the clamping member, and the lower edge of the end plate frame.

3. The adaptive attitude adjustment control method for multi-specification workpieces according to claim 2, characterized in that, The anti-interference control steps also include: Real-time detection and adaptive adjustment: By using a distance sensor installed on the clamping member or frame, the distance from any one of the following to the reference plane is detected in real time: the axis of the rotating component of the flipping device, the mounting reference surface of the clamping member, and the lower edge of the clamped end plate frame. Based on this distance, the control system dynamically calculates and adjusts the action of the lifting component to achieve adaptive control of the safety height.

4. The adaptive attitude adjustment control method for multi-specification workpieces according to claim 1, characterized in that, Before or simultaneously with the end plate frame positioning and adaptive clamping step, an end plate frame specification acquisition step is also included: acquiring the specification and size information of the current end plate frame, and setting or adjusting the safety height in the lifting and flipping step and / or the clamping parameters in the adaptive clamping step based on the acquired specification and size information.

5. The adaptive attitude adjustment control method for multi-specification workpieces according to claim 4, characterized in that, The "acquiring of the current endplate frame's specifications and dimensions" can be achieved through any of the following methods: non-contact scanning and measurement of the endplate frame located at the flipping station using a visual recognition system or measurement sensors; reading information from an identification carrier that is synchronously transported with the endplate frame, the identification carrier storing endplate frame specification data; or receiving a data packet from the production database, the data packet containing the current endplate frame's specifications.

6. The adaptive attitude adjustment control method for multi-specification workpieces according to claim 4, characterized in that, Based on the specified dimensions, the preset safety height and preset clamping stroke corresponding to the specified dimensions are retrieved from the parameter database stored in the control system.

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