Workpiece grabbing method for welding and cutting, welding and cutting equipment and computer storage medium

Abstract

The invention provides a workpiece grabbing method for welding and cutting, welding and cutting equipment and a computer storage medium, and relates to the technical field of welding and cutting. The workpiece grabbing method comprises the steps that the maximum inscribed rectangles in a plurality of workpiece plane contours are obtained through calculation; corresponding workpieces with the length and width sizes larger than or equal to the shape of the grabbing face are screened out and serve as single grabbing objects; the first grabbing angle and the first grabbing position of the single electromagnet on the single grabbing object are obtained through calculation; whether the two electromagnets can conduct parallel grabbing or not is judged; if the two electromagnets can grab the object in parallel, second grabbing angles and second grabbing positions of the two electromagnets are obtained through calculation on the basis of the gravity center of the single grabbing object and the maximum distance between the two electromagnets; and if the two electromagnets cannot grab in parallel, the first grabbing angle and the first grabbing position are based on the first grabbing angle and the first grabbing position.

Description

Technical Field

[0001] This invention relates to the field of welding and cutting technology, and more specifically, to a workpiece gripping method, welding and cutting equipment, and computer storage medium for welding and cutting. Background Technology

[0002] In modern industrial manufacturing, welding and cutting are widely used in various industries, especially in the field of sheet metal cutting. After the sheet metal is cut into a specified shape, it undergoes various welding processes to produce various types of products.

[0003] Typically, multiple workpieces of different shapes are cut from a steel plate, removed from the plate, processed, and then welded to their designated locations. This process usually involves manual labor combined with equipment such as cranes to grab and transport the multiple workpieces of varying sizes.

[0004] However, with the continuous development of visual recognition technology and robotics technology, the level of automation and intelligence in welding and cutting processes has been continuously improved. The above-mentioned method of manually cooperating with cranes and other equipment to grab and transport workpieces can no longer meet the needs of more efficient intelligent and automated welding and cutting production lines. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a workpiece gripping method for welding and cutting. The gripping is performed by a gripping mechanism at an actuator. This gripping mechanism is equipped with two electromagnets, each with a rectangular gripping surface. The long sides of the two electromagnets are parallel and adjacent to each other, and the distance between the two electromagnets is adjustable. The workpiece gripping method includes: Based on the planar contour data of multiple workpieces, the maximum inscribed rectangle within the planar contours of the multiple workpieces is calculated. From the largest inscribed rectangles within the plane contours of multiple workpieces, select the corresponding workpieces whose length and width dimensions are both greater than or equal to the shape of the gripping surface, and use them as single gripping objects. Based on the basic information of the maximum inscribed rectangle of the single grasping object and the shape of the grasping surface, the first grasping angle and the first grasping position of a single electromagnet on the single grasping object are calculated. Based on the planar contour data of the single grasping object, determine whether the two electromagnets can grasp it in parallel; If the two electromagnets can grasp in parallel, then based on the center of gravity of the single grasped object and the maximum distance between the two electromagnets, the second grasping angle and the second grasping position of the two electromagnets are calculated, and the single grasped object is grasped by the two electromagnets. If the two electromagnets cannot grasp in parallel, then based on the first grasping angle and the first grasping position, a single electromagnet is used to grasp the single grasping object.

[0006] Optionally, based on the basic information of the maximum inscribed rectangle of the single grasping object and the shape of the grasping surface, calculating the first grasping angle and the first grasping position of a single electromagnet on the single grasping object includes: Based on the basic information of the maximum inscribed rectangle of the single grasping object and the shape of the grasping surface, conversion information is calculated to transform the shape of the grasping surface from the initial angle to be parallel to the maximum inscribed rectangle of the single grasping object; Based on the conversion information, the first grasping angle is obtained; The first gripping position is obtained by traversing the data based on the condition that it is closest to the centroid of the single gripping object and the shape of the gripping surface is always within the largest inscribed rectangle of the single gripping object.

[0007] Optionally, determining whether two electromagnets can grasp an object in parallel, based on the planar contour data of the single grasping object, includes: Within the planar contour of the single grasping object, calculate and store the positions of multiple pairs of parallel inscribed grasping surface shapes; Based on the fact that the number of parallel elements of the inner gripping surface shape is greater than or equal to two, it is determined that the two electromagnets can grip in parallel. Otherwise, delete the stored position data of the inner gripping surface shape.

[0008] Optionally, if the two electromagnets can grasp in parallel, the second grasping angle and the second grasping position of the two electromagnets are calculated based on the center of gravity of the single grasped object and the distance adjustment range between the two electromagnets, including: Based on the stored positions of multiple pairs of parallel inner gripping surface shapes and the centroid of the single gripping object, the principal vector from the centroid of each inner gripping surface shape to the centroid of the single gripping object is calculated. Each principal vector is decomposed into a first projected component vector in the direction of the long side of the gripping surface shape, and a second projected component vector in the direction of the wide side of the gripping surface shape. Based on the conditions that the first projection vectors are equal and have the smallest length, the sum of the lengths of the second projection vectors is close to the maximum distance between the two electromagnets, and the directions of the second projection vectors are opposite, the specific inscribed gripping surface shape is obtained by traversing. The second gripping angle and the second gripping position are calculated based on the position of the specific inner gripping surface shape and the initial angle relative to the gripping surface.

[0009] Optionally, the electromagnet is equipped with a proximity switch, which is used to detect whether the electromagnet is in contact with the workpiece. The bottom surface of the proximity switch has a regular shape and is disposed adjacent to the gripping surface. After obtaining the first grasping position by traversing according to the conditions that it is closest to the centroid of the single grasping object and the shape of the grasping surface is always within the largest inscribed rectangle of the single grasping object, the method further includes: Set the regular shape at a specified position outside the edge of the grasping surface shape, and calculate whether the regular shape is within the planar contour of the single grasping object; If it is not within the planar contour of the single grasping object, then according to the condition that the grasping surface shape and the regular shape are always within the planar contour of the single grasping object within the first grasping angle swing setting range, the third grasping angle and the third grasping position are obtained by traversing. If the two electromagnets cannot grasp in parallel, then based on the third grasping angle and the third grasping position, a single electromagnet is used to grasp the single grasping object; The designated position is the position adjacent to the inductive switch and the electromagnet.

[0010] Optionally, the regular shape is a square, and the regular shape is located outside the midpoint of one long side of the grasping surface shape, and the size of the regular shape is much smaller than the size of the grasping surface shape.

[0011] Optionally, before calculating the maximum inscribed rectangle within the multiple workpiece planar contours based on the planar contour data of multiple workpieces, the following steps are included: The planar contour data of multiple workpieces can be obtained by visually recognizing the outer contours of multiple workpieces, or by using pre-inputted theoretical models of the outer contours of multiple workpieces.

[0012] Optionally, if the two electromagnets cannot grasp in parallel, then after grasping the single object with a single electromagnet based on the first grasping angle and the first grasping position, the method further includes: The two electromagnets are brought close together at the center of the gripping mechanism.

[0013] In addition, the present invention also provides a welding and cutting device, including: an actuator, a memory, and one or more processors. The actuator is equipped with a gripping mechanism, which is used to grip the workpiece to be welded and cut, and the memory is used to store one or more computer programs. When the one or more computer programs are executed by the one or more processors, the workpiece grasping method is implemented.

[0014] In addition, the present invention also provides a computer storage medium storing a computer program, which is executed by a processor to implement the workpiece gripping method as described above.

[0015] The technical effects of this invention include at least the following: This invention analyzes and calculates the planar contour data of multiple workpieces, and uses the largest inscribed rectangle within the workpiece's planar contour to determine whether a single electromagnet can grasp it, thereby ensuring that workpieces with relatively small planar contours can also be automatically grasped.

[0016] Furthermore, considering the application scenario where the workpiece has been cut on the steel plate, in order to prevent the workpiece and the steel plate at its edge from being attracted together when the electromagnet is energized, thus causing inconvenience in detaching the workpiece from the steel plate, this invention selects workpieces whose length and width dimensions of the largest inscribed rectangle are both greater than or equal to the shape of the gripping surface as single magnet gripping objects. Only then can they be used as workpieces for single electromagnet adsorption and gripping, that is, single gripping objects. This ensures that the gripping surface of a single electromagnet is completely within the plane contour of the workpiece, thereby preventing the steel plate around the workpiece from being attracted and gripped together, and ensuring that the workpiece can be smoothly detached from the surrounding steel plate or other steel objects.

[0017] Next, based on the basic information of the maximum inscribed rectangle of a single gripping object and the shape of the gripping surface, the first gripping angle and the first gripping position are calculated, ensuring the stability of the single electromagnet's adsorption and gripping of the workpiece. More importantly, by utilizing the maximum inscribed rectangle, the computational load of a single electromagnet at the gripping position of each single gripping object is significantly reduced, unnecessary calculations for workpieces of various sizes are reduced, and the response speed of calculation and judgment is improved.

[0018] Then, under the premise of ensuring that the workpiece can be grasped by a single electromagnet, the judgment is made based on the planar contour data of the single grasping object. On the one hand, this can prevent the grasping surface shape of the two electromagnets from falling outside the planar contour of the workpiece and being attracted and stuck to the steel plate outside the workpiece contour. On the other hand, it can perform a wider calculation within the planar contour of the workpiece, and combine it with the adjustable spacing between the two electromagnets, instead of relying on the maximum inscribed rectangle within the planar contour of the workpiece for calculation again. This expands the calculation range of the grasping position of the two electromagnets. By using the two electromagnets to maintain the minimum spacing, workpieces with slightly larger planar contours can also be grasped by the two electromagnets at the same time, thus expanding the application range of the two electromagnets grasping workpieces.

[0019] More importantly, the calculation of the second gripping angle and the second gripping position of the two electromagnets is mainly based on the center of gravity of the single gripping object and the maximum distance between the two electromagnets. This ensures that when gripping workpieces with large planar contours and weight, the distance between the two electromagnets is kept as large as possible, and they are arranged as symmetrically as possible about the center of gravity of the workpiece. This guarantees stable gripping of workpieces with large planar contours and weight.

[0020] In summary, the gripping method of this invention, combined with two electromagnet gripping mechanisms with adjustable spacing, achieves fully automatic, adaptive, efficient, and stable adsorption and gripping of various types of welding and cutting workpieces, ensuring high gripping efficiency. It solves the technical problem that the current method of manually gripping and transporting workpieces using cranes and other equipment is no longer suitable for the needs of more efficient intelligent and automated welding and cutting production lines. Attached Figure Description

[0021] Figure 1 This is a planar contour data diagram of multiple workpieces according to a specific embodiment of the present invention; Figure 2 This is a schematic flowchart illustrating the main steps of the workpiece gripping method according to a specific embodiment of the present invention; Figure 3 This is a schematic flowchart illustrating the main steps of a single electromagnet grasping a single object at a first grasping angle and first grasping position, as described in a specific embodiment of the present invention. Figure 4 A schematic flowchart illustrating the main steps of determining whether two electromagnets can grasp objects in parallel, as a specific embodiment of the present invention. Figure 5 A schematic flowchart illustrating the main steps for calculating the second grasping angle and the second grasping position of the two electromagnets in a specific embodiment of the present invention; Figure 6 This is a schematic structural diagram of the gripping mechanism according to a specific embodiment of the present invention; Figure 7 This is a schematic structural diagram of two electromagnets grasping in parallel according to a specific embodiment of the present invention; Figure 8 This is a schematic structural diagram of a single electromagnet grasping in parallel according to a specific embodiment of the present invention; Figure 9 This is a schematic geometric diagram of two electromagnets grasping in parallel, calculated using the principal vector, as shown in a specific embodiment of the present invention. Detailed Implementation

[0022] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the embodiments of the present invention. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. The embodiments of the present invention can be implemented in many ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0023] It is understood that the terms "first," "second," etc., used in this invention may be used to describe various technical terms, but should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. However, unless specifically stated otherwise, these technical terms are not limited to these terms. These terms are only used to distinguish one technical term from another. For example, without departing from the scope of this invention, the first receiving device and the second receiving device are different receiving devices, the first surface and the second surface are different surfaces, and the first plane, the second plane, the third plane, and the fourth plane are different planes. In the description of embodiments of this invention, "a plurality of" or "several" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0024] In the description of the embodiments of the present invention, unless otherwise expressly specified and limited, the terms "installation," "connection," "setting," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0025] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this invention and in its specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0026] See Figures 1 to 9 This embodiment provides a gripping method for welding and cutting workpieces. The gripping mechanism at the actuator performs the gripping action. The gripping mechanism has two electromagnets 5, each with a rectangular gripping surface 2. The long sides of the two electromagnets 5 are parallel and adjacent, and the distance between the two electromagnets 5 is adjustable. This workpiece gripping method includes: Based on the planar contour data of multiple workpieces, the maximum inscribed rectangle within the planar contour of the multiple workpieces is calculated. From the largest inscribed rectangle within the plane contour of multiple workpieces, select the corresponding workpieces whose length and width dimensions are both greater than or equal to the gripping surface shape 2, and use them as the single gripping object 1. Based on the basic information of the maximum inscribed rectangle of the single grasping object 1 and the shape 2 of the grasping surface, the first grasping angle and the first grasping position of the single electromagnet 5 on the single grasping object 1 are calculated. Based on the planar contour data of a single grasping object 1, determine whether two electromagnets 5 can grasp it in parallel. If two electromagnets 5 can grasp in parallel, then based on the center of gravity of the single grasped object 1 and the maximum distance between the two electromagnets 5, the second grasping angle and the second grasping position of the two electromagnets 5 are calculated, and the single grasped object 1 is grasped by the two electromagnets 5. If the two electromagnets 5 cannot grasp in parallel, then based on the first grasping angle and the first grasping position, a single electromagnet 5 is used to grasp a single object 1.

[0027] It should be noted that the basic information of the gripping surface shape 2 in this embodiment may include the initial angle of the gripping surface shape 2, which is the initial angle at which the actuator drives the electromagnet 5 to move to the workpiece under normal circumstances, as well as the length and width dimensions of the gripping surface shape 2, and the position of the center of gravity of the electromagnet 5 at the gripping surface shape 2.

[0028] In addition, after the workpieces on the steel plate are cut, the planar contour data of multiple workpieces in the steel plate can be obtained, for example, through visual recognition detection or through the theoretical cutting model of the workpieces on the steel plate; or multiple workpieces of different shapes can be placed on the worktable, and before welding, the execution mechanism drives the gripping mechanism to execute the workpiece gripping method for welding and cutting in this embodiment, gripping the workpieces of different shapes to the designated position, and then performing positioning welding. In short, the gripping method in this embodiment can be used in the welding and cutting process.

[0029] In addition, the actuator here can be a robotic arm or a gantry, and the gripping mechanism is located at the end of the actuator.

[0030] In addition, by utilizing the adjustable spacing between the two electromagnets 5, the two electromagnets 5 can be arranged to be closely adjacent to each other, that is, the two electromagnets 5 can be arranged to be adjacent with a gap.

[0031] Additionally, it should be noted that in this embodiment, both electromagnets 5 can be energized simultaneously, causing both electromagnets 5 to attract the workpiece at the same time, or only one electromagnet 5 can be energized, causing only one electromagnet 5 to attract the corresponding workpiece.

[0032] In addition, in the above steps of the workpiece gripping method for welding and cutting in this embodiment, the gripping angle and gripping position of all workpieces can be determined by multi-threading or single-threading based on the planar contour data of multiple workpieces, that is, the first gripping angle and the first gripping position, or the second gripping angle and the second gripping position, and then the multiple workpieces are gripped one by one; or, before gripping a certain workpiece, the gripping method described in this embodiment is executed separately on the workpiece to obtain the gripping angle and gripping position of the workpiece, and then it is gripped directly. Before gripping the next workpiece, the above gripping method is repeated on the next workpiece to obtain the gripping angle and gripping position of the next workpiece, and then it is gripped.

[0033] The grasping method in this embodiment analyzes and calculates the planar contour data of multiple workpieces, and uses the largest inscribed rectangle within the planar contour of the workpiece to determine whether a single electromagnet 5 can grasp it, thereby ensuring that workpieces with relatively small planar contours can also be automatically grasped.

[0034] Furthermore, considering the application scenario where the workpiece has been cut on the steel plate, in order to prevent the workpiece and the steel plate at its edge from being attracted together when the electromagnet 5 is energized, which would make it inconvenient for the workpiece to detach from the steel plate, this embodiment selects workpieces whose length and width dimensions of the largest inscribed rectangle are both greater than or equal to the gripping surface shape 2 as single magnet gripping objects. Only then can they be used as workpieces to be gripped by a single electromagnet 5, that is, single gripping object 1. This ensures that the gripping surface of a single electromagnet 5 is completely within the plane contour of the workpiece, thereby preventing the steel plate around the workpiece from being attracted and gripped together, and ensuring that the workpiece can detach smoothly from the surrounding steel plate or other steel objects.

[0035] Next, based on the basic information of the maximum inscribed rectangle of the single gripping object 1 and the gripping surface shape 2, the first gripping angle and the first gripping position are calculated, ensuring the stability of the single electromagnet 5 in adsorbing and gripping the workpiece. More importantly, by using the maximum inscribed rectangle, the amount of calculation for the single electromagnet 5 at each gripping position of the single gripping object 1 is greatly reduced, unnecessary calculations for workpieces of various sizes are reduced, and the response speed of calculation and judgment is improved.

[0036] Then, under the premise of ensuring that the workpiece can be grasped by a single electromagnet 5, the judgment is made based on the planar contour data of the single grasping object 1. On the one hand, it can prevent the grasping surface shape 2 of the two electromagnets 5 from falling outside the planar contour of the workpiece and being attracted and stuck to the steel plate outside the workpiece contour. On the other hand, it can perform a wider calculation within the planar contour of the workpiece, and combine the adjustable spacing between the two electromagnets 5, instead of relying on the maximum inscribed rectangle within the planar contour of the workpiece again for calculation. This expands the calculation range of the grasping position of the two electromagnets 5. By using the two electromagnets 5 to maintain the minimum spacing, workpieces with slightly larger planar contours can also be grasped by the two electromagnets 5 at the same time, thus expanding the application range of the two electromagnets 5 in grasping workpieces.

[0037] More importantly, the calculation of the second gripping angle and the second gripping position of the two electromagnets 5 is mainly based on the center of gravity of the single gripping object 1 and the maximum distance between the two electromagnets 5. This ensures that when gripping workpieces with large planar contours and weight, the distance between the two electromagnets 5 is kept as large as possible, and they are arranged as symmetrically as possible about the center of gravity of the workpiece. This guarantees stable gripping of workpieces with large planar contours and weight.

[0038] In summary, the gripping method in this embodiment, combined with two adjustable-spacing electromagnets (5) gripping mechanisms, achieves fully automatic, adaptive, efficient, and stable adsorption and gripping of various types of workpieces, ensuring efficient gripping of welded and cut workpieces. It solves the technical problem that manual gripping and transportation using cranes and other equipment is no longer sufficient for the needs of more efficient intelligent and automated welding and cutting production lines.

[0039] Finally, after calculating and obtaining the first gripping angle and the first gripping position, or the second gripping angle and the second gripping position, the actuator drives the gripping mechanism to approach the corresponding workpiece and swing it to the corresponding first gripping angle or the second gripping angle. The two electromagnets 5 are adjusted to a suitable distance. When the electromagnets 5 are de-energized, they move to the corresponding first gripping position or the second gripping position on the workpiece. Then, the corresponding single electromagnet 5 or two electromagnets 5 are energized to achieve adsorption and fixation of the workpiece. Then, the actuator drives the gripping mechanism to grip the workpiece.

[0040] Furthermore, based on the basic information of the maximum inscribed rectangle of the single grasping object 1 and the shape 2 of the grasping surface, the first grasping angle and the first grasping position of the single electromagnet 5 on the single grasping object 1 are calculated, including: Based on the basic information of the maximum inscribed rectangle of the single grasping object 1 and the grasping surface shape 2, the transformation information of the grasping surface shape 2 from the initial angle to the maximum inscribed rectangle parallel to the single grasping object 1 is calculated. Based on the transformed information, the first grasping angle is obtained; Based on the condition that the position is closest to the centroid of the single grasping object 1 and the shape 2 of the grasping surface is always within the maximum inscribed rectangle of the single grasping object 1, the first grasping position is obtained by traversing.

[0041] Compared to traversing the single-grip object 1 by ensuring that the gripping surface shape 2 is always within its planar contour, this method significantly reduces the number of traversals, especially when performing this step on multiple workpieces with large planar contours, where the computational load is enormous. Furthermore, obtaining the first gripping angle based on the transformation information of the gripping surface shape 2 from its initial angle to being parallel to the maximum inscribed rectangle of the single-grip object 1 simplifies the calculation method for the first gripping angle. On the other hand, ensuring that the gripping surface shape 2 is parallel to the maximum inscribed rectangle of the single-grip object 1, and finding the point closest to the centroid of the single-grip object 1 during the traversal, while ensuring that the gripping surface shape 2 is always within the maximum inscribed rectangle of the single-grip object 1, requires that the long axis of the gripping surface shape 2 be arranged along the long axis of the maximum inscribed rectangle of the single-grip object 1, thus guaranteeing the stability of the single electromagnet 5 in gripping the workpiece.

[0042] Furthermore, based on the planar contour data of a single grasping object 1, determining whether two electromagnets 5 can grasp it in parallel includes: Within the planar contour of a single grasping object 1, calculate and store the positions of multiple pairs of parallel inscribed grasping surface shapes 2. Based on the fact that the number of parallel operations of the inner gripping surface shape 2 is greater than or equal to two, that is, whether the number of parallel pairs of the inner gripping surface shape 2 is greater than or equal to one pair, it is determined that the two electromagnets 5 can grip in parallel. Otherwise, delete the stored position data of the inner grab face shape 2.

[0043] In this embodiment, a method of first calculating and then judging is cleverly utilized. The positions of multiple pairs of parallel inner gripping surface shapes 2 are saved after calculation. In the subsequent calculation of the second gripping angle and second gripping position of the two electromagnets 5, the position data of these multiple pairs of parallel inner gripping surface shapes 2 are directly used for calculation, without needing to calculate again after judging whether the two electromagnets 5 can grip in parallel. This integrates the judgment and calculation of gripping by the two electromagnets 5 into one, simplifies the judgment and calculation process, and improves its response speed.

[0044] When it is determined that two electromagnets 5 cannot grasp the object in parallel, the position data of the inner grasping surface shape 2 is directly deleted from storage, thus avoiding useless data occupying storage space. Sufficient storage space is ensured to minimize the risk of system lag due to insufficient storage.

[0045] This step improves the efficiency of the judgment and calculation of the two electromagnets 5 in grasping, and effectively prevents operational lag. It enhances the smoothness and response speed of the judgment and calculation of the two electromagnets 5 in grasping.

[0046] Furthermore, if the two electromagnets 5 can grasp in parallel, then based on the center of gravity of the single grasped object 1 and the distance adjustment range between the two electromagnets 5, the second grasping angle and the second grasping position of the two electromagnets 5 are calculated and obtained, including: Based on the positions of multiple pairs of parallel inner gripping surface shapes 2 stored and the centroid 11 of a single gripping object 1, the principal vector 6 from the centroid of each inner gripping surface shape 2 to the centroid of the single gripping object 1 is calculated. Each principal vector 6 is decomposed into a first projected component vector 61 along the long side of the inscribed gripping surface shape 2, and a second projected component vector 62 along the wide side of the inscribed gripping surface shape 2. Based on the conditions that the first projection vector 61 is equal and has the smallest length, the sum of the lengths of the second projection vector 62 is close to the maximum distance between the two electromagnets 5, and the directions of the second projection vectors are opposite, the specific inner gripping surface shape 2 is obtained by traversal. Based on the position of the specific inner gripping surface shape 2 and the initial angle relative to the gripping surface, the second gripping angle and the second gripping position are calculated.

[0047] Set the major axis to pass through the center of gravity of the workpiece and extend along the long side of the workpiece. Set the minor axis to pass through the center of gravity of the workpiece and extend along the short side of the workpiece, perpendicular to the major axis.

[0048] By utilizing the fact that the first projection vectors are equal (i.e., equal in length and direction), multiple pairs of inscribed gripping surface shapes 2 with their centers of gravity located on the same side of the long axis are selected. Furthermore, the smaller the length of the first projection vector, the closer it is to the long axis where the workpiece's center of gravity is located, preventing excessive eccentricity during the gripping process according to the specific inscribed gripping surface shape 2.

[0049] Simultaneously, utilizing the condition that the directions of the second projection vectors are opposite, multiple pairs of inscribed gripping surface shapes 2 located on both sides of the workpiece's center of gravity along the long axis are selected. This includes both inscribed gripping surface shapes 2 that are symmetrical about the workpiece's center of gravity and inscribed gripping surface shapes 2 that are only located on both sides of the workpiece's center of gravity and are not symmetrical about the center of gravity. This prevents the selection range from being too small and only including inscribed gripping surface shapes 2 that are symmetrical about the workpiece's center of gravity. Thus, the possibility of the two electromagnets 5 gripping the workpiece in parallel is maximized.

[0050] Furthermore, by utilizing the fact that the sum of the lengths of the second projection vectors is close to the maximum distance between the two electromagnets 5, the gripping span of the two electromagnets 5 on the workpiece is expanded. Even if the gripping positions of the two electromagnets 5 are not symmetrical about the centroid along the long axis, a more stable specific inner gripping surface shape 2 can be found.

[0051] Furthermore, the electromagnet 5 is equipped with a proximity switch 3, which is used to detect whether the electromagnet 5 is in contact with the workpiece. The bottom surface of the proximity switch 3 has a regular shape 4 and is arranged adjacent to the gripping surface. Based on the conditions that the first grasping position is closest to the centroid of the single grasping object 1 and the grasping surface shape 2 is always within the largest inscribed rectangle of the single grasping object 1, after traversing to obtain the first grasping position, the following steps are also included: Set a regular shape 4 at a specified position outside the edge of the gripping surface shape 2, and calculate whether the regular shape 4 is within the planar outline of the single gripping object 1; If it is not within the planar outline of the single grasping object 1, then according to the condition that the grasping surface shape 2 and the regular shape 4 are always within the planar outline of the single grasping object 1 within the first grasping angle swing set angle range, the third grasping angle and the third grasping position are obtained by traversing. If the two electromagnets 5 cannot grasp in parallel, then based on the third grasping angle and the third grasping position, a single electromagnet 5 is used to grasp the single grasping object 1. The designated position is the adjacent position between the inductive switch 3 and the electromagnet 5.

[0052] It should be noted that the inductive switch 3 here can be one of the following: infrared inductive switch 3, microwave inductive switch 3, ultrasonic inductive switch 3, or piezoelectric inductive switch 3.

[0053] In addition, the regular shape 4 here can be a square, triangle, rectangle, etc., as long as the regular shape 4 is consistent with the shape of the sensing surface of the inductive switch 3 and completely covers the sensing surface.

[0054] Furthermore, the regular shape 4 is a square, and the regular shape 4 is set outside the midpoint of one of the long sides of the grasping surface shape 2. The size of the regular shape 4 is much smaller than the size of the grasping surface shape 2.

[0055] The inductive switch 3 can determine whether the electromagnet 5 is in contact with the steel plate in real time, which makes it convenient for the control system to know the contact status between the electromagnet 5 and the steel plate. In particular, the inductive switch 3 can detect the workpiece detaching from the electromagnet 5 during the transfer process, thereby improving the safety of the electromagnet 5 in the gripping process.

[0056] Therefore, when calculating the gripping position of the electromagnet 5 on the workpiece, it is necessary to keep the sensing contact surface of the inductive switch 3, i.e., the regular shape 4, within the workpiece's planar contour. The regular shape 4 should be set at a designated position outside the edge of the gripping surface shape 2, ensuring its position aligns with the inductive switch 3. Then, it is calculated whether the regular shape 4 is within the planar contour of the single gripping object 1. Instead of changing the set length or width of the inner shape, which would cause the area of ​​the inner shape to expand excessively and prevent finding an effective and stable gripping point, the size of the regular shape 4 is made much smaller than the size of the gripping surface shape 2, ensuring that the regular shape 4 matches the actual detection area of ​​the inductive switch 3. The calculation is performed based on the condition that the gripping surface shape 2 and the regular shape 4 are always within the planar contour of the single gripping object 1, within the first gripping angle swing range, and closest to the center of gravity of the single gripping object 1. This allows for finding a stable gripping position and a third gripping angle and position that ensures the inductive switch 3 is always in contact with the workpiece surface.

[0057] Furthermore, before calculating the maximum inscribed rectangle within the planar contours of multiple workpieces based on their planar contour data, the process includes: The planar contour data of multiple workpieces can be obtained by visually recognizing the outer contours of multiple workpieces, or by using a pre-inputted theoretical model of the outer contours of multiple workpieces.

[0058] Furthermore, if the two electromagnets 5 cannot grasp in parallel, then after grasping the single grasping object 1 with a single electromagnet 5 based on the first grasping angle and the first grasping position, the process further includes: The two electromagnets 5 are brought close together at the center of the gripping mechanism.

[0059] In this way, when the electromagnet 5 grips the workpiece, the electromagnet 5 is positioned as close as possible to the bottom center of the gripping mechanism, reducing the occurrence of workpiece eccentricity or swaying.

[0060] In addition, this embodiment also provides a welding and cutting device, including: an actuator, a memory, and one or more processors. The actuator is equipped with a gripping mechanism, which is used to grip the workpiece to be welded and cut, and the memory is used to store one or more computer programs. When the one or more computer programs are executed by the one or more processors, the workpiece grasping method is implemented.

[0061] It should be noted that the welding and cutting equipment here can be a welding workstation or a cutting workstation, and the actuator can be an independent unit within the workstation specifically designed for gripping workpieces. Alternatively, the actuator can be a robotic arm equipped with a welding torch or cutting torch, with the gripping mechanism integrated at its end effector.

[0062] Of course, the welding and cutting equipment can also be a robotic arm with a welding torch or cutting torch at the end of the actuator.

[0063] In addition, this embodiment also provides a computer storage medium that stores a computer program, which is executed by a processor to implement a method such as a capture method.

[0064] In addition, the two electromagnets 5 in this embodiment can be brought closer and separated at the same time through a lead screw and nut mechanism, or through other linear drive mechanisms, such as piston cylinders or electric push rods, as long as they can drive the two electromagnets 5 to move closer or further apart.

[0065] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the scope of protection of this invention.

Claims

1. A method for gripping workpieces for welding and cutting, characterized in that, The workpiece is gripped by a gripping mechanism at the actuator. This gripping mechanism has two electromagnets, each with a rectangular gripping surface. The long sides of the two electromagnets are parallel and adjacent to each other, and the distance between them is adjustable. The workpiece gripping method includes: Based on the planar contour data of multiple workpieces, the maximum inscribed rectangle within the planar contours of the multiple workpieces is calculated. From the largest inscribed rectangles within the plane contours of multiple workpieces, select the corresponding workpieces whose length and width dimensions are both greater than or equal to the shape of the gripping surface, and use them as single gripping objects. Based on the basic information of the maximum inscribed rectangle of the single grasping object and the shape of the grasping surface, the first grasping angle and the first grasping position of a single electromagnet on the single grasping object are calculated. Based on the planar contour data of the single grasping object, determine whether the two electromagnets can grasp it in parallel; If the two electromagnets can grasp in parallel, then based on the center of gravity of the single grasped object and the maximum distance between the two electromagnets, the second grasping angle and the second grasping position of the two electromagnets are calculated, and the single grasped object is grasped by the two electromagnets. If the two electromagnets cannot grasp in parallel, then based on the first grasping angle and the first grasping position, a single electromagnet is used to grasp the single grasping object.

2. The workpiece gripping method for welding and cutting according to claim 1, characterized in that, Based on the basic information of the maximum inscribed rectangle of the single grasping object and the shape of the grasping surface, the first grasping angle and the first grasping position of a single electromagnet on the single grasping object are calculated, including: Based on the basic information of the maximum inscribed rectangle of the single grasping object and the shape of the grasping surface, conversion information is calculated to transform the shape of the grasping surface from the initial angle to be parallel to the maximum inscribed rectangle of the single grasping object; Based on the conversion information, the first grasping angle is obtained; The first gripping position is obtained by traversing the data based on the condition that it is closest to the centroid of the single gripping object and the shape of the gripping surface is always within the largest inscribed rectangle of the single gripping object.

3. The workpiece gripping method for welding and cutting according to claim 1, characterized in that, Based on the planar contour data of the single grasping object, determining whether the two electromagnets can grasp it in parallel includes: Within the planar contour of the single grasping object, calculate and store the positions of multiple pairs of parallel inscribed grasping surface shapes; Based on the fact that the number of parallel elements of the inner gripping surface shape is greater than or equal to two, it is determined that the two electromagnets can grip in parallel. Otherwise, delete the stored position data of the inner gripping surface shape.

4. The workpiece gripping method for welding and cutting according to claim 3, characterized in that, If the two electromagnets can grasp in parallel, then based on the center of gravity of the single grasped object and the distance adjustment range between the two electromagnets, the second grasping angle and the second grasping position of the two electromagnets are calculated, including: Based on the stored positions of multiple pairs of parallel inner gripping surface shapes and the centroid of the single gripping object, the principal vector from the centroid of each inner gripping surface shape to the centroid of the single gripping object is calculated. Each principal vector is decomposed into a first projected component vector in the direction of the long side of the gripping surface shape, and a second projected component vector in the direction of the wide side of the gripping surface shape. Based on the conditions that the first projection vectors are equal and have the smallest length, the sum of the lengths of the second projection vectors is close to the maximum distance between the two electromagnets, and the directions of the second projection vectors are opposite, the specific inscribed gripping surface shape is obtained by traversing. The second gripping angle and the second gripping position are calculated based on the position of the specific inner gripping surface shape and the initial angle relative to the gripping surface.

5. The workpiece gripping method for welding and cutting according to claim 2, characterized in that, The electromagnet is equipped with a proximity switch, which is used to detect whether the electromagnet is in contact with the workpiece. The bottom surface of the proximity switch has a regular shape and is arranged adjacent to the gripping surface. After obtaining the first grasping position by traversing according to the conditions that it is closest to the centroid of the single grasping object and the shape of the grasping surface is always within the largest inscribed rectangle of the single grasping object, the method further includes: Set the regular shape at a specified position outside the edge of the grasping surface shape, and calculate whether the regular shape is within the planar contour of the single grasping object; If it is not within the planar contour of the single grasping object, then according to the condition that the grasping surface shape and the regular shape are always within the planar contour of the single grasping object within the first grasping angle swing setting range, the third grasping angle and the third grasping position are obtained by traversing. If the two electromagnets cannot grasp in parallel, then based on the third grasping angle and the third grasping position, a single electromagnet is used to grasp the single grasping object; The designated position is the position adjacent to the inductive switch and the electromagnet.

6. The workpiece gripping method for welding and cutting according to claim 5, characterized in that, The regular shape is a square, and the regular shape is located outside the midpoint of one of the long sides of the grasping surface shape. The size of the regular shape is much smaller than the size of the grasping surface shape.

7. The workpiece gripping method for welding and cutting according to any one of claims 1 to 6, characterized in that, Before calculating the maximum inscribed rectangle within the planar contours of multiple workpieces based on their planar contour data, the process includes: The planar contour data of multiple workpieces can be obtained by visually recognizing the outer contours of multiple workpieces, or by using pre-inputted theoretical models of the outer contours of multiple workpieces.

8. The workpiece gripping method for welding and cutting according to any one of claims 1 to 6, characterized in that, If the two electromagnets cannot grasp in parallel, then after grasping the single object with a single electromagnet based on the first grasping angle and the first grasping position, the process further includes: The two electromagnets are brought close together at the center of the gripping mechanism.

9. A welding and cutting device, characterized in that, include: Actuator, memory, and one or more processors, The actuator is equipped with a gripping mechanism, which is used to grip the workpiece to be welded and cut, and the memory is used to store one or more computer programs. When the one or more computer programs are executed by the one or more processors, the workpiece gripping method for welding and cutting as described in any one of claims 1 to 8 is implemented.

10. A computer storage medium, characterized in that, The computer storage medium stores a computer program, which, when executed by a processor, implements the workpiece gripping method for welding and cutting as described in any one of claims 1 to 8.

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