Automatic double-sided steel seal marking machine and safety control method thereof

Abstract

The invention relates to an automatic double-sided steel seal marking machine and a safety control method thereof. The method comprises the following steps: analyzing an external shutdown instruction attribute; in response to the process pause type, monitoring the energy state of the marking device, if the energy state is in a potential energy accumulation or release interval, maintaining operation until the energy is reduced to a low energy level balance threshold value, and then performing controlled shutdown, thereby realizing atomization control of the marking period; and in response to a reset starting instruction, the vertical posture of the turnover grabbing device is checked, if the turnover grabbing device is located in the non-safe area, the transfer bearing device is preferentially driven to horizontally avoid, and after it is confirmed that the turnover grabbing device reaches the safe avoiding coordinates, the turnover grabbing device is driven to descend and reset. Through potential energy monitoring and avoidance priority logic, the potential safety hazards that marking potential energy is accidentally released to hurt people and mechanism reset space interferes with machine collision are solved.

Description

Technical Field

[0001] This application relates to the field of automation control, and in particular to an automatic double-sided steel stamp marking machine and its safety control method. Background Technology

[0002] In the metal processing and automotive parts manufacturing industries, double-sided permanent steel stamping is a critical process to meet the requirements of end-to-end product traceability. As automated production lines become more compact and efficient, single-station fully automated marking equipment, capable of simultaneously performing transfer, marking, and flipping actions within a single workstation, is gradually replacing traditional multi-station distributed production lines. This equipment typically employs highly integrated mechanical designs, such as using a combination of cams and strong tension springs to achieve high-impact marking, and utilizing linkage mechanisms to flip workpieces in mid-air within a limited space. While this purely mechanical collaborative design significantly reduces hardware costs and improves operational efficiency, it also introduces significant safety hazards to the equipment's start-stop control and reset logic. Existing general control methods are insufficient to effectively address the systemic safety issues arising from this specific structure.

[0003] The core of this safety issue lies in the inability of general logic control methods to adapt to the unique energy potential state and spatial positional relationships of such equipment. In traditional control logic, the control system tends to immediately cut off power or stop output upon receiving a stop command, while during reset initialization, it tends to directly drive each axis back to its origin. However, for marking devices using spring-loaded energy storage, if a stop command is directly responded to during the high-tension phase of potential energy accumulation, the locked mechanical potential energy will be in a highly unstable state. Once loosening occurs or power is restored, the accumulated energy will be released instantaneously, causing the slider to impact unexpectedly, thus threatening the operator's safety. Simultaneously, for the tilting mechanism and the supporting platform moving within the same vertical projection space, there are complex spatial interference zones between them. If a reset action is executed directly after an abnormal stop, the control system often cannot identify the current relative positional risk, causing the tilting component to rigidly collide with the unavoidable supporting platform during descent.

[0004] Therefore, existing control technologies lack a collaborative control scheme capable of intelligently determining shutdown timing based on the current energy state and intelligently planning the reset sequence based on positional relationships when dealing with automated equipment that integrates high potential energy storage and spatial interference characteristics. This lack of control not only easily leads to damage to delicate mechanical components due to impacts under abnormal operating conditions, but also brings uncontrollable personal injury risks to the production site. Summary of the Invention

[0005] In order to intelligently determine the shutdown time based on the current energy state and intelligently plan the reset sequence according to the position relationship, this application provides an automatic double-sided steel stamp marking machine and its safety control method.

[0006] Firstly, this application provides a safety control method for an automatic double-sided steel stamping and marking machine, which adopts the following technical solution: A safety control method for an automatic double-sided steel stamp marking machine is applied to automated equipment including a transfer and support device, a flipping and gripping device, and a marking device. The safety control method includes the following steps: S1. Obtain an externally input shutdown command and parse the command type attribute of the shutdown command; wherein, the command type attribute includes an emergency interruption type corresponding to a safety-related scenario and a process pause type corresponding to a non-safety-related scenario; S2. In response to the instruction type attribute being the process pause type, monitor the current energy potential data of the marking device. When it is confirmed that the energy potential data is in the potential energy accumulation range or the potential energy release range, generate an instruction interception signal to maintain the current operating state of the marking device. S3. While maintaining operation, monitor the change trajectory of energy potential data in real time. When the energy potential data is detected to be lower than the low energy level equilibrium threshold, generate a delayed shutdown execution command and control the marking device to stop operation in a controlled manner after a delay. S4. In response to a reset start command received in the stopped state, acquire the vertical pose data of the flip gripping device to perform a reset safety check; S5. When it is confirmed that the vertical pose data represents a non-safe reset area, a horizontal avoidance command is generated pointing to the transfer support device, driving the transfer support device to move away from the flipping gripper. S6. Monitor the real-time position feedback of the transfer support device. When the real-time position feedback matches the preset safety avoidance coordinates, generate a vertical reset command pointing to the flipping gripping device and drive the flipping gripping device to descend to the safety reset area.

[0007] Optionally, S1 includes the following sub-steps: S11. When the instruction type attribute of the shutdown instruction object is parsed as the emergency interruption type, a power cut-off instruction and a mechanical brake activation instruction are generated; S12. Execute the power cut-off command and the mechanical brake activation command to forcibly terminate the execution process of steps S2 and S3, and immediately lock the mechanical brake unit of the marking device.

[0008] Optionally, step S4 includes the following sub-steps: S41. In response to the reset start command, acquire the current energy potential state data of the marking device; S42. When the current energy potential data is detected to be in a state that is not corresponding to a low-level equilibrium threshold, a soft release control sequence is generated; S43. Execute the soft release control sequence to control the drive motor of the marking device to output a holding torque opposite to the current potential energy direction, and after releasing the mechanical braking unit, reduce the output torque of the drive motor according to the preset slow release speed curve until the marking device transitions to the state corresponding to the low energy level balance threshold.

[0009] Optionally, step S4 further includes the following sub-steps: S44. Receive a position sensor signal from the flipping gripping device, and extract the state transition timestamp data of the position sensor signal; S45. Input the timestamp data into a preset action timing verification model for verification processing; S46. When it is confirmed that the position sensor signal indicates that the position is in place but the state transition timestamp data does not conform to the action timing verification model, an untrusted pose state marker is generated, and the execution of steps S5 and S6 is prohibited.

[0010] Optionally, step S5 includes the following sub-steps: S51. During the process of driving the transfer support device to move, continuously collect the driving load data and displacement change of the transfer support device; S52. Input the drive load data into a preset safety threshold model for comparison processing; S53. When the drive load data is detected to exceed the range defined by the safety threshold model and the displacement change is lower than the preset displacement threshold, a mechanical deadlock is determined to have occurred, a manual intervention alarm signal is generated, and the output of the horizontal avoidance command is immediately terminated.

[0011] Optionally, step S6 includes the following sub-steps: S61. Obtain the workpiece gripping status data of the flipping gripping device and the unloading record data of the previous working cycle; S62. When it is confirmed that the workpiece gripping status data indicates abnormal no-load and the unloading record data indicates that unloading has not been completed, a workpiece falling abnormal alarm is generated; S63. Perform a suspension operation, pausing the generation of the vertical reset command until a manual confirmation clear signal is received; S64. If the workpiece falling abnormal alarm is not generated, then execute the step of generating the vertical reset command.

[0012] Secondly, the automatic double-sided steel stamping and marking machine provided in this application adopts the following technical solution: An automatic double-sided steel stamp marking machine includes: frame; A transfer and support device is installed on the frame, forming a support platform for supporting the steel plate to be marked, and is capable of driving the support platform to move laterally back and forth between the starting point and the ending point. A flipping gripping device, installed on the frame, is used to fix and release the steel plate to be marked on the support platform when the support platform moves to the end point, and can drive the steel plate to be marked to flip when the steel plate to be marked is fixed and the support platform leaves the end point; A marking device is installed on the support platform and is used to stamp and mark the steel plate to be marked each time the support platform moves to the end point.

[0013] Optionally, the transfer support device includes: A vertical planar support is mounted on the frame; A transfer motor is mounted on the frame; The gear system is fixed to the vertical plane support and driven by the transfer motor to provide power in the vertical and horizontal directions respectively; A first crank, the first end of which is used to receive the power from the gear system in the transverse direction and rotate in the transverse plane; The second crank, the first end of which is used to receive the power of the gear system in the vertical direction and rotate in the vertical plane; The first link, the first end of which is hinged to the end of the first crank, and the end of which is hinged to the support platform; The second link has its first end hinged to the end of the second crank and its end hinged to the support platform. A first sprocket system, wherein two sprockets of the first sprocket system are respectively mounted at the beginning of the first crank and at the beginning of the first connecting rod and are connected by a chain; The second sprocket system has two sprockets respectively mounted at the beginning of the second crank and the beginning of the second connecting rod and connected by a chain.

[0014] Optionally, the gear system includes: A transverse drive shaft is rotatably mounted on the vertical plane support and is connected to the output shaft of the transfer motor. A vertical drive shaft is vertically and rotatably mounted on the vertical plane support; The first bevel gear is mounted at the beginning of the transverse transmission shaft; The second bevel gear is mounted at the end of the transverse transmission shaft; A fourth bevel gear, which is mounted at the beginning of the vertical transmission shaft; The fifth bevel gear is mounted at the end of the vertical transmission shaft; The first bevel gear and the fourth bevel gear mesh.

[0015] Optionally, the first crank has a shaft at its head end that serves as the rotation center of the first crank, and a third bevel gear is coaxially disposed at the shaft at the head end of the first crank, the third bevel gear meshing with the second bevel gear; The first end of the second crank has a shaft that serves as the rotation center of the second crank, and a sixth bevel gear is coaxially arranged at the shaft at the first end of the second crank, the sixth bevel gear meshing with the fifth bevel gear; The first sprocket system includes a first large sprocket and a first small sprocket. The first large sprocket is coaxially fixedly mounted on the first crankshaft at the beginning of the crank; the first small sprocket is coaxially fixedly mounted at the rotation center of the first connecting rod at the beginning of the crankshaft; the first large sprocket and the first small sprocket are driven by a chain. The second sprocket system includes a second large sprocket and a second small sprocket. The second large sprocket is coaxially fixedly mounted on the first end shaft of the second crank. The second small sprocket is coaxially fixedly mounted at the rotation center of the first end of the second connecting rod. The second large sprocket and the second small sprocket are driven by a chain. The bottom of the support platform is rotatably connected to the end of the first connecting rod, the vertical side of the support platform is rotatably connected to the end of the second connecting rod, and the top surface of the support platform is horizontally positioned.

[0016] Optionally, the flipping gripping device includes: a vertical drive mechanism, mounted on the frame, for driving a vertical slider to move up and down; A flip adjustment component is mounted on a vertical slider, forming a rotation center, a first touch flip point and a second touch flip point located to the left of the rotation center, and a third touch flip point and a fourth touch flip point located to the right of the rotation center. The first touch flip point and the second touch flip point are positioned one above the other relative to the rotation center, and the third touch flip point and the fourth touch flip point are positioned one above the other relative to the rotation center. The flip adjustment component extends with two touch rods that move around the rotation center. In their natural state, the touch rods will return to the first touch flip point and the second touch flip point, or return to the third touch flip point and the fourth touch flip point. The flip-grip component is used to dock with the steel plate to be marked on the support platform, and to grab and fix the steel plate to be marked when it tilts, and to release the steel plate to be marked when it returns to horizontal. A horizontally sliding outer frame is mounted on the rack and slidably connected to the rack in the horizontal direction. The horizontally sliding outer frame moves between a left reference position and a right reference position. An opening is formed at the top of the horizontally sliding outer frame for the flip adjustment component to pass through, and a left blocking part and a right blocking part are formed on both sides of the opening. A triangular block is formed at the bottom of the horizontally sliding outer frame. The triangular block has a left inclined surface facing the left and a right inclined surface facing the right.

[0017] Optionally, when the flip adjustment component moves upward and the horizontal sliding outer frame is located at the right reference position, after the touch rod located at the first touch flip point touches the left blocking part, the two touch rods rotate relative to the rotation center to the third touch flip point and the fourth touch flip point. When the flip adjustment component moves downward and the horizontal sliding outer frame is located at the right reference position, the touch rod located at the fourth touch flip point touches the right inclined surface and pushes the horizontal sliding outer frame from the right reference position to the left reference position. When the flip adjustment component moves upward and the horizontal sliding outer frame is located at the left reference position, after the touch rod located at the third touch flip point touches the right blocking part, the two touch rods rotate relative to the rotation center to the first touch flip point and the second touch flip point. When the flip adjustment component moves downward and the horizontal sliding outer frame is located at the left reference position, the touch rod located at the second touch flip point touches the left inclined surface and pushes the horizontal sliding outer frame from the left reference position to the right reference position.

[0018] Optionally, the flip adjustment component includes: A central rotating shaft, which serves as the rotation center, passes through the vertical slider and is rotatably connected to the vertical slider; A V-shaped rod, the center of which is fixedly connected to the central rotating shaft, and the two ends of which are provided with the touch rods; A vertical extension bracket is mounted on the vertical slider and extends vertically upward; A reset rocker arm, the rotating end of which is fixedly connected to the end of the central rotating shaft away from the V-shaped rod, and the end of which is connected to the top of the vertical extension bracket via a reset spring; the reset spring causes the touch rod to return to the first touch flip point and the second touch flip point, or to the third touch flip point and the fourth touch flip point in its natural state.

[0019] Optionally, the marking device includes: A pre-marking support is provided, wherein a marking track is provided vertically on the pre-marking support; a supporting platform is used to place the steel plate to be marked at the marking track; and a lower connection point is provided on the pre-marking support. A marking slider is installed in the marking track and is slidably connected to the marking track in the vertical direction. A lifting rod is hinged to one side of the marking slider. A post-marking support, wherein the post-marking support is located on the side of the marking slider where the lifting rod is provided; A lifting motor is mounted on the marking support; A rotating support plate is mounted laterally on the marking support bracket and driven by the lifting motor to rotate in a vertical plane; two small lifting cylinders are symmetrically arranged on the rotating support plate with respect to the rotation center of the lifting motor. The sleeve rod includes a collar and an outer connecting rod. The outer connecting rod is integrally connected to the outer side of the collar and extends in a direction away from the center of the collar. The end of the outer connecting rod away from the collar is hinged to the end of the lifting rod away from the marking slider. An eccentric disc is provided with two concentric arc-shaped slits with the same radius, and two lifting cylinders are respectively embedded in the two arc-shaped slits; the eccentric disc has an upper connection point on the side opposite to the rotating support plate, and the upper connection point does not coincide with the center of the arc-shaped slits; A reset spring connects the upper connection point and the lower connection point.

[0020] In summary, this application includes at least one of the following beneficial technical effects: 1. This application achieves atomic control of the marking action cycle by monitoring the energy potential data of the marking device and identifying and intercepting shutdown requests in the potential energy accumulation or release range when a process pause command is received. This control logic ensures that the marking device always stops only after completing the current stamping action and returning to a low-energy equilibrium state, effectively eliminating the risk of operator injury and equipment impact damage caused by the unexpected locking or release of the elastic potential energy of the mechanical return spring. 2. This application introduces avoidance-priority control logic during the system reset initialization phase. It assesses spatial interference risks by acquiring the vertical pose data of the flipping gripper and plans the reset sequence accordingly. Upon confirmation of a reset conflict, the control system forcibly drives the transfer support device to move away from the safe avoidance coordinates of the flipping gripper, thereby eliminating the possibility of a rigid collision between the flipping mechanism and the support platform during descent in physical space. This resolves the hidden danger of reset path interference in compact single-station equipment after abnormal shutdown. 3. This application constructs a hierarchical response system that distinguishes between emergency interruptions and process pauses by analyzing the type attributes of shutdown commands. This ensures rapid power cut-off in emergency situations involving personal safety while avoiding state loss due to blind power outages during normal pauses. Furthermore, this method combines real-time position feedback with a closed-loop monitoring mechanism, preventing forced execution of actions by equipment in cases of mechanical lock-up or abnormal sensor signals. This significantly improves the operational stability and fault tolerance of automated equipment in complex industrial environments. Attached Figure Description

[0021] Figure 1 A schematic diagram of an automatic double-sided steel stamping and marking machine according to an embodiment of the present invention is shown. Figure 1 .

[0022] Figure 2 A schematic diagram of an automatic double-sided steel stamping and marking machine according to an embodiment of the present invention is shown. Figure 2 .

[0023] Figure 3 A schematic diagram of an automatic double-sided steel stamping and marking machine according to an embodiment of the present invention is shown. Figure 3 .

[0024] Figure 4 It is illustrated Figure 2 A magnified view of a portion of point A in the middle.

[0025] Figure 5 A flowchart illustrating a safety control method for an automatic double-sided steel stamping and marking machine according to an embodiment of the present invention is shown.

[0026] Explanation of reference numerals in the attached figures: 1. Rack; 2. Transfer and support device; 21. Vertical planar support; 22. Transfer motor; 23. Gear system; 231. Lateral drive shaft; 232. Vertical drive shaft; 233. First bevel gear; 234. Second bevel gear; 235. Third bevel gear; 236. Fourth bevel gear; 237. Fifth bevel gear; 238. Sixth bevel gear; 241. First crank; 242. Second crank; 243. First connecting rod; 244. Second connecting rod; 25. First sprocket system; 251. First large sprocket; 252. First small sprocket; 26. Second sprocket system; 261. Second large sprocket; 262. Second small sprocket; 27. Supporting platform; 3. Flipping and gripping device; 31. Vertical drive mechanism; 311. Drive cylinder; 312. Vertical track; 313. Vertical slider; 32. Flip adjustment component; 321. V-shaped rod; 3211. Contact rod; 322. Vertical extension bracket; 323. Reset rocker; 324. Reset spring; 33. Flip-grabbing component; 34. Horizontal sliding outer frame; 341. Left barrier; 342. Right barrier; 343. Triangular block; 344. Left bevel; 345. Right bevel; 4. Marking device; 41. Marking front bracket; 411. Marking track; 412. Lower connection point; 42. Marking slider; 43. Marking support; 44. Lifting motor; 45. Rotate the support plate; 451. Lift the small cylinder; 46. ​​Sleeve; 461. Sleeve ring; 462. External connecting rod; 47. Eccentric disc; 471. Arc-shaped gap; 472. Upper connection point; 48. Reset spring. Detailed Implementation

[0027] The present application will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the application and are not intended to limit the scope of the application.

[0028] In the following description, numerous specific details are set forth for purposes of explanation in order to provide a thorough understanding of the inventive concept. As part of this specification, some of the accompanying drawings of this disclosure are block diagrams illustrating structures and devices to avoid complicating the disclosed principles. For clarity, not all features of the actual embodiment need to be described. Furthermore, the language used in this disclosure has been primarily chosen for readability and instructional purposes and may not have been chosen to define or limit the subject matter of the invention, thus requiring the necessary claims to determine such inventive subject matter. References to “an embodiment” or “an embodiment” in this disclosure mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment, and multiple references to “an embodiment” or “an embodiment” should not be construed as necessarily referring to the same embodiment.

[0029] Unless explicitly defined, the terms “a,” “an,” and “the” are not intended to refer to a singular entity, but rather to include a general category whose specific examples can be used for illustration. Therefore, the use of the terms “a” or “an” can mean any number of at least one, including “a,” “one or more,” “at least one,” and “one or more.” The term “or” means any of the options and any combination of the options, including all options unless explicitly indicated that the options are mutually exclusive. The phrase “at least one of” when combined with a list of items refers to a single item in the list or any combination of items in the list. The phrase does not require all items listed unless explicitly defined as such.

[0030] In automated industrial manufacturing, particularly in automotive powertrain production, it is often necessary to apply permanent markings, such as stamps, to metal components like sheet metal. These markings are essential for quality control and long-term traceability. A common method for this process is to use automated transfer devices to move the sheet metal to designated marking stations.

[0031] A significant technical challenge arises when transferring these steel plates. These plates are typically heavy, possess considerable inertia, and have smooth surfaces. When using conventional transfer devices, such as cylinders or standard motors, their start-up and stopping are often abrupt. This sudden change in speed generates strong inertial forces, easily causing the smooth steel plates to slide on the support platform 27. This sliding leads to inaccurate positioning at the marking station, resulting in a high defect rate and reduced production efficiency.

[0032] To address this slippage issue, the industry has explored various approaches. One approach is to add auxiliary clamping mechanisms, such as electromagnetic chucks, to secure the steel plate during transport. However, this introduces additional components, complex control logic, and extra clamping and releasing steps, increasing overall cycle time and cost. Another approach is to use more expensive servo motors, which can be programmed to produce smooth acceleration and deceleration curves to mitigate inertial shocks. While feasible, this solution is often too costly for simple, repetitive transport tasks, resulting in poor cost-effectiveness when applied on large-scale production lines.

[0033] The marking process itself further complicates this transfer problem. Steel stamping is a high-impact operation, requiring a robust and typically heavy marking device. In some integrated designs, to reduce alignment steps, the marking device is mounted on a support platform 27 along with the steel plate for transfer. In this case, the total mass and inertia of the moving components increase significantly. This increased combined weight exacerbates inertial slippage, placing higher demands on the transfer device and rendering simple pneumatic or electric solutions less effective. Furthermore, the high-impact vibrations generated during the marking process can damage precision or high-precision transfer components, such as robotic arms, making them unsuitable for such applications.

[0034] Therefore, refer to Figure 1 This application discloses an automatic double-sided steel stamping and marking machine, capable of reliably transporting heavy loads with high inertia, including steel plates and marking equipment, while ensuring high-precision positioning. The automatic double-sided steel stamping and marking machine includes a frame 1, a transport support device 2, a flipping gripping device 3, and a marking device 4. The transport support device 2 is mounted on the frame 1, forming a support platform 27 for supporting the steel plate to be marked, and is capable of driving the support platform 27 to move laterally back and forth between the starting point and the ending point. The flipping gripping device 3 is mounted on the frame 1, used to fix and release the steel plate to be marked on the support platform 27 when it moves to the ending point, and can drive the steel plate to be marked to flip when it is fixed and the support platform 27 leaves the ending point. The marking device 4 is mounted on the support platform 27, used to stamp and mark the steel plate to be marked each time the support platform 27 moves to the ending point.

[0035] Reference Figure 2 and Figure 4 The transfer support device 2 includes a vertical plane support 21, a transfer motor 22, a gear system 23, a first crank 241, a second crank 242, a first connecting rod 243, a second connecting rod 244, a first sprocket system 25, and a second sprocket system 26.

[0036] A vertical plane support 21 is fixedly mounted on the frame 1. A transfer motor 22 is also mounted on the frame 1, for example, fixed to the base of the frame 1. A gear system 23 is fixedly mounted on the vertical plane support 21. The gear system 23 is connected to the transfer motor 22 and serves as a power source, distributing the rotational motion of the transfer motor 22 to drive subsequent horizontal and vertical moving parts respectively.

[0037] The gear system 23 structurally includes a horizontal drive shaft 231, a vertical drive shaft 232, and a first bevel gear 233, a second bevel gear 234, a third bevel gear 235, a fourth bevel gear 236, a fifth bevel gear 237, and a sixth bevel gear 238 that mesh with it for transmission. The horizontal drive shaft 231 is arranged horizontally and rotatably mounted on a vertical plane support 21. One end of the horizontal drive shaft 231 is connected to the output shaft of the transfer motor 22. The vertical drive shaft 232 is arranged vertically and rotatably mounted on the vertical plane support 21.

[0038] The first bevel gear 233 is installed at the beginning of the transverse drive shaft 231, and the second bevel gear 234 is installed at the end of the transverse drive shaft 231. The fourth bevel gear 236 is installed at the beginning of the vertical drive shaft 232, and the fifth bevel gear 237 is installed at the end of the vertical drive shaft 232.

[0039] In terms of transmission, the axis of the transverse transmission shaft 231 is perpendicular to the axis of the vertical transmission shaft 232, and the first bevel gear 233 meshes with the fourth bevel gear 236. This meshing relationship is a beneficial design, which allows the single power of the transfer motor 22 to be transmitted to the transverse transmission shaft 231, and simultaneously transmitted to the vertical transmission shaft 232 through the 90-degree steering action of the pair of bevel gears, thus achieving power distribution.

[0040] The first end of the first crank 241 is connected to the gear system 23 for rotation in a horizontal plane. In one specific implementation, the first end of the first crank 241 forms a pivot that defines the center of rotation of the first crank 241. A third bevel gear 235 is coaxially fixed to this pivot. The third bevel gear 235 meshes with a second bevel gear 234 at the tail end of the transverse drive shaft 231. Thus, the rotation of the transverse drive shaft 231 is directly transmitted to the first crank 241 through the meshing of the second bevel gear 234 and the third bevel gear 235, driving it to perform circular motion in the horizontal plane.

[0041] The first end of the second crank 242 is connected to the gear system 23 for transmission, allowing it to rotate in a vertical plane. Similarly, the first end of the second crank 242 also forms a pivot, which defines the center of rotation of the second crank 242. The sixth bevel gear 238 is coaxially fixed to this pivot. The sixth bevel gear 238 meshes with the fifth bevel gear 237 at the tail end of the vertical drive shaft 232. In this way, the rotation of the vertical drive shaft 232 is directly transmitted to the second crank 242 through the meshing of the fifth bevel gear 237 and the sixth bevel gear 238, driving it to perform circular motion in the vertical plane.

[0042] The first connecting rod 243 is disposed between the first crank 241 and the support platform 27. The first end of the first connecting rod 243 is rotatably hinged to the rear end of the first crank 241. The rear end of the first connecting rod 243 is rotatably hinged to the support platform 27.

[0043] The second connecting rod 244 is disposed between the second crank 242 and the support platform 27. The first end of the second connecting rod 244 is rotatably hinged to the rear end of the second crank 242. The rear end of the second connecting rod 244 is also rotatably hinged to the support platform 27.

[0044] The first sprocket system 25 is used to establish a specific follower relationship between the first crank 241 and the first connecting rod 243. The first sprocket system 25 includes a first large sprocket 251 and a first small sprocket 252, which are connected by a chain drive. The first large sprocket 251 is coaxially fixed on the shaft at the beginning of the first crank 241. The first small sprocket 252 is coaxially fixed at the rotation center at the beginning of the first connecting rod 243, which is the hinge point where the first connecting rod 243 and the end of the first crank 241 are hinged.

[0045] The second sprocket system 26 is used to establish a similar follower relationship between the second crank 242 and the second connecting rod 244. The second sprocket system 26 includes a second large sprocket 261 and a second small sprocket 262, which are also connected by a chain drive. The second large sprocket 261 is coaxially fixed on the first end shaft of the second crank 242. The second small sprocket 262 is coaxially fixed at the rotation center of the first end of the second connecting rod 244, which is the hinge point where the second connecting rod 244 and the second crank 242 are hinged.

[0046] The bottom of the support platform 27 is provided with a hinge point, which is rotatably connected to the tail end of the first connecting rod 243. Another hinge point is provided on a vertical side of the support platform 27, which is rotatably connected to the tail end of the second connecting rod 244. The top surface of the support platform 27 remains horizontal.

[0047] When the entire system works in coordination, the transfer motor 22 drives the gear system 23. The gear system 23 divides the power in two, simultaneously driving the first crank 241 to rotate in the horizontal plane and the second crank 242 to rotate in the vertical plane.

[0048] The combination of the first crank 241 and the first connecting rod 243 primarily controls the horizontal reciprocating motion of the support platform 27. The combination of the second crank 242 and the second connecting rod 244 primarily controls the vertical orientation of the support platform 27. This combination has significant advantages: the presence of the first sprocket system 25 and the second sprocket system 26, through chain transmission constraints, allows the first connecting rod 243 and the second connecting rod 244 to swing in a pre-defined coordinated manner under the drive of their respective cranks. This design ensures that the top surface of the support platform 27 remains horizontal throughout the entire reciprocating motion. This ensures that the steel plate to be marked remains stable during transport and will not tilt or slip due to the geometric movement of the connecting rods, providing a stable foundation for subsequent marking processes.

[0049] Reference Figure 1 and Figure 3 The flipping gripping device 3 includes a vertical drive mechanism 31, a flipping adjustment component 32, a flipping gripping component 33, and a horizontal sliding outer frame 34.

[0050] A vertical drive mechanism 31 is mounted on the frame 1. The vertical drive mechanism 31 includes a vertical track 312, a vertical slider 313, and a drive cylinder 311. The vertical track 312 is a structural component fixedly mounted on the frame 1 and provides guidance for movement. The vertical track 312 is arranged vertically. The vertical slider 313 is slidably connected to the vertical track 312. This connection restricts the movement of the vertical slider 313, allowing it to move only in a straight line, reciprocating up and down along the axis of the vertical track 312. The drive cylinder 311 is the power source of this mechanism. In a typical configuration, the cylinder body of the drive cylinder 311 is fixedly mounted vertically on the frame 1. The end of the piston rod of the drive cylinder 311 is fixedly connected to the vertical slider 313. When the drive cylinder 311 is actuated, its piston rod extends or retracts vertically. Since the piston rod is connected to the vertical slider 313, the movement of the piston rod will directly drive the vertical slider 313 to slide up or down synchronously along the guide path of the vertical track 312.

[0051] The flip adjustment assembly 32 is mounted on the vertical slider 313 and is a mechanical assembly used to achieve a bistable reset function. Structurally, the assembly mainly includes a central pivot, a V-bar 321, a vertical extension bracket 322, a reset rocker arm 323, and a reset spring 324.

[0052] In terms of specific connection, the central pivot functions as the rotation center of the entire assembly. It passes horizontally through the vertical slider 313 and is rotatably connected to the vertical slider 313.

[0053] The center of the V-shaped rod 321 is rigidly fixed to one end of the central rotating shaft. The two ends of the V-shaped rod 321 are respectively provided with contact rods 3211, which are configured to move in an arc around the central rotating shaft together with the V-shaped rod 321.

[0054] The vertical extension bracket 322 is fixedly mounted on the vertical slider 313 and extends upward from the vertical slider 313 to provide a fixed anchor point for the return spring 324.

[0055] The rotating end of the reset rocker 323 is fixedly connected to the other end of the central rotating shaft away from the V-shaped rod 321. The end of the reset rocker 323 is connected to the top of the vertical extension bracket 322 via the reset spring 324.

[0056] This combination of the reset rocker arm 323, the reset spring 324, and the vertical extension bracket 322 forms an ingenious midpoint reset mechanism. The tension of the reset spring 324 drives the reset rocker arm 323, which in turn forces the central pivot and the V-shaped rod 321 fixed thereto to automatically return and stably remain in one of the following two preset stable positions: The first stable position is when the two touch levers 3211 are located at the first touch flip point and the second touch flip point, respectively. Both flip points are located to the left of the rotation center and are arranged one above the other in space.

[0057] The second stable position is where the two touch levers 3211 are located at the third and fourth touch flip points, respectively. Both flip points are located to the right of the rotation center, also arranged in an up-down configuration.

[0058] It is important to note that there are requirements regarding the length and elasticity of the spring. The spring needs to provide sufficient elasticity when stretched and compressed to allow the touch rod 3211 to return to the first touch flip point and the second touch flip point, or the third touch flip point and the fourth touch flip point.

[0059] The flip-grip assembly 33 is used to dock with the steel plate to be marked on the support platform 27, and to grip and fix the steel plate to be marked when it tilts, and to release the steel plate to be marked when it returns to a horizontal position. The flip-grip assembly 33 is not the focus of this application, so it is not shown in the figure. Only a cylinder is used to indicate its proper position, but any structure that can achieve the above purpose is acceptable.

[0060] For example, in one embodiment, the flip-grip assembly 33 includes a spring-loaded pin. The pin is slidably mounted on the base of the flip-grip assembly 33, with its axis aligned with a pre-drilled hole or groove in the steel plate to be marked. The pin is connected to a small gravity pendulum via a connecting rod. When the flip-grip assembly 33 is in a horizontal position, the gravity pendulum is held in a vertically downward initial position under gravity. In this position, the gravity pendulum pulls the pin via the connecting rod, overcoming the spring force, keeping the pin in a retracted, released state. At this time, the steel plate to be marked can be freely joined or removed. When the flip-grip assembly 33 tilts, the gravity pendulum deviates from its initial position due to gravity, swinging to a new position. This swinging motion releases the tension on the connecting rod, thereby releasing the constraint on the spring-loaded pin. At this instant, the compressed spring releases energy, pushing the pin to quickly extend and insert into the pre-drilled hole in the steel plate, thereby achieving the gripping and fixing of the steel plate. When the component returns to a horizontal position, the gravity pendulum will automatically swing back to its initial position, pulling the pin back again to disengage it from the pre-drilled hole, thus releasing it.

[0061] In another embodiment, the flip-grip assembly 33 includes an inclined wedge-shaped groove. This wedge-shaped groove is machined into the base of the flip-grip assembly 33, located above the surface of the steel plate to be marked. A roller and a lightweight return spring are housed within the wedge-shaped groove. When the flip-grip assembly 33 is in a horizontal position, the return spring pushes the roller to the wider end of the wedge-shaped groove. At this end, the roller does not contact the steel plate surface, or only has very little contact pressure; the assembly is in a released state, and the steel plate can be freely loaded. When the flip-grip device 3 drives the assembly to begin tilting, the steel plate to be marked, under the influence of gravity, will have a slight tendency to slide down the surface of the assembly base. This slight downward force pushes the steel plate into contact with the roller and forces the roller to move towards the narrower end of the wedge-shaped groove. Due to the angle of the wedge-shaped groove, the roller quickly engages between the angle and the steel plate surface when pushed. The greater the weight of the steel plate, the greater the wedge clamping force, thus creating a self-locking effect that firmly grips and secures the steel plate. When the assembly returns to a horizontal position, the downward trend of the steel plate disappears, and the return spring pushes the roller back to the wider end of the wedge groove, releasing the self-locking mechanism.

[0062] In another embodiment, the base of the flipping gripping assembly 33 has a cavity within which a pendulum is suspended via a pivot point. The pendulum has a low center of gravity, causing it to tend to remain vertically downward under gravity. One end of an L-shaped locking rod is hinged to the upper part of the pendulum, while the other end is hinged to a spring block for gripping a steel plate. This spring block is biased by a compression spring, tending to remain in the released position after the steel plate is released.

[0063] When the flip-grip assembly 33 is in a horizontal position, the pendulum hangs down naturally. In this posture, the L-shaped locking bar is in an initial position, the spring pressure block remains released under the action of spring force, and the assembly is in a released state.

[0064] When the tilting gripping device 3 drives the entire component to tilt, the component base rotates, but the internal pendulum, due to gravity, delays rotation or attempts to remain vertical. This results in a relative motion between the pendulum and the component base. This relative motion pushes the L-shaped locking rod, causing it to overcome the spring force and drive the spring pressure block forward to press against the steel plate to be marked, thus achieving gripping and fixing. When the component returns to a horizontal position, the pendulum also returns to its natural downward position, the L-shaped locking rod is pulled back, and the spring pressure block automatically releases under the spring force.

[0065] In another embodiment, the flip-grip assembly 33 includes one or more eccentric cams. The eccentric cam is pivotally mounted on the assembly base and its working surface is machined with serrations or knurling to provide high friction. A lightweight return spring 324 is connected to the eccentric cam, initially orienting the non-working surface of the cam towards the steel plate to be gripped. When the flip-grip assembly 33 is in a horizontal position, the return spring 324 holds the eccentric cam in a released position, allowing the steel plate to be freely loaded. As the flip-grip assembly 33 begins to tilt, the heavier steel plate, due to gravity, will exhibit a slight downward tendency along the surface of the assembly base. This small displacement causes the edge or surface of the steel plate to contact and push the eccentric cam, causing it to rotate at a small angle. Due to the eccentric shape and serrated surface of the cam, this rotation causes it to quickly wedge and lock the steel plate. A key advantage of this mechanism is that the heavier the steel plate, the greater the downward force and gravity it generates, which causes the eccentric cam to rotate more tightly, resulting in a greater wedging self-locking force. This self-locking effect provides a very reliable hold for the heavy-duty steel plate. When the assembly returns to a horizontal position, the downward force on the steel plate disappears, and the tension of the lightweight return spring 324 is sufficient to cause the eccentric cam to rotate in the opposite direction, releasing the lock and achieving release.

[0066] To enable automatic switching of workstations with flipping motion, this application also includes a horizontal sliding frame 34. This horizontal sliding frame 34 cooperates with the flipping adjustment component 32 on the vertical slider 313 to convert the up-and-down reciprocating motion of the vertical slider 313 into the horizontal reciprocating motion of the frame itself.

[0067] In terms of specific structure, the horizontal sliding outer frame 34 is installed on the frame 1 and is slidably connected to the frame 1 through guide rails or slides, so that its movement is constrained in the horizontal direction and moves between a left reference position and a right reference position.

[0068] The horizontal sliding outer frame 34 has two key interactive structures: The top interactive structure has an opening at its top, the size of which allows the vertical slider 313 and its flip adjustment assembly 32 to pass through during vertical movement. A left blocking portion 341 and a right blocking portion 342 are integrally formed or fixedly provided on the two sides of the opening, respectively.

[0069] The bottom interactive structure: A triangular block 343 is fixedly installed at its bottom. The triangular block 343 has a left bevel 344 facing left and a right bevel 345 facing right.

[0070] These two structures work in conjunction with the touch lever 3211 on the flip adjustment assembly 32 to implement a purely mechanical timing logic: Right-side station flipping: When the horizontal sliding outer frame 34 is in the right reference position, the left blocking part 341 is configured to interfere: when the flipping adjustment component 32 moves upward, the left blocking part 341 will touch the touch rod 3211 located at the first touch flipping point, forcing the V-shaped rod 321 to rotate and switch it to the second stable position (i.e. the third and fourth touch flipping points).

[0071] Switch to the left workstation: Subsequently, when the flip adjustment component 32 moves downward, the right inclined surface 345 of the triangular block 343 is configured for interference: it contacts the touch rod 3211 located at the fourth touch flip point, and through the thrust of the inclined surface, pushes the entire horizontal sliding outer frame 34 from the right reference position to the left reference position.

[0072] Left station flip: When the horizontal sliding outer frame 34 is in the left reference position, the right blocking part 342 is configured to interfere: when the flip adjustment component 32 moves upward again, the right blocking part 342 will touch the touch rod 3211 located at the third touch flip point, forcing the V-shaped rod 321 to rotate and switch it back to the first stable position (i.e. the first and second touch flip points).

[0073] Switch back to the right station: Finally, when the flip adjustment component 32 moves downward again, the left slope 344 of the triangular block 343 is configured to interfere: it contacts the touch rod 3211 located at the second touch flip point, and pushes the horizontal sliding outer frame 34 from the left reference position back to the right reference position through the thrust of the slope, completing a full cycle.

[0074] Reference Figure 1-3The marking device 4 is installed as a whole on the support platform 27. Its function is to convert the continuous rotational motion of the lifting motor 44 into the high-speed, intermittent impact motion of the marking slider 42 to achieve steel stamp marking. The device mainly includes a front marking bracket 41, a rear marking bracket 43, a marking slider 42, a lifting motor 44, a rotating support plate 45, a sleeve rod 46, an eccentric disc 47, and a return spring 48.

[0075] In terms of specific structure, the pre-marking bracket 41 and the post-marking bracket 43 together form the fixed frame of the marking device 4.

[0076] The marking support 41 has a marking track 411 in the vertical direction. The marking slider 42 is installed in the marking track 411 and is constrained to slide vertically along the marking track 411. A lifting rod is hinged to one side of the marking slider 42 for receiving power. The marking support 41 also has a lower connection point 412 for anchoring one end of the return spring 48.

[0077] The marking support 43 is located on the side of the marking slider 42 that is hinged to the lifting rod. A lifting motor 44 is mounted on the marking support 43. A rotating support plate 45 is horizontally mounted on the marking support 43 and is driven by the lifting motor 44 to rotate in a vertical plane. Two small lifting cylinders 451 are symmetrically arranged on the rotating support plate 45, and these two small cylinders rotate together with the rotating support plate 45.

[0078] The eccentric disk 47 is the core component for achieving intermittent motion. It has two concentric arc-shaped slots 471 with the same radius. Two lifting cylinders 451 on the rotating support plate 45 are respectively embedded in these two arc-shaped slots 471.

[0079] The sleeve 46 is a connecting rod that transmits motion, comprising a collar 461 and an outer connecting rod 462. The collar 461 is rotatably fitted onto a drive pin on an eccentric disk 47. The outer connecting rod 462 is integrally connected to the outer side of the collar 461 and extends outward. The end of the outer connecting rod 462 away from the collar 461 is hinged to a lifting rod on the marking slider 42.

[0080] The return spring 48 is an energy storage component that provides impact force. An upper connection point 472 is provided on the side of the eccentric disk 47 facing away from the rotating support plate 45. The position of this upper connection point 472 does not coincide with the center of the arc-shaped gap 471, thus creating an eccentricity. The two ends of the return spring 48 are connected to the upper connection point 472 and the lower connection point 412, respectively.

[0081] These components work together to transform continuous rotation into intermittent impact: The lifting motor 44 drives the rotating support plate 45 to rotate continuously. The lifting cylinder 451 on the rotating support plate 45 acts as the driving element and slides in the arc-shaped gap 471 of the eccentric disk 47.

[0082] Since the rotation center of the rotating support plate 45 does not coincide with the geometric center (or motion center) of the eccentric disk 47, the continuous rotation of the lifting cylinder 451 will gradually push the eccentric disk 47 (as a driven member) to reciprocate or rise and fall.

[0083] The movement of the eccentric disk 47, through the sleeve rod 46 and the lifting rod, causes the marking slider 42 to gradually rise. During the lifting process, since the upper connection point 472 on the eccentric disk 47 is eccentrically set, this lifting action will also stretch the return spring 48, causing the spring to accumulate elastic potential energy.

[0084] When the geometric center of the eccentric disk 47, the upper connection point 472, and the lower connection point 412 are aligned in a straight line, the elastic potential energy accumulates to its maximum. After passing this position, the marking slider 42 is pulled downwards sharply under the combined action of its own weight and the huge pulling force of the return spring 48, causing it to accelerate downwards rapidly, thereby generating a high-speed impact on the steel plate to be marked and completing the marking action.

[0085] The implementation principle of an automatic double-sided steel stamping and marking machine according to an embodiment of this application is as follows: At the start of a work cycle, an external gripping mechanism, such as a magnetic gripper, places a steel plate to be marked onto the support platform 27 of the transfer support device 2. At this time, the support platform 27 is located at the starting point of its movement trajectory. Subsequently, the transfer motor 22 starts, and its power is distributed through the gear system 23.

[0086] Gear system 23 drives a first crank 241 rotating in the horizontal plane and a second crank 242 rotating in the vertical plane, respectively. First sprocket system 25 and second sprocket system 26 ensure that the first connecting rod 243 and second connecting rod 244 keep the supporting platform 27 horizontal throughout the movement. A significant feature of this crank-connecting rod mechanism is that it drives the supporting platform 27 in a non-linear velocity curve motion, achieving gradual acceleration and deceleration. This ensures that when the supporting platform 27 carries a heavy steel plate laterally from the starting point to the ending point, the steel plate will not slip due to sudden start-stop impacts.

[0087] When the supporting platform 27 moves smoothly to the endpoint, it accurately delivers the steel plate to the working area of ​​the flipping gripper 3. At this time, the flipping gripper component 33 on the flipping gripper 3 is activated, and it docks, positions, and connects with the steel plate to be marked, preparing for subsequent marking and flipping.

[0088] Next, the marking device 4, mounted on the support platform 27, performs the first marking. The lifting motor 44 of the marking device 4 starts and rotates continuously, driving the rotating support plate 45. The lifting cylinder 451 on the rotating support plate 45 slides in the arc-shaped gap 471 of the eccentric disc 47. This eccentric transmission gradually drives the sleeve rod 46, lifting the marking slider 42 upward. During the lifting process, the return spring 48 is stretched, accumulating a large amount of elastic potential energy. When the mechanism rotates past the highest point, the marking slider 42, under the combined action of its own weight and the strong pulling force released by the return spring 48, impacts downward at high speed, completing the stamping and marking on the front of the steel plate.

[0089] After the front marking is completed, the transfer motor 22 of the transfer support device 2 reverses or continues to run for one cycle, driving the support platform 27 (and the marking device 4 on it) to gradually decelerate and return to the starting point. This retraction action frees up the necessary movement space for the flipping gripper 3.

[0090] Subsequently, the flipping gripping device 3 performs the core flipping action. Its vertical drive mechanism 31, such as a cylinder, drives the vertical slider 313 upward. Assuming the horizontal sliding outer frame 34 is currently in its right reference position, as the vertical slider 313 rises, a contact rod 3211 of the flipping adjustment assembly 32 (V-bar 321) mounted on it will strike the stationary left stop 341 on the horizontal sliding outer frame 34. This impact force will force the V-bar 321 to rotate 180 degrees around its central axis and be locked in a second stable position by the return spring 324. Since the flipping gripping assembly 33 is connected to the vertical slider 313, this action causes the gripped steel plate to also flip 180 degrees, so that its reverse side faces outward.

[0091] After the steel plate is flipped, the transfer support device 2 is started again, and the support platform 27 (and the marking device 4 on it) moves smoothly from the starting point to the end point, coming under the flipped steel plate and providing it with a firm support.

[0092] After the support platform 27 is in place, the marking device 4 performs the second marking. Its working process is exactly the same as the first: the lifting motor 44 drives the mechanism to lift the marking slider 42 to store force, and then it falls at high speed to complete the marking on the back of the steel plate.

[0093] After the reverse side marking is completed, the vertical drive mechanism 31 drives the vertical slider 313 to move downward. At this time, the touch rod 3211 on the V-shaped rod 321, located at the fourth touch flip point, will contact the triangular block 343 at the bottom of the horizontal sliding outer frame 34. The right inclined surface 345 of the triangular block 343 will simultaneously perform two functions: first, it will trigger the flip gripping component 33 to release its positioning and gripping of the steel plate; second, the inclined surface will apply a lateral thrust to push the horizontal sliding outer frame 34 from the right reference position to the left reference position, preparing for the B-side flipping of the next work cycle.

[0094] Finally, the steel plate with double-sided marking is placed freely on the support platform 27. The transfer support device 2 drives the support platform 27 to smoothly return from the end point to the starting point. At the starting point, the external magnetic gripper removes the marked steel plate, thus completing one full work cycle.

[0095] Based on the mechanical structure of the aforementioned automatic double-sided steel stamping and marking machine, unexpected shutdowns during operation may lead to specific mechanical safety issues. Specifically, the marking device 4 uses a lifting motor 44 to drive an eccentric disk 47, which, in conjunction with a return spring 48, accumulates and releases enormous stamping potential energy. During normal continuous operation, this energy conversion is smooth and controlled. However, if the machine suddenly receives a stop signal and cuts off power when the marking slider 42 is lifted to its highest position (i.e., the spring is at maximum tension), the powerful elastic potential energy accumulated by the return spring 48 will be released instantaneously in the opposite direction due to the loss of driving torque from the lifting motor 44. This uncontrolled energy release will drive the eccentric disk 47 and the rotating support plate 45 to undergo violent reversals or unpredictable movements, causing the marking slider 42 to fall violently during non-marking operations.

[0096] This uncontrolled slide drop poses significant risks. First, if the support platform 27 of the transfer support device 2 or the flipping gripper 3 is positioned on the vertical projection path of the marking slide 42, a mis-collision by the slide will directly damage the precision mechanical components, leading to equipment failure. Second, during manual intervention to handle malfunctions or clear jammed materials, if the marking device 4 is in this unstable, high-potential-energy-accumulation state, any slight disturbance could trigger an unexpected movement of the slide, causing severe crushing or impact injuries to the operator's hands, posing a significant personal safety hazard. Furthermore, after an abnormal shutdown, the moving parts often remain in a non-originating intermediate position. If a direct restart and reset are performed, spatial interference and collisions are highly likely to occur between the flipping gripper 3 and the support platform 27, further exacerbating the risk of equipment damage.

[0097] Therefore, this application also discloses a safety control method for an automatic double-sided steel stamping and marking machine, which is applied to the above-mentioned automatic double-sided steel stamping and marking machine. The safety control method includes the following steps S1-S6.

[0098] S1. Obtain the shutdown command input from the outside and parse the command type attribute of the shutdown command; wherein, the command type attribute includes an emergency interruption type corresponding to a safety-related scenario and a process pause type corresponding to a non-safety-related scenario.

[0099] In actual production scenarios, externally input shutdown commands typically originate from manual operation by production line personnel or automatic triggering by upstream and downstream equipment. For example, during normal shift handover, material replenishment, or routine quality inspection, operators will issue regular shutdown requests; while in emergency situations such as foreign objects intruding into the work area or detecting an operator's limbs near a dangerous area, the emergency stop button or safety light curtain will trigger an emergency shutdown request. If the equipment is not equipped with the safety control method described in this application, the control system will usually immediately cut off the power source or stop outputting signals to the drive motor after receiving any shutdown command. If this immediate stop action occurs during the stage when the marking device 4 pulls up the slider and stretches the reset spring 48, the motor will instantly lose its holding torque, causing the high elastic potential energy accumulated in the spring to be released uncontrollably, driving the marking slider 42 to fall unexpectedly.

[0100] This step categorizes shutdown requests into emergency interruption and process pause types by parsing instruction type attributes, allowing for different control sequences to be applied accordingly. Emergency interruption scenarios pose a direct threat to personnel safety or involve major equipment malfunctions. Once confirmed, this type directly applies the power cut-off logic, skipping subsequent potential energy maintenance steps to cut off energy output as quickly as possible, prioritizing personnel safety. Process pause scenarios only require pausing the workflow without immediate danger. Once confirmed, this type activates subsequent energy potential monitoring and operational status maintenance steps, allowing the equipment to complete its current high-potential energy cycle under controlled conditions before entering shutdown mode, thus avoiding the risk of potential energy backlash from direct power outages.

[0101] Optionally, S1 includes the following sub-steps S11-S12.

[0102] S11. When the instruction type attribute of the shutdown instruction object is parsed as the emergency interruption type, a power cut-off instruction and a mechanical brake activation instruction are generated.

[0103] S12. Execute the power cut-off command and the mechanical brake activation command to forcibly terminate the execution process of steps S2 and S3, and immediately lock the mechanical brake unit of the marking device 4.

[0104] In the specific implementation process, steps S11 and S12 constitute the highest priority response mechanism for extremely dangerous working conditions. When the control system identifies that the current shutdown command is an emergency interruption type, such as being triggered by an operator pressing the emergency stop button or by a foreign object intrusion detected by the safety light curtain, the system determines that the need to ensure personal and equipment safety is higher than the need to maintain the integrity of the process operation. Therefore, the controller will logically immediately block the subsequent steps S2 and S3 for smooth shutdown and directly generate signals to cut off the power supply to the lifting motor 44 and other power sources, as well as signals to activate the physical braking device. Subsequently, the system executes the above commands and quickly cuts off the motor current. At the same time, in order to prevent the return spring 48 in the marking device 4, which is in a tensioned state, from using its accumulated elastic potential energy to drive the motor rotor in the opposite direction after the power is cut off, causing the marking slider 42 to fall uncontrollably under the combined action of gravity and elastic force, the system will immediately lock the mechanical braking unit integrated on the output shaft or transmission chain of the lifting motor 44. The mechanical braking unit, for example, is a normally closed power failure brake. At the moment of power failure, it relies on a strong spring to press the friction plate, generating a braking torque sufficient to overcome the reverse torque of the reset spring 48, thereby forcibly braking and locking the marking slider 42 in the current position, minimizing the risk of mechanical impact and injury in emergency situations.

[0105] It should be noted that although this application includes a mechanical braking unit in S11-S12 as a safety guarantee in emergency situations, the energy potential control logic in S2-S3 is irreplaceable in situations where the process is paused. If the mechanical braking unit is used to forcibly lock the marking device 4 at any time, when the marking device 4 is in a state of high tension due to potential energy accumulation, the mechanical locking can temporarily restrict the movement of the slider, but it will cause a secondary mechanical impact risk during the subsequent restart or reset phase. Specifically, when the machine restarts, the motor needs to be powered on first, and then the brake needs to be released. However, the drive motor needs a certain response time to establish electromagnetic holding torque. For example, it takes hundreds of milliseconds for a normal motor to establish magnetic field and torque, while the physical release action of the mechanical braking unit is usually faster, with the brake releasing in just tens of milliseconds. During the time difference between brake release and motor torque establishment, the brake is released and the motor torque has not yet fully reached its peak. The high elastic potential energy accumulated in the reset spring 48 will rebound instantaneously, causing the transmission gear and slider to experience a violent sudden change in load, which seriously affects the motion accuracy and mechanical life.

[0106] Furthermore, the mechanical braking unit is primarily designed to handle extreme conditions such as emergency power outages. Frequent use of it to counteract the high-strength spring tension during normal process pauses would accelerate fatigue wear of the braking friction components. Therefore, this application ensures, through steps S2-S3, that the equipment only performs a shutdown in a low-energy equilibrium state, enabling a light-load start-up during subsequent reset. This effectively avoids mechanical damage caused by pressurized starts, allowing the mechanical braking unit to focus on serving as the final safety line in emergency interruption situations. The two complement each other in terms of timing and function.

[0107] S2. In response to the instruction type attribute being the process pause type, monitor the current energy potential data of the marking device 4. When it is confirmed that the energy potential data is in the potential energy accumulation range or the potential energy release range, generate an instruction interception signal to maintain the current operating state of the marking device 4.

[0108] Monitoring the current energy potential data of the marking device 4 is a prerequisite for realizing atomized shutdown control. Since the marking device 4 relies on the reset spring 48 to accumulate potential energy, its mechanical state changes dynamically during the operating cycle. Only by accurately knowing the current energy stage can it be determined whether it is appropriate to immediately execute a shutdown.

[0109] In practical implementation, the monitoring scheme can take several forms. The first scheme is position-based monitoring, which uses an absolute encoder installed on the shaft of the lifting motor 44 or the rotating support plate 45 to provide real-time feedback of the angular position. Since the geometry of the eccentric disk 47 and the connection point of the return spring 48 are fixed, a specific angular range directly corresponds to the length of the spring being stretched, thus mapping the state of potential energy accumulation or release. For example, if the motor angle when the marking slider 42 is at its lowest point is set to 0 degrees, then the range from 0 degrees to 180 degrees usually corresponds to the potential energy accumulation range, and the range from 180 degrees to 360 degrees corresponds to the potential energy release range.

[0110] The second approach is based on current or torque monitoring, utilizing feedback data from the motor driver to monitor the output current or torque of the lifting motor 44 in real time. In the potential energy accumulation range, as the spring stretches, the motor load gradually increases, and the current value rises significantly; while in the potential energy release range, the spring force assists the motor rotation, and the current value drops rapidly or even becomes negative. By setting a current threshold, the current energy potential state can be indirectly determined.

[0111] When the energy potential data is confirmed to be within the potential energy accumulation or release range, it means that the return spring 48 inside the marking device 4 is under high tension or releasing a large amount of kinetic energy. At this time, the system is in a non-equilibrium high-energy state, and any uncontrolled power interruption will lead to unpredictable mechanical actions. For example, if power is cut off in the potential energy accumulation range, the spring will pull the motor in the opposite direction; if power is cut off in the potential energy release range, the huge inertia may cause the slider to overshoot the stop point.

[0112] The command interception signal intercepts the stop output or power cut-off logic that the controller should have responded to and executed immediately. Internally, this signal operates through logic interlocking. For example, in a PLC program, a stop command typically triggers a run flag reset, thus stopping the motor output. The command interception signal, as a high-priority maintenance condition, is connected in series or parallel within the stop logic. When the interception signal is valid, even if a process pause command is received, the controller's run flag is forcibly kept in the set state (ON), allowing the lifting motor 44 to continue receiving drive signals until the interception signal disappears. This ensures that the marking device 4 can complete the current stamping action without interference, avoiding interruption within a dangerous energy range.

[0113] S3. While maintaining operation, monitor the change trajectory of energy potential data in real time. When the energy potential data is detected to be lower than the low energy level equilibrium threshold, generate a delayed shutdown execution command and control the marking device 4 to stop operation in a controlled manner after a delay.

[0114] Step S3 clarifies the duration of the command interception signal from a time perspective. The command interception signal is not permanently effective; its effect will continue until the marking device 4 completes its current high-potential-energy action and safely transitions to a low-potential-energy state. Specifically, the signal will continuously block the shutdown command until the monitoring system confirms that the reset spring 48 has been fully released and the slider has passed the stamping point or risen back to the relaxation area near the dead point (i.e., below the low-energy-level equilibrium threshold).

[0115] The trajectory of the energy potential data reflects the dynamic process of the marking device 4 transitioning from a high energy level to a low energy level. Schemes for monitoring this trajectory may include: Position-velocity differential monitoring scheme: The angular position of the lifting motor 44 is acquired by a high-resolution encoder, and its real-time angular velocity is calculated. When the angular position is detected to be in the low region of the eccentric disk 47 (e.g., near 0 degrees or 360 degrees), and the angular velocity shows a convergence trend of slowing down and stabilizing, it is determined that the energy potential state is returning to equilibrium.

[0116] Current fluctuation monitoring scheme: Monitor the bus current of the motor drive. During the potential energy release phase, the current curve typically experiences a trough due to a sudden load drop or regenerative braking. The system identifies the occurrence of this specific trough and the subsequent smooth recovery of the current to pinpoint the time when energy release is complete.

[0117] The system chooses to perform a delayed shutdown instead of an immediate shutdown after detecting that the energy potential data is below the low-level equilibrium threshold, based on considerations of mechanical inertia and control stability.

[0118] First, overcome mechanical inertia and overshoot: Even if the slider reaches the theoretically low potential energy point (such as the lowest point), the entire transmission chain (motor rotor, gears, slider) still has a large amount of motion inertia. If an immediate stop is triggered at this time (i.e., a hard cut-off of power or a locked brake), the huge inertia may cause the mechanical system to vibrate violently, or cause the eccentric disk 47 to slip past the low point due to inertia and re-enter the starting segment of the next rising (accumulation) cycle, resulting in an inaccurate stopping position, such as getting stuck on the slope.

[0119] Secondly, signal jitter removal and confirmation: Industrial environments are subject to vibration interference, and sensor values ​​may experience momentary fluctuations near the threshold. Immediate shutdown may be triggered by erroneous signals. Therefore, a delayed shutdown strategy is adopted, where the control system maintains low-speed controlled operation for tens of milliseconds or executes a deceleration logic. This time is used to dissipate the system's remaining kinetic energy and to filter and confirm the threshold signal, ensuring that the marking device 4 ultimately stops smoothly and accurately in the center of an absolutely safe low-energy region.

[0120] S4. In response to a reset start command received in the stopped state, the vertical pose data of the flip gripping device 3 is acquired to perform a reset safety check.

[0121] This step follows closely in sequence from step S3. In step S3, after the control system detects that the energy potential data is below the low-energy-level balance threshold, it executes a delayed shutdown logic. This delay is typically set to ensure that the inertial kinetic energy of all moving parts is completely dissipated, such as tens to hundreds of milliseconds, or until the motor speed is detected to have completely returned to zero. After this, the device enters a shutdown state where energy has been completely released and the machinery is at rest. The reset start command will only be responded to by the system if it is issued when the device is in this clearly defined shutdown state. If the command is issued before the device is completely at rest or before the energy has been completely released, the system will consider it invalid or buffer it until the shutdown is complete to prevent logical conflicts from occurring during the transition.

[0122] The system first acquires the vertical pose data of the flip gripper 3 upon responding to the reset start command in order to perform a critical reset safety check. Due to the structural characteristics of the single-station equipment, the flip adjustment component 32 of the flip gripper 3 shares the same vertical projection space with the support platform 27 of the transfer support device 2. After an abnormal shutdown, the vertical slider 313 of the flip gripper 3 may be suspended at any position in its vertical stroke, such as in the middle of the flipping action. If the position of the vertical slider 313 happens to be in the area that interferes with the movement trajectory of the support platform 27, directly driving either axis to reset may lead to a mechanical collision. Therefore, it is necessary to accurately obtain the current height position of the flip gripper 3, i.e., the vertical pose data, by reading the values ​​of the linear displacement sensor or encoder installed on the vertical track 312, in order to determine whether it is in a dangerous area that may cause a collision, thus providing a decision-making basis for subsequent avoidance actions.

[0123] Optionally, S4 includes the following sub-steps S41-S46.

[0124] S41. In response to the reset start command, acquire the current energy potential data of the marking device 4.

[0125] S42. When the current energy potential data is detected to be in a state that is not at a low energy level equilibrium threshold, a soft release control sequence is generated.

[0126] S43. Execute the soft release control sequence to control the drive motor of the marking device 4 to output a holding torque opposite to the current potential energy direction, and after releasing the mechanical braking unit, reduce the output torque of the drive motor according to the preset slow release speed curve until the marking device 4 transitions to the state corresponding to the low energy level balance threshold.

[0127] S44. Receive the position sensor signal from the flipping gripping device 3, and extract the state transition timestamp data of the position sensor signal.

[0128] S45. Input the state transition timestamp data into the preset action timing verification model for verification processing.

[0129] S46. When it is confirmed that the position sensor signal indicates that the position is in place but the state transition timestamp data does not conform to the action timing verification model, an untrusted pose state marker is generated, and the execution of steps S5 and S6 is prohibited.

[0130] During the reset and startup phase, acquiring the current energy potential data of the marking device 4 is crucial to account for the uncertainty surrounding the previous shutdown state. If the previous shutdown was triggered by an emergency interruption command, the mechanical braking unit may have forcibly locked the system while the reset spring 48 was under high tension. At this time, although the equipment is stationary, it has accumulated a significant amount of elastic potential energy. If a reset operation is performed directly without confirming the energy state, such as by directly releasing the braking unit, the locked potential energy will be released instantaneously, resulting in a severe mechanical shock.

[0131] The soft-release control sequence is a controlled release strategy for this residual potential energy. It must be executed before any substantial reset action to ensure that subsequent actions are based on zero energy. When executing this sequence, the control system first drives the lifting motor 44 to establish an electromagnetic holding torque that is opposite in direction and equivalent in magnitude to the tension of the reset spring 48. At this point, the motor supports the load instead of the braking unit. Subsequently, the system issues a command to release the locking state of the mechanical braking unit. At this time, due to the holding torque of the motor, the marking slider 42 remains stationary and will not fall. Next, the control system gradually reduces the output torque of the motor according to a preset slow-release speed curve (e.g., linear decrease or S-curve). As the resisting torque decreases, the reset spring 48 slowly contracts under controlled conditions, driving the eccentric disk 47 and the slider to smoothly retract until the potential energy is completely released, and the system transitions to the state corresponding to the low-energy equilibrium threshold.

[0132] For the inspection of the flip-grip device 3, the state transition timestamp data refers to the specific moment when the signal level of the position sensor (such as a magnetic switch or photoelectric switch) undergoes a level transition (e.g., from no signal to signal). The preset action timing verification model is a time window model established based on the physical characteristics of the cylinder or drive mechanism. It defines the reasonable time range that should be consumed to complete one effective mechanical action (e.g., it usually takes 0.5 to 1.5 seconds for the cylinder to fully extend). Inputting the state transition timestamp data into this model for verification is to eliminate the misleading "false positioning" signals. Relying solely on the current level state of the sensor cannot distinguish whether the sensor has truly detected the positioned component or is in a normally on state due to internal contact adhesion, short circuit, or electromagnetic interference.

[0133] If the state transition timestamp data does not conform to the action timing verification model—for example, if the sensor signal suddenly changes without issuing a drive command, or the time interval between changes is extremely short (much shorter than the physical response time of the cylinder)—it means that the signal is very likely a false interference signal or a sensor malfunction signal. In this case, although the sensor indicates the correct position, the actual position of the flipping gripper 3 may be suspended halfway or stuck. Therefore, the system generates an untrusted pose state marker and forcibly prohibits the avoidance and reset actions in subsequent steps S5 and S6 to prevent the supporting platform 27 from colliding with the incompletely retracted flipping mechanism due to reliance on false signals.

[0134] S5. When the vertical pose data is confirmed to be a non-safe reset area, a horizontal avoidance command is generated pointing to the transfer support device 2, driving the transfer support device 2 to move away from the flipping gripping device 3.

[0135] This step is performed to address the inherent spatial interference risk in the compact design of a single workstation. Since the movement trajectory of the flip-grip device 3 and the support platform 27 of the transfer support device 2 are located in overlapping vertical projection spaces, if, after an abnormal stop, the flip-grip device 3 hovers at a non-bottom, intermediate height (i.e., a non-safe reset area), while the support platform 27 is directly below it, directly driving the flip-grip device 3 to perform a vertical reset and descent will inevitably result in a rigid collision. Therefore, a horizontal avoidance command must be generated, forcibly adhering to the spatial clearance logic of first horizontal evacuation and then vertical reset, to physically eliminate the potential interference risk.

[0136] The timing sequence of each device during this step is as follows: The control system first locks the vertical drive mechanism 31 of the flipping gripping device 3, keeping it at its current height. The system sends a reverse drive signal to the transfer motor 22 of the transfer support device 2; The transfer motor 22 starts, driving the first crank 241 and the second crank 242 to rotate via the gear system 23, propelling the support platform 27 horizontally back from the end point to the starting point. During this process, the support platform 27 gradually moves out of the area below the flipping gripper 3. The horizontal avoidance action is completed only when the support platform 27 is completely out of the vertical projection range of the flipping gripper 3, thus clearing an unobstructed path for the subsequent safe descent of the flipping gripper 3.

[0137] Optionally, S5 includes the following sub-steps S51-S53.

[0138] S51. During the process of driving the transfer support device 2 to move, continuously collect the driving load data and displacement change of the transfer support device 2.

[0139] S52. Input the drive load data into a preset safety threshold model for comparison processing.

[0140] S53. When the drive load data is detected to exceed the range defined by the safety threshold model and the displacement change is lower than the preset displacement threshold, a mechanical deadlock is determined to have occurred, a manual intervention alarm signal is generated, and the output of the horizontal avoidance command is immediately terminated.

[0141] The safety threshold model refers to a pre-defined set of parameters characterizing the normal operating limits of the transfer motor 22, such as the motor's maximum allowable operating current (e.g., 3.5A) or maximum output torque (e.g., 2.0 N·m), and the allowable overload duration time window. Inputting the drive load data into this model for comparison is to identify the nature of resistance during the avoidance process in real time. Since the avoidance action occurs after an abnormal shutdown, there is a possibility that mechanical parts have become entangled or jammed. Simple position control cannot detect this abnormal resistance; load comparison is necessary to determine whether the motor is under abnormal overload conditions.

[0142] The logic for determining mechanical deadlock is based on the physical relationship between force and motion: when the detected drive load data exceeds the limit (meaning the motor is outputting a huge thrust), while the simultaneously acquired displacement change is below the preset displacement threshold (meaning the object is practically stationary), the concurrence of these two conditions indicates that the energy output by the motor is not being used to overcome normal frictional work, but is being completely canceled out by a rigid obstacle. This state of no output is physically characterized as mechanical deadlock. Immediately terminating the output of the horizontal avoidance command is a necessary measure to prevent secondary damage. If the command continues to be output in the deadlock state, the blocked energy will be converted into destructive heat that burns the motor coils, or into shear force that breaks the jammed connecting rods and gears. Only by immediately stopping the output can the integrity of the actuator be protected.

[0143] S6. Monitor the real-time position feedback of the transfer support device 2. When the real-time position feedback matches the preset safety avoidance coordinates, generate a vertical reset command pointing to the flipping gripping device 3 and drive the flipping gripping device 3 to descend to the safety reset area.

[0144] Monitoring the real-time position feedback of the transfer support device 2 is a crucial step in establishing a logical interlock, aiming to ensure the actual completion of the spatial avoidance action. Although the system has issued an avoidance command in the preceding steps, the open-loop command output cannot guarantee that the actuator has physically reached its position. By reading the pulse value of the encoder of the transfer motor 22 or the signal of the track upper limit switch, the control system can obtain the precise physical position of the support platform 27. The preset safe avoidance coordinates are critical points calculated based on the mechanical structure dimensions, which define a non-interference safe zone. Only when the real-time position feedback data strictly matches or exceeds these coordinates, indicating that the support platform 27 has completely moved out of the vertical projection range of the flipping gripper 3, does the system determine that the avoidance is successful, thereby releasing the logical blockade on the vertical action.

[0145] After generating a vertical reset command for the flip gripping device 3, the drive system activates the vertical drive mechanism 31, for example, by controlling the cylinder solenoid valve to reverse or driving the vertical motor to reverse. At this time, the vertical slider 313 of the flip gripping device 3 begins to descend. This action has a dual significance: firstly, it returns the flip gripping device 3 to its initial low-position standby state, preparing it for the next work cycle; secondly, combined with the specific mechanical structure of this application, this descent action is a necessary process for realizing the flip logic reset. During the descent to the safe reset area, the touch rod 3211 of the flip adjustment component 32 will mechanically interfere with the bottom triangular block 343, using the thrust of the inclined surface of the triangular block 343 to push the horizontal sliding outer frame 34 back to the correct reference position, thereby automatically completing the mechanical reset of the flip direction without complex electronic control intervention, ensuring that the flip action can be correctly triggered during the next ascent.

[0146] Optionally, S6 includes the following sub-steps S61-S64.

[0147] S61. Obtain the workpiece gripping status data and the unloading record data of the previous working cycle from the flipping gripping device 3.

[0148] S62. When it is confirmed that the workpiece gripping status data indicates abnormal no-load and the unloading record data indicates that unloading has not been completed, a workpiece falling abnormal alarm is generated.

[0149] S63. Perform a suspension operation, pausing the generation of the vertical reset command until a manual confirmation clear signal is received.

[0150] S64. If the workpiece falling abnormal alarm is not generated, then execute the step of generating the vertical reset command.

[0151] Before the system executes the final vertical reset action, the above steps are performed to prevent secondary impact accidents caused by accidental workpiece drops. Acquiring the workpiece gripping status data of the flipping gripping device 3 and the unloading record data from the previous work cycle aims to construct a logical verification closed loop. The workpiece gripping status data typically originates from microswitches, photoelectric sensors, or air vacuum gauges on the flipping gripping assembly 33, used to provide real-time feedback on the presence of a steel plate in the gripper; the unloading record data is stored in the controller's register to record whether the current process has reached the final unloading step.

[0152] When the workpiece gripping status data indicates abnormal no-load and the unloading record data indicates incomplete unloading, the system is in a logical paradox state: the program logic believes the steel plate is still in the process and has not been removed, but the physical sensors show that the steel plate has disappeared from the gripper. The only possibility for this state is that the steel plate accidentally slipped during the flipping or waiting process, most likely falling into the supporting platform 27, guide rail, or inside the frame 1 below. At this time, the system determines that a serious fault has occurred, generates a workpiece falling abnormal alarm, and notifies the operator to intervene in the form of sound and light.

[0153] Next, the system executes a suspension operation, forcibly cutting off the generation path of the vertical reset command. This logical blockade is crucial because if the flipping gripping device 3 is abruptly driven to descend at this moment, the descending V-shaped bar 321 or the gripping mechanism is highly likely to directly impact the fallen heavy steel plate, causing component bending deformation or overload damage to the drive mechanism. The system must remain stationary in its current posture until the operator clears the fallen workpiece and inputs a confirmation clearing signal on the human-machine interface to release the suspension state. If, after verification, the sensor and recorded data logic are consistent, meaning no aforementioned risk of falling is detected, the system executes step S64, smoothly generating the vertical reset command, and the drive device completes the final mechanical reset step of this work cycle.

[0154] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A safety control method for an automatic double-sided steel stamping and marking machine, characterized in that, The safety control method, applied to automated equipment comprising a transfer support device (2), a flipping gripping device (3), and a marking device (4), includes the following steps: S1. Obtain an externally input shutdown command and parse the command type attribute of the shutdown command; wherein, the command type attribute includes an emergency interruption type corresponding to a safety-related scenario and a process pause type corresponding to a non-safety-related scenario; S2. In response to the instruction type attribute being the process pause type, monitor the current energy potential data of the marking device (4). When it is confirmed that the energy potential data is in the potential energy accumulation range or the potential energy release range, generate an instruction interception signal to maintain the current operating state of the marking device (4). S3. While maintaining operation, monitor the change trajectory of the energy potential data in real time. When the energy potential data is detected to be lower than the low energy level equilibrium threshold, generate a delayed shutdown execution command and control the marking device (4) to stop operation in a controlled manner after a delay. S4. In response to a reset start command received in the stopped state, acquire the vertical pose data of the flip gripping device (3) to perform a reset safety check; S5. When the vertical pose data is confirmed to be a non-safe reset area, a horizontal avoidance command is generated pointing to the transfer support device (2), driving the transfer support device (2) to move away from the flipping gripping device (3); S6. Monitor the real-time position feedback of the transfer support device (2). When the real-time position feedback is detected to match the preset safety avoidance coordinates, generate a vertical reset command pointing to the flipping gripping device (3) and drive the flipping gripping device (3) to descend to the safety reset area.

2. The safety control method according to claim 1, characterized in that, S1 includes the following sub-steps: S11. When the instruction type attribute of the shutdown instruction object is parsed as the emergency interruption type, a power cut-off instruction and a mechanical brake activation instruction are generated; S12. Execute the power cut-off command and the mechanical brake activation command to forcibly terminate the execution process of steps S2 and S3, and immediately lock the mechanical brake unit of the marking device (4).

3. The safety control method according to claim 1, characterized in that, S4 includes the following sub-steps: S41. In response to the reset start command, acquire the current energy potential data of the marking device (4); S42. When the current energy potential data is detected to be in a state that is not corresponding to a low-level equilibrium threshold, a soft release control sequence is generated; S43. Execute the soft release control sequence to control the drive motor of the marking device (4) to output a holding torque opposite to the current potential energy direction, and after releasing the mechanical braking unit, reduce the output torque of the drive motor according to the preset slow release speed curve until the marking device (4) transitions to the state corresponding to the low energy level balance threshold.

4. The safety control method according to claim 1, characterized in that, S4 further includes the following sub-steps: S44. Receive the position sensor signal from the flipping gripping device (3) and extract the state transition timestamp data of the position sensor signal; S45. Input the state transition timestamp data into a preset action timing verification model for verification processing; S46. When it is confirmed that the position sensor signal indicates that the position is in place but the state transition timestamp data does not conform to the action timing verification model, an untrusted pose state marker is generated, and the execution of steps S5 and S6 is prohibited.

5. The safety control method according to claim 1, characterized in that, S5 includes the following sub-steps: S51. During the process of driving the transfer support device (2) to move, continuously collect the driving load data and displacement change of the transfer support device (2); S52. Input the drive load data into a preset safety threshold model for comparison processing; S53. When the drive load data is detected to exceed the range defined by the safety threshold model and the displacement change is lower than the preset displacement threshold, a mechanical deadlock is determined to have occurred, a manual intervention alarm signal is generated, and the output of the horizontal avoidance command is immediately terminated.

6. The safety control method according to claim 1, characterized in that, S6 includes the following sub-steps: S61. Obtain the workpiece gripping status data and the unloading record data of the previous working cycle from the flipping gripping device (3); S62. When it is confirmed that the workpiece gripping status data indicates abnormal no-load and the unloading record data indicates that unloading has not been completed, a workpiece falling abnormal alarm is generated; S63. Perform a suspension operation, pausing the generation of the vertical reset command until a manual confirmation clear signal is received; S64. If the workpiece falling abnormal alarm is not generated, then execute the step of generating the vertical reset command.

7. An automatic double-sided steel stamping and marking machine, characterized in that, The safety control method applied to the automatic double-sided steel stamp marking machine as described in any one of claims 1-6 includes: Rack (1); The transfer support device (2) is installed on the frame (1) and forms a support platform (27) for supporting the steel plate to be marked, and can drive the support platform (27) to move laterally back and forth between the starting point and the ending point; A flipping gripping device (3) is installed on the frame (1) for fixing and releasing the steel plate to be marked on the support platform (27) when the support platform (27) moves to the end point, and can drive the steel plate to be marked to flip when the steel plate to be marked is fixed and the support platform (27) leaves the end point; The marking device (4) is installed on the support platform (27) and is used to stamp and mark the steel plate to be marked each time the support platform (27) moves to the end point.

8. The automatic double-sided steel stamping and marking machine according to claim 7, characterized in that, The transfer support device (2) includes: A vertical planar support (21) is installed on the frame (1); A transfer motor (22) is mounted on the frame (1); The gear system (23) is fixed to the vertical plane support (21) and driven by the transfer motor (22) to provide power in the vertical and horizontal directions respectively; The first crank (241) has its head end used to receive the transverse power of the gear system (23) and rotate in the transverse plane; The second crank (242) has its head end used to receive power from the gear system (23) in the vertical direction and rotate in the vertical plane; The first link (243) is hinged at the end of the first crank (241) and at the end of the first link (243) is hinged to the support platform (27). The first end of the second link (244) is hinged to the end of the second crank (242), and the end of the second link (244) is hinged to the support platform (27). The first sprocket system (25) has two sprockets respectively installed at the beginning of the first crank (241) and the beginning of the first connecting rod (243) and connected by a chain; The second sprocket system (26) has two sprockets respectively mounted on the beginning of the second crank (242) and the beginning of the second connecting rod (244) and connected by a chain.

9. The automatic double-sided steel stamping and marking machine according to claim 7, characterized in that, The flipping gripping device (3) includes: a vertical drive mechanism (31), mounted on the frame (1), for driving a vertical slider (313) to move up and down; The flip adjustment component (32) is installed on the vertical slider (313) and forms a rotation center, a first touch flip point and a second touch flip point located to the left of the rotation center, and a third touch flip point and a fourth touch flip point located to the right of the rotation center. The first touch flip point and the second touch flip point are one up and one down relative to the rotation center, and the third touch flip point and the fourth touch flip point are one up and one down relative to the rotation center. The flip adjustment component (32) extends two touch rods (3211) and the touch rods (3211) move around the rotation center. In its natural state, the touch rods (3211) will return to the first touch flip point and the second touch flip point, or return to the third touch flip point and the fourth touch flip point. The flip-grip component (33) is used to dock with the steel plate to be marked on the support platform (27), and to grab and fix the steel plate to be marked when it tilts, and to release the steel plate to be marked when it returns to a horizontal position. A horizontal sliding outer frame (34) is mounted on the frame (1) and is slidably connected to the frame (1) in the horizontal direction. The horizontal sliding outer frame (34) moves between the left reference position and the right reference position. An opening is formed at the top of the horizontal sliding outer frame (34) for the flip adjustment component (32) to pass through, and a left blocking part (341) and a right blocking part (342) are formed on both sides of the opening. A triangular block (343) is formed at the bottom of the horizontal sliding outer frame (34). The triangular block (343) has a left inclined surface (344) facing the left and a right inclined surface (345) facing the right. When the flip adjustment component (32) moves upward and the horizontal sliding outer frame (34) is located at the right reference position, after the touch rod (3211) located at the first touch flip point touches the left blocking part (341), the two touch rods (3211) rotate relative to the rotation center to the third touch flip point and the fourth touch flip point. When the flip adjustment component (32) moves downward and the horizontal sliding outer frame (34) is located at the right reference position, the touch rod (3211) located at the fourth touch flip point touches the right inclined surface (345) and pushes the horizontal sliding outer frame (34) from the right reference position to the left reference position. When the flip adjustment component (32) moves upward and the horizontal sliding outer frame (34) is located at the left reference position, after the touch rod (3211) located at the third touch flip point touches the right blocking part (342), the two touch rods (3211) rotate relative to the rotation center to the first touch flip point and the second touch flip point. When the flip adjustment component (32) moves downward and the horizontal sliding outer frame (34) is located at the left reference position, the touch rod (3211) located at the second touch flip point touches the left inclined surface (344) and pushes the horizontal sliding outer frame (34) from the left reference position to the right reference position.

10. The automatic double-sided steel stamping and marking machine according to claim 7, characterized in that, The marking device (4) includes: A marking support (41) is provided with a marking track (411) in the vertical direction; a support platform (27) is used to place the steel plate to be marked at the marking track (411); and a lower connection point (412) is provided on the marking support (41). A marking slider (42) is installed in the marking track (411) and is slidably connected to the marking track (411) in the vertical direction. A lifting rod is hinged to one side of the marking slider (42). The marking support (43) is located on the side of the marking slider (42) where the lifting rod is provided; A lifting motor (44) is mounted on the marking support (43); Rotary support plate (45) is horizontally mounted on the marking support bracket (43) and driven by the lifting motor (44) to rotate in a vertical plane; two lifting cylinders (451) are symmetrically arranged on the rotating support plate (45) with respect to the rotation center of the lifting motor (44). Sleeve rod (46), the sleeve rod (46) includes a collar (461) and an outer connecting rod (462), the outer connecting rod (462) is integrally connected to the outer side of the collar (461) and extends in a direction away from the center of the collar (461), and the end of the outer connecting rod (462) away from the collar (461) is hinged to the end of the lifting rod away from the marking slider (42); An eccentric disc (47) is provided with two concentric arc-shaped slits (471) with the same radius. Two lifting cylinders (451) are respectively embedded in the two arc-shaped slits (471). An upper connection point (472) is provided on the side of the eccentric disc (47) away from the rotating support plate (45). The center of the upper connection point (472) does not coincide with the center of the arc-shaped slits (471). A reset spring (48) connects the upper connection point (472) and the lower connection point (412).

Images