A large-tonnage mold import and positioning system

Abstract

This application discloses a large-tonnage mold import and positioning system, including a transfer vehicle, a drive unit, a correction unit, a sensing unit, and a control unit. The sensing unit collects the relative height difference between the transfer vehicle and the molding machine worktable, as well as the offset of the mold relative to the target position in real time. The control unit controls the drive unit to dynamically adjust the height of the transfer vehicle's bearing surface based on the relative height difference, and controls the correction unit to dynamically adjust the mold's translation path based on the offset. This application achieves adaptive height adjustment between the transfer vehicle and the molding machine worktable, and real-time dynamic correction of the mold's translation path. It effectively eliminates the jamming and tilting problems caused by height differences during mold translation, reduces translation resistance, improves the positioning accuracy, automation level, and operating efficiency of mold import, and reduces the need for manual operation and safety risks. It is particularly suitable for the efficient and accurate import of large-tonnage molds.

Description

Technical Field

[0001] This application belongs to the field of mold management technology, and in particular relates to a large-tonnage mold import and positioning system. Background Technology

[0002] When large-tonnage molds are introduced into the molding machine, there is often a height difference between the existing transfer vehicle and the molding machine worktable. The mold is prone to jamming and tilting when it is moved horizontally, resulting in high resistance and low work efficiency. At the same time, there is a lack of real-time detection and dynamic path correction methods for the offset during the mold translation process. It relies heavily on manual visual correction, which results in insufficient positioning accuracy and makes it difficult to meet the requirements of automated and high-precision import. Summary of the Invention

[0003] This application provides a large-tonnage mold import and positioning system, which realizes adaptive alignment of the height of the transfer vehicle and the worktable and real-time dynamic correction of the mold translation path, eliminating jamming and tilting, and improving positioning accuracy and import efficiency.

[0004] On one hand, embodiments of this application provide a large-tonnage mold import and positioning system, including: The transfer cart is used to carry the mold and transfer it to the preset docking position with the worktable of the molding machine; A drive unit is used to provide lifting drive force to the transfer vehicle to ensure that the height difference between the load-bearing surface of the transfer vehicle and the worktable of the molding machine is less than a preset threshold; and, Used to provide translational driving force to the mold, so that the mold can be moved from the transfer cart to the target position on the worktable of the molding machine; The correction unit is used to dynamically adjust the mold translation path; The sensing unit includes a height sensing subunit and a displacement sensing subunit. The height sensing subunit is installed on the transfer vehicle and is used to collect the relative height difference between the transfer vehicle and the worktable of the molding machine in real time. The displacement sensing subunit is installed on the molding machine and is used to collect the offset of the mold relative to the target position in real time during the mold translation process. The control unit is used to control the drive unit to dynamically adjust the relative height between the load-bearing surface of the transfer cart and the worktable of the molding machine based on the relative height difference; and, Used to control the correction unit to dynamically correct the translation path of the mold based on the offset.

[0005] In one embodiment, the height sensing subunit includes a height detection component for real-time detection of the relative height difference between the load-bearing surface of the transfer vehicle and the worktable of the molding machine, and transmitting the data to the control unit. The control unit is used to acquire the relative height difference, and when the relative height difference is greater than a first preset height threshold, controls the drive unit to adjust the height difference between the carrier surface of the transfer vehicle and the worktable of the molding machine at a first adjustment speed; and, When the relative height difference is less than or equal to the first preset height threshold and greater than the second preset height threshold, the control drive unit adjusts the height difference between the carrier surface of the transfer vehicle and the worktable of the molding machine at the second adjustment speed until the relative height difference is less than or equal to the second preset height threshold. The first adjustment speed is greater than the second adjustment speed, and the second preset height threshold is less than the first preset height threshold.

[0006] In one embodiment, the displacement sensing subunit includes a visual detection component, which includes at least two sets of cameras and a laser rangefinder. The visual detection component is located at the bottom of the upper slider of the molding machine and is used to collect images and distance data of the positioning mark points at the front end of the mold in real time before the mold is transferred to the worktable of the molding machine, and transmit them to the control unit. The control unit is used to acquire images and distance data of the positioning markers at the front end of the mold, and to determine the real-time offset of the front end of the mold in the horizontal plane based on the images and distance data; and, When the real-time offset exceeds the preset offset threshold, a dynamic correction command is output to the correction unit.

[0007] In one embodiment, the correction unit includes a correction component disposed on a transfer vehicle and on both sides of the mold, for applying an asymmetric translational driving force to the mold in response to a dynamic correction command generated by the control unit, thereby forming a correction torque opposite to the direction of the real-time offset, the correction torque being used to correct the translational path of the mold.

[0008] In one embodiment, the correction assembly includes multiple hydraulic cylinders with independently controllable thrust, symmetrically arranged on both sides of the mold; The correction component is used to respond to the dynamic correction command generated by the control unit, adjust the thrust of the hydraulic cylinder located on the opposite side of the mold offset direction in the correction component, form a correction torque opposite to the mold offset direction, and drive the front end of the mold to return to the correct position in real time.

[0009] In one embodiment, the control terminal of the drive unit is connected to the control unit, and the drive unit includes: The lateral drive assembly includes a first drive assembly and a second drive assembly. The first drive assembly is mounted on the transfer vehicle and is used to provide translational driving force to the mold under the control of the control unit, so that the mold is transferred from the transfer vehicle to the worktable of the molding machine. The second drive assembly is installed on the press machine worktable and is used to provide translational drive force to the mold under the control of the control unit, so that the mold moves to the target position on the press machine worktable; The longitudinal drive assembly is mounted on the transfer vehicle and is used to provide lifting drive force to the transfer vehicle under the control of the control unit, so as to ensure that the height difference between the load-bearing surface of the transfer vehicle and the worktable of the molding machine is less than a preset threshold.

[0010] In one implementation, the first driving component includes: A guide ramp is fixedly installed between the transfer vehicle and the molding machine worktable. The surface of the guide ramp is covered with a low-friction layer to guide the mold from the transfer vehicle to the molding machine worktable in a low-friction manner. The hydraulic push assembly is used to drive the mold along the guide ramp to the worktable of the molding machine under the control of the control unit.

[0011] In one embodiment, the second drive assembly includes a roller frame and a guide rail; The roller frame is set on the worktable of the molding machine and is used to drive the mold to the target position under the drive of the control unit; The guide rails are set on the worktable of the molding machine and located on both sides of the mold, and are used to limit the mold during its movement.

[0012] In one embodiment, the second drive assembly further includes a lifting mechanism, the drive end of which is connected to the roller frame; the control end of the lifting mechanism is connected to a control unit, for adjusting the height of the roller frame relative to the molding machine worktable under the control of the control unit. The control unit is also used to acquire mold parameters and drive the lifting mechanism based on those parameters.

[0013] In one embodiment, the correction unit further includes a positioning locking component, which is disposed on the worktable of the molding machine; The displacement sensing subunit is also used to acquire the final position coordinates of the positioning reference features at the bottom of the mold when the mold reaches the target position, and transmit them to the control unit; The control unit is also used to acquire the final position coordinates and control the positioning locking component to form a mechanical coupling with the positioning reference feature in order to achieve precise positioning of the mold.

[0014] Secondly, embodiments of this application provide a control method for the aforementioned large-tonnage mold import and positioning system, including: The relative height difference between the transport vehicle's bearing surface and the molding machine's worktable is acquired in real time by the height sensing subunit. Based on the relative height difference, the control drive unit dynamically adjusts the relative height between the load-bearing surface of the transfer vehicle and the worktable of the molding machine until the relative height difference is less than the preset threshold. After the relative height difference is less than the preset threshold, the control drive unit provides translational driving force to the mold, so that the mold moves from the transfer car to the preset target position on the molding machine worktable. During the mold translation process, the displacement sensing subunit acquires the offset of the mold relative to the target position in real time; Based on the offset, the control correction unit dynamically corrects the translation path of the mold, so that the mold moves to the target position according to the corrected path.

[0015] Thirdly, embodiments of this application provide an electronic device for a large-tonnage mold import and positioning system, the electronic device comprising: Processor and memory storing programs or instructions; The processor can implement the control method of the above-mentioned large-tonnage mold import and positioning system when executing programs or instructions.

[0016] Fourthly, embodiments of this application provide a computer storage medium on which a program or instruction is stored, and when the program or instruction is executed by a processor, it implements the control method of the above-mentioned large-tonnage mold import and positioning system.

[0017] Fifthly, embodiments of this application provide a computer program product in which instructions are executed by the processor of an electronic device, causing the electronic device to execute the aforementioned control method for a large-tonnage mold import and positioning system.

[0018] This application discloses a large-tonnage mold import and positioning system. A height sensing subunit collects the relative height difference between the transport vehicle's bearing surface and the worktable in real time. The control unit then dynamically adjusts the drive unit based on this height difference, ensuring it remains below a preset threshold. This eliminates jamming and tilting caused by height differences during mold translation, significantly reducing translational resistance. Secondly, the displacement sensing subunit collects the mold's offset relative to the target position in real time during translation. The control unit then dynamically adjusts the translation path based on this offset, improving the positioning accuracy of mold import, reducing reliance on manual operation, and enhancing the automation level and overall efficiency of the import operation. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a large-tonnage mold import and positioning system provided in one embodiment of this application; Figure 2This is a schematic diagram of the structure of a displacement sensing subunit in a large-tonnage mold import positioning system according to an embodiment of this application; Figure 3 This is a schematic diagram of another large-tonnage mold import and positioning system provided in one embodiment of this application; Figure 4 This is a flowchart illustrating a control method for a large-tonnage mold import and positioning system according to another embodiment of this application; Figure 5 This is a schematic diagram of the structure of a control device for a large-tonnage mold import and positioning system provided in another embodiment of this application.

[0021] In the attached diagram: 1000. Positioning system; 100. Transfer vehicle; 200. Molding machine workbench; 300. Mold; 400. Drive unit; 410. Second drive assembly; 420. Longitudinal drive assembly; 430. Hydraulic push assembly; 431. Guide ramp; 500, Control Unit; 600. Displacement sensing subunit; 601. Camera; 602. Laser rangefinder; 700, Height Sensing Subunit; 800, Correction Unit. Detailed Implementation

[0022] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0023] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0024] It should be noted that the acquisition, storage, use, and processing of data in this application embodiment all comply with the relevant provisions of national laws and regulations.

[0025] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, it does not mean that the applicant has used or necessarily used the solution.

[0026] In the compression molding process of large-tonnage molds, the process of guiding the mold into the molding machine is a critical step affecting production efficiency and product quality. Precise height alignment and translation path control can effectively avoid mold jamming, tilting, and positioning deviations, ensuring the molding accuracy of the molded parts.

[0027] However, there is currently a lack of automated import systems capable of real-time sensing and dynamic closed-loop adjustment of the transfer vehicle height and the 300mm translation path of the mold during the import process. Traditional technologies mostly use independent transfer vehicles in conjunction with the roller frame of the molding machine's worktable, relying on manual visual judgment of height differences and offsets, followed by manual adjustments. This method heavily depends on the operator's experience. For large molds weighing tens or even hundreds of tons, the translation resistance can reach several tons, resulting in long import times, low efficiency, and significant safety hazards.

[0028] Although there are some infeeding devices with auxiliary pushing mechanisms or simple positioning pins, the existing devices cannot achieve real-time dynamic alignment of the height of the transfer vehicle's bearing surface and the worktable surface, and they lack the ability to detect the offset in real time and dynamically correct the path during the mold translation process, making it difficult to meet the precision positioning requirements of precision molding.

[0029] Based on the above issues, such as Figure 1As shown in the embodiment of this application, a large-tonnage mold import and positioning system is provided. The positioning system 1000 specifically includes: a transfer vehicle 100, used to carry the mold 300 and transfer it to a preset docking position with the worktable 200 of the molding machine; a drive unit 400, used to provide lifting drive force to the transfer vehicle 100 and translation drive force to the mold 300; a correction unit 800, used to dynamically adjust the translation path of the mold 300; a sensing unit, including a height sensing subunit 700 and a displacement sensing subunit 600, used to collect the relative height difference between the transfer vehicle 100 and the worktable and the offset of the mold 300 relative to the target position in real time, respectively; and a control unit 500, used to control the drive unit 400 to dynamically adjust the height of the carrying surface of the transfer vehicle 100 according to the relative height difference, and to control the correction unit 800 to dynamically correct the translation path of the mold 300 according to the offset.

[0030] The technical solution provided in this application embodiment can successfully achieve adaptive alignment between the bearing surface of the transfer vehicle 100 and the working table 200 of the molding machine, eliminating the jamming and tilting caused by the height difference when the mold 300 is translated, and reducing the translation resistance; at the same time, the path of the mold 300 is dynamically corrected in real time during the translation process, which significantly improves the positioning accuracy and import efficiency, reduces the dependence on manual operation, and enables the import operation of large-tonnage molds 300 to achieve automated closed-loop control.

[0031] It should be noted that the embodiments provided in this application do not limit the specific application scenarios corresponding to the large-tonnage mold 300 import positioning system 1000 provided above. The technical solutions provided in the embodiments of this application can be flexibly applied to various scenarios that require the import and positioning of heavy molds 300 into molding equipment according to actual needs.

[0032] For example, in practical applications where hydraulic presses are used for hot pressing of aerospace structural components, the mold 300 can weigh tens of tons and have a cross-sectional dimension exceeding two meters. The technical solution provided in this application embodiment allows the transfer vehicle 100 to carry the mold 300 to a preset docking position on the hydraulic press worktable. The height sensing subunit 700 in the sensing unit collects the relative height difference between the transport vehicle 100's bearing surface and the worktable in real time and transmits it to the control unit 500. The control unit 500 drives the driving unit 400 to adjust the height based on this difference until the height difference is less than a preset threshold, achieving unobstructed translational docking. Subsequently, the driving unit 400 provides translational driving force to the mold 300, moving the mold 300 from the transfer vehicle 100 to the target position on the worktable. During this process, the displacement sensing subunit 600 collects the offset of the mold 300 relative to the target position in real time. The control unit 500 controls the correction unit 800 to dynamically adjust the translational path based on the offset, ensuring that the mold 300 accurately reaches the target position.

[0033] The technical solution provided in this application embodiment enables height-adaptive docking and dynamic path correction during the import of aerospace heavy mold 300 into a hydraulic press. The system can flexibly adjust the height of the transfer vehicle 100 and correct the translation path based on real-time sensing data, significantly reducing translational resistance and improving positioning accuracy. Furthermore, the system effectively avoids jamming, tilting, and positioning errors caused by height differences and path deviations, improving the success rate and safety of the import operation.

[0034] It should be noted that the application scenarios described in the above embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will understand that with the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems. The large-tonnage mold 300 import and positioning system 1000 provided in the embodiments of this application can be applied to various scenarios that require the automated import and precise positioning of heavy molds 300 into a molding machine.

[0035] The following will combine Figure 1-3 This application provides a detailed description of a large-tonnage mold import and positioning system.

[0036] Please continue reading Figure 1 As shown, Figure 1 The diagram shows a structural schematic of a large-tonnage mold import positioning system according to an embodiment of this application. The positioning system 1000 may include a transfer vehicle 100, a drive unit 400, a correction unit 800, a sensing unit, and a control unit 500.

[0037] The aforementioned transfer vehicle 100 can serve as a carrying and transfer platform for the mold 300, used to transfer the mold 300 from the storage area, preheating area or hoisting and unloading area to the preset docking position with the molding machine workbench 200.

[0038] The docking position can be the position where the front side of the transfer vehicle 100 and the edge of the worktable form a mechanical contact, or it can be the position where the pre-set alignment mark on the transfer vehicle 100 coincides with the corresponding mark on the worktable.

[0039] The main frame of the transfer vehicle 100 can be formed by welding high-strength channel steel to ensure sufficient bending stiffness and torsional stiffness under rated load.

[0040] The bottom of the frame of the transfer vehicle 100 is equipped with multiple sets of heavy-duty wheels. The number and arrangement of the wheels can be modularly configured according to the maximum design load.

[0041] For example, for a transfer vehicle with a rated load capacity of 50 tons, 8 to 12 sets of heavy-duty swivel wheels can be symmetrically arranged at the bottom of the frame, with a rated load capacity of no less than 10 tons per wheel. The wheels can be made of polyurethane-coated or steel to adapt to different ground conditions. For scenarios with a larger load capacity (such as 80 to 100 tons), the number of wheels can be increased to 12 to 16 sets to distribute the concentrated load and reduce wheel pressure.

[0042] The upper load-bearing surface of the transfer car 100 frame is covered with a detachable roller assembly. The roller assembly includes, for example, multiple rows of parallel rollers. The rollers can be made of Cr12MoV steel and have undergone surface hardening treatment to balance wear resistance and load-bearing capacity.

[0043] The roller assembly adopts a modular design, which can flexibly increase or decrease the number of roller rows and adjust the spacing between adjacent roller rows according to the bottom surface size and weight distribution of the mold 300. The spacing can be adjusted within the range of 50mm-100mm to achieve balanced support for molds 300 of different specifications.

[0044] To further enhance its universal adaptability, the length and width of the frame of the transport vehicle 100 are adjustable.

[0045] For example, by using a telescopic crossbeam structure or adding or removing modular frame sections, the bearing surface can be adjusted within the range of 2m-4m in the length direction and 1m-2.5m in the width direction, thereby adapting to different molds 300 with cross-sectional dimensions in the range of 1m-3m.

[0046] To further enhance safety, foldable or detachable anti-tipping guardrails can be installed on both sides of the transfer vehicle 100, with a guardrail height of not less than 500mm.

[0047] An infrared beam sensor can be built into the guardrail. When the mold 300 deviates laterally beyond the safe range on the bearing surface, the sensor is triggered and an alarm signal is output through the control unit 500.

[0048] The bottom of the transfer vehicle 100 can be further equipped with a fall protection plate, which has a load-bearing capacity of not less than 120% of the maximum design weight of the mold 300, and is used to provide bottom protection under extreme working conditions.

[0049] The transfer vehicle 100 can also use an air cushion bearing structure to replace the roller assembly. That is, by forming an air film at the bottom of the mold 300 with compressed air to achieve suspension support, the translation resistance is further reduced to a level close to zero. It is especially suitable for the transfer of ultra-heavy molds 300 weighing more than 100 tons or precision molds 300 that are sensitive to vibration.

[0050] In the embodiments of this application, Figure 3The diagram shows another structural schematic of a large-tonnage mold import and positioning system in an embodiment of this application. The drive unit 400 undertakes two core drive functions: first, it provides lifting drive force to the transfer vehicle 100 to realize dynamic adjustment of the height difference between the bearing surface of the transfer vehicle 100 and the surface of the molding machine worktable 200; second, it provides translation drive force to the mold 300 to drive the mold 300 to move from the bearing surface of the transfer vehicle 100 to the preset target position on the molding machine worktable 200.

[0051] In this embodiment, the drive unit 400 provides lifting driving force to the transfer vehicle 100 to ensure that the height difference between the load-bearing surface of the transfer vehicle 100 and the worktable 200 of the molding machine is less than a preset threshold. This height difference is caused by the load-bearing surface of the transfer vehicle 100 being higher than the worktable 200 of the molding machine.

[0052] like Figure 2 As shown, the drive unit 400 may include a longitudinal drive assembly 420 disposed on the transfer vehicle 100. The longitudinal drive assembly 420 may be implemented by a hydraulic leveling mechanism, that is, lifting hydraulic cylinders may be arranged at the four corners of the frame of the transfer vehicle 100 or at multiple support points distributed along the circumference. Each hydraulic cylinder is synchronously controlled by a servo valve or a proportional valve.

[0053] The rated pressure of the hydraulic cylinder can be selected as 31.5MPa, and the lifting stroke range is, for example, 0-50mm. The synchronous control error can be controlled within 0.1mm. Through the coordinated extension and retraction of each hydraulic cylinder, the height and level of the bearing surface can be dynamically adjusted simultaneously, ensuring that the height difference between the bearing surface of the transfer vehicle 100 and the worktable surface is controlled within a preset threshold, which can be within 0.5mm.

[0054] The longitudinal drive assembly 420 can also use a servo motor-driven screw jack or worm gear jack instead of a hydraulic cylinder to achieve higher lifting accuracy.

[0055] In terms of translation drive, the drive unit 400 provides translation drive force to the mold 300, so that the mold 300 moves from the transfer car 100 to the preset target position on the molding machine worktable 200.

[0056] The translational driving force can be achieved by the hydraulic push assembly 430 installed on the transfer vehicle 100.

[0057] For example, the hydraulic push assembly 430 can be a push plate mechanism driven by a hydraulic cylinder, whose output thrust can be continuously adjusted in the range of 0-50kN, and whose push speed can be adjusted in the range of 0.1m / min-0.5m / min, so as to adapt to the translation requirements of molds 300 of different weights.

[0058] The hydraulic push assembly 430 can be set on the end of the transfer vehicle 100 away from the worktable. After the mold 300 is located on the transfer vehicle 100, the hydraulic push assembly 430 abuts against the rear end face of the mold 300 and applies a thrust, driving the mold 300 to translate along the bearing surface towards the worktable.

[0059] Translation drive can also be achieved using gear and rack transmission mechanisms, electric screw push rods, or winch wire rope traction mechanisms to adapt to the requirements of different operating environments.

[0060] Figure 2 A schematic diagram of the displacement sensing subunit 600 in a large-tonnage mold import positioning system according to an embodiment of this application is shown.

[0061] like Figure 2 As shown, the aforementioned sensing unit includes a height sensing subunit 700 and a displacement sensing subunit 600, which are used to collect height difference information and position offset information, respectively.

[0062] The height sensing subunit 700 can be installed on the transfer vehicle 100 to collect the relative height difference between the bearing surface of the transfer vehicle 100 and the worktable 200 of the molding machine in real time.

[0063] The height sensing subunit 700 may include at least one set of height detection components, such as a laser displacement sensor, a wire displacement sensor, an ultrasonic ranging sensor, or a contact dial indicator.

[0064] Taking a laser displacement sensor as an example, its transmitter can be installed on a bracket on the side of the transfer vehicle 100 near the workbench. The laser beam is vertically irradiated onto the preset reference reflective surface on the workbench. The height difference is calculated in real time using the phase method or the time-of-flight method, and the measurement accuracy can reach the ±0.01mm level.

[0065] The height sensing subunit 700 transmits the collected height difference to the control unit 500 in real time as feedback for lifting control.

[0066] The displacement sensing subunit 600 can be installed on the molding machine to collect the offset of the mold 300 relative to the target position in real time during the translation of the mold 300.

[0067] The displacement sensing subunit 600 includes a vision detection component that can be mounted on a fixed structure of the molding machine, such as the bottom of the upper slider or the frame beam.

[0068] The vision inspection component may include an industrial camera 601 and a laser rangefinder 602. The industrial camera 601 has a resolution of no less than 5 megapixels, and the laser rangefinder 602 has a ranging accuracy of ±0.01mm.

[0069] Before the mold 300 begins to move, positioning marks can be preset on the upper surface of the front end of the mold 300. The marks can be, for example, cross lines, circular reflective targets, or QR code marks.

[0070] During the translation of the mold 300, the camera 601 can acquire images of the positioning markers, the laser rangefinder 602 can simultaneously acquire the spatial distance information of the markers, and the control unit 500 performs fusion calculation on the image data and distance data to obtain the real-time offset of the front end of the mold 300 relative to the target position in the horizontal plane. The offset may include the lateral offset along the direction perpendicular to the translation and the angular deflection around the vertical axis.

[0071] The displacement sensing subunit 600 can also use a laser tracker in conjunction with a target ball to achieve real-time dynamic tracking of the mold pose 300.

[0072] The aforementioned correction unit 800 includes a correction component, which can be disposed on the transfer vehicle 100 and located on both sides of the mold, for dynamically adjusting the translation path of the mold 300. When the mold 300 deviates from the target path during translation, the correction component can apply a correction force to the mold 300 to correct its direction of travel.

[0073] The correction assembly may include force-applying elements distributed on both sides of the translation path of the mold 300, and the direction and magnitude of the force applied by each force-applying element can be adjusted independently.

[0074] For example, multiple independently controllable hydraulic cylinders can be installed on both sides of the bearing surface of the transfer vehicle 100 as force-applying elements. When the displacement sensing subunit 600 detects that the front end of the mold 300 has shifted to one side and the shift exceeds a preset threshold, the control unit 500 generates a dynamic correction command, driving the hydraulic cylinder located on the opposite side of the shift direction to apply a greater thrust to the side wall of the mold 300. At the same time, the hydraulic cylinder located on the same side of the shift direction correspondingly reduces its thrust or retracts, thereby forming a correction torque in the horizontal plane opposite to the shift direction, driving the front end of the mold 300 back to the target path direction. This asymmetric force application method can achieve continuous dynamic correction of the translation path during the translation of the mold 300 without interrupting the translation operation. The force-applying elements are not limited to hydraulic cylinders; electric push rods or pneumatic actuators can also be used.

[0075] The aforementioned control unit 500 serves as the decision-making core of the system and establishes communication connections with the control terminals of the drive unit 400, the sensing unit, and the correction unit 800, respectively.

[0076] The control unit 500 can be implemented using an industrial programmable logic controller, such as the Siemens S7-1500 series controller, or it can be an embedded industrial computer or a distributed control system. This embodiment does not make any specific limitations on this.

[0077] In terms of height control, the control unit 500 receives the relative height difference value fed back in real time by the height sensing subunit 700, compares it with a preset threshold, and generates control commands to drive the longitudinal drive component 420 to act, forming a height closed-loop control.

[0078] For example, when a height difference is detected between the load-bearing surface of the transfer vehicle 100 and the worktable surface, the control unit 500 continuously adjusts the extension and retraction of the lifting hydraulic cylinder until the height difference is reduced to within a preset threshold and remains stable, thereby eliminating the step-like height change at the docking point.

[0079] The preset threshold can be 0.5mm.

[0080] In terms of translation path control, the control unit 500 receives real-time feedback from the displacement sensing subunit 600 on the front offset data of the mold 300.

[0081] Specifically, the control unit 500 acquires the image and laser ranging data of the positioning marker point at the front end of the mold 300 collected by the vision inspection component, and determines the real-time offset of the front end of the mold 300 in the horizontal plane based on the principle of binocular vision triangulation or PnP pose calculation algorithm.

[0082] When the offset exceeds the preset offset threshold, the control unit 500 generates a dynamic correction command and sends it to the correction component, driving the force application element on the corresponding side to generate a return torque; when the offset returns to the threshold range, the correction force is reduced or removed accordingly, thereby forming a real-time closed-loop correction control of the translation path.

[0083] The control unit 500 can also be configured with a human-machine interface, which supports operators to preset and store multiple sets of import parameters for different molds 300. Each set of parameters may include the weight, size, target position coordinates, pushing speed and threshold of the mold 300.

[0084] In actual operation, the operator only needs to select the corresponding mold number 300, and the system can automatically call up all parameters and perform automated control of the entire process from height alignment to mold 300 translation into position.

[0085] The control unit 500 can also be configured with a wireless remote control terminal and a remote communication interface to support remote control operation and remote status monitoring.

[0086] Based on the above technical solution, in this embodiment of the application, after the mold 300 import operation is started, the height sensing subunit 700 first measures the relative height difference between the bearing surface of the transfer vehicle 100 and the worktable 200 of the molding machine in real time and feeds it back to the control unit 500. The control unit 500 drives the longitudinal drive component 420 to dynamically compensate the height of the transfer vehicle 100, so that the height difference between the two continuously converges to within the preset threshold and remains stable, thereby eliminating the step obstacle when the front end of the mold 300 transitions from the transfer vehicle 100 to the worktable, and the translation resistance is greatly reduced. After entering the translation stage, the displacement sensing subunit 600 continuously tracks the spatial position of the preset mark point at the front end of the mold 300, and the control unit 500 calculates the offset in real time and drives the correction component to form a return torque through asymmetrical force application, so that the mold 300 always moves along the target path during the movement. The above technical solution enables the mold 300 to be imported from the transfer vehicle 100 to the target position on the workbench without manual pushing or midway adjustment, which significantly shortens the import time. At the same time, it controls the final positioning deviation within a very small range and eliminates safety hazards such as mold 300 jamming and overturning caused by height difference and path deviation.

[0087] In this embodiment, the height sensing subunit 700 may further include a height detection component, which may be disposed on the transfer vehicle 100 and used to detect the relative height difference between the bearing surface of the transfer vehicle 100 and the worktable 200 of the molding machine in real time, and transmit the difference to the control unit 500 in a wired or wireless manner.

[0088] The height detection component can be implemented using contact or non-contact displacement sensors.

[0089] For example, in one implementation, the height detection component is a laser displacement sensor, the transmitter of which is mounted on a cantilever bracket on the side of the transfer vehicle 100 near the worktable 200 of the molding machine. The laser beam is vertically pointed at a preset reference reflective surface or reference target on the worktable. The relative height difference between the two is calculated in real time using the phase method or the time-of-flight method, and the measurement accuracy can reach the ±0.01mm level.

[0090] In another implementation, the height detection component can also use a pull-wire displacement sensor, with the sensor body fixed to the side wall of the transfer vehicle 100, and the hook at the end of the pull wire fixed to a reference point on the workbench. The height difference is calculated by the amount of pull wire extension.

[0091] The height detection component can also be equipped with ultrasonic ranging sensors, contact dial gauges, or eddy current displacement sensors, which can be selected by those skilled in the art according to the accuracy requirements and environmental conditions of the actual working conditions.

[0092] To improve the reliability and fault tolerance of detection, the detection components can be configured with multiple redundant sets.

[0093] For example, a set of laser displacement sensors is arranged at each of the left and right ends of the transfer vehicle 100 near the workbench, and the two sets of sensors measure the height difference at the corresponding positions.

[0094] The control unit 500 can compare and fuse two sets of measured values. When the deviation between the two sets of data exceeds a reasonable range, it can trigger calibration or alarm, thereby avoiding misjudgment caused by a single sensor failure or unevenness of the local reference surface.

[0095] Meanwhile, the two sets of sensors can also be used to detect the horizontal tilt of the transport vehicle 100 bearing surface relative to the worktable surface, providing a reference for subsequent leveling adjustments.

[0096] After acquiring the relative height difference value fed back in real time by the height detection component, the aforementioned control unit 500 executes a closed-loop control strategy of graded speed adjustment to achieve a technical effect that balances adjustment efficiency and docking accuracy.

[0097] Specifically, the control unit 500 presets at least two height thresholds: a first preset height threshold and a second preset height threshold, wherein the second preset height threshold is less than the first preset height threshold.

[0098] For example, the first preset height threshold can be set to 2mm, and the second preset height threshold can be set to 0.5mm. Understandably, the specific values ​​of these two thresholds can be adjusted according to the weight of the mold 300, the docking accuracy requirements, and the equipment specifications. For example, for ultra-high precision molding scenarios, the second preset height threshold can be further tightened to 0.2mm or 0.1mm.

[0099] Regarding the adjustment speed, the longitudinal drive component 420 in the drive unit 400 is configured to have at least two different adjustment speeds: a first adjustment speed and a second adjustment speed, wherein the first adjustment speed is greater than the second adjustment speed.

[0100] The first adjustment speed corresponds to the fast coarse adjustment mode, which is used to quickly reduce the difference when the height deviation is large; the second adjustment speed corresponds to the slow fine adjustment mode, which is used to make small-step fine adjustments when approaching the target height.

[0101] When the control unit 500 determines that the current relative height difference is greater than the first preset height threshold, it indicates that there is a large height difference between the load-bearing surface of the transfer vehicle 100 and the worktable surface. At this time, the control unit 500 drives the longitudinal drive component 420 to operate at the first adjustment speed.

[0102] For example, the control unit 500 can output a control signal with a larger opening to the servo valve of the hydraulic leveling mechanism, causing the lifting hydraulic cylinder to extend and retract at a faster speed, quickly reducing the height difference from a large value to within 2mm. This stage prioritizes efficiency, rapidly eliminating significant height differences.

[0103] When the control unit 500 determines that the current relative height difference has decreased to less than or equal to the first preset height threshold but is still greater than the second preset height threshold, the control unit 500 automatically switches to the second adjustment speed and continues to drive the longitudinal drive component 420 for fine adjustment at a slower rate.

[0104] For example, the control unit 500 can reduce the amplitude of the control signal of the servo valve, which significantly slows down the extension and retraction speed of the hydraulic cylinder, gradually approaching the target height in small steps.

[0105] During this process, the height detection component continuously provides feedback on the height difference at a high frequency, and the control unit 500 corrects the control command in real time based on the feedback value to avoid overshoot and oscillation caused by inertia or hydraulic system response delay.

[0106] When the control unit 500 determines that the current relative height difference is less than or equal to the second preset height threshold, the control unit 500 stops height adjustment, locks the current state of the longitudinal drive component 420, and confirms that the docking accuracy between the bearing surface of the transfer cart 100 and the surface of the molding machine worktable 200 meets the requirements for a smooth transition of the mold 300. At this time, there is no step-like height change when the front end of the mold 300 transitions from the bearing surface of the transfer cart 100 to the worktable surface, and the translational resistance can be controlled at an extremely low level.

[0107] The longitudinal drive assembly 420 can be implemented using a hydraulic leveling mechanism, that is, lifting hydraulic cylinders are symmetrically arranged at the four corners or multiple points of the frame of the transfer vehicle 100. The rated pressure of each hydraulic cylinder can be selected as 31.5MPa, and the lifting stroke range is, for example, 0 to 50mm (or ±20mm). Multi-cylinder synchronous control is achieved through servo valves or proportional valves, and the synchronization error can be controlled within 0.1mm.

[0108] The longitudinal drive assembly 420 can also adopt a servo motor driven screw lifting mechanism, which can further improve the lifting accuracy to the ±0.01mm level, making it suitable for molding scenarios with higher requirements for height docking accuracy.

[0109] During the height adjustment process, the control unit 500 can also perform cross-verification by combining redundant data from multiple height detection components.

[0110] For example, when a set of laser displacement sensors is installed on each of the left and right sides of the transfer vehicle 100, the control unit 500 simultaneously acquires the height difference between the two sides. If the difference between the two sides is asymmetrical and the deviation exceeds the preset range, it indicates that the bearing surface of the transfer vehicle 100 is tilted. At this time, the control unit 500 can adjust the extension and retraction of the hydraulic cylinder on one side individually, and complete the levelness calibration of the bearing surface while adjusting the overall height, so that the mold 300 is in a horizontal and stable bearing state before entering the translation stage.

[0111] After the mold 300 import operation is initiated, the height detection component measures the relative height difference between the bearing surface of the transfer cart 100 and the worktable surface in real time and feeds it back to the control unit 500. When the height difference is large, the control unit 500 drives the longitudinal drive component 420 to quickly reduce the difference at the first adjustment speed, compressing the docking preparation time to the shortest possible. When the height difference is reduced to the preset fine adjustment range, the control unit 500 automatically switches to the second adjustment speed for slow fine-tuning to approximate the difference, effectively avoiding overshoot and oscillation, and finally stabilizing the height difference below 0.5mm. This strategy significantly shortens the height adjustment time while ensuring docking accuracy, so that the front end of the mold 300 encounters almost no step obstacles when transitioning from the transfer cart 100 to the worktable, and the translation resistance is significantly reduced, thus creating stable initial conditions for subsequent precise translation and positioning.

[0112] This application embodiment further defines the specific implementation of the displacement sensing subunit 600 and the control unit 500 in terms of offset detection and correction triggering.

[0113] In this embodiment, the displacement sensing subunit 600 may include a visual detection component, which may include at least two sets of cameras 601 and a laser rangefinder 602. The cameras 601 are used to acquire two-dimensional image information of preset positioning markers at the front end of the mold 300, and the laser rangefinder 602 is used to acquire spatial distance information of the markers. The two work together to achieve accurate detection of the spatial pose of the front end of the mold 300.

[0114] The camera 601 can be an industrial camera 601 with a resolution of no less than 5 megapixels, so as to ensure that even when the mold 300 is large in size and the camera 601 is installed at a long distance, the detailed features of the front marking points of the mold 300 can still be clearly distinguished.

[0115] The Industrial Camera 601 can be equipped with either a CMOS or CCD sensor, supports global shutter to avoid motion blur, and offers a selectable frame rate ranging from 30fps to 120fps.

[0116] The laser rangefinder 602 can be equipped with a high-precision laser ranging module, with a ranging accuracy of ±0.01mm, which can be used to provide accurate depth information of the marked points.

[0117] The laser rangefinder 602 can be equipped with a laser displacement sensor based on the triangulation principle or a lidar module based on the time-of-flight principle. The specific selection depends on the requirements for ranging accuracy, range and working distance.

[0118] The number of camera 601 and laser rangefinder 602 combinations can be configured according to actual detection needs.

[0119] For example, in the basic configuration, two sets of cameras 601 and two sets of laser rangefinders 602 can be used, corresponding to two positioning markers at the front end of the mold 300, such as setting one marker at the left front corner and one at the right front corner of the mold 300. The position and attitude of the front end of the mold 300 in the horizontal plane can be obtained through binocular vision or dual-point positioning principle.

[0120] For molds 300 with larger size or higher precision requirements, the number of cameras 601 and laser rangefinders 602 can be increased to three or four sets, respectively covering multiple marked positions at the front end of the mold 300. Multi-point redundant measurement further improves detection accuracy and robustness.

[0121] The vision inspection component can be installed at the bottom of the upper slider of the molding machine.

[0122] The upper slider is the core moving component of the molding machine that moves vertically during mold closing and opening. Its bottom has a mounting base facing the molding machine worktable 200, providing a stable mounting position with a good field of vision for the vision inspection components.

[0123] For example, two sets of cameras 601 are fixed to the front sides of the bottom of the upper slider by adjustable mounting brackets, and the optical axis of the cameras 601 is tilted downwards to point to the preset detection area that the mold 300 above the worktable is about to pass through.

[0124] The laser rangefinder 602 can be integrated into the housing of the camera 601 to form an integrated visual sensor module, or it can be installed independently next to the camera 601 and maintain a fixed geometric relationship with the optical axis of the camera 601. The mounting bracket can be designed with pitch and azimuth fine-tuning functions to accurately calibrate the field of view of the camera 601 during the system installation and commissioning phase.

[0125] Before the mold 300 is transferred to the press machine worktable, positioning marks need to be preset on the upper surface of the front end of the mold 300.

[0126] The location markers serve as the identification and measurement targets for the visual inspection components, and their form can be flexibly selected according to the actual working conditions.

[0127] For example, the positioning markers can be crosshair markings, formed by laser etching or mechanical engraving on the upper surface of the front end of the mold 300 to create a high-contrast crosshair pattern, which facilitates the camera 601 to extract the coordinates of the crosshair intersection through image processing algorithms; or circular reflective targets can be used, which utilize their high reflectivity to specific wavelength lasers to generate a strong return signal under the illumination of the laser rangefinder 602, thereby improving the ranging signal-to-noise ratio; or QR code markings or checkerboard markings can be used, which provide a scale reference for the vision system through the known geometric dimensions of the pattern, allowing a single camera 601 to simultaneously complete marker recognition and distance calculation.

[0128] There should be at least two positioning markers, which are set at different positions on the upper front surface of the mold 300, such as one at the left front corner and one at the right front corner. The distance between the two points can be determined according to the width of the mold 300 cross section, such as 1m to 2m.

[0129] By simultaneously tracking the spatial position changes of two marker points, the control unit 500 can not only calculate the lateral offset of the front end of the mold 300 in the direction perpendicular to the translation, but also calculate the angular deflection of the front end of the mold 300 around the vertical axis, thereby achieving more comprehensive offset detection.

[0130] The positioning markers can also be made using the existing geometric features of the mold 300 itself, such as the intersection of the edges of the front face of the mold 300, the reference hole, or a specific machined surface. In this case, there is no need to process additional markers on the mold 300. The vision inspection component can identify and locate these inherent features through feature matching algorithms.

[0131] During the process of mold 300 moving from transfer car 100 to the molding machine worktable, the vision inspection component works in real time at a preset sampling frequency.

[0132] For example, camera 601 continuously acquires images of the front area of ​​mold 300 at a frame rate of 30 to 60 frames per second, and laser rangefinder 602 synchronously acquires distance data of each marker point at the same or higher sampling frequency.

[0133] Image data acquired by camera 601 and distance data acquired by laser rangefinder 602 are transmitted to control unit 500 via industrial Ethernet such as EtherCAT, Profinet or high-speed serial bus. The data transmission delay can be controlled at the millisecond level to meet the requirements of real-time closed-loop control.

[0134] Before the mold 300 begins translation, the vision inspection component can first perform a reference frame acquisition. That is, when the mold 300 is still in its initial position on the transfer vehicle 100, the initial image and initial distance data of the front end marker point of the mold 300 are acquired, which are then used by the control unit 500 to establish an initial pose reference. During subsequent translation, each frame of detection data is compared with this initial reference to obtain the change in offset of the front end of the mold 300 relative to the initial state.

[0135] After acquiring the image and distance data of the positioning marker point at the front end of the mold 300, the control unit 500 determines the real-time offset of the front end of the mold 300 in the horizontal plane based on the image processing algorithm and spatial geometry calculation method.

[0136] The control unit 500 can also use the PnP pose calculation algorithm to directly calculate the real-time pose of the front end of the mold 300 in space based on the pixel coordinates and corresponding spatial distance of at least two marker points in the image, and extract the offset component in the horizontal plane from it.

[0137] The control unit 500 can preset an offset threshold, which can be set according to the specifications of the mold 300, the guide rail clearance, and the final positioning accuracy requirements.

[0138] For example, for a mold 300 with a width of 2m, the lateral offset threshold can be set to 1mm-3mm, and the angular offset threshold can be set to 0.1°-0.3°.

[0139] When the control unit 500 determines that the current real-time offset is greater than the preset offset threshold, it indicates that the mold 300 has deviated from the target path and the degree of deviation exceeds the allowable range. At this time, the control unit 500 generates a dynamic correction command and outputs it to the drive unit 400 or the correction component.

[0140] The dynamic correction command can include information such as the magnitude and direction of the offset and the amplitude of the correction torque, which the correction component uses to generate corresponding correction actions. When the real-time offset returns to within the threshold range, the control unit 500 can output a command to remove the correction force or reduce the amplitude of the correction force to avoid over-correction.

[0141] The control unit 500 can be an industrial programmable logic controller with a dedicated vision processing module, or an embedded industrial computer running a real-time operating system and vision processing software library to meet the computing power requirements of image processing.

[0142] During the translation of mold 300, this embodiment of the application uses two sets of cameras 601 and a laser rangefinder 602 installed at the bottom of the upper slider to synchronously acquire images and distance data of the positioning markers at the front end of mold 300 at a high frequency. The control unit 500 obtains the lateral offset and angular deflection of the front end of mold 300 in the horizontal plane in real time based on image processing and spatial geometric calculation. When the offset exceeds a preset threshold, the control unit 500 immediately generates a dynamic correction command to drive the correction unit 800 to intervene and correct the offset before it accumulates to the point of affecting the final positioning accuracy. This scheme compresses the correction response delay of the translation path of mold 300 to an extremely short time, and the correction action is accurate and timely. It avoids the defects of delayed offset detection and overcorrection under the traditional manual visual inspection method, thereby continuously controlling the translation path deviation within the allowable range throughout the entire process of mold 300's movement, laying a key foundation for the final high-precision positioning.

[0143] This application embodiment further defines the specific implementation method of the above-mentioned correction unit 800 in responding to dynamic correction commands and correcting the translation path of the mold 300.

[0144] The aforementioned correction unit 800 includes a correction assembly, which can be mounted on the transfer cart 100 and positioned on both sides of the mold 300. Specifically, the force-applying elements of the correction assembly can be symmetrically distributed on both sides of the mold 300 along the translational path of the mold 300 on the bearing surface of the transfer cart 100. When the mold 300 is located on the bearing surface of the transfer cart 100, each force-applying element of the correction assembly is located on the left and right sides of the mold 300, with its force-applying end facing the side wall of the mold 300, enabling it to apply a lateral translational driving force to the mold 300.

[0145] The correction assembly may include multiple force-applying elements that can independently control the thrust, with each force-applying element arranged at intervals along the 300 translational direction of the mold.

[0146] For example, two to four sets of force-applying elements can be set on both the left and right sides of the translation path of the mold 300, with the number and arrangement of the force-applying elements on the left and right sides being symmetrical. The thrust magnitude, force direction, and extension / retraction speed of each set of force-applying elements can be independently controlled by the control unit 500. This multi-point arrangement allows the correction assembly to not only apply correction force at different longitudinal positions of the mold 300, but also to form a correction torque around the vertical axis by adjusting the thrust difference of the force-applying elements at different positions, thereby simultaneously and comprehensively correcting the lateral offset and angular deflection of the front end of the mold 300.

[0147] In practice, hydraulic cylinders can be used as the force-applying element. Hydraulic cylinders have the characteristics of large thrust, fast response, and good rigidity, making them suitable for the calibration requirements of large-tonnage molds (300mm).

[0148] The cylinder diameter and rated pressure of the hydraulic cylinder can be selected according to the weight of the mold 300 and the required correction torque. For example, a hydraulic cylinder with a rated pressure of 16MPa-31.5MPa can be selected, and the thrust of a single cylinder is adjustable in the range of 10kN-50kN. Each hydraulic cylinder is controlled by an independent servo valve or proportional valve, and the control unit 500 can continuously and accurately adjust the thrust of each group of hydraulic cylinders by adjusting the valve opening.

[0149] Force-applying components are not limited to hydraulic cylinders. For example, in explosion-proof environments or cleanrooms where the use of hydraulic oil is restricted, electric linear actuators can be used. Electric linear actuators are driven by a servo motor to rotate a lead screw, converting rotational motion into linear extension and retraction motion of the actuator. This provides high thrust control precision and eliminates the risk of hydraulic oil leakage.

[0150] For example, in applications requiring extremely high response speeds, pneumatic actuators or electromagnetic linear actuators can be used as the force-applying element to achieve rapid application and removal of corrective force with millisecond-level response speeds. Those skilled in the art can select the appropriate type of force-applying element based on specific working conditions.

[0151] In response to the dynamic correction command generated by the control unit 500, the correction component applies an asymmetric translational driving force to the mold 300. The term "asymmetric" means that the translational driving forces applied by the correction component on both sides of the mold 300 are not equal in magnitude and / or direction, thereby forming a resultant torque in the horizontal plane.

[0152] Specifically, during the translation of the mold 300, when the displacement sensing subunit 600 detects a real-time offset at the front end of the mold 300 and the offset exceeds a preset threshold, the control unit 500 generates a dynamic correction command accordingly.

[0153] The instruction can include the direction information of the offset, such as the front end of mold 300 offsetting to the left, and the magnitude information of the offset, such as the lateral offset value being 2mm and the angular deflection being 0.3°.

[0154] After receiving the dynamic correction command, the correction component can execute the following asymmetric force application strategy: increase the thrust of the force application element located on the opposite side of the offset direction of the mold 300, while decreasing or removing the thrust of the force application element located on the same side of the offset direction of the mold 300.

[0155] For example, when a leftward shift of the front end of the mold 300 is detected, the force-applying element on the right side of the mold 300 increases its thrust, applying a larger leftward thrust to the right side wall of the mold 300; while the force-applying element on the left side of the mold 300 correspondingly reduces its thrust or retracts completely, contacting the left side wall of the mold 300 with a smaller force or disengaging from it. Thus, the resultant lateral force on the mold 300 is not zero and points to the right, thereby driving the front end of the mold 300 to return to its original position to the right.

[0156] When the front end of the mold 300 has both lateral offset and angular deflection, the correction component can also correct both offsets simultaneously by differentially controlling the thrust of the force-applying elements at different positions before and after.

[0157] For example, the force-applying element located on the right side and near the front end of the mold 300 applies a larger thrust, while the force-applying element located on the right side and near the rear end of the mold 300 applies a smaller thrust, thereby forming a corrective torque with the rear end of the mold 300 as the rotation center and in the opposite direction to the deflection direction, which corrects the angular deflection of the front end of the mold 300 while pushing it to the right.

[0158] The aforementioned asymmetric force application method generates a corrective torque in the horizontal plane that is opposite to the direction of the real-time offset. The effect of this corrective torque is to correct the translation direction of the front end of the mold 300 from a state of deviation from the target path back to the target path direction, that is, to achieve the restoration of the translation path of the mold 300.

[0159] The magnitude of the correction torque can be dynamically adjusted according to the real-time offset.

[0160] The magnitude of the correction torque can be directly proportional to the magnitude of the offset or in a piecewise proportional relationship.

[0161] For example, when the offset is large, the correction component outputs a large correction torque to quickly curb the offset trend; when the offset gradually decreases to near the threshold, the correction torque decreases accordingly to avoid oscillation caused by over-correction leading to the mold 300 shifting in the opposite direction. This variable force correction strategy allows the translational path of the mold 300 to smoothly return to the target direction during travel, rather than abruptly turning back.

[0162] The correction component maintains contact or near-contact with the sidewall of the mold 300 throughout the application of the correction torque, ensuring that the correction force is transmitted to the mold 300 almost instantly after the offset is detected. Because the correction component is mounted on the transfer cart 100 and adjacent to the translation path of the mold 300, the transmission path of the correction force is short and the response delay is low, which facilitates real-time continuous correction of the translation path without interrupting or pausing the translation movement of the mold 300.

[0163] In this embodiment, during the translation of the mold 300, when the vision detection component detects a shift in the front end of the mold 300, the correction component does not simply stop the translation or perform overall correction. Instead, it uses asymmetrical force output from the force-applying elements on both sides of the mold 300 to create a pure couple or eccentric force on both sides of the mold 300 in the opposite direction to the shift, ensuring that the correction torque is precisely applied in the opposite direction of the shift. This correction torque drives the front end of the mold 300 to smoothly return to its original position while continuing to move. The correction process and the translation process run in parallel, without interrupting the production cycle or causing additional friction damage. Because the magnitude of the correction force is dynamically adjusted according to the shift, the correction action is smooth and impact-free, avoiding the collision rebound and overcorrection problems of traditional hard-limit correction methods, ultimately achieving full controllability of the mold 300's translation path.

[0164] The aforementioned correction assembly may include multiple hydraulic cylinders with independently controllable thrust, which are symmetrically arranged on both sides of the mold 300. Taking the central axis of the mold 300 along the translational direction on the bearing surface of the transfer vehicle 100 as the symmetry reference, the same number of hydraulic cylinders can be arranged on the left and right sides, and the installation positions of the hydraulic cylinders on the left and right sides are mirror-symmetrical in the direction perpendicular to the translational direction.

[0165] For example, two to four sets of hydraulic cylinders can be set on the left and right sides of the mold 300, and the sets of hydraulic cylinders are arranged at a certain interval along the translation direction of the mold 300.

[0166] For example, for a transfer vehicle 100 that adapts to a mold 300 with a cross-sectional length of 2m-3m, three sets of hydraulic cylinders can be evenly arranged on each side along the translation direction, with the spacing between adjacent hydraulic cylinders being approximately 0.6m-0.8m. This multi-point distribution allows the correction components to cover different longitudinal areas of the mold 300's sidewalls, thereby generating different thrusts at different parts of the mold 300 to cope with different offset conditions, such as simple lateral displacement, angular deflection, or a combination of both, at the front end of the mold 300.

[0167] Each hydraulic cylinder group has an independent control unit 500, equipped with an independent servo valve or proportional valve.

[0168] The control unit 500 can continuously and independently adjust the thrust of each hydraulic cylinder by adjusting the opening signal of each valve port.

[0169] The cylinder diameter and rated pressure of the hydraulic cylinder can be selected according to the maximum design tonnage and correction torque requirements of the mold 300.

[0170] Wear-resistant contact blocks can be installed at the end of the piston rod of the hydraulic cylinder to reduce frictional damage when applying force in contact with the side wall of the mold 300.

[0171] The correction component can adjust the thrust of the hydraulic cylinder in response to the dynamic correction command generated by the control unit 500. Its core strategy is to adjust the thrust of the hydraulic cylinder located on the opposite side of the offset direction of the mold 300.

[0172] Specifically, when the displacement sensing subunit 600 detects that the front end of the mold 300 has shifted in a certain direction and the shift exceeds a preset threshold, the dynamic correction command generated by the control unit 500 can instruct the correction component to perform the following actions: increase the thrust of each set of hydraulic cylinders located on the opposite side of the shift direction of the mold 300, so that they act on the right side wall of the mold 300 with a larger force, generating a lateral thrust pointing to the left. At the same time, the hydraulic cylinders located on the same side of the shift direction of the mold 300 reduce the thrust or completely depressurize and retract, so as to reduce or eliminate the resistance opposite to the correction direction.

[0173] When the front end of mold 300 experiences both lateral offset and angular deflection simultaneously, a thrust difference can be generated between the hydraulic cylinders on opposite sides of the offset direction. For example, if the front end of mold 300 offsets to the left and is accompanied by counterclockwise deflection, the hydraulic cylinder closer to the front end of mold 300 on the opposite side of the offset direction will output a larger thrust, while the hydraulic cylinder closer to the rear end will output a relatively smaller thrust. This thrust gradient along the translational direction ensures that the correcting torque includes not only the force component that pushes mold 300 back to the right as a whole, but also the torque component that drives the front end of mold 300 to rotate clockwise, thus simultaneously correcting both lateral offset and angular deflection.

[0174] During the translation of mold 300, when a misalignment occurs, the correction component does not push mold 300 as a whole. Instead, it applies increased thrust only to the side opposite to the misalignment direction through independent thrust control of multiple sets of hydraulic cylinders, and simultaneously unloads the force on the same side of the misalignment direction, thereby forming a net correction torque on both sides of mold 300. The direction of this torque is always opposite to the misalignment direction, driving the front end of mold 300 to continuously return to the correct position during travel. Since the thrust of each set of hydraulic cylinders can dynamically increase or decrease with the misalignment, the correction process is smooth and shock-free, avoiding the bidirectional repeated oscillations caused by traditional single-force-source correction. This allows even large-tonnage mold 300 to achieve smooth correction of its translation path under enormous inertia.

[0175] This embodiment further defines the internal structure of the drive unit 400 and its connection relationship with the control unit 500.

[0176] The control terminal of the drive unit 400 is connected to the control unit 500.

[0177] The control unit 500 can establish bidirectional communication with each actuator in the drive unit 400 via an industrial fieldbus.

[0178] The control unit 500 can send control commands to the drive unit 400, and each actuator in the drive unit 400 returns a status feedback signal to the control unit 500, forming a complete command-feedback closed loop.

[0179] The drive unit 400 can include two main categories: a horizontal drive component and a vertical drive component 420, which respectively undertake the translation drive of the mold 300 and the lifting drive of the transfer car 100.

[0180] The longitudinal drive assembly 420 can be installed on the transfer vehicle 100, and its control end is connected to the control unit 500. It is used to provide lifting drive force to the transfer vehicle 100 under the control of the control unit 500 so that the height difference between the load-bearing surface of the transfer vehicle 100 and the worktable 200 of the molding machine is less than a preset threshold.

[0181] The lateral drive assembly may include a first drive assembly and a second drive assembly 410, which respectively undertake the drive tasks at different stages during the translation of the mold 300.

[0182] The first drive assembly can be mounted on the transfer cart 100 and is used to provide translational driving force to the mold 300 under the control of the control unit 500, so that the mold 300 is transferred from the bearing surface of the transfer cart 100 to the worktable 200 of the molding machine. This stage is the initial transition stage of the translation of the mold 300, and the first drive assembly needs to overcome the resistance that may exist during the transition of the mold 300 from the roller surface of the transfer cart 100 to the roller surface of the worktable.

[0183] The first drive assembly may include a guide ramp 431 and a hydraulic push assembly 430.

[0184] The hydraulic push assembly 430 can be located on one end of the transfer vehicle 100 away from the molding machine worktable 200, for example, on the crossbeam at the rear of the transfer vehicle 100.

[0185] The hydraulic pushing assembly 430 may include at least one set of pushing hydraulic cylinders and a push plate connected to the end of its piston rod, the push plate being used to abut against the rear end face of the mold 300.

[0186] The thrust of the hydraulic cylinder is continuously adjustable within the range of 0-50kN, and the pushing speed is adjustable within the range of 0.1m / min-0.5m / min. The operator can select appropriate thrust and speed parameters on the human-machine interface of the control unit 500 according to the actual weight of the mold 300. The control unit 500 achieves precise control of the thrust and speed by adjusting the opening of the hydraulic valve.

[0187] like Figure 3As shown, the guide ramp 431 can be fixedly installed in the docking transition area between the transfer vehicle 100 and the molding machine worktable 200. Its slope connects the bearing surface of the transfer vehicle 100 and the worktable surface, and the slope of the guide ramp 431 gradually decreases along the translation path of the mold 300 to achieve low-friction introduction of the mold 300.

[0188] The slope of the guide ramp 431 can be designed to be about 1:50. A low-friction material layer, such as a polytetrafluoroethylene (PTFE) wear-resistant layer, can be laid on the upper surface of the ramp, with a friction coefficient as low as 0.08.

[0189] In the initial stage of the translation of mold 300, the front end of mold 300 slides into the worktable with very low resistance along the guide ramp 431 under the push of hydraulic push component 430, completing a smooth transition from transfer car 100 to worktable.

[0190] The second drive assembly 410 can be mounted on the worktable 200 of the molding machine to provide translational driving force to the mold 300 under the control of the control unit 500, so that the mold 300 continues to move on the worktable 200 and eventually reaches the preset target position. This stage is the later stage of the translation of the mold 300. At this time, the front end of the mold 300 has entered the worktable surface, and the second drive assembly 410 takes over the translational driving task.

[0191] The second drive assembly 410 may include a roller frame and a guide rail disposed on the worktable.

[0192] The roller frame can be composed of multiple rows of parallel rollers. The rollers can rotate actively under the drive of the control unit 500 to support and drive the mold 300 to move.

[0193] The roller frame can adopt a modular design, and the roller spacing can be adjusted within the range of 50mm-100mm. By increasing or decreasing the number of roller rows or adjusting the roller row spacing, it can adapt to the support requirements of molds with different bottom surface sizes.

[0194] The rollers can be made of Cr12MoV steel and have undergone surface hardening treatment to ensure wear resistance under long-term heavy-load conditions.

[0195] The guide rail can be set on the worktable 200 of the molding machine and located on both sides of the translation path of the mold 300, and is used to mechanically limit the lateral displacement of the mold 300 during its movement.

[0196] The guide rail can be designed to be spliced. The standard length of a single section is 1m. It can be flexibly combined according to the length of the mold 300 by bolt splicing, and can be adapted to different mold 300 guide strokes of 1m-3m.

[0197] Wear-resistant lining plates, such as ultra-high molecular weight polyethylene lining plates, can be laid on the inside of the guide rail to reduce friction and wear between the mold 300 sidewall and the rail, while avoiding scratches caused by direct metal contact.

[0198] During the mold 300 import operation, the longitudinal drive component 420, under the closed-loop control of the control unit 500, first adjusts the bearing surface of the transfer cart 100 to a height difference below a preset threshold with the worktable surface, eliminating the step obstacle between them. Then, the first drive component drives the mold 300 to smoothly slide from the transfer cart 100 onto the worktable surface along the low-resistance guide ramp 431, completing the initial transition. After the front end of the mold 300 enters the worktable, the second drive component 410 continuously provides driving force and precisely pushes the mold 300 to the target position along the guide rail. The two sets of transverse drive components achieve seamless relay under the timing coordination of the control unit 500, and the longitudinal drive component 420 provides stable height docking guarantee throughout the translation process. The collaboration of the three components ensures that the mold 300's translation drive from the transfer cart 100 to the target position on the worktable is continuous and uninterrupted, without manual pushing or midway adjustment, significantly shortening the import time and ensuring the stability of the translation process.

[0199] This application embodiment further defines the configuration of the second drive component 410, specifically involving the setting of the lifting mechanism in the second drive component 410 and its cooperative working mode with the control unit 500.

[0200] The second drive assembly 410 may also include a lifting mechanism. The lifting mechanism, as part of the second drive assembly 410, is disposed on the worktable 200 of the molding machine and is used to adjust the height of the roller frame as a whole relative to the worktable surface.

[0201] The drive end of the lifting mechanism is connected to the roller frame.

[0202] Specifically, the roller frame consists of multiple rows of parallel rollers and their supporting frame. The bottom of the supporting frame of the roller frame is mechanically connected to the drive end of the lifting mechanism. When the lifting mechanism is activated, its drive end causes the entire roller frame to rise or fall in the direction normal to the worktable, thereby changing the height of the roller apex relative to the worktable.

[0203] The lifting mechanism can be implemented using a synchronous lifting structure.

[0204] The synchronous lifting structure includes, for example, multiple sets of lifting cylinders. The cylinder body of the lifting cylinder is fixed inside the worktable 200 of the molding machine or on the bottom mounting base. The piston rod end is connected to the bottom of the support frame of the roller frame as the driving end.

[0205] Each set of lifting cylinders can be evenly distributed along the circumference or four corners of the roller frame, supplied with oil by the same hydraulic pump station and synchronously controlled by servo valves or proportional valves.

[0206] The rated pressure of the lifting cylinder can be selected as 31.5MPa, and the lifting stroke range is, for example, 0-50mm. Through multi-cylinder synchronous linkage, the roller frame can be raised and lowered smoothly while maintaining a horizontal state, and the synchronization error can be controlled within 0.1mm.

[0207] The control terminal of the lifting mechanism is connected to the control unit 500. The control unit 500 sends lifting commands to the lifting mechanism via an industrial fieldbus or analog signal line. A displacement sensor can be installed in the lifting mechanism to provide real-time feedback on the current height of the roller frame. The control unit 500 forms a height closed-loop control based on the feedback signal.

[0208] The control unit 500 is also used to acquire parameters of the mold 300 and drive the lifting mechanism based on the acquired parameters.

[0209] The mold 300 parameters here refer to the mold 300 feature information related to the roller frame support height, such as the bottom thickness of the mold 300, the step height of the mold 300 support part, and the desired gap between the bottom surface of the mold 300 and the worktable surface.

[0210] During the operation process, the parameters of mold 300 can be input to control unit 500 in various ways.

[0211] For example, operators can manually input the thickness parameters of the mold 300 on the human-machine interface of the control unit 500; alternatively, they can retrieve pre-stored parameters corresponding to the mold 300 number from a preset mold 300 parameter library in the control unit 500. The parameter library can store up to 50 sets of imported parameters for different molds 300, each set of parameters including information such as the weight of the mold 300, cross-sectional dimensions, target position coordinates, and support height. Furthermore, mold 300 parameters can also be obtained through an automatic identification device installed in the system, such as by scanning a QR code or RFID tag affixed to the mold 300, the control unit 500 automatically matches the corresponding mold 300 parameters from the database.

[0212] The control unit 500 first determines the target height value of the roller frame based on the parameters of the mold 300.

[0213] For example, when the bottom surface of mold 300 has a 20mm thick supporting step, the control unit 500 sets the target height of the roller frame so that the apex of the roller is 20mm lower than the worktable surface. This allows the lifting mechanism to raise the roller frame after mold 300 has been moved into position, ensuring the apex of the roller aligns with the supporting step on the bottom surface of mold 300, providing support for subsequent mold 300 detachment from the roller frame or mold closing. Alternatively, when the bottom surface of mold 300 is flat and without a step, the control unit 500 can set the target height of the roller frame to be flush with or slightly higher than the worktable surface, ensuring that the bottom surface of mold 300 is always supported by the rollers during the entire translation process and does not directly rub against the worktable surface.

[0214] The synchronous lifting structure can also have a built-in overload protection valve. When the overload protection valve detects that the load force borne by the lifting mechanism exceeds the preset safety limit, which can be 120% of the maximum design weight of the mold 300, the overload protection valve automatically opens to release pressure, allowing the pressure in the rod chamber and rodless chamber of the lifting cylinder to be released. The lifting mechanism then stops loading and feeds back the current status to the control unit 500.

[0215] Upon receiving an overload signal, the control unit 500 can trigger an audible and visual alarm to alert the operator and automatically interrupt the current lifting action to prevent equipment damage or safety accidents. This overload protection mechanism is particularly important for the roller frame that supports molds 300 weighing tens or even hundreds of tons, providing proactive safety protection in abnormal working conditions such as accidental jamming, uneven loading, or incorrect parameter input.

[0216] During the preparation phase of mold 300 introduction, the control unit 500 acquires the bottom surface structure parameters of mold 300, calculates the target height of the roller frame accordingly, and drives the lifting mechanism to pre-adjust the roller frame to a height position suitable for mold 300. This ensures that the bottom surface features of mold 300 maintain the correct spatial relationship with the roller frame when it moves into the worktable. After mold 300 reaches the target position, the lifting mechanism again adjusts the roller frame to the support height, ensuring that the rollers precisely fit against the bottom surface of mold 300 to form stable support. This solution allows the same set of roller frames and lifting mechanisms to adapt to various molds 300 with different thicknesses and bottom surface structures through simple parameter switching, eliminating the need to customize dedicated roller frames for each mold 300 or perform manual shim adjustments. The equipment adjustment cycle is significantly shortened from more than 2 hours in the traditional solution to less than 30 minutes, enabling rapid changeover of multiple mold 300 specifications.

[0217] This embodiment further defines the configuration of the correction unit 800 and the function of the displacement sensing subunit 600, specifically involving the precise positioning and locking process after the mold 300 reaches the target position.

[0218] In this embodiment of the application, the correction unit 800 further includes a positioning locking component for finally mechanically locking the mold 300 after the mold 300 reaches the target position.

[0219] The aforementioned positioning and locking component is mounted on the worktable 200 of the molding machine and is communicatively connected to the control unit 500.

[0220] The positioning and locking assembly may include at least two sets of liftable positioning pins and a locking drive for driving the positioning pins to move up and down.

[0221] The tip of the locating pin can be constructed in a conical, wedge-shaped, or ball-shaped form.

[0222] The locking drive can be, for example, a hydraulic cylinder, a pneumatic cylinder, or an electric push rod, whose control end is connected to the control unit 500 to execute lifting and lowering actions in response to precise positioning commands.

[0223] The locating pins are positioned on the worktable in a manner that corresponds to the locating reference features on the bottom of the mold 300.

[0224] Two to four sets of locating pins can be arranged in the four corner areas of the worktable or along its diagonal direction. The axes of each set of locating pins are parallel to each other or at a certain angle to restrict the translational freedom of the mold 300 in the horizontal plane and the rotational freedom around the vertical axis.

[0225] For example, when two sets of locating pins are arranged diagonally, the two sets of locating pins constrain the position of the mold 300 in two directions respectively, achieving complete constraint on the horizontal plane; when a third set of locating pins is added, the redundancy and reliability of the positioning can be further improved.

[0226] The positioning reference feature at the bottom of mold 300 is a structural element that cooperates with the positioning locking assembly.

[0227] In this embodiment of the application, the positioning reference features include at least one of a positioning hole, a positioning groove, or a positioning block formed on the bottom surface of the mold 300.

[0228] Taking the positioning hole as an example, its diameter matches the maximum diameter of the positioning pin. A chamfer or tapered flare section can be set at the opening to form a progressive fit with the tapered positioning pin.

[0229] When the mold 300 reaches the target position, the displacement sensing subunit 600 performs final coordinate acquisition of the positioning reference features at the bottom of the mold 300 through the aforementioned visual detection component.

[0230] After acquiring the final position coordinates, the control unit 500 outputs an engagement command to the locking drive. The locating pin rises from the worktable surface and completes mechanical coupling with the locating reference feature.

[0231] The positioning and locking assembly may also include an electromagnetic locking mechanism.

[0232] The electromagnetic locking mechanism can be installed on the worktable. After the positioning pin and the positioning reference feature are mechanically coupled, the control unit 500 sends a locking command to the electromagnetic locking mechanism. The electromagnet is energized to generate a strong attraction force to lock the mold 300 on the worktable, preventing the mold 300 from being displaced due to vibration, off-center load or external force during subsequent molding operations.

[0233] The electromagnetic locking mechanism can be designed as a power-off self-locking type, that is, the electromagnet is energized and attracted in the working state, and the locking state is maintained by spring or permanent magnet in the event of a sudden power failure, so as to ensure the safety of the equipment under abnormal working conditions.

[0234] Figure 4 This application provides a schematic flowchart of a control method for a large-tonnage mold import and positioning system, as illustrated in an embodiment of the present application. Figure 4 As shown, the control methods include: S910, Obtain the relative height difference between the transport vehicle bearing surface and the molding machine worktable, which is collected in real time by the height sensing subunit; S920. Based on the relative height difference, control the drive unit to dynamically adjust the relative height between the load-bearing surface of the transfer vehicle and the worktable of the molding machine until the relative height difference is less than the preset threshold. S930. After the relative height difference is less than the preset threshold, the control drive unit provides translational driving force to the mold, so that the mold moves from the transfer car to the preset target position on the molding machine worktable. S940. During the mold translation process, the offset of the mold relative to the target position is acquired in real time by the displacement sensing subunit. S950: Based on the offset, control the correction unit to dynamically correct the translation path of the mold, so that the mold moves to the target position according to the corrected path.

[0235] Figure 5 A schematic diagram of the hardware structure of the control method provided in an embodiment of this application is shown.

[0236] The control device of a large-tonnage mold import and positioning system in an embodiment of this application may include a processor 301 and a memory 302 storing computer program instructions.

[0237] Specifically, the processor 301 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0238] Memory 302 may include mass storage for data or instructions. For example, and not limitingly, memory 302 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 302 may include removable or non-removable (or fixed) media. Where appropriate, memory 302 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 302 is non-volatile solid-state memory.

[0239] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0240] The processor 301 implements any of the control methods described in the above embodiments by reading and executing computer program instructions stored in the memory 302.

[0241] In one example, the control device may also include a communication interface 303 and a bus 310. For example, Figure 5 As shown, the processor 301, memory 302, and communication interface 303 are connected through bus 310 and complete communication with each other.

[0242] The communication interface 303 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0243] Bus 310 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 310 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0244] The control device can execute the online data traffic billing method in this application embodiment based on currently blocked spam SMS messages and SMS messages reported by users, thereby achieving a combination of... Figure 4 The control method described.

[0245] Furthermore, in conjunction with the control method of the large-tonnage mold import positioning system in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the control methods in the above embodiments.

[0246] This application also provides a computer program product, including a computer program, which, when executed, implements any of the control methods for a large-tonnage mold import and positioning system described in the above embodiments.

[0247] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0248] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0249] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0250] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0251] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A large-tonnage mold import and positioning system, characterized in that, include: A transfer vehicle is used to carry the mold and transfer the mold to a pre-set docking position with the worktable of the molding machine; A drive unit is configured to provide lifting driving force to the transfer vehicle, so as to ensure that the height difference between the load-bearing surface of the transfer vehicle and the worktable of the molding machine is less than a preset threshold; and, Used to provide translational driving force to the mold, so that the mold moves from the transfer vehicle to the target position on the molding machine worktable; The correction unit is used to dynamically adjust the translation path of the mold; The sensing unit includes a height sensing subunit and a displacement sensing subunit; the height sensing subunit is installed on the transfer vehicle and is used to collect the relative height difference between the transfer vehicle and the worktable of the molding machine in real time; the displacement sensing subunit is installed on the molding machine and is used to collect the offset of the mold relative to the target position in real time during the translation of the mold. The control unit is used to control the drive unit to dynamically adjust the relative height between the load-bearing surface of the transfer vehicle and the worktable of the molding machine based on the relative height difference. as well as, This is used to control the correction unit to dynamically correct the translation path of the mold based on the offset.

2. The large-tonnage mold import and positioning system according to claim 1, characterized in that, The height sensing subunit includes a height detection component, which is used to detect the relative height difference between the bearing surface of the transfer vehicle and the worktable of the molding machine in real time, and transmit it to the control unit. The control unit is used to acquire the relative height difference, and when the relative height difference is greater than a first preset height threshold, control the drive unit to adjust the height difference between the bearing surface of the transfer vehicle and the worktable of the molding machine at a first adjustment speed; and, When the relative height difference is less than or equal to the first preset height threshold and greater than the second preset height threshold, the drive unit is controlled to adjust the height difference between the bearing surface of the transfer vehicle and the worktable of the molding machine at a second adjustment speed until the relative height difference is less than or equal to the second preset height threshold. The first adjustment speed is greater than the second adjustment speed, and the second preset height threshold is less than the first preset height threshold.

3. The large-tonnage mold import and positioning system according to claim 1, characterized in that, The displacement sensing subunit includes a visual detection component, which includes at least two sets of cameras and a laser rangefinder. The visual detection component is located at the bottom of the upper slider of the molding machine and is used to collect images and distance data of the positioning mark points at the front end of the mold in real time before the mold is transferred to the worktable of the molding machine, and transmit them to the control unit. The control unit is used to acquire images and distance data of the positioning markers at the front end of the mold, and to determine the real-time offset of the front end of the mold in the horizontal plane based on the images and the distance data; and, When the real-time offset is greater than a preset offset threshold, a dynamic correction command is output to the correction unit.

4. The large-tonnage mold import and positioning system according to claim 3, characterized in that, The correction unit includes a correction component disposed on the transfer vehicle and located on both sides of the mold. In response to the dynamic correction command generated by the control unit, the correction component applies an asymmetric translational driving force to the mold to form a correction torque opposite to the direction of the real-time offset. The correction torque is used to correct the translational path of the mold.

5. The large-tonnage mold import and positioning system according to claim 4, characterized in that, The correction assembly includes multiple hydraulic cylinders with independently controllable thrust, symmetrically arranged on both sides of the mold; The correction component is used to respond to the dynamic correction command generated by the control unit, adjust the thrust of the hydraulic cylinder located on the opposite side of the mold offset direction in the correction component, form a correction torque opposite to the mold offset direction, and drive the front end of the mold to return to the correct position in real time.

6. The large-tonnage mold import and positioning system according to claim 1, characterized in that, The control terminal of the drive unit is connected to the control unit, and the drive unit includes: A lateral drive assembly, comprising a first drive assembly and a second drive assembly, wherein the first drive assembly is mounted on the transfer vehicle and is used to provide a translational drive force to the mold under the control of the control unit, so that the mold is transferred from the transfer vehicle to the worktable of the molding machine. The second drive component is disposed on the worktable of the molding machine and is used to provide translational drive force to the mold under the control of the control unit, so that the mold moves to the target position on the worktable of the molding machine; A longitudinal drive assembly is mounted on the transfer vehicle and is used to provide lifting drive force to the transfer vehicle under the control of the control unit, so as to ensure that the height difference between the bearing surface of the transfer vehicle and the worktable of the molding machine is less than a preset threshold.

7. The large-tonnage mold import and positioning system according to claim 6, characterized in that, The first driving component includes: A guide ramp is fixedly installed between the transfer vehicle and the molding machine worktable. The surface of the guide ramp is covered with a low-friction layer to guide the mold from the transfer vehicle to the molding machine worktable in a low-friction manner. A hydraulic push assembly is used to drive the mold along the guide ramp to the molding machine worktable under the control of the control unit.

8. The large-tonnage mold import and positioning system according to claim 6, characterized in that, The second drive assembly includes a roller frame and a guide rail; The roller frame is mounted on the worktable of the molding machine and is used to drive the mold to move to the target position under the drive of the control unit; The guide rails are set on the worktable of the molding machine and located on both sides of the mold, and are used to limit the movement of the mold.

9. A large-tonnage mold import and positioning system according to claim 6, characterized in that, The second drive assembly further includes a lifting mechanism, the drive end of which is connected to the roller frame; the control end of the lifting mechanism is connected to the control unit, and is used to adjust the height of the roller frame relative to the molding machine worktable under the control of the control unit. The control unit is also used to acquire parameters of the mold and drive the lifting mechanism based on the parameters.

10. A large-tonnage mold import and positioning system according to claim 4, characterized in that, The correction unit further includes a positioning locking component, which is disposed on the worktable of the molding machine; The displacement sensing subunit is also used to collect the final position coordinates of the positioning reference features at the bottom of the mold when the mold reaches the target position, and transmit them to the control unit; The control unit is also used to acquire the final position coordinates and control the positioning locking component to form a mechanical coupling with the positioning reference feature in order to achieve precise positioning of the mold.

Images