Gripper changing method, work station, device, storage medium and program product

Abstract

The embodiment of the application provides a clamp replacement method, a workstation, equipment, a storage medium and a program product, the method relates to the field of industrial robot automation, a target placement position where a target clamp is located is determined according to the type identification of the target clamp to be replaced by responding to a clamp replacement signal, so that the control equipment can accurately lock the target clamp to be installed among multiple placement positions; the current clamp installed at the execution end of the robot is controlled to be unloaded, the target clamp is automatically installed at the installation pose corresponding to the target placement position, the continuous connection and automatic execution of the clamp replacement action can be realized, the production efficiency is improved, the labor cost is reduced, the accuracy of target clamp identification and positioning in the clamp replacement process is improved, the clamp replacement efficiency is improved, the production efficiency is improved, the labor cost is reduced, and the operation stability and production continuity are enhanced.

Description

Technical Field

[0001] This application relates to the field of industrial robot automation, and in particular to a fixture changing method, workstation, equipment, storage medium, and program product. Background Technology

[0002] In industrial automated production, there are smart manufacturing scenarios that require frequent changes of different fixtures. For example, in fields such as automobile manufacturing, electronic component assembly, and precision medical device production, workstations need to quickly switch the corresponding fixtures according to the type of workpiece to be processed (such as parts of different sizes or components of different materials).

[0003] In traditional production, operators need to manually identify the type of fixture, adjust the position of the fixture, and complete the mechanical connection, which is a cumbersome and error-prone process.

[0004] As intelligent manufacturing develops towards unmanned and flexible operations, there is an urgent need for a system that can automatically change fixtures to improve production efficiency and reduce labor costs. Summary of the Invention

[0005] The fixture replacement method, workstation, device, storage medium, and program product provided in this application address the aforementioned technical problems. This method is designed for workstation scenarios with multiple placement positions. Upon receiving a fixture replacement signal, it establishes an integrated automatic fixture replacement process encompassing the determination of the target fixture, the unloading of the current fixture, and the assembly of the target fixture. This achieves automatic and orderly fixture replacement, improving the accuracy, continuity, and automation level of the fixture replacement process, thereby increasing production efficiency and reducing labor costs.

[0006] In a first aspect, embodiments of this application provide a fixture replacement method applied to a control device of a workstation. The workstation is provided with multiple placement positions for placing fixtures. The method includes:

[0007] In response to the fixture change signal, the target placement position of the target fixture is determined according to the type identifier of the target fixture to be replaced;

[0008] Control the robot to unload the currently installed gripper at the execution end;

[0009] Control the robot to move to the installation pose corresponding to the target placement position;

[0010] Control the robot to automatically install the target fixture.

[0011] In one possible embodiment, controlling the robot to unload the currently installed gripper at the actuator includes:

[0012] Select an available placement position from the vacant placement positions to place the current fixture;

[0013] The robot will unload the currently installed fixture from the actuator and place it in an empty position.

[0014] In one possible embodiment, a fixture identification sensor is provided on the placement position to obtain the type identifier of the fixture placed on the placement position;

[0015] Based on the type identifier of the target fixture to be replaced, determine the target placement location of the target fixture, including:

[0016] The type identifier of the fixture placed at each position is obtained by using a fixture identification sensor;

[0017] Match the type identifier of the fixture placed in each position with the type identifier of the target fixture to determine the target position where the target fixture is placed.

[0018] In one possible embodiment, the gripper identification sensor is further used to identify whether the placement position is vacant. Before controlling the robot to unload the currently installed gripper, the sensor also includes:

[0019] The fixture identifies whether each placement position is vacant by using a sensor, and determines which placement positions are vacant.

[0020] In one possible embodiment, before determining the target placement position of the target fixture based on the type identifier of the target fixture to be replaced according to the fixture replacement signal, the method further includes:

[0021] Obtain the 3D model and physical parameters of the workpiece to be entered into the work scene;

[0022] Based on the workpiece's 3D model and physical parameters, the system automatically plans the target fixture and candidate gripping point configurations that are compatible with the workpiece and the work scenario.

[0023] If the type identifier of the current gripper installed on the robot actuator is inconsistent with that of the target gripper, a gripper replacement signal is generated.

[0024] In one possible embodiment, obtaining the three-dimensional model and physical parameters of the workpiece to be entered into the work environment includes:

[0025] Receive the 3D point cloud of the workpiece to be entered into the work scene, captured by a 3D camera;

[0026] Based on the 3D point cloud of the workpiece, the 3D model of the workpiece is automatically identified, and the physical parameters of the workpiece are obtained.

[0027] In one possible embodiment, based on the workpiece's 3D model and physical parameters, the system automatically plans a target fixture and candidate gripping point configuration adapted to the workpiece and the work scenario, including:

[0028] Based on the workpiece's 3D model and physical parameters, determine the candidate fixtures in the fixture library that are suitable for the workpiece and the work scenario, as well as their corresponding candidate gripping point configurations.

[0029] A unified stability test was conducted on the candidate fixtures and their corresponding candidate gripping point configurations across fixture types. Based on the test results, the candidate gripping point configurations corresponding to the candidate fixtures were filtered and sorted to obtain the filtered candidate gripping point configurations corresponding to the candidate fixtures, and the comprehensive theoretical evaluation value of the candidate fixtures was determined.

[0030] In the 3D simulation environment of the work scene, the process of gripping the workpiece using candidate fixtures and their corresponding filtered candidate gripping points is simulated, and the configuration of the filtered candidate gripping points corresponding to the candidate fixtures is optimized based on the simulation results to obtain the simulation-optimized candidate gripping point configuration.

[0031] Based on the comprehensive theoretical evaluation values ​​and simulation results of the candidate fixtures, the target fixture and its simulation-optimized candidate gripping point configuration are determined.

[0032] In one possible embodiment, after controlling the robot to automatically install the target gripper, the process further includes:

[0033] Based on the candidate gripping point configuration, the robot is controlled to adjust the gripping posture of the target fixture and execute the workpiece gripping task.

[0034] In one possible embodiment, each placement position is provided with a pin-type pneumatic connector, and each clamp is provided with a socket-type pneumatic connector that mates with the pin-type pneumatic connector.

[0035] When the clamp is placed in the placement position, the pin-type pneumatic connector of the clamp and the socket-type pneumatic connector of the placement position are plugged into each other to achieve air passage, so that the clamp is fixed in the placement position.

[0036] Secondly, embodiments of this application provide a workstation, including:

[0037] Robots and control equipment,

[0038] The workstation is equipped with multiple placement positions for fixtures;

[0039] The control equipment is used for:

[0040] In response to the fixture change signal, the target placement position of the target fixture is determined according to the type identifier of the target fixture to be replaced;

[0041] Control the robot to unload the currently installed gripper at the execution end;

[0042] Control the robot to move to the installation pose corresponding to the target placement position;

[0043] Control the robot to automatically install the target fixture.

[0044] In one possible embodiment, a fixture identification sensor is provided on the placement position to obtain the type identifier of the fixture placed on the placement position;

[0045] The control equipment determines the target placement location of the target fixture based on the type identifier of the target fixture to be replaced, including:

[0046] The control equipment uses a fixture identification sensor to obtain the type identifier of the fixture placed at each position;

[0047] Match the type identifier of the fixture placed in each position with the type identifier of the target fixture to determine the target position where the target fixture is placed.

[0048] In one possible embodiment, the control device is also used for:

[0049] Receive the 3D point cloud of the workpiece to be entered into the work scene, captured by a 3D camera;

[0050] Based on the 3D point cloud of the workpiece, the 3D model of the workpiece is automatically identified, and the physical parameters of the workpiece are obtained.

[0051] Based on the workpiece's 3D model and physical parameters, the system automatically plans the target fixture and candidate gripping point configurations that are compatible with the workpiece and the work scenario.

[0052] If the type identifier of the current gripper installed on the robot actuator is inconsistent with that of the target gripper, a gripper replacement signal is generated.

[0053] In one possible embodiment, the control device is also used for:

[0054] Based on the candidate gripping point configuration, the robot is controlled to adjust the gripping posture of the target fixture and execute the workpiece gripping task.

[0055] Thirdly, embodiments of this application provide a control device, including: a memory and a processor;

[0056] The memory stores the instructions that the computer executes;

[0057] The processor executes computer execution instructions stored in memory, causing the processor to perform the methods described above.

[0058] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the methods provided above.

[0059] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method described above.

[0060] The fixture replacement method, workstation, equipment, storage medium, and program product provided in this application, by responding to a fixture replacement signal and determining the target placement position of the target fixture according to the type identifier of the target fixture to be replaced, enable the control device to accurately lock the target fixture to be installed among multiple placement positions. By controlling the robot to unload the current fixture installed on the execution end, move to the installation posture corresponding to the target placement position, and automatically install the target fixture, the continuous connection and automatic execution of fixture replacement actions can be realized, thereby improving production efficiency, reducing labor costs, improving the accuracy of target fixture identification and positioning during fixture replacement, improving fixture replacement efficiency, and enhancing operational stability and production continuity. Attached Figure Description

[0061] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0062] Figure 1 A schematic diagram of a workstation provided for an exemplary embodiment of this application;

[0063] Figure 2 A schematic diagram showing the location of the storage compartment of the workstation provided in this application embodiment;

[0064] Figure 3 A schematic diagram of the fixture and storage compartment of the workstation provided in the embodiments of this application;

[0065] Figure 4 A flowchart of a fixture replacement method provided as an exemplary embodiment of this application;

[0066] Figure 5 A flowchart illustrating a method for changing a clamp as provided in another exemplary embodiment of this application;

[0067] Figure 6 A flowchart illustrating a fixture configuration method provided in another exemplary embodiment of this application;

[0068] Figure 7 A schematic diagram of the structure of the control device provided in the embodiment of this application.

[0069] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0070] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0071] Fixture changing control in industrial automated production is mainly applied to flexible manufacturing workstations with a variety of workpieces. These workstations are equipped with robots, control equipment, and various types of fixtures. The robot switches between different fixtures according to the current production task to complete the clamping, handling, or gripping operations of different workpieces.

[0072] For example, in automotive parts assembly, electronic device processing, and precision manufacturing scenarios, the specifications, dimensions, or structures of the workpieces to be processed frequently change, requiring workstations to promptly select matching fixtures. Therefore, the ability of fixtures to be quickly identified, accurately positioned, and smoothly replaced directly affects the continuity of the entire production line and the stability of operations.

[0073] Especially in flexible production where clamps are frequently changed, if there is a lack of efficient connection between the current clamp unloading and the target clamp installation, the robot's idle travel will increase, thereby reducing the overall automation efficiency and adversely affecting the subsequent workpiece processing accuracy and production continuity.

[0074] In existing technologies, the common practice in traditional production is that operators need to manually identify the type of fixture, adjust the position of the fixture, and complete the mechanical connection, which is a cumbersome and error-prone process.

[0075] As intelligent manufacturing develops towards unmanned and flexible operations, there is an urgent need for a system that can automatically change fixtures to improve production efficiency and reduce labor costs.

[0076] To address the aforementioned issues, this application proposes a fixture replacement method for a control device applied to a workstation. The workstation has multiple placement positions for fixtures. Responding to a fixture replacement signal, the control device determines the target placement position of the target fixture based on its type identifier, enabling accurate locking of the target fixture among multiple placement positions. Furthermore, the control robot unloads the currently installed fixture from its execution end, moves to the installation position corresponding to the target placement position, and automatically installs the target fixture, achieving continuous and automatic execution of the fixture replacement action. This method establishes an integrated automatic fixture replacement process encompassing target fixture determination, unloading of the current fixture, and installation of the target fixture. This achieves automatic and orderly fixture replacement, improving the accuracy, real-time performance, and operational stability of fixture replacement, thereby increasing production efficiency, reducing labor costs, and providing a foundation for continuous automatic fixture replacement in flexible manufacturing.

[0077] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0078] Figure 1 This is a schematic diagram of a workstation provided for an exemplary embodiment of this application. Figure 1 As shown, the workstation may include a base 100, and a control device 200, a robot 300, and a storage compartment 400 disposed on the base 100.

[0079] The base 100 serves as the structural foundation for supporting and positioning other components within the workstation. As the physical support platform for the entire workstation, the base 100 provides installation references and spatial positioning for components such as the control device 200 and the robot 300.

[0080] The control device 200 is an integrated unit in the workstation used for signal processing, logic judgment, and motion control. The control device 200 can be understood as the decision-making core of the workstation; its function is to receive sensor information from various sensors and generate instructions for controlling the robot 300's movements based on this information. The control device 200 may include components such as an electrical control cabinet, an industrial computer, a programmable logic controller, and a network communication module. These components work together to complete the motion control and status monitoring of the robot 300.

[0081] The control device 200 can be electrically connected to the robot 300 to realize the transmission of control commands and the feedback of robot 300 status signals.

[0082] Robot 300 is a movable component in the workstation used to directly perform mechanical actions such as picking, placing, transferring, or positioning materials. Robot 300 serves as the main actuator of the workstation, its function being to change the position and orientation of its actuator in three-dimensional space according to the action commands issued by the control device 200, in order to complete the grasping and handling of materials. Here, "materials" refers to workpieces to be processed or being processed.

[0083] Robot 300 may include a multi-axis industrial robot with multiple rotary joints, enabling flexible position and posture adjustments within the workspace. The actuator of robot 300 may be equipped with an interface structure for connecting grippers, allowing for quick replacement of different types of grippers to meet varying material handling requirements. Robot 300 can be mounted on base 100, and its mounting location can be selected according to the workspace requirements to ensure its working range covers both material handling and unloading positions.

[0084] See Figure 2 and Figure 3 The storage compartment 400 is a storage structure used to store the fixtures 500. The storage compartment 400 serves as a place and container for the fixtures 500, providing an orderly placement space for multiple fixtures 500, so that the fixtures 500 can be properly placed when not in use, and facilitating the robot 300 to pick up and put away the fixtures 500 when they need to be replaced.

[0085] The storage compartment 400 can be mounted on the base 100, on the control device 200, or on a support structure that is independent of the base 100. The storage compartment 400 can be positioned within the working range of the robot 300 so that the actuator of the robot 300 can move to the location of the storage compartment 400 to retrieve and return the gripper 500.

[0086] The storage compartment 400 can have an open structure, meaning that the top or side of the storage compartment 400 is open to facilitate the insertion or removal of the clamp 500 from the opening. The storage compartment 400 can also have a closed structure, meaning that the storage compartment 400 is equipped with an openable door, which is opened when the clamp 500 is stored and retrieved, and kept closed at other times to protect the clamp 500 stored inside from dust.

[0087] The storage compartment 400 can protect multiple fixture 500 placement positions, each for holding one fixture 500, and multiple fixtures 500 can be placed simultaneously. These fixtures 500 can be of different types, such as claw-type fixtures 5002, suction cup-type fixtures 5001, and material frame-type fixtures 500, etc. Different placement positions can have different structural shapes to accommodate the different shapes and mounting interfaces of the fixtures 500.

[0088] The placement position can be equipped with a positioning structure, such as a positioning groove or a positioning pin, to position the fixture 500 when it is placed in the placement position, so that the fixture 500 has a certain spatial posture in the storage compartment 400, which makes it easy for the robot 300 to accurately dock when picking up the fixture 500.

[0089] The placement position can be equipped with an elastic clamping structure, such as a spring claw or a rubber pad, to elastically fix the clamp 500 after it is placed in the placement position, preventing the clamp 500 from shifting or falling due to vibrations generated by the movement of the robot 300.

[0090] The placement position may be equipped with a clamp 500 identification sensor, which is used to identify whether a clamp 500 has been placed in the placement position and transmits the identification result signal to the control device 200 so that the control device 200 can know the position status of each clamp 500.

[0091] When the fixture 500 is placed in its designated position, its interface for connecting to the actuator can be positioned upwards or towards the robot 300, allowing the robot 300's actuator to dock and lock with the fixture 500 without additional posture adjustments. When the fixture 500 is placed in the storage compartment 400, its actuator that comes into contact with materials can be suspended or supported by a support structure to prevent damage from collisions with the bottom of the storage compartment 400.

[0092] The storage compartment 400 can have various structural forms. The storage compartment 400 can be a fixed type, meaning it is fixedly installed on the base 100 or the control device 200, and its position does not move during use. The advantages of a fixed storage compartment 400 are its simple structure, good stability, and ability to provide a precise fixed position for the storage and retrieval of the gripper 500, facilitating the planning of the robot 300's movement path.

[0093] The storage compartment 400 can be a pull-out type, meaning that the storage compartment 400 can be pulled out and moved in a certain direction relative to the base 100 or the control device 200. When pulled out, it is convenient for manual maintenance or replacement of the clamp 500. When pushed in, the storage compartment 400 is within the working range of the robot 300.

[0094] The storage compartment 400 can be a rotary storage compartment 400, that is, the storage compartment 400 is set on a turntable that can rotate around a vertical axis, and different grippers 500 are placed at different radial positions on the turntable. By rotating the turntable, the target gripper 500 is rotated to a direction that is convenient for the robot 300 to pick up.

[0095] The storage compartment 400 can adopt a multi-layer structure, that is, the storage compartment 400 has multiple placement layers in the vertical direction, each layer has one or more placement positions, which can hold one or more clamps 500, so as to accommodate more clamps 500 in a limited area.

[0096] The storage compartment 400 can adopt a tool magazine structure, that is, multiple grippers 500 are arranged in a ring or a straight line in the storage compartment 400, and the target gripper 500 is transported to the picking position of the robot 300 by the movement of the storage compartment 400 itself.

[0097] The structure of the storage compartment 400 can be selected and combined according to the number and type of the fixtures 500, the working range of the robot 300, and the limitations of the installation space.

[0098] By setting up the storage compartment 400, the gripper 500 can be stored in an orderly manner when not in use, avoiding damage or loss caused by the gripper 500 being scattered on the workbench or the ground. The storage compartment 400 provides the robot 300 with a fixed position for picking up and putting down the gripper 500, enabling the gripper 500 to be automatically picked up and returned to its position without human intervention, providing the necessary hardware foundation for automated hand-changing. The positioning and fixing structures set in the storage compartment 400 ensure that the gripper 500 has a definite posture when stored, ensuring the docking accuracy and success rate when the robot 300 picks up the gripper 500, thereby ensuring the reliability of hand-changing at the workstation.

[0099] Figure 4 This is a flowchart illustrating a fixture replacement method provided in an exemplary embodiment of this application. The execution entity in this embodiment is the control device in the aforementioned workstation. Figure 4 As shown, the specific steps of this method are as follows:

[0100] S401: In response to the fixture change signal, determine the target placement position of the target fixture based on the type identifier of the target fixture to be replaced.

[0101] The gripper replacement signal in this step triggers the gripper replacement process. Upon receiving this signal, the control device enters a continuous control process involving target gripper search, current gripper unloading, robot pose adjustment, and automatic installation of the target gripper. The target gripper is the fixture that needs to be installed on the robot's actuator to adapt to the current operational requirements. The actuator is the end part of the robot used to connect the gripper. The type identifier distinguishes different gripper categories. The target placement position is the actual placement position of the target gripper among multiple placement positions, serving as the positioning basis for the robot's subsequent motion planning and gripping actions.

[0102] In practice, the control device acquires the fixture information corresponding to each placement position and compares the type identifier of the fixture placed at each placement position with the type identifier of the target fixture to determine the target placement position where the target fixture is located.

[0103] In one possible implementation, each placement position is equipped with a fixture identification sensor, which is used to acquire the type identifier of the fixture placed at the placement position. The control device can acquire the type identifier of the fixture placed at each placement position through the fixture identification sensor; match the type identifier of the fixture placed at each placement position with the type identifier of the target fixture to determine the target placement position where the target fixture is placed.

[0104] A fixture identification sensor is a sensing component used to identify the type of fixture. It can acquire relevant information about the fixture placed in the designated location, such as the fixture's type identifier.

[0105] There are several ways for a fixture identification sensor to obtain the type of fixture. Optionally, the fixture identification sensor can obtain the type of fixture through electrical coding identification. That is, different types of fixtures are provided with different combinations of coding pins. When the fixture is inserted into the placement position, the coding pins make contact with the corresponding contacts on the fixture identification sensor. The fixture identification sensor determines the type of fixture by detecting the combination of the on and off states of the contacts.

[0106] Optionally, the fixture identification sensor can obtain the type identification of the fixture through radio frequency identification. That is, different types of fixtures are equipped with radio frequency tags that record type identification information. The fixture identification sensor uses a radio frequency reader to read the information in the tag to determine the type identification of the fixture.

[0107] Optionally, the fixture identification sensor can obtain the type identifier of the fixture through contact memory identification. That is, the fixture is equipped with a storage chip that stores type identifier information. When the fixture is connected to the placement position, the fixture identification sensor can read the data in the storage chip to obtain the type identifier of the fixture.

[0108] Optionally, the fixture identification sensor can obtain the type identification of the fixture through visual recognition, that is, by using a visual sensor to photograph the shape of the fixture or the identification code set on the fixture, and then determining the type identification of the fixture through image recognition.

[0109] The fixture identification sensor can be installed at the fixture mounting interface on the placement position. When a fixture is connected to this interface, the fixture identification sensor automatically detects and identifies the fixture. Alternatively, the fixture identification sensor can be installed within the control device, transmitting identification signals through an electrical connection with the fixture.

[0110] By identifying the type of fixture using a fixture identification sensor, the control device can understand the type of fixture currently installed at each placement position. This allows for full utilization of available fixture resources when generating action commands, avoiding misoperations or no-operation due to unclear fixture placement.

[0111] By reading and matching the type identifiers of the fixtures placed at each location, the control device can directly locate the location where the target fixture is placed (i.e., the target location) and output the corresponding installation pose to the robot, enabling the robot to perform fixture replacement accordingly. This method links fixture identification with location positioning, ensuring a one-to-one correspondence between the target fixture search result and the actual storage location, thereby improving the certainty and response speed of fixture replacement and maintaining a continuous and stable fixture replacement process.

[0112] In one optional embodiment, the fixture identification sensor can determine whether a fixture is placed on each placement position by its own installation position and detection range, so as to identify whether the placement position is in an empty state, thereby determining the placement position in an empty state.

[0113] Furthermore, the control device can select an empty placement position from the vacant placement positions to place the current fixture; the control robot will unload the current fixture installed on the actuator to the empty placement position.

[0114] Before controlling the robot to unload the currently installed fixture, the control device first identifies the vacancy status of multiple placement positions, and then selects the vacant placement positions that can be used to place the current fixture. Then, combined with the robot's current pose, the position and spatial dimensions of the control placement position, and the fixture transport path, it generates the unloading control command for the current fixture.

[0115] By pre-identifying the vacancy status of each placement position, the control device can obtain information on available control placement positions before unloading and unload the current fixture into the determined vacant placement position, thus ensuring a continuous connection between the installation of subsequent target fixtures and the unloading of the current fixture. Since the vacancy status is directly output by the fixture identification sensor and uniformly determined by the control device, the determination process of the placement position status, in conjunction with the robot's motion control, can reduce control delays caused by placement position selection deviations and repeated searches, making the fixture changing process more stable.

[0116] For example, after receiving the fixture replacement signal, the control device first reads the status information of multiple placement positions and determines the set of placement positions that are in an vacant state based on the status information. Then, combined with the current fixture size or the area occupied by the clamping interface, it selects an vacant placement position that meets the placement conditions. The vacant placement positions can be pre-set as fixed-numbered spare placement positions, or they can be determined according to vacancy priority, spatial relationship with the robot execution end, or the load-bearing capacity of the placement position. In practical applications, the placement position can also adopt a positioning seat structure fixedly connected to the workstation base. The surface of the positioning seat is provided with guide slopes and limiting grooves so that the current fixture can be automatically aligned and stably supported when placed. This application does not limit this.

[0117] In one example scenario, when the robot unloads the currently mounted gripper from its actuator to an idle placement position, the control device sends an unloading control command to the robot. This causes the robot's actuator locking mechanism to release the gripper, moving it along a preset safety trajectory to above the idle placement position. The gripper then descends to contact the receiving surface of that position, completing the release action and ensuring the gripper is stably placed within the idle placement position. The actuator locking mechanism can employ an electric gripper, a pneumatic quick-change connector, or a mechanical locking mechanism. This type of structure allows for quick integration with the gripper's standard interface. In practical applications, other implementation methods can also be chosen for this component, and this application does not limit its implementation.

[0118] S402: Controls the robot to unload the currently installed fixture.

[0119] In this embodiment, the robot's actuator can install or remove a gripper. Installing a target gripper on the actuator means establishing a detachable fixed connection between the actuator and the target gripper, making the target gripper a functional extension of the actuator. Uninstalling a current gripper on the actuator means disengaging the fixed connection between the actuator and the currently installed gripper, allowing the current gripper to detach from the actuator.

[0120] The process of installing the target fixture on the actuator may include moving the actuator to the installation position corresponding to the target placement location of the fixture, aligning and bringing the actuator's connection interface and the target fixture's docking interface together, and then locking the fixture to the actuator. The process of unloading the current fixture on the actuator may include moving the actuator to the unloading position corresponding to the idle placement location, releasing the locking mechanism, disengaging the fixed connection between the actuator and the current fixture, removing the actuator from the fixture, and leaving the fixture in the idle placement location. The installation and unloading of fixtures on the actuator can be performed automatically by the robot without human intervention.

[0121] The current fixture in this step is the fixture that has been installed on the robot actuator and participated in the previous operation, and needs to be removed in this fixture replacement process. Controlling the robot to unload the current fixture installed on the actuator includes detaching the current fixture from the connection point of the robot actuator and completing the unloading action, thereby putting the robot actuator into a state where the target fixture can be installed.

[0122] After determining an available placement position for the current fixture, the control device reads the status of the robot's actuator flange and the locking mechanism. The control device first controls the robot to retreat from its current work point to a safe intermediate position, then moves to the predetermined unloading position corresponding to the available placement position. Next, the control device controls the robot's actuator to connect the current fixture's mounting interface to the interface structure of the available placement position. Then, it controls the actuator's interface structure to unlock and drives the robot to perform a disengagement action, separating the current fixture from the robot's actuator and placing it in the available placement position.

[0123] After the gripper is unloaded, the control device confirms that the gripper has been separated from the robot's actuator based on the actuator's status sensor, torque feedback, or interface separation detection signal, and updates the robot's actuator status to an idle state. Through this process, the gripper is orderly unloaded from the robot's actuator to an empty placement position, and the subsequent robot movement path is no longer affected by the original gripper occupying the space, allowing the gripper replacement process to proceed continuously. It should be understood that the above example is for demonstration purposes only and is not limiting. This embodiment does not specifically limit the specific implementation method of unloading the current gripper installed on the actuator.

[0124] S403: Control the robot to move to the installation position corresponding to the target placement position.

[0125] The installation pose in this step describes the spatial position and posture combination required for the robot to remove the target fixture from the target placement position and complete the installation of the actuator. This pose directly determines the alignment relationship between the robot's actuator interface and the target fixture connection interface.

[0126] After the control device determines the target placement position in S401, it can obtain the position parameters, orientation parameters, and installation reference data corresponding to the target fixture in the workstation coordinate system. Therefore, it can further generate installation posture control commands corresponding to the target placement position.

[0127] In this embodiment, the control device first reads the coordinate state of the robot's current unloaded actuator, the angles of each joint, the kinematic model parameters, and the pose reference of the target placement position. Based on a preset calibration matrix, it converts the local coordinates of the target placement position into global coordinates in the robot's base coordinate system. The installation pose can include three stages: approach pose, alignment pose, and installation pose. The approach pose is used to allow the robot to enter the vicinity of the target placement position from a safe path. The alignment pose is used to keep the actuator interface aligned with the target fixture interface. The installation pose is used to perform the final installation action.

[0128] The locking mechanism at the actuator end can be an electric gripper, a pneumatic quick-change connector, or a mechanical locking mechanism. This type of structure can be quickly matched with the standard interface of the fixture. In practical applications, other implementation methods can also be selected for this component, which are not limited in this application.

[0129] The control device can plan the robot's continuous motion trajectory from its current idle position to its approach pose, alignment pose, and installation pose, based on the obstacle distribution within the workstation, the boundaries of other placement positions, the robot's collision model, and the speed limits of each axis. If the installation pose corresponding to each placement position is pre-stored within the workstation, the control device can directly call that installation pose. If there is a deviation between the stored installation pose and the actual installation pose, the installation pose can also be corrected.

[0130] S404: Control the robot to automatically install the target fixture.

[0131] In this step, after the robot has reached the installation pose corresponding to the target placement position, the control device continues to drive the robot to complete the process of interface docking, clamping and locking, removal and status update between the execution end and the target fixture, so that the target fixture becomes the fixture currently installed on the robot's execution end.

[0132] For example, after confirming that the robot is in the installation posture corresponding to the target placement position, the control device first controls the robot's actuator to perform a small-stroke approach movement along the axial direction of the target fixture interface, so that the quick-change interface, locating pin hole, slot, or flange connecting face of the actuator aligns with the corresponding connection part of the target fixture. When the actuator approaches to a set distance, the control device reads the contact detection signal, force sensor feedback, or visual alignment deviation value to determine whether the docking meets the conditions for installation. After the conditions are met, the control device drives the robot to continue advancing to the installation depth position, and simultaneously controls the actuator locking mechanism to enter the closed state, so that the target fixture and the robot actuator form a mechanical connection.

[0133] Optionally, if the connection structure uses a positioning pin plus locking pin method, after the robot is pushed into place, the control device issues a locking pin extension command and detects the locking pin's positioning feedback; if the connection structure uses a gripper-type quick-change interface, the control device outputs a clamping command after enveloping the target fixture connection part at the execution end and confirms that the clamping pressure reaches the set value; if the connection structure uses vacuum or magnetic assisted gripping, mechanical limit locking is further performed after the initial adsorption is established to ensure that the fixture can withstand the subsequent operating load.

[0134] After locking the target gripper, the control device instructs the robot to perform a slight lifting or retraction motion to remove the target gripper from the target placement position. The device then confirms that the target gripper is reliably installed on the robot's actuator by checking the actuator load feedback, connection status switch, or attitude stability detection. Subsequently, the control device updates the current gripper type identifier on the robot's actuator to the target gripper type identifier and ends the gripper replacement process, putting the robot into the work preparation state corresponding to the target gripper.

[0135] Optionally, if during installation, it is detected that the target fixture is not properly locked, the fixture is not removed from its placement position, or there is an abnormal load feedback, the control device can perform a retraction reset and re-align the installation. If the number of attempts to install the target fixture exceeds a preset number and still fails, a fixture replacement failure signal is output, and the system enters a manual intervention or protection shutdown state.

[0136] Based on the above processing, the action of transferring the target fixture from the placement position to the robot's execution end is encapsulated into an automatically verifiable, closed-loop installation process. The control equipment not only issues action commands but also simultaneously completes interface status verification and data status updates, enabling the fixture replacement results to be directly used for subsequent process execution. It should be understood that the above example is merely illustrative and not limiting.

[0137] In this embodiment, the control device establishes a continuous control link around the target fixture positioning, current fixture unloading, robot pose adjustment, and the installation of the target fixture execution end. This allows the determination of the target fixture's placement position to directly participate in subsequent motion control and installation control, enabling the workstation to automatically change fixtures even with multiple fixtures in storage. Based on the cooperation relationship of current technical features, it is known that when the control device performs matching judgment and generates trajectory and installation control commands accordingly, the robot can complete the connection between current fixture unloading and target fixture installation without repeatedly searching for the target fixture or repeatedly correcting the placement position. The probability of mis-picking, incorrect replacement, and interruption during fixture replacement is controlled within the identification and docking verification process, thereby meeting the control requirements of flexible manufacturing workstations for fixture replacement accuracy, real-time performance, and operational continuity.

[0138] Based on the foregoing embodiments, in an optional embodiment, each placement position and the placed fixture can be connected via a pneumatic mechanism. Specifically, each placement position is provided with a pin-type pneumatic connector, and each fixture is provided with a socket-type pneumatic connector that mates with the pin-type pneumatic connector; when the fixture is placed in a placement position, the pin-type pneumatic connector of the fixture and the socket-type pneumatic connector of the placement position are plugged into each other to achieve air passage, thereby fixing the fixture in the placement position.

[0139] Both pin-type and socket-type pneumatic connectors are inserted after axial alignment. The connector body can be made of brass, stainless steel, or aluminum alloy, and a sealing ring is provided at the contact end. The sealing ring can be a nitrile rubber ring or a fluororubber ring to ensure the stability of the airtight connection after insertion. The outer periphery of the pneumatic connector can be provided with a guide cone surface so that the clamp can automatically correct its posture and be smoothly inserted during placement.

[0140] In practice, the pin-type pneumatic connector on the placement position is connected to the air supply line of the workstation, while the socket-type pneumatic connector is connected to the pneumatic actuator inside the fixture. The pneumatic actuator can be used to drive the positioning pin, locking pin, or clamping mechanism. After the fixture is placed in the placement position by the robot, the pin and socket are connected under a preset insertion force. The air supply forms a communication channel between the two and drives the locking structure on the fixture to actuate, thereby stably fixing the fixture in the placement position.

[0141] Optionally, to accommodate repeated insertion and removal, the insertion stroke of the connector can be set to 5mm to 15mm, and the mating surface of the contact end can be formed by precision machining to reduce the probability of leakage and maintain the consistency of insertion. In practical applications, this component can also be implemented in other ways, and this application does not limit it.

[0142] In this structure, fixture placement, air path establishment, and fixture locking can be completed in the same insertion action, eliminating the need for additional manual fasteners for positioning and fixation. Since the placement position and fixture are directly connected via a pneumatic connector, the control equipment can simultaneously complete pneumatic locking control after the fixture is in place, and release the fixture by disconnecting the air path during fixture changes, cooperating with the robot to unload the current fixture and install the target fixture. With this structure, the fixture fixing process and the air path connection process are combined, the connector connection is reliable, the fixture positioning is stable, and it improves the continuity and automation of fixture changes at the workstation.

[0143] Figure 5 This is a flowchart illustrating a method for changing a fixture, provided as another exemplary embodiment of this application. Building upon the previous embodiment, in this embodiment, when a workpiece enters the work scene, the workstation can automatically plan a target fixture adapted to the workpiece and the work scene, and automatically replace the fixture installed on the robot's actuator with the target fixture. For example... Figure 5 As shown, the specific steps of this method are as follows:

[0144] S501: Obtain the 3D model and physical parameters of the workpiece to be entered into the work scene.

[0145] Among them, the three-dimensional model of the workpiece is used to characterize the workpiece's shape contour, clamping space, accessible area and restricted gripping area, while the physical parameters are used to characterize the workpiece's weight, center of gravity position, material properties and surface characteristics.

[0146] In one possible implementation, the control device can retrieve a pre-stored three-dimensional model and physical parameters of the workpiece from a workpiece information database.

[0147] In another possible implementation, the control device can receive the 3D point cloud of the workpiece to be entered into the work scene from the 3D camera; based on the 3D point cloud of the workpiece, it can automatically identify the 3D model of the workpiece and obtain the physical parameters of the workpiece.

[0148] The 3D camera is used to acquire the 3D point cloud of the workpiece before it enters the work scene, serving as the basic data for recognizing the 3D model of the workpiece. The 3D camera can be deployed outside the work scene, above the conveyor path of the workpiece entering the work scene, above the material bin buffer area, or at the inspection station upon entry, to complete non-contact acquisition before the workpiece officially enters the gripping area. The 3D camera can employ any one or a combination of structured light cameras, laser profilometry cameras, binocular depth cameras, and time-of-flight cameras. It generates the 3D point cloud data of the workpiece by projecting a light field onto the workpiece surface, acquiring a depth map, and converting it into 3D coordinate points.

[0149] Optionally, to reduce point cloud loss caused by single-view occlusion, multiple 3D cameras can be set up to collect data synchronously from different angles. Then, the control equipment can register and fuse the multi-view point clouds based on timestamps, external parameter calibration parameters, and a unified coordinate system to obtain a more complete 3D point cloud of the workpiece.

[0150] Optionally, considering the presence of ambient light interference, metal reflection, workpiece edge burrs, and background support obstruction in industrial environments, the control equipment can also perform preprocessing on the received 3D point cloud, including outlier removal, background plane segmentation, noise filtering, hole compensation, and coordinate normalization. After the above preprocessing, a 3D point cloud capable of representing the shape characteristics of the workpiece is obtained.

[0151] Furthermore, the control device can employ model matching, shape fitting, point cloud registration, template retrieval, or a 3D recognition algorithm based on a learning network to identify the workpiece category and determine the corresponding 3D model. For example, a workpiece model library is pre-established, storing 3D models of various workpieces. The control device can perform coarse and fine registration between the workpiece's 3D point cloud and the 3D models in the workpiece model library to obtain the 3D model that best matches the workpiece's 3D point cloud, which is then used as the workpiece's 3D model. Further, the workpiece type corresponding to this 3D model is determined as the type identifier of the current workpiece, and then, based on this type identifier, the corresponding physical parameters are obtained from the workpiece information database to obtain the workpiece's physical parameters.

[0152] S502: Based on the workpiece's 3D model and physical parameters, automatically plan a target fixture that is compatible with the workpiece and the work environment.

[0153] Optionally, while automatically planning the target fixture adapted to the workpiece and the work scenario, the system can also determine the candidate gripping point configuration corresponding to the target fixture. The candidate gripping point configuration characterizes the set of possible gripping poses that a candidate fixture can attempt when applied to the workpiece. For adsorption-type fixtures, this can be represented by the adsorption center position and adsorption normal; for two-finger grippers, it can be represented by a pair of contact points, the gripper closing direction, the approach direction, and the pre-grip posture. The work scenario defines the external conditions for the gripping action, specifically including constraints such as the material bin boundary, conveyor line width, adjacent workpiece occupancy, overhead clearance, robotic arm workspace, restricted areas, placement station posture requirements, and cycle time limits.

[0154] In one possible implementation, the 3D model and physical parameters of the workpiece can be input into a unified evaluation module to screen the feasibility of each candidate fixture. For adsorption-type fixtures, the areas on the workpiece surface that meet the requirements for flatness, area, curvature, and sealing are analyzed, and the adsorption safety factor is estimated by combining the workpiece weight, center of gravity position, and surface material. For magnetic fixtures, the magnetization of the workpiece material, the size of the air gap in the contact area, and the required action space for detachment after magnetic attraction are analyzed. For gripper-type fixtures, the presence of opposing gripping surfaces on the workpiece, whether the distance between the gripping surfaces is within the gripper opening range, whether the local wall thickness meets the gripping strength, and whether gripping affects the placement posture are all analyzed. To achieve unified decision-making across fixtures, a unified score can be established based on the compatibility of the fixture and workpiece contact, gripping stability, and robotic arm accessibility. By calculating a unified score for different fixture schemes, direct comparisons can be made between heterogeneous fixtures, and the target fixture with the highest score that meets the safety threshold can be output.

[0155] After the candidate fixture set is formed, candidate gripping point configurations are further generated based on the structural parameters of the target fixture and the 3D model of the workpiece. For adsorption fixtures, several gripping points can be sampled within areas that meet the surface flatness threshold and contact area threshold, and the adsorption direction can be determined based on the local normal. For magnetic fixtures, several magnetic center points can be generated within the effective metal contact area, and the collision gap between adjacent workpieces and the edge of the hopper can be checked. For jaw fixtures, pairs of contact points can be generated on the opposing surface or edge gripping area, and the gripping posture can be calculated in combination with the opening and closing direction of the jaws.

[0156] The candidate gripping point configuration includes not only the contact position on the workpiece surface, but also the corresponding target pose of the robotic arm end effector, approach path, retreat path, and necessary posture flipping requirements. The control device incorporates obstacle models, robotic arm kinematic models, and target placement requirements from the work scenario into its calculations. For each candidate gripping point configuration, it performs collision detection, inverse kinematics solution, joint limit judgment, and path length estimation, filtering out unreachable or interference-risk solutions, and ranking them according to stability, accessibility, and time cost. If the first candidate solution fails during online execution due to changes in the field conditions, it can switch to the next candidate solution in the ranking order, thereby improving the system's continuous operation capability.

[0157] By uniformly inputting the workpiece's 3D model, physical parameters, and operational scenario constraints, and simultaneously solving for the target fixture and candidate gripping point configurations within the same evaluation framework, the problem of propagating errors in prior decision-making caused by selecting fixtures first and then adding gripping points can be avoided. Simultaneously, the unified cross-fixture scoring mechanism makes different gripping methods such as adsorption, magnetic attraction, and claws comparable, thereby improving the system's automatic selection capability in scenarios with multiple workpiece types. The candidate gripping point configuration considers the robot arm's accessibility, spatial constraints, and path interference during the planning phase, thus significantly narrowing the subsequent online search range, reducing on-site adjustment time, and improving the overall line's cycle time adaptability and gripping success rate. It should be understood that the above example is for demonstration purposes only and is not limiting.

[0158] S503: If the type identifier of the current fixture installed on the robot actuator is inconsistent with that of the target fixture, a fixture replacement signal is generated.

[0159] After identifying the target gripper, the control device checks whether the type identifier of the current gripper installed on the robot's actuator matches that of the target gripper. If the type identifiers of the current gripper installed on the robot's actuator and the target gripper do not match, a gripper replacement signal is generated to trigger the automatic gripper replacement process. If the type identifiers of the current gripper installed on the robot's actuator and the target gripper match, then gripper replacement is not required.

[0160] In this embodiment, the automatic planning of the target fixture that matches the workpiece and the work scenario, and the generation of the fixture replacement signal, can be implemented by the first process, while the automatic fixture replacement can be implemented by the second process. The first process transmits the generated fixture replacement signal to the second process via inter-process communication to trigger the second process's automatic fixture replacement process.

[0161] S504: In response to the fixture change signal, determine the target placement position of the target fixture based on the type identifier of the target fixture to be replaced.

[0162] S505: Controls the robot to unload the currently installed fixture.

[0163] S506: Control the robot to move to the installation position corresponding to the target placement position.

[0164] S507: Controls the robot to automatically install the target fixture.

[0165] The implementation principle of steps 504-S507 is detailed in the aforementioned embodiments and will not be repeated here.

[0166] In this embodiment, the control device can automatically plan and determine the appropriate target fixture and gripping point configuration based on the workpiece's three-dimensional model and physical parameters. When the currently installed fixture is mismatched, it can automatically generate a fixture replacement signal to trigger the automatic fixture replacement process. By linking the fixture replacement trigger with the workpiece task status, the subsequent automatic fixture replacement is based on clear operational requirements, thereby improving the accuracy and continuity of fixture selection and automatic fixture replacement.

[0167] For example, Figure 6 A flowchart illustrating a fixture configuration method provided for another exemplary embodiment of this application. Figure 6 As shown, based on the workpiece's 3D model and physical parameters, the system automatically plans the target fixture and candidate gripping point configurations that are compatible with the workpiece and the work scenario. Specifically, this includes the following steps:

[0168] S601: Based on the workpiece's 3D model and physical parameters, determine the candidate fixtures in the fixture library that are suitable for the workpiece and the work scenario, as well as their corresponding candidate gripping point configurations.

[0169] In this embodiment, the fixture library is used to pre-set structural parameters, operating parameters, and applicable constraints for various end effectors (fixtures). For example, for suction cup fixtures, the following parameters are provided: effective radius, theoretical suction force, sealing ring parameters, and coefficient of friction; for magnetic fixtures, the following parameters are provided: nominal magnetic force, attenuation constant, effective air gap, effective anti-overturning radius, and gasket friction coefficient; for two-finger gripper fixtures, the following parameters are provided: opening range, maximum clamping force, fingertip material and coefficient of friction, and fingertip envelope model.

[0170] The candidate gripping point configuration is used to characterize the set of possible gripping poses when a candidate fixture acts on a workpiece. For adsorption-type fixtures, it can be represented by the adsorption center position and adsorption normal. For two-finger gripper-type fixtures, it can be represented by a pair of contact points, gripper closing direction, approach direction and pre-grip posture.

[0171] In practice, the control equipment performs attitude analysis and envelope analysis on the three-dimensional model of the workpiece, and combines physical parameters to select fixtures that match the clamping range, load-bearing capacity and installation space of the fixtures in the fixture library, forming a set of candidate fixtures.

[0172] After the candidate fixtures are determined, candidate gripping point configurations for each candidate fixture are generated in parallel, based on the fixture type. For example, for a vacuum chuck, voxel downsampling is performed on the 3D model of the tool to control the computational scale, and region growing clustering is performed based on neighborhood normal consistency to identify local approximate planar or low-curvature surface regions on the workpiece surface. Subsequently, 3D edge detection is combined to identify hole edges, folded edges, areas with abrupt curvature changes, and sealing risk areas. The flatness, boundary clearance distance, local normal fluctuation, and adsorption area efficiency within the chuck diameter coverage area are judged, and only adsorption centers that meet the coverage criteria and local flatness threshold are retained. Then, basic mechanical indicators are determined based on physical parameters such as workpiece weight and center of gravity offset and the chuck normal direction, and direction-aware non-maximum suppression is performed in the position and normal joint space to remove redundant adsorption points that are too close and have low scores.

[0173] For example, for a magnetic chuck, the accessible metal surface of the workpiece is extracted, and the contact area, local air gap risk, normal orientation, boundary integrity and magnetic circuit action area are analyzed. Non-magnetic areas, areas with excessive paint layer and areas with insufficient local suspension support are eliminated, and then the magnetic contact center and its corresponding approach posture are generated.

[0174] For example, for a two-finger gripper, the curvature of the three-dimensional model of the workpiece is estimated and the edge corners are extracted. The edges, planes or bosses that can form opposing contact are identified. Contact point pairs are sampled around the center of gravity of the workpiece and the area with a small torque arm. The contact normal angle, closing direction, gripper stroke coverage, fingertip width matching relationship and approach path collision risk are determined. Available point pairs are retained based on force closure judgment and gripping space accessibility.

[0175] Through the above process, the candidate fixture set and the candidate gripping point configuration corresponding to each candidate fixture are determined. The result includes the three-dimensional position, gripping posture (such as approach direction), and action area of ​​each gripping point or gripping point pair. It may also include the initial geometric score and force estimate to trigger the unified stability evaluation in the next step.

[0176] This step integrates input modeling and candidate generation into a unified processing framework. It no longer relies on isolated analysis processes for single fixture types, but instead uses workpiece geometry and physical constraints as a common basis to screen and construct candidate gripping schemes for multiple fixtures in parallel. This reduces the number of obviously incompatible fixtures and gripping poses entering subsequent processes from the outset. This reduces the online search space and provides structured input for subsequent unified evaluation across fixture types, thus helping to address the problems of fixture selection relying on experience and high candidate scheme redundancy in existing technologies.

[0177] S602: Perform a unified stability test across fixture types on the candidate fixtures and their corresponding candidate gripping point configurations. Based on the test results, filter and sort the candidate gripping point configurations corresponding to the candidate fixtures to obtain the filtered candidate gripping point configurations corresponding to the candidate fixtures, and determine the comprehensive theoretical evaluation value of the candidate fixtures.

[0178] The unified stability assessment in this step is used to map the heterogeneous evaluation results of different fixture types based on different gripping mechanisms to the same comparable scale, thereby establishing a basis for cross-fixture type comparison.

[0179] The comprehensive theoretical evaluation value in the unified stability assessment can be understood as the result of quantifying the theoretical gripping potential of candidate fixtures on their set of candidate gripping points. Filtering is used to eliminate candidate configurations that are below the safety threshold or geometrically feasible but lack mechanical stability; ranking is used to arrange the remaining configurations from best to worst according to a unified index, so that subsequent simulations can prioritize the verification of high-value candidate points. Cross-fixture type means that the evaluation object simultaneously covers adsorption, magnetic, and claw-type fixtures, rather than comparing only within a single fixture.

[0180] In practical implementation, for each candidate fixture and its corresponding combination of candidate gripping point configurations, based on the physical model corresponding to the furniture type of the candidate fixture, the outputs of different physical models are normalized into a unified dimensionless stability index. For example, the anti-detachment stability coefficient SC_normal and the anti-slip stability coefficient SC_tangential can be calculated separately, and the smaller of the two is taken as the comprehensive stability coefficient SC (Stability Coefficient). A larger SC indicates a stronger weakest link in the gripping point configuration under the main failure modes. The anti-detachment stability coefficient SC_normal is the ratio of the available normal holding force to the minimum holding force required for safety factor correction, and the anti-slip stability coefficient SC_tangential is the ratio of the maximum static friction effect to the external tangential load corrected for safety factor. The safety factor can adopt a layered safety factor system SF_total = SF_base * K_dyn * K_gripper. The SF_base value is selected between 1.2 and 3.0 based on the failure risk level (e.g., experimental / general handling / precision parts / hazardous materials) in the working condition configuration parameters; K_dyn is selected between 1.0 and 2.0 based on the motion acceleration; and K_gripper is selected between 1.0 and 1.5 based on the parameter uncertainty of the fixture type. The working condition configuration parameters include system configuration or user-specified robot motion parameters, including maximum linear acceleration and maximum angular acceleration. The hierarchical safety factor system decouples the basic risk level, dynamic working condition compensation, and fixture parameter uncertainty into independent factors, facilitating flexible configuration for different application scenarios.

[0181] For example, for a vacuum chuck, the anti-detachment stability coefficient can be calculated based on the effective adsorption area, vacuum pressure difference, circumferential pressure distribution of the sealing ring, the component of the workpiece's own weight in the adsorption normal direction, and the external detachment force and overturning moment that may occur during handling; if... Representing the theoretical adsorption force, in Let represent the equivalent external load along the separation direction, then the separation stability coefficient can be derived from... and The ratio characterizes the adsorption system's ability to resist normal separation. The anti-slip stability coefficient can be calculated based on the contact surface friction coefficient, normal clamping force, and tangential disturbance force. In cases of inclined transport or lateral acceleration, a friction ellipsoid model can be introduced to simultaneously constrain tangential force and contact torque.

[0182] For example, for a magnetic chuck, the effective magnetic attraction force is estimated by combining the properties of the magnetic material, the contact surface condition, and the air gap attenuation characteristics. The anti-detachment stability coefficient can be determined by the ratio of the effective magnetic attraction force to the workpiece detachment load and overturning moment. The larger the air gap and the rougher the contact surface, the more significant the theoretical magnetic force attenuation, and the lower the anti-detachment stability coefficient accordingly. The anti-slip stability coefficient is calculated by combining the friction coefficient of the contact pad layer, the normal magnetic pressure, and the tangential external load.

[0183] For example, for a two-finger gripper, the anti-disengagement stability coefficient can be determined based on the clamping force, the contact point normal, the friction cone constraint, and the force closure relationship. This anti-disengagement stability coefficient increases when the contact point pair can provide a stable constraint on the workpiece and the clamping force is sufficient to overcome gravity and inertial forces. The anti-slip stability coefficient can be obtained by the ratio of the total contact friction force to the equivalent load along the contact tangential direction. Simultaneously, the moment arm from the contact point to the workpiece's center of gravity can be considered to assess the risk of rotational instability during handling.

[0184] To make the evaluation under different working conditions more realistic, dynamic correction factors and uncertainty correction factors can be introduced. The dynamic correction factor is related to the maximum linear acceleration, angular acceleration, start-stop impact, and turning radius in robot motion planning; the uncertainty correction factor is related to fixture manufacturing errors, vacuum fluctuations, magnetic property dispersion, friction coefficient fluctuations, and model approximation errors. By adopting a hierarchical safety factor system, the unified stability index reflects not only the ideal static capability but also the stability margin under actual operating conditions.

[0185] After obtaining the comprehensive stability coefficient (SC) for each candidate grab point, filtering is performed according to a preset threshold. For example, when SC is less than 1, it is considered that there is insufficient safety margin and is therefore rejected; when SC is between 1 and 1.2 (inclusive), it is marked as available at the boundary; and when SC is greater than 1.2, it is marked as a high-confidence candidate. The preset threshold can be set according to cycle time requirements, risk level, and workpiece fragility. In high-risk or high-speed handling scenarios, the threshold can be set higher to obtain a larger stability margin.

[0186] For the candidate gripping point configurations that have passed the threshold filtering, they are further sorted from high to low according to the comprehensive stability coefficient SC to form a list of filtered candidate gripping point configurations corresponding to the candidate fixtures.

[0187] Optionally, within the joint space of the subsequent grasping point position and grasping posture in the candidate grasping point configuration, direction-aware non-maximum suppression filtering is performed on the candidate grasping point configuration. If the distance between two candidate grasping points is less than a set spatial threshold and the normal angle is less than a set angle threshold, the one with the higher SC is retained, and the other candidate point with a lower SC but redundant information is filtered out (i.e. suppressed) to reduce redundant candidate grasping point configurations, thereby reducing the number of subsequent simulations.

[0188] Furthermore, based on the comprehensive stability coefficient of all candidate gripping point configurations corresponding to the candidate fixture, the comprehensive theoretical evaluation value of the candidate fixture is determined. The comprehensive theoretical evaluation value is used to characterize the overall theoretical merits of all candidate gripping point configurations under the same candidate fixture, thereby enabling horizontal comparison between different fixtures. The comprehensive stability coefficients of all candidate gripping point configurations under a unified candidate fixture are aggregated and calculated. The aggregation method can be summation, weighted average, or statistical values ​​normalized according to the number of gripping points, to form the comprehensive theoretical evaluation value of the candidate fixture.

[0189] Optionally, after determining the comprehensive theoretical evaluation value of the candidate fixtures, the candidate fixtures are sorted according to their comprehensive theoretical evaluation value, and the candidate fixture sequence is output in descending order for subsequent simulation verification and fixture recommendation. This sorting result can reflect the theoretical fit of the candidate fixtures under the current workpiece model, physical parameters, and motion conditions, enabling the planning system to prioritize the selection of fixture types with higher overall stability.

[0190] By adopting the above method, the evaluation at the fixture level is no longer limited to the local performance of a single candidate gripping point configuration, but rather forms an overall judgment based on the comprehensive stability coefficient of all candidate gripping point configurations of the candidate fixture. This can reduce the interference of redundant gripping points on the selection results, improve the consistency of cross-type fixture comparisons, and provide a more reliable theoretical ranking basis for subsequent simulation optimization, thereby improving the accuracy of fixture recommendation and the stability of gripping planning.

[0191] This step is crucial for solving the problem of unified comparison across grippers. By mapping the mechanical evaluations under different gripping mechanisms to the dimensionless stability index SC, and using the weakest failure mode as the unified comparison benchmark, the problem of direct lateral comparison between adsorption force, magnetic force, and clamping force due to their different physical quantities can be avoided. Furthermore, through threshold filtering and non-maximum suppression, a large number of geometrically feasible but practically unstable or highly redundant candidate gripping points are eliminated in advance, thereby significantly compressing the search space for subsequent simulation verification, improving overall planning efficiency, and enhancing the theoretical reliability of the remaining candidate configurations. This processing mechanism makes gripper selection and gripping point evaluation no longer separate, but rather a collaborative decision-making process based on a unified stability scale.

[0192] S603: In the 3D simulation environment of the work scene, the process of gripping the workpiece using candidate fixtures and their corresponding filtered candidate gripping point configurations is simulated, and the configuration of the filtered candidate gripping points corresponding to the candidate fixtures is optimized based on the simulation results to obtain the simulation-optimized candidate gripping point configuration.

[0193] The 3D simulation environment in this step is used to digitally reconstruct the actual work scenario.

[0194] Simulation results are used to characterize the feasibility and robustness of candidate configurations (candidate fixtures and their corresponding filtered candidate gripping point configurations) in actual working conditions, such as gripping success rate, number of collisions, drop rate, workpiece flipping rate, frame clearing rate, average cycle time, frequency of use of each gripping point, and conditional success rate.

[0195] In practical implementation, the first step is to construct a 3D simulation environment that is consistent with or approximately consistent with the actual working scenario. Environmental data can come from production line layout files, robot offline programming models, vision system calibration results, and tooling design files. For bin picking scenarios, disordered stacked workpieces can be generated using a random pose scattering algorithm, or a regular stack can be generated first, followed by pose perturbation and contact collision solving to obtain a semi-regular stacking state. For transfer and assembly scenarios, the initial workpiece pose, target placement pose, and constraint areas in the transport path can be configured. The robot model includes joint limits, velocity limits, acceleration limits, tool center point definitions, and an inverse kinematics solver. The fixture model includes the outer contour, contact area, opening and closing stroke, and possible flexible action boundaries.

[0196] For example, in the case of bin picking, when constructing a 3D simulation environment for the work scenario, the top-ranked candidate fixture solutions (e.g., the top M in the comprehensive score, such as M=3 or other values) can be selected to construct a work scenario that simulates actual deployment in the 3D simulation environment. The 3D simulation environment includes: (a) Generation of material frame and workpiece stacking state: A simulation material frame model is established based on the actual material frame size, and the workpiece stacking state is generated by random pose scattering method: A preset number of workpieces are released from above the material frame with random initial poses, and the physics engine simulates gravity fall and collision. After all workpieces are stationary (the linear velocity and angular velocity are both below the corresponding threshold), a stable stacking configuration is recorded; two modes are supported: ordered arrangement (placed according to the grid array and then subjected to small random perturbation) and disordered stacking (completely random scattering); each mode generates multiple sets of different random stacking scenarios to ensure statistical significance; (b) Import robot kinematic models (such as DH (Denavit–Hartenberg parameters) or URDF (Unified Robot Description Format) descriptions) and fixture 3D collision models to ensure motion accessibility and collision detection accuracy; (c) Establish a simplified adsorption force / magnetic force simulation model for adsorption-type fixtures, and establish a contact force and friction force model for two-finger grippers.

[0197] Subsequently, multiple rounds of simulation verification were performed for each candidate fixture and its filtered candidate gripping point configuration. Each round of simulation typically includes the following processes: planning the robot's approach path based on the candidate gripping pose, checking the reachability and collisions from the standby position to the pre-grip position; if reachable, simulating the contact, adsorption, or clamping process between the fixture and the workpiece, and determining whether the gripping was successfully established based on the corresponding physical model; after the gripping was established, simulating the lifting stage, path transport stage, and placement stage, and monitoring in real time whether the workpiece collides with the edge of the bin, adjacent workpieces, fixture body, robot links, or target station, while also monitoring whether slippage, detachment, or attitude instability occurs under dynamic acceleration; after reaching the placement position, simulating the release process and determining whether the workpiece accurately enters the target area.

[0198] To make the simulation more reflective of real-world conditions, the same candidate gripping point configuration can be repeatedly tested in multiple random scenarios. For example, variations can be made in stacking density, workpiece posture distribution, adjacent interference positions, friction coefficient perturbations, vacuum suction fluctuations, magnetic attenuation parameters, and robot trajectory perturbations to obtain a statistically significant success rate rather than a single ideal result. For adsorption-type grippers, the simulation model can consider adsorption setup time, seal boundary damage, and the effects of localized air leakage; for magnetic grippers, it can consider contact offset, air gap changes, and adsorption instability caused by placement vibrations; for two-finger grippers, it can consider fingertip contact deviation, local elastic deformation of the workpiece, gripping closure error, and contact friction fluctuations.

[0199] After multiple rounds of simulation, the usage frequency and conditional success rate of each candidate grasping point configuration are statistically analyzed. Usage frequency indicates the number of times the planner actually selects the candidate grasping point configuration in different scenarios, while conditional success rate indicates the proportion of successful grasping attempts after selection. If a candidate grasping point configuration has a low usage frequency and low success rate, it indicates that the configuration is neither frequently used nor reliable and can be directly eliminated. If a candidate grasping point configuration has a high usage frequency but a low success rate, it indicates that while its geometric position is attractive, it carries a high risk and can be downweighted or further corrected by fine-tuning its attitude, changing its approach direction, or increasing its boundary retreat distance. If a candidate grasping point configuration has a high success rate but only appears in a few scenarios, it can be retained as a supplementary candidate for specific attitudes. Based on these rules, the optimized candidate grasping point configurations can be output, and a fast regression simulation can be performed on the optimized candidate grasping point configuration set to confirm that the overall success rate, clearing rate, and cycle time after simplification are not lower than the preset benchmark before optimization.

[0200] Based on the above analysis, this step further transforms theoretical feasibility into verifiable results for on-site execution, which is a crucial step in resolving the inconsistency between offline planning results and actual working conditions in existing technologies. By introducing collision, accessibility, stacking interference, dynamic disturbance, and placement risks into a unified simulation environment, it is possible to identify candidate grab point configurations that perform well in static theoretical scoring but are prone to failure in real-world operation links, and to optimize the candidate grab point configuration set accordingly. The final output grab point configuration not only possesses theoretical stability but also exhibits higher scenario adaptability and execution robustness, thereby improving the on-site grab success rate and reducing cycle time fluctuations.

[0201] S604: Based on the unified stability evaluation results and simulation results of the candidate fixtures, determine the target fixture and its simulation-optimized candidate gripping point configuration.

[0202] In this step, the target fixture serves as the final fixture solution for the workpiece in the current work scenario. The simulation-optimized candidate gripping point configuration serves as the usable candidate gripping point configuration for the target fixture in the subsequent online execution phase. The unified stability evaluation results reflect the theoretical gripping potential of the candidate fixtures under the unified stability evaluation, while the simulation results reflect their executability, reliability, and efficiency performance in a specific work environment. Joint decision-making using both methods avoids deviations from the actual situation caused by relying solely on theoretical scores, and also avoids insufficient preliminary candidate bases caused by relying solely on simulation results.

[0203] For example, the unified stability evaluation results are first summarized at the fixture level. For each candidate fixture, the optimal comprehensive stability coefficient, the average stability of the top few high-scoring candidate gripping point configurations, the total number of effective gripping points, the spatial distribution diversity of gripping points, the coverage around the center of gravity, and the attitude adaptation range can be extracted to form a theoretical scoring vector. Among them, spatial distribution diversity is used to reflect the breadth of the fixture's gripping capability in different areas of the workpiece. If the candidate gripping points are too concentrated, the usability will decrease significantly once a local area is blocked. The coverage around the center of gravity is used to reflect the ability to control the risk of tipping over during gripping. The attitude adaptation range is used to reflect the compatibility of the fixture with different incident directions and different workpiece placement states.

[0204] In addition, indicators such as capture success rate, frame clearing rate, average cycle time, average path length, collision avoidance times, placement success rate, and stable usage frequency of optimized candidate points are extracted from the simulation results to form a simulation scoring vector.

[0205] Furthermore, based on the theoretical scoring vector and the simulation scoring vector, the final score of each candidate fixture is calculated according to a preset fusion rule. For example, the final score can be a weighted fusion of theoretical and simulation scores, where the theoretical score reflects grasping potential and the simulation score reflects execution performance. In high-risk production scenarios, the simulation score weight can be set higher to strengthen the robustness to real working conditions. In the scheme pre-selection or fixture library expansion stage, the theoretical score weight can be appropriately increased to accelerate the screening efficiency of candidate fixtures.

[0206] In one possible implementation, the indicators in the theoretical and simulated scoring vectors can be normalized first, mapping indicators with different dimensions to a unified numerical range. Then, a weighted total score is calculated and the results are sorted according to the total score. If the total scores of two fixtures are close, a decision can be made based on additional criteria, such as prioritizing the fixture with shorter changeover time, lower maintenance costs, higher compatibility with the current production line tool interface, or lower risk of workpiece surface damage.

[0207] After determining the target gripper, the simulation-optimized candidate gripping point configuration corresponding to the target gripper is output synchronously (including the 3D position and gripping posture of each candidate gripping point). In addition, the output may also include at least one evaluation value from the unified stability evaluation results of each candidate gripping point configuration, at least one simulation index from the simulation results, priority weights, and applicable scenario labels. Optionally, the output may include an evaluation report, specifically including a comparison of the comprehensive evaluation values / comprehensive theoretical evaluation values ​​among candidate grippers, the comprehensive stability coefficient and risk warnings of each candidate gripping point configuration, and simulation verification statistics (such as success rate, frame clearing rate, and usage frequency of each point).

[0208] During online execution, the robot control system or vision guidance system can prioritize high-priority candidate gripping point configurations. When the preferred candidate gripping point configuration fails due to occlusion or partial inaccessibility, it can then fall back to the next best candidate gripping point configuration according to priority, thereby shortening the online decision-making time. If the system is deployed in a closed-loop production environment, the actual success or failure data can also be written back to the planning module to correct the scoring parameters and priorities of subsequent similar workpieces, achieving continuous iterative optimization.

[0209] This step completes the comprehensive decision-making process from the candidate fixture set to the final execution plan. It integrates the results of unified theoretical evaluation and scenario simulation verification at the fixture level, ensuring that the final recommendation is both physically reasonable and engineeringally feasible. By outputting the simulation-optimized gripping point configuration associated with the target fixture, the system can directly provide structured input for the robot's online gripping, reducing the process of repeated switching and experience-based judgment between manual fixture selection and gripping pose selection, and improving the efficiency of automated configuration and consistency in field application.

[0210] The method in this application integrates workpiece modeling, candidate fixture screening, candidate gripping point generation, cross-fixture unified stability evaluation, scenario simulation verification, and final comprehensive decision-making into a closed-loop automated process, achieving integrated configuration of fixture selection and gripping point planning. This solution can establish a unified and comparable evaluation basis across different fixture types, and through simulation verification, make the results closer to real working conditions, thereby reducing reliance on human experience, reducing redundant candidate solutions, and improving gripping planning efficiency, on-site gripping success rate, and production line flexible changeover capability.

[0211] Through the above methods, the workstation can establish a linked screening mechanism between workpiece modeling, theoretical evaluation, and 3D simulation. This ensures that the target fixture and its gripping point configuration simultaneously meet the requirements of clamping stability and scenario executability, thereby improving the accuracy of fixture selection and the feasibility of gripping configuration, and reducing the number of subsequent fixture replacements and gripping adjustments. It should be understood that the above examples are merely illustrative and not limiting. In one possible embodiment, the candidate fixture type, stability model, simulation scenario construction method, and scoring fusion rules can all be equivalently replaced or adjusted according to specific industrial scenarios. As long as they do not deviate from the technical concept of the embodiments of this application, they should all fall within the protection scope of the embodiments of this application.

[0212] In one possible implementation, after the fixture change process is completed, the control device can control the robot to adjust the gripping posture of the target fixture and perform the workpiece gripping task based on the candidate gripping point configuration.

[0213] The grasping task is the actual operation process performed by the robotic arm on the workpiece under the guidance of the target gripper and candidate grasping points. Specifically, it can include a sequence of actions such as approaching, aligning, adsorbing or clamping, lifting, transporting, placing and releasing.

[0214] After the workpiece enters the work environment, the control equipment can confirm the real-time position of the workpiece using online vision sensors, position detection sensors, or conveyor encoders installed above or to the side of the gripping station. Based on the online detection results, it selects a suitable gripping point configuration from the candidate gripping point configurations, plans the local path for the robotic arm and target fixture to perform the gripping task, and executes the gripping task according to the planned local path. If the preferred candidate gripping point configuration cannot complete stable gripping due to on-site obstruction, interference from adjacent workpieces, insufficient vacuum, or gripping offset, it can automatically switch to the next candidate gripping point configuration in the lower priority list and replan the local path, thereby achieving online fault tolerance.

[0215] This step transforms the pre-planned candidate gripping point configuration into the actual executable gripping pose and motion trajectory of the robotic arm, achieving closed-loop control from planning to gripping completion. Since the final gripping pose can be updated based on the actual position of the workpiece after entering the work scene, and can automatically switch to backup candidate schemes in case of execution failure, it can adapt to common changes in industrial environments such as random postures, partial occlusion, and proximity interference, improving gripping success rate and work continuity. It should be understood that the above example is for demonstration purposes only and is not limiting.

[0216] In this embodiment, by incorporating incoming material sensing, workpiece identification, physical parameter acquisition, fixture selection, gripping point planning, automatic fixture replacement, and task execution into the same continuous process, an automatic connection mechanism is formed from pre-workpiece prediction to post-workpiece execution. This solves the technical problems in the prior art, such as the disconnect between fixture selection and gripping point planning, the lack of a unified decision-making basis for cross-fixture solutions, and insufficient adaptability to dynamic changes on site. It enables the workstation to quickly output an executable gripping solution based on the actual three-dimensional geometry, physical properties, and scene constraints of the workpiece, reducing the involvement of human experience, shortening the online decision-making time, and improving the gripping stability, cycle time adaptability, and overall automation level of multi-variety workpieces in complex industrial scenarios.

[0217] In this embodiment, by continuing to adjust the gripping pose based on the candidate gripping point configuration after the target fixture is installed, the robot's execution end posture can be kept consistent with the workpiece gripping characteristics, and the gripping action can be continuously connected with the previous fixture change control. This allows the workpiece gripping task to be completed within the same control link, reducing the impact of pose deviation on gripping stability and improving the consistency and reliability of the operation after automatic fixture change.

[0218] This application provides a workstation including a robot and a control device. The workstation also includes multiple placement positions for placing grippers. The control device is used for:

[0219] In response to the fixture replacement signal, the robot determines the target placement position of the target fixture based on the type identifier of the target fixture to be replaced; controls the robot to unload the current fixture installed on the actuator; controls the robot to move to the installation pose corresponding to the target placement position; and controls the robot to automatically install the target fixture.

[0220] In one possible embodiment, a fixture identification sensor is provided at the placement position to acquire the type identifier of the fixture placed at the placement position. The control device determines the target placement position of the target fixture based on the type identifier of the target fixture to be replaced, including:

[0221] The control device uses a fixture identification sensor to obtain the type identifier of the fixture placed at each placement position; it then matches the type identifier of the fixture placed at each placement position with the type identifier of the target fixture to determine the target placement position where the target fixture is placed.

[0222] In one possible embodiment, the control device is further used for:

[0223] Receives 3D point cloud data of the workpiece to be entered into the work scene from a 3D camera; automatically identifies the 3D model of the workpiece based on the 3D point cloud data and obtains the physical parameters of the workpiece; automatically plans the target fixture and candidate gripping point configuration that are compatible with the workpiece and the work scene based on the 3D model and physical parameters of the workpiece; generates a fixture replacement signal when the type identifier of the current fixture installed on the robot execution end is inconsistent with that of the target fixture.

[0224] In one possible embodiment, the control device is further used for:

[0225] Based on the candidate gripping point configuration, the robot is controlled to adjust the gripping posture of the target fixture and execute the workpiece gripping task.

[0226] For the specific implementation principles and technical effects of this embodiment, please refer to the content of the foregoing embodiments, which will not be repeated here.

[0227] Figure 7 A schematic diagram of the control device provided in this application. Figure 7 As shown, the control device 70 provided in this embodiment includes at least one processor 701 and a memory 702. Optionally, the control device 70 further includes a communication component 703. The processor 701, memory 702, and communication component 703 are connected via a bus 704.

[0228] In a specific implementation, at least one processor 701 executes computer execution instructions stored in memory 702, causing at least one processor 701 to perform the above-described method.

[0229] The specific implementation process of processor 701 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0230] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0231] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0232] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0233] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0234] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0235] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0236] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0237] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0238] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0239] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0240] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0241] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0242] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the foregoing claims.

[0243] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for changing a fixture, characterized in that, A control device applied to a workstation, the workstation being provided with multiple placement positions for placing fixtures, the method comprising: In response to a fixture replacement signal, the target placement position of the target fixture is determined based on the type identifier of the target fixture to be replaced. Control the robot to unload the currently installed gripper at the execution end; Control the robot to move to the installation pose corresponding to the target placement position; The robot is controlled to automatically install the target fixture.

2. The method according to claim 1, characterized in that, The control of the robot unloading execution end to install the current fixture includes: Select an empty placement position from the vacant placement positions to place the current fixture; The robot is controlled to unload the currently installed gripper from the actuator and place it in the available placement position.

3. The method according to claim 1, characterized in that, A clamp identification sensor is provided on the placement position to obtain the type identifier of the clamp placed on the placement position; The step of determining the target placement position of the target fixture based on the type identifier of the target fixture to be replaced includes: The type identifier of the clamp placed at each of the placement positions is obtained through the clamp identification sensor. The type identifier of the fixture placed in each of the placement positions is matched with the type identifier of the target fixture to determine the target placement position where the target fixture is placed.

4. The method according to claim 3, characterized in that, The fixture identification sensor is also used to identify whether the placement position is vacant. Before controlling the robot to unload the currently installed fixture, the following is also included: The fixture identification sensor identifies whether each placement position is vacant and determines the vacant placement position.

5. The method according to claim 1, characterized in that, Before determining the target placement position of the target fixture based on the type identifier of the target fixture to be replaced according to the fixture replacement signal, the method further includes: Obtain the 3D model and physical parameters of the workpiece to be entered into the work scene; Based on the 3D model and physical parameters of the workpiece, the system automatically plans the configuration of target fixtures and candidate gripping points that are compatible with the workpiece and the work scenario. If the type identifier of the current gripper installed on the robot actuator is inconsistent with that of the target gripper, a gripper replacement signal is generated.

6. The method according to claim 5, characterized in that, The process of obtaining the 3D model and physical parameters of the workpiece to be entered into the work scene includes: Receive the 3D point cloud of the workpiece to be entered into the work scene, captured by a 3D camera; Based on the 3D point cloud of the workpiece, the 3D model of the workpiece is automatically identified, and the physical parameters of the workpiece are obtained.

7. The method according to claim 5, characterized in that, The step of automatically planning the configuration of target fixtures and candidate gripping points adapted to the workpiece and the work scenario based on the workpiece's 3D model and physical parameters includes: Based on the three-dimensional model and physical parameters of the workpiece, determine the candidate fixtures and their corresponding candidate gripping point configurations in the fixture library that are suitable for the workpiece and the work scenario. A unified stability evaluation across fixture types is performed on the candidate fixtures and their corresponding candidate gripping point configurations. Based on the evaluation results, the candidate gripping point configurations corresponding to the candidate fixtures are filtered and sorted to obtain the filtered candidate gripping point configurations corresponding to the candidate fixtures, and the comprehensive theoretical evaluation value of the candidate fixtures is determined. In the three-dimensional simulation environment of the work scenario, the process of gripping the workpiece using the candidate fixture and its corresponding filtered candidate gripping point configuration is simulated, and the filtered candidate gripping point configuration corresponding to the candidate fixture is optimized based on the simulation results to obtain the simulation-optimized candidate gripping point configuration. Based on the comprehensive theoretical evaluation value of the candidate fixture and the simulation results, the target fixture and its simulation-optimized candidate gripping point configuration are determined.

8. The method according to any one of claims 5-7, characterized in that, After controlling the robot to automatically install the target fixture, the method further includes: Based on the candidate gripping point configuration, the robot is controlled to adjust the gripping pose of the target fixture and execute the workpiece gripping task.

9. The method according to any one of claims 1-7, characterized in that, Each of the aforementioned placement positions is provided with a pin-type pneumatic connector, and each of the aforementioned clamps is provided with a socket-type pneumatic connector that mates with the pin-type pneumatic connector. When the clamp is placed in the placement position, the pin-type pneumatic connector of the clamp and the socket-type pneumatic connector of the placement position are plugged into each other to achieve air passage, so that the clamp is fixed in the placement position.

10. A workstation, characterized in that, include: Robots and control equipment, The workstation is equipped with multiple placement positions for placing fixtures; The control device is used for: In response to a fixture replacement signal, the target placement position of the target fixture is determined based on the type identifier of the target fixture to be replaced. Control the robot to unload the currently installed gripper; Control the robot to move to the installation pose corresponding to the target placement position; The robot is controlled to automatically install the target fixture.

11. The workstation according to claim 10, characterized in that, A clamp identification sensor is provided on the placement position to obtain the type identifier of the clamp placed on the placement position; The control device determines the target placement position of the target fixture based on the type identifier of the target fixture to be replaced, including: The control device obtains the type identifier of the clamp placed at each of the placement positions through the clamp identification sensor; The type identifier of the fixture placed in each of the placement positions is matched with the type identifier of the target fixture to determine the target placement position where the target fixture is placed.

12. The workstation according to claim 10 or 11, characterized in that, The control device is also used for: Receive the 3D point cloud of the workpiece to be entered into the work scene, captured by a 3D camera; Based on the three-dimensional point cloud of the workpiece, the three-dimensional model of the workpiece is automatically identified, and the physical parameters of the workpiece are obtained. Based on the 3D model and physical parameters of the workpiece, the system automatically plans the configuration of target fixtures and candidate gripping points that are compatible with the workpiece and the work scenario. If the type identifier of the current gripper installed on the robot actuator is inconsistent with that of the target gripper, a gripper replacement signal is generated.

13. The workstation according to claim 12, characterized in that, The control device is also used for: Based on the candidate gripping point configuration, the robot is controlled to adjust the gripping pose of the target fixture and execute the workpiece gripping task.

14. A control device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-9.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-9.

16. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1-9.

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