CN118513772B - Overturning equipment and control method thereof - Google Patents

Abstract

The invention provides a turnover device and a control method thereof, wherein the turnover device comprises a transplanting truss, a guide rail and two movable position shifters arranged on the guide rail; each movable positioner comprises a turnover assembly, a movable base and a positioner clamping jaw for clamping a workpiece, wherein the movable base is slidably connected with the guide rail so that the movable positioner can move along the guide rail; the overturning assemblies of the two movable position changing machines are coaxially arranged; the transplanting truss includes at least one transplanting jaw for gripping the workpiece. The flipping equipment further comprises a processor, and the control method comprises the following steps: acquiring finished product information of a workpiece, attribute information of a transplanting clamping jaw and size information of a mobile positioner, and determining the position of the positioner and the position of the transplanting clamping jaw; controlling at least one mobile positioner to move to a positioner position; based on the transplanting clamping jaw positions, at least one transplanting clamping jaw is controlled to grab the workpiece and place the workpiece to a target position.

Description

A flip device and control method thereof

Technical Field

The present invention relates to the field of production equipment, and in particular to a flipping device and a control method thereof.

Background Art

Flipping equipment is mainly used to flip the workpiece when welding large or heavy workpieces, and to transfer the part to be welded to a position that is convenient for welding. When using flipping equipment to flip the workpiece, it is necessary to clamp the workpiece in all directions to ensure that the workpiece does not fall during the rotation process. However, existing flipping equipment is often fixed in a specific area, and it is difficult to flexibly adjust the position of the entire flipping equipment according to welding requirements. At the same time, existing flipping equipment is often suitable for workpieces of uniform size, but difficult to apply to workpieces of other sizes; the operation is not intelligent enough.

Therefore, it is hoped to provide a flipping device and a control method thereof, which can be flexibly moved and is suitable for workpieces of different sizes, has flexible operation and a high degree of intelligence.

Summary of the invention

One or more embodiments of the present specification provide a flipping device. The flipping device comprises: a transplanting truss, a guide rail, and two mobile positioners arranged on the guide rail; each of the mobile positioners comprises a flipping assembly, a mobile base, and a positioner clamp for clamping a workpiece, the mobile base is slidably connected to the guide rail so that the mobile positioner can move along the guide rail; the flipping assemblies of the two mobile positioners are coaxially arranged; the transplanting truss comprises at least one transplanting clamp for grabbing the workpiece.

In some embodiments, the flipping assembly includes a C-shaped flipping member, a fixing member and a driving assembly; the fixing member is provided on the radial inner side of the C-shaped flipping member, and the positioner clamp is fixedly connected to the C-shaped flipping member through the fixing member; the circumferential surface on the radial outer side of the C-shaped flipping member is provided with a toothed edge, and the driving assembly engages with the toothed edge; the driving assembly drives the C-shaped flipping member to rotate along the central axis of the toothed edge by engaging with the toothed edge.

In some embodiments, the positioner jaws include a first driving device, a second driving device, at least two first jaws, at least one second jaw and a positioning plate; the first driving device can drive the at least two first jaws to move toward or away from each other along the axial direction of the positioning plate; the second driving device can drive the at least one second jaw to move along an extension direction perpendicular to the positioning plate.

In some embodiments, the transplanting truss also includes at least two truss rails, a support leg, a transverse rail and a clamp mounting piece; the support leg is fixed to the truss rail; the extension direction of the transverse rail is parallel to the extension direction of the rail; the transplanting clamp is slidably disposed on the clamp mounting piece, so that the transplanting clamp can move in a direction perpendicular to the transverse rail; the clamp mounting piece can be slidably disposed on the transverse rail, so that the clamp mounting piece and the transplanting clamp can move together along the transverse rail; at least two of the truss rails are arranged parallel to each other, and the extension direction of at least two of the truss rails is perpendicular to the extension direction of the rail; the transverse rail is slidably disposed between at least two of the truss rails, and the transverse rail, the clamp mounting piece and the transplanting clamp can move together along the truss rail.

One of the embodiments of the present specification provides a control method for a flipping device, the flipping device also includes a processor, and the control method is executed by the processor, including: obtaining finished product information of the workpiece, attribute information of the transplanting clamp and size information of the mobile positioner; determining a positioner position and a transplanting clamp position based on the finished product information, the size information of the mobile positioner and the attribute information of the transplanting clamp; controlling at least one of the mobile positioners to move to the positioner position; and based on the transplanting clamp position, controlling at least one of the transplanting clamps to grab the workpiece and place the workpiece at a target position.

In some embodiments, the flipping device also includes a welding device; based on the finished product information, the size information of the mobile positioner and the attribute information of the transplanting clamp, the position of the positioner and the position of the transplanting clamp are determined, including: based on the finished product information and the operating range of the welding equipment, the positioner can be clamped; based on the finished product information and the attribute information of the transplanting clamp, the position of the transplanting clamp can be grasped; based on the positioner can be clamped, the size information of the mobile positioner and the graspable position of the transplanting clamp, the position of the positioner and the position of the transplanting clamp are determined.

In some embodiments, before determining the position that the positioner can clamp, the control method further includes: determining a reference coordinate system based on the size information of the transplanting truss, the size information of the mobile positioner and the finished product information.

In some embodiments, the control method also includes: in response to the discontinuity of the clampable position of the positioner, dividing the clampable position of the positioner into multiple sections; based on each section of the clampable position of the positioner, judging whether there is an operating space for the positioner clamp; in response to the existence of the operating space, determining the end position of the clampable position of the positioner as the positioner position.

In some embodiments, the control method further includes: in response to the workpiece being placed at the target position, controlling the positioner jaws to clamp the workpiece; determining whether the workpiece is clamped; in response to the workpiece being clamped, controlling the two mobile positioners to rotate synchronously to flip the workpiece.

In some embodiments, the mobile positioner also includes an angle sensor and a drive assembly, and the angle sensor is configured to obtain angle data of the mobile positioner; the control method also includes: based on the angle data, determining the rotation angle difference between the two mobile positioners; in response to the rotation angle difference being greater than a first preset threshold, controlling the two mobile positioners to stop rotating and issuing an early warning; and/or determining the torque difference based on the torque output by each of the drive assemblies on the two mobile positioners; in response to the torque difference being greater than a second preset threshold, controlling the two mobile positioners to stop rotating and issuing an early warning.

BRIEF DESCRIPTION OF THE DRAWINGS

This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

FIG1 is a schematic diagram of a structure of a flip device according to some embodiments of this specification;

FIG2A is a schematic diagram of the structure of two mobile positioners according to some embodiments of the present specification; FIG2B is a front view of a mobile positioner according to some embodiments of the present specification; FIG2C is a side view of a mobile positioner according to some embodiments of the present specification;

FIG3 is a schematic diagram of the structure of a flip assembly according to some embodiments of the present specification;

FIG4 is a schematic diagram of the structure of a positioner clamp according to some embodiments of the present specification;

FIG5 is an exemplary flow chart of a method for controlling a flip device according to some embodiments of this specification;

FIG6 is an exemplary schematic diagram divided into multiple sections according to some embodiments of the present specification;

FIG. 7 is an exemplary schematic diagram of determining a second preset threshold according to some embodiments of the present specification.

DETAILED DESCRIPTION

In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

It should be understood that the "system", "device", "unit" and/or "module" used herein are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and/or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

Flowcharts are used in this specification to illustrate the operations performed by the system according to the embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed precisely in order. Instead, the steps may be processed in reverse order or simultaneously. At the same time, other operations may also be added to these processes, or one or more operations may be removed from these processes.

Fig. 1 is a schematic diagram of the structure of a flipping device according to some embodiments of the present specification. Fig. 2A is a schematic diagram of the structure of two mobile positioners according to some embodiments of the present specification; Fig. 2B is a front view of a mobile positioner according to some embodiments of the present specification; and Fig. 2C is a side view of a mobile positioner according to some embodiments of the present specification.

[As shown in FIG1 , the flipping device includes a transplanting truss, a guide rail 300, and two mobile positioners (i.e., a mobile positioner 100-1 and a mobile positioner 100-2) disposed on the guide rail 300. In some embodiments, as shown in FIGS. 2A to 2C , each mobile positioner 100 includes a flipping assembly 110, a mobile base 120, and a positioner clamp 130 for clamping a workpiece. The mobile base 120 is slidably connected to the guide rail 300 so that the mobile positioner 100 can move along the guide rail 300. The flipping assemblies 110 of the two mobile positioners 100 are coaxially arranged. In some embodiments, as shown in FIG1 , the transplanting truss includes at least one transplanting clamp 210 for grabbing a workpiece 400.

The workpiece 400 refers to the main material to be welded, for example, the workpiece 400 may be an H-shaped steel, a square tube, an L-shaped steel, or the like.

The mobile positioner 100 is a main component of the flipping device. Two mobile positioners 100 can clamp the workpiece and flip it so as to rotate the part to be welded of the workpiece to a position convenient for welding. For more information about the mobile positioner 100, see below.

The transfer truss is used to move the workpiece to be welded from the loading equipment (such as AGV, conveyor belt) to the mobile positioner, and to move the finished workpiece after welding out of the mobile positioner.

In some embodiments, as shown in FIG1 , the transplanting truss further includes at least two truss rails 220, a support leg 230, a transverse rail 240, and a clamping jaw mounting member 250. The support leg 230 is fixed to the truss rail 220. The extension direction of the transverse rail 240 is parallel to the extension direction of the rail 300; the transplanting jaw 210 is slidably disposed on the clamping jaw mounting member 250, so that the transplanting jaw 210 can move in a direction perpendicular to the transverse rail 240. The clamping jaw mounting member 250 is slidably disposed on the transverse rail 240, so that the clamping jaw mounting member 250 and the transplanting jaw 210 can move along the transverse rail 240 together. At least two truss rails 220 are arranged parallel to each other, and the extension direction of at least two truss rails 220 is perpendicular to the extension direction of the rail 300; the transverse rail 240 is slidably arranged between at least two truss rails 220; the transverse rail 240, the clamp mounting member 250 and the transplanting clamp 210 can move together along the truss rail 220.

The support legs 230 can be fixed on the ground to provide support for the transplanting truss as a whole.

The transplanting clamp 210 is used to clamp and move the workpiece, and may include various types, for example, a pneumatic clamp, a hydraulic clamp, and the like.

The truss guide rail 220 and the transverse guide rail 240 are devices for guiding; the structure of the truss guide rail 220 or the transverse guide rail 240 may be similar to the structure of the guide rail 300 .

In some embodiments, the number of the supporting legs 230 is 4, and each two supporting legs 230 respectively support one truss rail 220. The transverse rail 240 may include two beams used as guides and two connecting plates; the two connecting plates are located at both ends of the two beams to connect the two beams into a whole; a gap is formed between the two beams, so that the transplanting clamp 210 can move in a direction perpendicular to the transverse rail 240 at the position of the gap.

In some embodiments, the number of the clamping jaws 250 and the transplanting jaws 210 may be one or more (two are shown in FIG. 1 , and each transplanting jaw 210 is correspondingly mounted on one clamping jaw 250). The transplanting jaws 210 can be moved in three directions, namely, the x-axis, y-axis, and z-axis (as shown in FIG. 1 ), that is, the transplanting jaws 210 move in a direction perpendicular to the transverse guide rail 240 (equivalent to the z-axis), the clamping jaws 250 and the transplanting jaws 210 move together along the transverse guide rail 240 (equivalent to the x-axis), and the transverse guide rail 240, the clamping jaws 250 and the transplanting jaws 210 move together along the truss guide rail 220 (equivalent to the y-axis), so as to move the workpieces with different original positions or different lengths to the mobile positioner and remove the workpieces from the mobile positioner.

In some embodiments, the transplanting truss also includes a driving device, through which the relative movement of two components (such as the relative movement of the clamp mounting 250 and the transplanting clamp 210) can be achieved; the structure of the driving device is similar to the structure of the first driving device and the third driving device described below, and please refer to the description below.

In some embodiments of the present specification, the transplanting truss can move in three directions so that the transplanting clamp has three degrees of freedom. When the transplanting clamp moves the workpiece to be welded to the mobile positioner, it can move flexibly without colliding with the mobile positioner; at the same time, the transplanting clamp can also grab workpieces of different sizes.

The guide rail 300 is a device for guiding. In some embodiments, the guide rail 300 is fixedly installed on the ground, and the mobile positioner 100 can slide along the direction of the guide rail.

The guide rail 300 can be of various types. For example, a T-shaped guide rail, an L-shaped guide rail, a U-shaped guide rail, an O-shaped guide rail, a hollow guide rail, etc. For another example, the guide rail 300 can be a steel rail, etc. The number of the guide rails 300 can be one or more (two in FIG. 1 ); when the number of the guide rail 300 is one, it can be set in the middle of the bottom of the two mobile positioners.

The flip assembly 110 is a component for flipping the clamped workpiece. According to the different flip angle ranges, the flip assembly 110 can be divided into a 90° flip machine, a 180° flip machine, etc.

In some embodiments, the flipping assemblies 110 on the two mobile positioners 100 are coaxially arranged, that is, the central axes of the flipping assemblies 110 on the two mobile positioners 100 are the same or coincident.

The positioner jaws 130 are components for clamping a workpiece. The positioner jaws 130 may include various types. For example, pneumatic clamps, hydraulic clamps, etc. For more information about the flip assembly and the positioner jaws, see FIG. 3 , FIG. 4 and their related descriptions.

The mobile base 120 is used to support the mobile positioner 100. The flip assembly 110 can be disposed on the mobile base 120. In some embodiments, the mobile base 120 is slidably connected to the guide rail 300, so that the mobile positioner 100 can move along the guide rail 300.

In some embodiments, the guide rail 300 includes a steel rail and a rack, and the mobile base 120 is provided with a third drive device, which is connected to the rack in the guide rail 300 to drive the mobile base 120 to slide along the guide rail 300. The third drive device is a device for providing the power required for the mobile positioner 100 to move along the guide rail 300. The third drive device can be a motor. In some embodiments, the third drive device is connected to the rack through a first transmission member. For example, the first transmission member can be in the form of a gear, etc., and the gear can be connected to the rack in the guide rail 300.

In some embodiments of the present specification, compared with a traditional fixed positioner, two movable positioners are provided so that the turning device can quickly move on both sides according to the different lengths of the workpieces and adapt to workpieces of various specifications.

FIG. 3 is a schematic structural diagram of a flip assembly according to some embodiments of the present specification.

As shown in FIG3 , the flip assembly 110 includes a C-shaped flip member 111, a fixing member 112 and a driving assembly 113; the fixing member 112 is provided on the radial inner side of the C-shaped flip member 111, and the positioner clamp 130 is fixedly connected to the C-shaped flip member 111 through the fixing member 112. The C-shaped flip member 111 is provided with a toothed edge 111-1 on the radial outer circumferential surface, and the driving assembly 113 is meshed with the toothed edge 111-1; the driving assembly 113 drives the C-shaped flip member 111 to rotate along the central axis L of the C-shaped flip member 111 or the toothed edge 111-1 by meshing with the toothed edge 111-1.

The C-shaped flipping member 111 is a main structure for flipping a workpiece. In some embodiments, the C-shaped flipping member 111 may be a circular ring structure having an arc-shaped opening 111-2. In some embodiments, the size of the arc-shaped opening 111-2 may be set as required. For example, when the C-shaped flipping member 111 is a 90° flipping machine, the arc-shaped opening 111-2 may be set larger to save materials.

In some embodiments, the C-shaped flip member 111 is fixed on the mobile base 120, and the C-shaped flip member 111 can flip along the central axis of the C-shaped flip member 111 or the arc-shaped opening 111-2 on the mobile base 120. For example, the C-shaped flip member 111 can be fixed on the mobile base 120 by a bracket, and the C-shaped flip member 111 and the bracket are slidably connected, so that the C-shaped flip member 111 can rotate relative to the mobile base 120.

In some embodiments, as shown in Figures 2A and 2B, a accommodating cavity 121 is provided in the movable base 120, and the C-shaped flip member 111 rotates around the central axis of the arc-shaped opening 111-2 or the toothed edge 111-1 in the accommodating cavity 121, and the arc-shaped opening 111-2 does not overlap with the accommodating cavity 121 when the C-shaped flip member 111 rotates.

Part of the structure of the C-shaped flip member 111 is located in the accommodating cavity 121 , and the accommodating cavity 121 can provide a space for the C-shaped flip member 111 to rotate.

In some embodiments, the accommodating cavity 121 may be an arc-shaped structure coaxially arranged with the arc-shaped opening 111-2, that is, the central axis of the accommodating cavity 121 is the same as or coincides with the central axis of the arc-shaped opening 111-2. In some embodiments, an arc-shaped track may be arranged in the accommodating cavity 121, and the C-shaped flip member 111 may rotate along the arc-shaped track.

In some embodiments, a protruding structure 111-3 is provided on both side surfaces along the axial direction of the C-shaped flip member 111, and the protruding structure 111-3 is an annular structure with an arc-shaped opening; at least one first rolling member 122 and at least one second rolling member combination are provided in the accommodating cavity 121, and the rolling surface of each first rolling member 122 contacts one side surface of the protruding structure 111-3 along the axial direction (i.e., surface S1 in Figure 3), and the second rolling member combination includes a plurality of second rolling members 123, and the plurality of second rolling members 123 are located on both sides of the protruding structure 111-3 along the radial direction, and the rolling surface of each second rolling member 123 contacts one side surface of the two side surfaces of the protruding structure 111-3 along the radial direction (i.e., surface S2 in Figure 3).

In some embodiments, the arc opening on the protruding structure 111-3 is coaxially arranged with the arc opening 111-2 on the C-shaped flip member, that is, the central axis of the arc opening on the protruding structure 111-3 is the same as the central axis L of the arc opening 111-2 on the C-shaped flip member.

The first rolling member 122 and the second rolling member 123 are components used to limit the position of the C-shaped flip member 111. The number of the first rolling member 122 and the second rolling member combination includes multiple.

In some embodiments, one second rolling element combination may include a plurality of second rolling elements 123. For example, one second rolling element combination may include two or more second rolling elements 123.

In some embodiments, the first rolling element 122 and the second rolling element 123 may have the same structure, for example, both are rollers, bearings, and the like.

In some embodiments, the first rolling member 122 and the second rolling member 123 are both disposed inside the accommodating cavity 121. For example, the first rolling member 122 and the second rolling member 123 can be rollably disposed in an annular track inside the accommodating cavity 121 through a supporting structure. The supporting structure can be in the form of a bracket, a pillar, or the like.

In some embodiments, the first rolling member 122 and the second rolling member 123 are arranged in different directions in the accommodating cavity 121, so that the rolling surfaces of the first rolling member 122 and the second rolling member 123 contact the protruding structure 111-3 at different positions. The rolling surface of the first rolling member 122 contacts the side surface S1 of the protruding structure 111-3 along the axial direction, and the rolling surface of the second rolling member 123 contacts one side surface of the two side surfaces S2 of the protruding structure 111-3 along the radial direction.

In some embodiments, the rolling surfaces of at least two second rolling elements 123 in a second rolling element combination are in contact with the two side surfaces S2 of the protruding structure 111-3 in the radial direction, respectively. For example, when a second rolling element combination includes two second rolling elements 123, the two second rolling elements 123 are in contact with the two side surfaces S2 of the protruding structure 111-3 in the radial direction, respectively. For another example, when a second rolling element combination includes four second rolling elements 123, two of the second rolling elements 123 are in contact with one side surface S2 of the two side surfaces S2 of the protruding structure 111-3 in the radial direction, and the other two second rolling elements 123 are in contact with the other side surface S2 of the two side surfaces S2 of the protruding structure 111-3 in the radial direction. Among them, the two second rolling elements 123 arranged on different sides of the protruding structure 111-3 in the radial direction can be arranged in the same radial direction, or can be arranged in different radial directions.

The first rolling member 122 and the second rolling member 123 can be arranged in the accommodating cavity 121 in a variety of combinations. In some embodiments, when a second rolling member combination includes more than two second rolling members 123, a first rolling member 122 can be arranged in the middle of a plurality of second rolling members 123 in a second rolling member combination. For example, when a second rolling member combination includes four second rolling members 123, the two sides of the first rolling member 122 along the circumferential direction respectively include two second rolling members 123 arranged on different sides of the protruding structure 111-3 along the radial direction.

As an example only, as shown in Fig. 3, a plurality of first rolling members 122 and a plurality of second rolling member combinations are provided on the protruding structure 111-3 on the C-shaped flip member 111. Each second rolling member combination may include four second rolling members 123, wherein two second rolling members 123 are in contact with one of the two side surfaces S2 of the protruding structure 111-3 in the radial direction, and the other two second rolling members 123 are in contact with the other side surface S2 of the two side surfaces S2 of the protruding structure 111-3 in the radial direction, and the two second rolling members 123 arranged on different sides of the protruding structure 111-3 in the radial direction are arranged in the same radial direction.

The above description is only an exemplary description and does not constitute a limitation on the implementation mode. It can be understood that the first rolling element 122 and the second rolling element 123 can be arranged in the accommodating cavity 121 in any feasible combination.

In some embodiments, when the C-shaped flip member 111 rotates in the accommodating cavity 121, the arc-shaped opening 111-2 on the C-shaped flip member 111 will not rotate into the accommodating cavity 121, that is, when the C-shaped flip member 111 rotates, the arc-shaped opening 111-2 and the accommodating cavity 121 will never overlap, so as to avoid that part of the first rolling member 122 and the second rolling member 123 cannot contact the protruding structure 111-3, and cannot limit the protruding structure 111-3.

In some embodiments of the present specification, a receiving cavity 121 is provided in the mobile base 120 to facilitate the C-shaped flip member 111 to rotate in the receiving cavity 121. The C-shaped flip member 111 can be limited and stuck in the receiving cavity 121 by the cooperation between the protruding structure 111-3 and the first rolling member 122 and the second rolling member 123; at the same time, the C-shaped flip member 111 can be stuck by the second rolling members 123 provided on both sides of the protruding structure 111-3 along the radial direction, so that the C-shaped flip member 111 does not shake during the rotation process; the C-shaped flip member 111 can be limited by the first rolling member 122 provided on one side of the protruding structure 111-3 along the axial direction, and the friction between the C-shaped flip member 111 and the receiving cavity 121 can be reduced.

The fixing member 112 is a component used to fix the positioner jaw 130. The positioner jaw 130 can be fixedly connected to the fixing member 112 in various ways, such as welding, riveting, threaded connection, pin connection, etc.

The fixing member 112 has a variety of structural forms. For example, the fixing member 112 can be a plate-like structure, such as a long plate whose two ends are respectively connected to the inner side of the C-shaped flip member 111 along the radial direction. The two ends of the long plate can be fixedly connected to the inner side of the C-shaped flip member 111 along the radial direction by welding, screw fixing, etc. For another example, the fixing member 112 can be two partitions arranged on the inner side of the C-shaped flip member 111 along the radial direction, and the connection line between the two partitions can be parallel to the connection line between the two ends of the opening of the arc-shaped notch 312. The two partitions can be fixedly connected to the inner side of the C-shaped flip member 111 along the radial direction by welding, screw fixing, etc.

In some embodiments, when the positioner jaw 130 is fixedly connected to the C-shaped flip member 111 through the fixing member 112 , the C-shaped flip member 111 can drive the positioner jaw 130 to rotate together.

The driving assembly 113 is a component for driving the C-shaped flip member 111 to rotate. In some embodiments, the driving assembly 113 can be fixed on the moving base 120.

In some embodiments, the driving assembly 113 may be composed of a driving motor 113-1 and a second transmission member 113-2. For example, the driving motor 113-1 may be a servo motor, etc. The second transmission member 113-2 may be a gear, a chain, a belt, etc.

In some embodiments, the second transmission member 113-2 in the driving assembly 113 is meshed with the toothed edge 111-1, and the driving motor 113-1 in the driving motor 113-1 drives the second transmission member 113-2 to mesh with the toothed edge 111-1 to drive the C-shaped flip member 111 to rotate along the central axis of the arc-shaped opening 111-2 of the C-shaped flip member 111. Through the meshing transmission of the second transmission member 113-2 and the toothed edge 111-1, the rotation angle of the C-shaped flip member 111 can be made more accurately controllable. In some embodiments, the driving motor 113-1 is a servo motor.

In some embodiments of the present specification, the second transmission member 113-2 is driven by the drive motor 113-1 in the drive assembly 113 to engage with the tooth edge 111-1 to drive the C-shaped flip member 111, and the control accuracy is high. The drive motor 113-1 is set as a servo motor, which can effectively improve the positioning accuracy, response speed and rotation speed.

FIG. 4 is a schematic diagram of the structure of a positioner clamp according to some embodiments of the present specification.

As shown in Figure 4, the positioner clamp 130 includes a first driving device 131, a second driving device 132, at least two first clamps 133 (the first clamp 133 on the left side is not shown in Figure 4), at least one second clamp 134 and a positioning plate 135; the first driving device 131 can drive at least two first clamps 133 to move toward or away from each other along the axial direction of the positioning plate 135; the second driving device 132 can drive at least one second clamp 134 to move along an extension direction perpendicular to the positioning plate 135 (i.e., perpendicular to the direction where the straight line C in Figure 4 is located).

The positioning plate 135 is a component for setting the first clamping jaws 133 and placing the workpiece. In some embodiments, the workpiece can be placed on the positioning plate 135, and at least one first clamping jaw 133 can move toward or away from each other along the axis of the positioning plate 135.

In some embodiments, a brush 138 may be provided on the surface of the positioning plate 135 to prevent sparks or particles from flying into the interior of the positioning plate 135 during welding and causing damage to the positioning plate 135 .

The first driving device 131 is a device for driving the first clamping jaw 133 to move. For example, the first driving device 131 can be a motor, a pneumatic system, etc. The description of the first clamping jaw 133 is described later.

In some embodiments, the first driving device 131 can drive at least one first clamping jaw 133 to move. For example, the first driving device 131 can drive the first clamping jaw 133 disposed on one side of the workpiece to move toward the workpiece to get close to the first clamping jaw 133 disposed on the other side of the workpiece.

In some embodiments, the first driving device 131 may have a built-in brake function.

The second driving device 132 is a device for driving the second clamping jaw 134 to move. For example, the second driving device 132 can be an electric motor, a pneumatic system, etc. The description of the second clamping jaw 134 is described later.

In some embodiments, when the number of the second driving device 132 is one, the second driving device 132 can drive at least one second clamping jaw 134 to move.

In some embodiments, when there are multiple second drive devices 132, multiple second drive devices 132 can synchronously drive multiple second clamps 134 to move. In some embodiments, the workpiece turning machine is also provided with a processor and a controller, such as a programmable logic controller (PLC). The processor can control the second drive device 132 through the controller. Under the control of the controller, multiple second drive devices 132 can synchronously drive multiple second clamps 134 to move. The processor can also be used to control the operation of the workpiece turning machine. For more information, see the relevant description of Figures 5 and 6.

In some embodiments, the number of the second driving devices 132 and the number of the second clamping jaws 134 may be the same, and one second driving device 132 may drive one second clamping jaw 134 to move.

In some embodiments, the second driving device 132 may have a built-in brake function.

In some embodiments, the first driving device 131 and the second driving device 132 may be disposed on a positioning plate. The description of the positioning plate 135 will be described later.

The first clamping jaw 133 is a component used to clamp the workpiece. The first clamping jaw 133 can be a columnar structure with a cross-section in a rectangular, square, trapezoidal or other shapes.

In some embodiments, at least two first clamping jaws 133 may be respectively disposed at both ends of the positioning plate 135. For example, the first clamping jaws 133 may include two, and one first clamping jaw 133 may be respectively disposed at both ends of the positioning plate 135. For another example, the first clamping jaws 133 may include four, and two first clamping jaws 133 may be respectively disposed at both ends of the positioning plate 135.

In some embodiments, at least two first clamps 133 are slidably disposed on the positioning plate 135. In some embodiments, at least two first clamps 133 can be slidably connected to the positioning plate 135 through a third transmission member 136, and the first driving device 131 can drive at least two first clamps 133 to move toward or away from each other along the extension direction of the positioning plate 135 through the third transmission member 136. When it is necessary to clamp the workpiece, the third transmission member 136 can be used to drive at least two first clamps 133 to move toward or away from each other along the extension direction of the positioning plate 135. When it is necessary to clamp the workpiece, the third transmission member 136 can be used to drive at least two first clamps 133 to move toward or away from each other along the extension direction of the positioning plate 135. When it is necessary to release the workpiece, the third transmission member 136 can be used to drive at least two first clamps 133 to move away from each other along the axis direction of the positioning plate 135. Among them, the first driving device 131 can control the movement of at least two first clamps 133 to move toward or away from each other along the extension direction of the positioning plate 135 by forward or reverse rotation.

In some embodiments, the third transmission member 136 can be in various forms such as a lead screw, a lead screw nut, etc. In some embodiments, the third transmission member 136 includes a first lead screw, a second lead screw, and a transmission nut; the thread directions of the first lead screw and the second lead screw are opposite, and the first lead screw and the second lead screw are fixedly connected (such as key connection, pin connection). The first lead screw and the second lead screw are respectively connected to the two first clamps 133 in transmission. When the first driving device 131 drives the first lead screw and the second lead screw to rotate at the same time through the transmission nut of the third transmission member 136, due to the opposite thread directions, the two first clamps 133 can move closer to or away from each other. In some embodiments, the third transmission member 136 can be arranged in the positioning plate 135.

In some embodiments, the contact surfaces of at least two first clamping jaws 133 that contact the workpiece may be perpendicular to the extension direction of the positioning plate 135 so as to clamp the workpiece.

The second clamping jaw 134 is a component for clamping the workpiece. The first clamping jaw 133 and the second clamping jaw 134 clamp the workpiece in different directions.

In some embodiments, the second clamping jaw 134 may also be a columnar structure with a cross-section in a rectangular, square, trapezoidal, etc. The second clamping jaw 134 of a regular shape can press against the workpiece.

In some embodiments, the shape of the second clamping jaw 134 can be adapted to the shape of the workpiece. For example, when the workpiece is H-shaped or L-shaped, the surface of the second clamping jaw 134 can be the same plane as the contact surface of the workpiece.

In some embodiments, the second clamping jaw 134 may include one, and the second clamping jaw 134 may be provided on one of the first clamping jaws 133 of the at least two first clamping jaws 133. In some embodiments, the second clamping jaw 134 may include multiple, and one second clamping jaw 134 may be provided on each of the multiple first clamping jaws 133 of the at least two first clamping jaws 133. In some embodiments, the number of the second clamping jaws 134 may be the same as the number of the first clamping jaws 133, and the second clamping jaw 134 may be provided on each of the first clamping jaws 133 of the at least two first clamping jaws 133.

In some embodiments, at least one second clamping jaw 134 is slidably disposed on the contact surfaces of at least two first clamping jaws 133. The second clamping jaw 134 can move on the contact surfaces of the first clamping jaws 133 along an extension direction perpendicular to the positioning plate 135.

In some embodiments, at least one second clamping jaw 134 can be slidably connected to at least two first clamping jaws 133 through a fourth transmission member, and the second driving device 132 can drive at least one second clamping jaw 134 to move along the extension direction perpendicular to the positioning plate 135 through the fourth transmission member. When the workpiece needs to be clamped, the second driving device 132 can control at least one second clamping jaw 134 to approach the workpiece along the extension direction perpendicular to the positioning plate 135 and press against the workpiece. When the workpiece needs to be released, the second driving device 132 can control at least one second clamping jaw 134 to move away from the workpiece along the extension direction perpendicular to the positioning plate 135. Among them, the at least one second clamping jaw 134 can be controlled to approach or move away from the workpiece along the extension direction perpendicular to the positioning plate 135 by controlling the second driving device 132 to rotate forward or reverse.

In some embodiments, the fourth transmission member 137 may be in various forms such as a lead screw, a nut, etc. By using a lead screw as the fourth transmission member 137, the self-locking property of the lead screw can be used to maintain the clamping state without loosening, thereby preventing the workpiece from accidentally falling off.

In some embodiments, the fourth transmission member 137 (eg, a lead screw) may be disposed perpendicular to the extension direction of the positioning plate 135. In some embodiments, the fourth transmission member 137 (eg, a lead screw) may be disposed parallel to the contact surface of the first clamping jaw 133.

In some embodiments, the number of the fourth transmission member 137 (for example, a lead screw) is the same as the number of the first clamping jaws 133. In some embodiments, when two second clamping jaws 134 are provided, two driving devices 420 may be provided. The two driving devices 420 may be controlled by a PLC controller to enable the two second clamping jaws 134 to synchronously approach or move away from the workpiece along an extension direction perpendicular to the positioning plate 135; when the workpiece is a symmetrical part, such as an H-shaped steel, a square tube, etc., the two second clamping jaws 134 synchronously approach or move away from the workpiece, which can ensure that both ends of the workpiece are clamped or released at the same time.

In some embodiments, a brush 138 may be provided between the fourth transmission member 137 (eg, a lead screw) and the first clamp 133 to prevent sparks or particles from splashing onto the fourth transmission member 137 during welding and damaging the fourth transmission member 137 .

In some embodiments of this specification, by setting the first drive device 131 and the second drive device 132 with a brake function, the clamping state of the first clamp and the second clamp can be maintained without loosening when a problem occurs in the workpiece turning machine, thereby preventing the workpiece from accidentally falling off. By setting the fourth transmission member as a lead screw, the self-locking property of the lead screw can be used to maintain the clamping state of the second clamp, and double insurance can be achieved when the motor brake fails, thereby preventing the workpiece from accidentally falling off.

In some embodiments, the turning device further comprises a welding device. The welding device refers to industrial equipment used to perform welding, cutting, thermal spraying, etc.; the welding device may be an automatic welding device, such as a welding robot. The welding device may weld the welded parts to the workpiece. In some embodiments, the welding device may be located below the transplanting truss and on both sides of the mobile positioner. For more information about the welding device, see below.

Fig. 5 is an exemplary flow chart of a method for controlling a flip device according to some embodiments of this specification. As shown in Fig. 5, process 500 includes the following steps. In some embodiments, process 500 may be executed by a processor.

S510, obtaining finished product information of the workpiece, property information of the transplanting clamp and size information of the mobile positioner.

The finished product information of the workpiece refers to information related to the workpiece after welding. For example, the finished product information may include finished product size, finished product shape, etc. In some embodiments, the processor may automatically extract the finished product information of the workpiece by reading the design file of the finished workpiece (such as a two-dimensional drawing, a three-dimensional model) (such as extracting the size information in the design file through an image vectorization algorithm).

The attribute information of the transplanting jaw refers to the information related to the transplanting jaw; the attribute information of the transplanting jaw may include the size information of the transplanting jaw and the type of the transplanting jaw. The size information of the transplanting jaw refers to the information related to the size of the transplanting jaw, such as the length, width and height of the transplanting jaw. The type of the transplanting jaw may include a suction cup clamp, an outer clamping clamp, etc. A suction cup clamp refers to a clamp that uses air pressure or hydraulic pressure to suck on the surface of the workpiece; the suction cup clamp can suck on the surface of the workpiece to clamp the workpiece; it can be understood that when the workpiece is regular, such as a square tube or H-shaped steel, the size of the suction cup clamp can be less than or equal to the width or height of the workpiece. The outer clamping clamp refers to a clamp that wraps the outside of the workpiece to clamp the workpiece, such as a vise, a four-jaw chuck, etc.; the size of the outer clamping clamp can be greater than the width or height of the workpiece. In some embodiments, the type of the transplanting jaw matches the shape and size of the workpiece; if the workpiece is a square tube and its size is smaller than the size of the suction cup clamp, the outer clamping clamp is selected as the transplanting jaw.

The size information of the mobile positioner refers to the size information related to the mobile positioner; it may include the size of the positioner jaws.

In some embodiments, the processor can read the finished product information of the workpiece, the attribute information of the transplanting clamp and the size information of the mobile positioner through the memory. The finished product information of the workpiece, the attribute information of the transplanting clamp and the size information of the mobile positioner can be input by the system or manually in advance and stored in the memory.

S520, based on the finished product information, the size information of the mobile positioner and the attribute information of the transplanting jaws, determine the position of the positioner and the position of the transplanting jaws.

The positioner position refers to the position to which the positioner needs to be moved. In some embodiments, the positioner position can be represented by the coordinates of a reference coordinate system.

The position of the transplanting jaw includes the relative position of the transplanting jaw and the workpiece and the absolute position of the transplanting jaw. The relative position of the transplanting jaw and the workpiece refers to the position of the transplanting jaw on the workpiece when the transplanting jaw grabs the workpiece. The absolute position of the transplanting jaw can be the coordinate of the transplanting jaw in the reference coordinate system. For more information about the reference coordinate system, see below.

In some embodiments, the processor can read the position of the positioner and the position of the transplanting jaw through the memory. The position of the positioner and the position of the transplanting jaw can be input in advance by the system or manually and stored in the memory.

In some embodiments, the processor can determine the position of the positioner and the position of the transplanting jaw in a variety of ways based on the finished product information, the size information of the mobile positioner, and the attribute information of the transplanting jaw. For example, the processor can determine the position of the positioner and the position of the transplanting jaw by querying a first comparison table based on the finished product information, the size information of the mobile positioner, and the attribute information of the transplanting jaw. Among them, the first comparison table may include the correspondence between the finished product information, the size information of the mobile positioner, and the attribute information of the transplanting jaw and the position of the positioner and the position of the transplanting jaw. The first comparison table can be pre-constructed based on historical data or prior knowledge. For more information on determining the position of the positioner and the position of the transplanting jaw, see below.

S530, controlling at least one mobile positioner to move to a positioner position.

In some embodiments, the processor may control a third driving device on at least one mobile base to start, so as to drive at least one mobile positioner to slide on the guide rail, thereby moving at least one mobile positioner to a positioner position.

S540, based on the position of the transplanting clamp, control at least one transplanting clamp to grab the workpiece and place the workpiece at a target position.

The target position refers to the position where the workpiece is placed on the two mobile positioners. For example, the target position is: the edges at both ends of the length direction of the workpiece are located at the outer edges of the positioner jaws of the two mobile positioners.

In some embodiments, the processor can control the driving device of the transplanting truss to start based on the position of the transplanting clamp, so as to drive at least one transplanting clamp to move to the transplanting clamp position and grab the workpiece; after grabbing the workpiece, the processor can control the transplanting clamp and the workpiece to move to the target position together and place them on two mobile positioners.

In some embodiments, the processor can simultaneously control the mobile positioner to move to the positioner position, the transplanting jaw to grab the workpiece and place the workpiece to the target position. In some embodiments, the processor can confirm the movement duration of the positioner based on the positioner position and the movement speed of the positioner; confirm the movement duration of the transplanting jaw based on the position of the transplanting jaw and the movement speed of the transplanting jaw; and set the movement stop time of the mobile positioner and the transplanting jaw to the same time based on the movement duration of the positioner and the movement duration of the transplanting jaw. The processor can read the movement speed of the positioner and the movement speed of the transplanting jaw through the memory; the movement speed of the positioner and the movement speed of the transplanting jaw can be input in advance by the system or manually and stored in the memory. In some embodiments, the processor can set the movement stop time of the mobile positioner and the moment when the transplanting jaw is directly above the mobile positioner to the same time; it can avoid the transplanting jaw from colliding with the mobile positioner during movement.

In some embodiments of the present specification, by setting the movement stop time of the mobile positioner and the transplanting clamp to the same time, the mobile positioner and the transplanting clamp can be in place at the same time, thereby reducing the waiting time.

In some embodiments, after the welding of the workpiece is completed, the processor can control the two mobile positioners to automatically rotate back to the 0 degree position; control the positioner jaws to quickly release and control the transplanting jaws to grab the finished workpiece. The 0 degree position refers to the initial position of the two mobile positioners before rotation. For example, the 0 degree position can be the position where the arc openings of the two mobile positioners are located directly above the positioner jaws (the position of the two mobile positioners shown in FIG. 2A is the 0 degree position).

In some embodiments, based on the finished product information, the size information of the mobile positioner and the attribute information of the transplanting jaws, the position of the positioner and the position of the transplanting jaws are determined, including steps S521 to S523.

S521, based on the finished product information and the operating range of the welding equipment, determine the position where the positioner can clamp.

In some embodiments, before determining the position that the positioner can clamp, the processor determines a reference coordinate system based on the size information of the transplanting truss, the size information of the mobile positioner, and the finished product information. Multiple positions above or below, such as the positioner position and the transplanting clamp position, can be represented by position coordinates in the reference coordinate system.

A reference coordinate system refers to a coordinate system constructed for quantitatively describing the position of an object and changes in its position. For example, as shown in FIG1 , the reference coordinate system may be a Cartesian coordinate system with the x-axis as the main axis, such as a three-dimensional coordinate system with the x-axis as the main axis. The three-dimensional coordinate system may include a first axis (such as the x-axis), a second axis (such as the y-axis), and a third axis (such as the z-axis) that are perpendicular to each other, wherein the x-axis is the main axis, the first axis is parallel to the upper surface of the guide rail 300, the second axis is parallel to the two-dimensional plane formed by the upper surfaces of the two truss guide rails 220, and the third axis is perpendicular to the horizontal plane.

In some embodiments, the processor may determine a three-dimensional coordinate system with the x-axis as the main axis based on the size information of the transplanting truss, the size information of the mobile positioner, and the finished product information according to a unified zero-point coordinate.

In some embodiments, the reference coordinate system may include zero-point coordinates; zero-point coordinates refer to the origin coordinates of the reference coordinate system. The zero-point coordinates can be preset. Exemplarily, the center point of the upper surface of the positioning plate 135 on the left mobile positioner is used as the zero point of the y-axis and the z-axis; the center point of the two support legs 230 on the x-axis is used as the zero point of the x-axis. In some embodiments, when loading, the workpiece can be transported to a position corresponding to the zero-point coordinates; for example, regardless of the numerical value of the workpiece length, the workpiece is transported to a corresponding position, such as the corresponding position is that the center point of the workpiece length is located at the zero point of the x-axis.

In some embodiments of the present specification, the calculation process can be simplified by establishing a unified reference coordinate system.

The operating range of the welding equipment refers to the range of the operating space required by the welding equipment. The operating range of the welding equipment can be preset, such as the maximum operating range required by the welding equipment can be set as the operating range of the welding equipment.

In some embodiments, the operating range of the welding device can be determined according to welding parameters. Welding parameters refer to parameters used in welding, including welding gun posture, welding angle, welding path, etc. The processor can read the welding parameters through the memory; the welding parameters can be input in advance by the system or manually and stored in the memory.

In some embodiments, the welding parameters can be determined based on the finished product information of the workpiece through a second preset comparison table. The finished product information also includes the welded part information (length, width, height, material), and the overlap information of the welded part and the workpiece. The welded part refers to other parts welded to the workpiece. The overlap information of the welded part and the workpiece refers to the information related to the fit of the welded part and the workpiece after welding, including the fit position (such as the fit position is the fit of the welded part to the inside/outside of the workpiece, the thickness is parallel/vertical to the workpiece), and the fit size (such as the weld length 1cm). The second preset comparison table may include the correspondence between the finished product information and the welding parameters. The second preset comparison table can be pre-constructed based on historical data or prior knowledge. Exemplarily, a corresponding relationship in the second preset comparison table is: the fit size of the workpiece finished product information is 10mm, the fit position is fit to the outside of the workpiece; the welding parameters are: vertical welding is adopted, the weld position is the 凵 type of the fit position, and the welding path is the path corresponding to the weld position.

In some embodiments, the operating range of the welding device can be: the movement range of the welding device simulated after the welding device simulates the welding movement according to the welding parameters. For example, when the welding parameters are as described above, the operating range is the movement range of the welding gun of the welding device when the weld position is a U-shaped weld.

In some embodiments of the present specification, interference between the welding equipment and the positioner can be avoided by simulating the operating range of the welding equipment.

The position that the positioner can clamp refers to the position range that the positioner can clamp within the length range of the workpiece. The position that the positioner can clamp can be represented by the coordinate range of the aforementioned reference coordinate system.

In some embodiments, the processor can determine the position that the positioner can clamp based on the finished product information. For example, the positioner can clamp the position range of the finished product information excluding the first interference position. The first interference position refers to the area where there is interference from obstacles and the positioner jaws cannot clamp the workpiece, including the position range and safety distance of the welded parts. The safety distance is a pre-set reserved distance to avoid collisions caused by positioning accuracy or other reasons.

In some embodiments, the first interference position includes the operating range of the welding equipment; the processor can determine the first interference position based on the finished product information and the operating range of the welding equipment; based on the first interference position, determine the position that the positioner can clamp. In some embodiments, when the processor calculates the first interference position, it can only calculate the interference position on the x-axis coordinate; similarly, the positioner can clamp only the coordinate range of the x-axis. It can be understood that the mobile positioner can only move along the x-axis, so the positioner can clamp only the coordinate range of the x-axis, which can be positioned, and at the same time can simplify the data and facilitate data processing.

S522: Determine the position that the transplanting clamp can grasp based on the finished product information and the attribute information of the transplanting clamp. For more information about the attribute information of the transplanting clamp, see above.

The graspable position of the transplanting clamp refers to the range of positions that the transplanting clamp can grasp within the length range of the workpiece.

In some embodiments, the processor determines a second interference position based on the finished product information and the property information of the transplanting clamp, and determines a position where the transplanting clamp can grasp based on the second interference position. The second interference position refers to an area where the transplanting clamp cannot clamp the workpiece.

In some embodiments, the processor determines the size range of the fixture based on the type of the transplanting jaw; determines the second interference position based on the position range of the welded parts in the finished product information, the fixture size range and the safety distance; and determines the graspable position of the transplanting jaw based on the second interference position. The fixture size range refers to the size range required when the transplanting jaw clamps the workpiece. In some embodiments, when the transplanting jaw type is a suction cup fixture, the fixture size range is 0; when the transplanting jaw type is an outside clamping fixture, the fixture size range is the outside clamping fixture and the fixture safety distance. It should be noted that when the transplanting jaw type is a suction cup fixture, the suction cup fixture does not protrude from the length and width (x-axis, y-axis) range of the workpiece, so the fixture size range can be regarded as 0.

In some embodiments, the processor can also determine the second interference position in combination with the fixture size range and the position range of the welded parts. For example, when the workpiece is an H-beam, the welded parts 1 and 2 in the finished product information are both on the outside of the H-beam (the outside of the upper and lower wing plates); when the transplanting clamp type is a suction cup clamp, and the surface of the suction cup clamp in contact with the H-beam is the web of the H-beam (the vertical plate connecting the upper and lower wing plates), the clamp size range is 0; that is, even if the suction cup clamp is located at the position of the welded part 1 or the welded part 2, there is no interference. For another example, under the aforementioned conditions, when the transplanting clamp type is an outside clamping clamp, the second interference position needs to include the size of the outside clamping clamp and the size of the welded part 1 or the welded part 2.

The processor can determine a position range on the workpiece, except for the second interference position, as a position that can be grasped by the transplanting clamp.

In some embodiments, similar to the aforementioned first interference position, when the processor calculates the second interference position, it may only calculate the interference position on the x-axis coordinate; similarly, the position that the transplanting clamp can grasp only includes the coordinate range of the x-axis.

S523, based on the position that the positioner can clamp, the size information of the mobile positioner and the position that the transplanting clamp can grasp, determine the position of the positioner and the position of the transplanting clamp.

In some embodiments, the processor can determine the position of the positioner based on the position that the positioner can clamp and the size information of the mobile positioner; determine the third interference position based on the positioner position; and determine the position of the transplanting clamp based on the third interference position and the position that the transplanting clamp can grasp. For more information about this part, see below.

In some embodiments, the processor may randomly determine a position among the clampable positions of the positioner that can accommodate the size information of the mobile positioner as the positioner position.

In some embodiments, in response to the discontinuity of the position that the positioner can clamp, the processor can divide the position that the positioner can clamp into multiple sections; based on each section of the positioner can clamp, determine whether there is operating space for the positioner clamp; in response to the existence of operating space, determine the end position of the positioner can clamp as the positioner position.

Since the position that the positioner can clamp is confirmed based on the mobile positioner, transplanting clamp, and finished product information of the workpiece, the positioner can clamp discontinuously. For example, if the x-axis coordinate range corresponding to the positioner can clamp is (5~50cm, 80~150 cm, 190~400cm), 5~50cm and 80~150cm are discontinuous, and 80~150cm and 190~400cm are discontinuous. The processor can divide the positioner can clamp into multiple segments, and the range of each segment of the positioner can clamp is continuous. For example, the x-axis coordinate range of the position that the positioner can clamp is (5~50cm, 80~150 cm, 190~400cm). Based on the discontinuity of the positioner's clampable position, it is divided into three sections. The first section of the positioner's clampable position is 5~50cm; the second section of the positioner's clampable position is 80~150 cm; and the third section of the positioner's clampable position is 190~400cm.

The operating space of the positioner jaws refers to the operating space required for the positioner jaws to clamp the workpiece. In some embodiments, the processor can determine whether there is an operating space for the positioner jaws based on each section of the positioner's clampable positions combined with the size information of the mobile positioner. For example, if the size range corresponding to the positioner's clampable position on the left side of the welded part is larger than the size range of the operating space of the positioner jaws, then there is an operating space for the positioner jaws. For another example, the processor can determine the end position of the positioner's clampable position on the left side of the welded part (such as a position away from the welded part) as the positioner position. The processor can determine whether there is an operating space for the positioner jaws by comparing the coordinate range of the x-axis.

In some embodiments, the processor can respond to the current segment of the positioner's gripping position not satisfying the positioner's gripping claw's operating space, then move to the next adjacent segment of the positioner's gripping position and continue to judge until there is an operating space for the positioner's gripping claw, and then end the judgment. The processor can respond to each segment of the positioner's gripping position not satisfying the positioner's gripping position, and issue an early warning.

In some embodiments, if there are multiple end positions containing operating spaces, two end positions closest to two ends of the workpiece length among the multiple end positions are respectively confirmed as the positioner positions of the two mobile positioners.

Exemplarily, the x-axis coordinate range of the position that the positioner can clamp is (5~50cm, 80~150 cm, 190~400cm); the x-axis length range of the operating space is 30cm; then: the first section of the positioner has an operating space for the clamping position of 5~50cm, and the end positions include 5~35cm and 20~50cm; the second section of the positioner also has an operating space for the clamping position of 80~150cm, and the end positions include 80~120cm and 120~150cm; the third section of the positioner also has an operating space for the clamping position of 190~400cm, and the end positions include 190~220cm and 370~400cm; then the positioners of the two mobile positioners are divided into: the positioner position coordinates corresponding to the end positions of 5~35cm and 370~400cm (that is, the two end positions closest to the two ends of the workpiece length are selected).

In some embodiments, the processor can respond to the position that the positioner can clamp is continuous, and confirm the positions at both ends of the positioner can clamp as the positioner position. For example, the x-axis coordinate range of the positioner can clamp is 50cm~400cm; the x-axis length range of the operating space is 30cm; then, the positioner positions of the two mobile positioners are the coordinates corresponding to the operating space coordinate ranges of 50~80 cm and 370~400 cm respectively.

In some embodiments, the processor may determine whether the positions of the two mobile positioners relative to the symmetric feature of the workpiece satisfy the symmetric feature for positioner symmetry; in response to a negative result, the position of each group of mobile positioners is adjusted.

Symmetrical features refer to the symmetry of the workpiece relative to the two mobile positioners after they support the workpiece. Symmetrical features include positioner symmetry and positioner asymmetry. Positioner symmetry means that the distances from the two mobile positioners to the center of the length direction of the workpiece are equal, that is, they are symmetrical relative to the workpiece. Positioner asymmetry refers to the degree of asymmetry between the two mobile positioners. For example, positioner asymmetry includes the difference in distances from the two mobile positioners to the center of the workpiece and the distances from the two mobile positioners to the center of the workpiece. The processor can determine the symmetric features through calculations based on the positioner positions of the two mobile positioners, the finished product information of the workpiece, and the position of the workpiece (such as when loading as mentioned above, the workpiece is transported to the position corresponding to the zero point coordinate).

In some embodiments, in response to the above judgment result being no, the processor calculates whether the symmetry condition is met; if the symmetry condition is met, the position of each group of mobile positioners is adjusted based on the symmetry feature.

Meeting the symmetry condition means that after adjusting the position of the positioner by a preset adjustment method, the two mobile positioners are symmetrical relative to the workpiece (i.e., the positioners are symmetrical). In some embodiments, the preset adjustment method may be to adjust the mobile positioner that is far or near the center of the workpiece to a position that is symmetrical with the other mobile positioner. In some embodiments, the processor may determine whether the symmetry condition is met by the symmetrical position of each group of mobile positioners relative to the center of the workpiece and whether there is operating space for the positioner jaws.

In some embodiments, the operating space of the positioner jaws also includes that the positioner spacing of the two mobile positioners must meet a first preset spacing requirement. The first preset spacing requirement can be pre-constructed based on historical data or prior knowledge. For example, the first preset spacing requirement is: the positioner spacing is greater than one-third of the workpiece length.

In some embodiments, in response to the symmetry condition not being met, the processor maintains the original position of the positioner without making any adjustment.

In some embodiments, in response to not meeting the symmetry condition, the processor performs multiple rounds of adjustment on the positions of the two mobile positioners, and the adjustment end condition is that the positioner asymmetry is minimized and the positioner spacing is maximized. Minimum positioner asymmetry means that the distance difference between the two mobile positioners and the center of the workpiece is minimized.

FIG. 6 is an exemplary schematic diagram divided into multiple sections according to some embodiments of the present specification.

For example, as shown in FIG6 , when S is a safety distance, in the range of the length direction of the workpiece 400, the processor divides the positioner clampable position into three sections D, E, and F based on the welded parts; each section is a continuous range, and the three sections are not continuous. The positioners of the two mobile positioners 100-1 and 100-2 are at the left end of the D section and the right end of the F section, respectively.

When two mobile positioners are close to the middle of the workpiece, or the positioners are very asymmetric, the workpiece may tilt unexpectedly due to the increase in force at both ends of the workpiece during the flipping process. In some embodiments of this specification, by adjusting the position of the mobile positioner, the position of the positioner can be made to tend to be located at both ends of the workpiece and symmetrical, and the force of the workpiece can be reasonably adjusted to avoid the accident of the workpiece tilting.

The third interference position refers to the area where the positioner may collide with the transplanting clamp. In some embodiments, the processor can identify the positioner position and the positioner safety distance as the third interference position. The positioner safety distance can be preset.

In some embodiments, the processor determines the range of the transplanting clamp's graspable position excluding the third interference position as the updated transplanting clamp's graspable position based on the third interference position and the transplanting clamp's graspable position; and randomly determines the transplanting clamp's position based on the updated transplanting clamp's graspable position.

In some embodiments, when two or more transplanting jaws are provided, the processor can, in response to the discontinuity of the updated graspable position of the transplanting jaw, divide the updated graspable position of the transplanting jaw into multiple segments; based on each segment of the updated graspable position of the transplanting jaw, determine whether there is an operating space for the transplanting jaw; in response to the existence of the operating space, determine the end position of the updated graspable position of the transplanting jaw as the transplanting jaw position.

In some embodiments, the processor preferentially starts from the position of the positioner and divides the updated graspable position of the transplanting gripper into multiple sections; that is, preferentially considers that the transplanting gripper is located between the two mobile positioners.

In some embodiments, the processor can determine the symmetric features of the positions of the two transplanting jaws relative to the workpiece, and adjust the position of the transplanting jaws of each set of transplanting jaws based on the symmetric features. The manner of adjusting the position of the transplanting jaws of each set of transplanting jaws is similar to the manner of adjusting the position of the positioner of each set of mobile positioners, and will not be described in detail.

In some embodiments, the spacing between the two transplanting jaws must meet a second preset spacing requirement. The second preset spacing requirement can be pre-constructed based on historical data or prior knowledge. In some embodiments, the second preset spacing requirement is looser than the first preset spacing requirement; for example, when the first preset spacing requirement is that the spacing of the positioner is greater than one-third of the length of the workpiece, the second preset spacing requirement is that the spacing between the two transplanting jaws is greater than one-quarter of the length of the workpiece. It should be noted that the two transplanting jaws only clamp the workpiece and do not rotate, and the spacing between the two transplanting jaws has little effect, so it is sufficient to ensure that the clamping force of the transplanting jaws is sufficient.

In some embodiments, in response to the workpiece being placed at the target position, the processor controls the positioner jaws to clamp the workpiece; determines whether the workpiece is clamped; and in response to the workpiece being clamped, controls the two mobile positioners to rotate synchronously to flip the workpiece.

In some embodiments, the positioner jaws are provided with a sensor component (eg, a metal sensor, a pressure sensor, etc.). When the workpiece is placed in the positioner jaws, the sensor component can send out in-position information, indicating that the workpiece has been placed in the positioner jaws, that is, the workpiece has been placed in the target position.

In some embodiments, the processor can control the positioner jaws to clamp the workpiece in a variety of ways. For example, the processor can control the first drive device to start, so as to drive at least two first jaws to move closer to each other along the axis direction of the positioning plate to clamp the workpiece. For another example, the processor can control at least one second drive device to start, so as to drive at least one second jaw to move closer to the workpiece along a direction perpendicular to the axis of the positioning plate to clamp the workpiece.

For more information about the first driving device, the second driving device, the first clamping jaw, the second clamping jaw, and the positioning plate, please refer to FIG. 4 and related descriptions.

In some embodiments, the processor can determine whether the workpiece is clamped in a variety of ways. For example, the processor can obtain pressure data through a pressure sensor provided on the first jaw and/or the second jaw, and determine whether the workpiece is clamped based on the pressure data. For example, when the pressure data of the first jaw and/or the second jaw is greater than a pressure threshold, it is determined that the workpiece is clamped. The pressure threshold can be set based on historical data or historical experience. For another example, the processor can obtain distance data through a distance sensor provided on the first jaw and/or the second jaw, and determine whether the workpiece is clamped based on the distance data. For example, when the distance between the first jaw and the workpiece meets the distance threshold, it is determined that the workpiece is clamped.

In some embodiments, the processor can determine whether the workpiece is clamped in a variety of ways based on the position of the clamp and the motor output torque. For example, the processor can compare the motor output torque of the clamps at different positions (e.g., the first clamp and/or the second clamp) with the output torque threshold; in response to the motor output torque of all the clamps being greater than the output torque threshold, the workpiece is clamped; otherwise, the workpiece is not clamped. The position of the clamp can be acquired based on the distance sensor and sent to the processor. The motor output torque can be sent to the processor by the drive device (e.g., the first drive device and/or the second drive device). The output torque threshold can be set based on historical experience, and the output torque threshold corresponding to the clamps at different positions can be different.

In some embodiments, the processor can determine the first position information of at least two first jaws and/or the second position information of at least two second jaws based on the drive parameters and the transmission parameters in response to the distance data satisfying the first preset condition; obtain the output torque of the first drive device in response to the first position information satisfying the second preset condition; and/or obtain the output torque of the second drive device in response to the second position information satisfying the third preset condition; and determine that the target workpiece is clamped in response to the output torque of the first drive device satisfying the fourth preset condition and/or the output torque of the second drive device satisfying the fifth preset condition.

The driving parameters refer to parameters related to the first driving device and/or the second driving device. For example, the driving parameters may include the number of motor rotations, etc.

The transmission parameters refer to parameters related to the third transmission member and/or the fourth transmission member. For example, the transmission parameters may include the transmission ratio of the third transmission member and/or the fourth transmission member, the pitch and number of threads of the lead screw, etc.

In some embodiments, the processor can read the transmission parameters through the memory. The transmission parameters can be input by the system or manually in advance and stored in the memory.

The first position information refers to information related to the position of the first gripper. For example, the first position information may include coordinate information of the first gripper in a reference coordinate system.

The second position information refers to information related to the position of the second gripper. For example, the second position information may include coordinate information of the second gripper in the reference coordinate system.

In some embodiments, the processor can calculate the distances moved by the first clamp and the second clamp in various directions based on the driving parameters and the transmission parameters, and further calculate the first position information and the second position information.

In some embodiments, the processor may obtain the output torque of the first drive device in response to the first position information satisfying a second preset condition; and/or obtain the output torque of the second drive device in response to the second position information satisfying a third preset condition.

The second preset condition is a preset condition for determining whether to obtain the output torque of the first drive device. For example, the second preset condition may be that the first clamp is located at a first specified position. The first specified position may be a specified position of the first clamp in a reference coordinate system. The first specified position may be determined based on the width of the workpiece.

The third preset condition is a preset condition for determining whether to obtain the output torque of the second drive device. For example, the third preset condition may be that the second clamp is located at a second specified position. The second specified position may be a specified position of the second clamp in a reference coordinate system. The second specified position may be determined based on the height of the workpiece.

In some embodiments, the processor may calculate the corresponding output torque based on the power and rotation speed of the first driving device and the second driving device.

In some embodiments, the processor may determine that the workpiece is clamped in response to the output torque of the first driving device satisfying a fourth preset condition and/or the output torque of the second driving device satisfying a fifth preset condition.

The fourth preset condition is a preset condition for determining whether the first clamping jaw clamps the workpiece. For example, the fourth preset condition may be that the output torque of the first driving device is greater than the first output torque threshold. The first output torque threshold may be set based on historical experience.

The fifth preset condition is a preset condition for determining whether the second clamping jaw clamps the workpiece. For example, the fifth preset condition may be that the output torque of the second drive device is greater than the second output torque threshold. The second output torque threshold may be set based on historical experience.

In some embodiments of the present specification, it is first possible to determine whether the first jaw is close to or in contact with the workpiece based on the distance data obtained by the distance sensor. When the first jaw is close to or in contact with the workpiece, it is possible to further determine whether the first jaw and the second jaw are clamped on the workpiece based on the positions of the first jaw and the second jaw, and the output torque of the first drive device and the second drive device. Through double determination, the safety of the workpiece flipping process can be further improved, and the probability of safety accidents can be reduced.

In some embodiments, the processor can control the start-up of the drive components of the two mobile positioners, and drive the C-shaped flipping component in the flipping component to rotate along the central axis of the arc-shaped opening of the C-shaped flipping component through the engagement transmission between the second transmission component in the drive component and the tooth edge, thereby flipping the workpiece.

In some embodiments, the processor may also output a PLC synchronization signal through the PCL controller to control the two mobile positioners to rotate synchronously to achieve synchronous flipping of the workpiece.

In some embodiments, the processor may determine the rotation angle of the positioner based on the welding position requirement; and control the two mobile positioners to rotate synchronously based on the rotation angle of the positioner.

The welding position requirement refers to the requirement information related to the part to be welded on the workpiece. For example, the welding position requirement may be that the bottom surface of the workpiece needs to be welded. The welding position requirement may be determined by manual input. The positioner rotation angle refers to the angle that the positioner needs to rotate.

In some embodiments, the rotation angle of the positioner may be the rotation angle of the rotated positioner relative to the horizontal positioner. For example, when the positioner is in a horizontal state, the radial direction perpendicular to the extension direction of the positioning plate may be used as the reference direction; when the positioner is rotated, the angle between the radial direction perpendicular to the extension direction of the positioning plate and the reference direction may be determined as the rotation angle of the positioner.

In some embodiments, the processor may determine the rotation angle of the positioner based on the welding position requirement. For example, the processor may determine the angle that the positioner needs to rotate when the welding position faces a fixed direction as the rotation angle of the positioner.

In some embodiments, the processor may drive the flip assembly via the driving assembly to rotate the positioner to a positioner rotation angle.

In some embodiments of the present specification, the rotation angle of the positioner is determined based on the welding position requirements, and the rotation of the positioner is controlled based on the rotation angle of the positioner, so that the workpiece can be rotated to a direction that is easy to weld, thereby improving welding efficiency and welding quality.

In some embodiments, the mobile positioner further includes an angle sensor and a drive assembly, and the angle sensor is configured to obtain angle data of the mobile positioner; the control method further includes: during the rotation of the two mobile positioners, based on the angle data, determining the rotation angle difference of the two mobile positioners; in response to the rotation angle difference being greater than a first preset threshold, controlling the two mobile positioners to stop rotating and issuing an early warning; and/or determining the torque difference based on the torque output by each of the drive assemblies on the two mobile positioners; and/or in response to the torque difference being greater than a second preset threshold, controlling the two mobile positioners to stop rotating and issuing an early warning. For more information about the drive assembly, see above.

An angle sensor refers to a device used to measure or monitor angle or position changes. An angle sensor may include a rotary encoder, a position sensor, a gyroscope, etc. In some implementations, the angle sensor is configured to obtain angle data of a mobile positioner.

The angle data may include the rotation angle of each mobile positioner itself, the relative or absolute position angle data between two mobile positioners. In some implementations, the angle sensor is communicatively connected to the processor, and the processor obtains the angle data based on the angle sensor.

The rotation angle difference refers to the difference in the rotation angles of the two mobile positioners.

In some embodiments, the processor can determine the rotation angles of the two mobile positioners based on the angle data, and then obtain the rotation angle difference. For example, during the rotation of the two mobile positioners, the angle sensor obtains the angle data of the two mobile positioners respectively, and the processor can determine the rotation angle difference of the two mobile positioners based on the angle data.

The first preset threshold refers to a preset threshold used to determine whether the rotation angles of the two mobile positioners are consistent. The first preset threshold can be set based on historical experience.

In some embodiments, in response to the rotation angle difference being greater than a first preset threshold, the processor can control the two mobile positioners to stop rotating and issue an early warning, wherein the early warning can be various sound and light alarms.

In some embodiments, the processor may further control the drive assembly corresponding to the mobile positioner with a faster rotation speed to reverse in response to the rotation angle difference being not greater than a first preset threshold value, so as to reduce the rotation angle difference between the two mobile positioners.

The torque difference refers to the difference in output torque of the two mobile positioners.

In some embodiments, the processor may determine the torque difference based on the torque output by each of the drive assemblies on the two mobile positioners. For example, the processor may determine the output torque of the two mobile positioners by querying a third preset comparison table based on the operating parameters of the drive assembly. For example, the third preset comparison table includes a correspondence between the operating parameters of the drive assembly and the output torque of the mobile positioner.

The operating parameters of the drive component refer to parameters related to the operation of the drive component. For example, the operating parameters of the drive component may include determining the voltage, current, power, speed, output torque, etc. of the component. The processor may determine the operating parameters by reading the operating data of the drive component.

The second preset threshold is a preset threshold used to determine whether the output torques of the two mobile positioners differ too much. The second preset threshold can be set or adjusted based on historical experience.

In some embodiments, in response to the torque difference being greater than a second preset threshold, the processor may control the two mobile positioners to stop rotating and issue an early warning.

In some embodiments, the processor may further control the two mobile positioners to stop rotating and issue an early warning in response to the rotation angle difference being greater than a first preset threshold and the torque difference being greater than a second preset threshold.

In some embodiments, the processor may further determine a modified torque difference based on the symmetry feature, and determine a second preset threshold based on the modified torque difference. For more information on the symmetry feature, see above.

Correction torque difference refers to the torque adjustment performed during the operation of two mobile positioners to ensure the stability and synchronization of the workpiece during the flipping process.

In some embodiments, the positioner asymmetry may be positively correlated with the corrected torque difference, and the greater the positioner asymmetry, the greater the corrected torque difference. In some embodiments, the processor may determine the corrected torque difference based on the positioner asymmetry. For example, the processor may determine the corrected torque difference based on the positioner asymmetry by querying a fourth preset comparison table. The fourth preset comparison table may include a correspondence between the positioner asymmetry and the corrected torque difference. The fourth preset comparison table may be pre-constructed based on historical data or prior knowledge. For more information on the positioner asymmetry, see above.

In some embodiments, the symmetry feature also includes a center of gravity symmetry feature. The center of gravity symmetry feature refers to the inclination of the center of gravity of the workpiece in the length direction of the workpiece after the two mobile positioners support the workpiece. The center of gravity symmetry feature includes center of gravity symmetry, center of gravity asymmetry, etc. The center of gravity asymmetry can include the center of gravity asymmetry distance.

Gravity symmetry is a description of whether the center of gravity of a workpiece is located on its axis of rotation or centerline of symmetry. For example, if the distance from the welded part to the center of the workpiece is 0, it is considered symmetrical.

The asymmetry of the center of gravity refers to the degree of imbalance of the center of gravity of the workpiece. In some implementations, the asymmetry of the center of gravity can be calculated based on the product of the weight of the welded part and the distance from the welded part to the center of the workpiece. The weight of the welded part can be extracted from the design file of the finished workpiece.

In some implementations, when the processor determines the center of gravity symmetry feature, for each rotation of the mobile positioner, the current weight of the welded part is considered separately. For example, when the mobile positioner rotates for the first time, no other additional parts are welded on the workpiece, and the center of gravity symmetry feature is center of gravity symmetry. For another example, when the positioner rotates for the second time, a part 1 is welded on the left side of the workpiece, and the positioner position is tilted to the right (i.e., the left side of the mobile positioner is farther from the center), at this time, the correction torque difference is the sum of the center of gravity asymmetry and the positioner asymmetry (understandably, the welded part 1 exacerbates the degree of asymmetry).

In some embodiments, the processor may determine the second preset threshold value through a preset algorithm based on the corrected torque difference. For example, the preset algorithm is to determine the sum of the preset torque difference value corresponding to the second preset threshold value and the corrected torque difference as the second preset threshold value; for another example, the preset algorithm is to determine the second preset threshold value by weighted summing the preset torque difference value corresponding to the second preset threshold value and the corrected torque difference; the weight may be preset.

In some implementations, the processor may determine the second preset threshold based on the torque model.

FIG. 7 is an exemplary schematic diagram of determining a second preset threshold according to some embodiments of the present specification.

In some embodiments, as shown in Fig. 7, the processor can predict the second preset threshold 730 through the torque model 720 based on the positioner position 711 and the finished product information 712 of the workpiece. For more information about the positioner position and the finished product information of the workpiece, see above.

The torque model is a model for determining the second preset threshold. In some embodiments, the prediction model may be a machine learning model. In some embodiments, the prediction model may include a recurrent neural network (RNN) model, etc.

In some embodiments, the input of the torque model may include the position of the positioner and the finished product information of the workpiece.

In some embodiments, the output of the torque model is a second preset threshold.

In some embodiments, the processor may train the initial torque model based on a plurality of labeled training samples to obtain a trained torque model. For example, the processor may input the training samples into the initial torque model, construct a loss function based on the output and labels of the initial torque model, iteratively update the parameters of the initial torque model based on the loss function, and when the loss function meets the preset conditions, the model training is completed to obtain a trained torque model. The preset conditions may be that the loss function converges, the number of iterations reaches a threshold, etc.

In some embodiments, the training sample is better historical data; the training label is the historical second preset threshold corresponding to the better historical data.

Historical data refers to historical data records about positioner operation and welding work, including but not limited to historical positioner positions, historical workpiece finished product information, historical second preset thresholds, and historical rotation angle differences.

In some embodiments, the processor may score the second preset threshold corresponding to the historical data and determine the better historical data based on the score. For example, the processor selects the historical data with a higher score than the second preset threshold as the better historical data.

Scoring refers to the process of evaluating and scoring each piece of historical data.

In some embodiments, the processor may score based on the degree of adaptation between the rotation angle difference corresponding to the historical data and the second preset threshold. For example, when the second preset threshold and the rotation angle difference are adapted, the second preset threshold score is high; for another example, when the second preset threshold is large and the rotation angle difference is small, the second preset threshold score is low; for another example, when the second preset threshold is small and the rotation angle difference is large, the second preset threshold score is low.

In some embodiments of the present specification, the second preset threshold is determined by a torque model, which can not only help adjust the operation of the two mobile positioners to ensure the balance of torque on both sides, but also avoid damage to the workpiece or the two mobile positioners when the torque difference exceeds the second preset threshold, thereby preventing potential mechanical damage and reducing maintenance costs caused by sudden failures.

Some embodiments of this specification propose a control method for a flipping device, which is simple to operate, highly intelligent, and can improve welding efficiency and welding quality; it can safely clamp and flip the workpiece in a variety of ways with high reliability.

It should be noted that the above description of process 500 is only for example and explanation, and does not limit the scope of application of this specification. For those skilled in the art, various modifications and changes can be made to process 500 under the guidance of this specification. However, these modifications and changes are still within the scope of this specification.

The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

It should be noted that in order to simplify the description disclosed in this specification and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this specification, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the subject of this specification are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims (10)

1. A flipping apparatus, comprising: the device comprises a transplanting truss, a guide rail, two movable position shifters arranged on the guide rail and a processor;

each movable positioner comprises a turnover assembly, a movable base, positioner clamping jaws for clamping a workpiece and a driving assembly, wherein the movable base is slidably connected with the guide rail so that the movable positioner can move along the guide rail; the overturning assemblies of the two movable position changing machines are coaxially arranged;

The transplanting truss comprises at least one transplanting clamping jaw for grabbing the workpiece;

The processor is configured to:

acquiring finished product information of the workpiece, attribute information of the transplanting clamping jaw and size information of the movable positioner;

Determining a positioner position and a transplanting jaw position based on the finish information, the size information of the mobile positioner, and the attribute information of the transplanting jaw;

Controlling at least one of the mobile indexers to move to the indexer location;

Controlling at least one transplanting clamping jaw to grasp the workpiece and place the workpiece to a target position based on the transplanting clamping jaw position;

determining a torque difference based on the torque output by each of the drive assemblies on both of the mobile displacers;

And controlling the two movable displacers to stop rotating and sending out early warning in response to the torque difference value being larger than a second preset threshold value.

2. The tipping apparatus of claim 1, wherein the tipping assembly comprises a C-type tipping member, a securing member, and a drive assembly;

The radial inner side of the C-shaped overturning piece is provided with the fixing piece, and the positioner clamping jaw is fixedly connected with the C-shaped overturning piece through the fixing piece;

The periphery of the radial outer side of the C-shaped overturning piece is provided with a toothed edge, and the driving assembly is meshed with the toothed edge; the driving assembly drives the C-shaped overturning piece to rotate along the central axis of the toothed edge through meshing transmission with the toothed edge.

3. The tipping device of claim 1, wherein the positioner jaw comprises a first drive device, a second drive device, at least two first jaws, at least one second jaw, and a positioning plate;

The first driving device can drive the at least two first clamping jaws to move close to or away from each other along the axial direction of the positioning plate;

The second driving device can drive the at least one second clamping jaw to move along the extending direction perpendicular to the locating plate.

4. The tipping apparatus of claim 1, wherein the transplanting truss further comprises at least two truss rails, support legs, transverse rails, and jaw mounts;

the supporting legs are fixed with the truss guide rails;

the extending direction of the transverse guide rail is parallel to the extending direction of the guide rail;

The transplanting clamping jaw is slidably arranged on the clamping jaw mounting part, so that the transplanting clamping jaw can move along the direction perpendicular to the transverse guide rail;

The clamping jaw mounting piece is slidably arranged on the transverse guide rail, so that the clamping jaw mounting piece and the transplanting clamping jaw can move along the transverse guide rail together;

At least two truss guide rails are arranged in parallel with each other, and the extending direction of the at least two truss guide rails is perpendicular to the extending direction of the guide rails; the transverse guide rail is slidably arranged between at least two truss guide rails, and the transverse guide rail, the clamping jaw mounting piece and the transplanting clamping jaw can move along the truss guide rails together.

5. A control method applied to the flipping equipment of any one of claims 1 to 4, characterized in that the control method is executed by the processor and comprises:

acquiring finished product information of the workpiece, attribute information of the transplanting clamping jaw and size information of the movable positioner;

Determining a positioner position and a transplanting jaw position based on the finish information, the size information of the mobile positioner, and the attribute information of the transplanting jaw;

Controlling at least one of the mobile indexers to move to the indexer location;

Controlling at least one transplanting clamping jaw to grasp the workpiece and place the workpiece to a target position based on the transplanting clamping jaw position;

determining a torque difference based on the torque output by each of the drive assemblies on both of the mobile displacers;

And controlling the two movable displacers to stop rotating and sending out early warning in response to the torque difference value being larger than a second preset threshold value.

6. The method of claim 5, wherein the flipping unit further comprises a welding unit; determining a positioner position and a transplanting jaw position based on the finish information, the dimensional information of the mobile positioner, and the attribute information of the transplanting jaw, comprising:

determining a clamping position of the positioner based on the finished product information and the operation range of the welding equipment;

Determining a grabbing position of the transplanting clamping jaw based on the finished product information and the attribute information of the transplanting clamping jaw;

Determining the positioner position and the transplanting jaw position based on the positioner grippable position, the dimensional information of the mobile positioner, and the transplanting jaw grippable position.

7. The method of claim 6, wherein prior to determining the positioner grippable position, the control method further comprises:

And determining a reference coordinate system based on the size information of the transplanting truss, the size information of the movable positioner and the finished product information.

8. The method of claim 6, wherein the control method further comprises:

Dividing the positioner grippable position into segments in response to the positioner grippable position being discontinuous;

Judging whether an operation space of the clamping jaw of the positioner exists or not based on the clamping position of each section of the positioner;

in response to the operating space being present, an end position of the positioner grippable position is determined as the positioner position.

9. The method of claim 5, wherein the control method further comprises:

Controlling the positioner jaw to clamp the workpiece in response to the workpiece having been placed in the target position;

Judging whether the workpiece is clamped or not;

And controlling the two movable displacers to synchronously rotate so as to turn over the workpiece in response to the workpiece being clamped.

10. The method of claim 5, wherein the mobile positioner further comprises an angle sensor configured to acquire angle data of the mobile positioner; the control method further includes:

determining a rotation angle difference value of the two mobile displacers based on the angle data;

And controlling the two movable displacers to stop rotating and sending out early warning in response to the rotation angle difference value being larger than a first preset threshold value.