CN110597094A - Processing control method, system, readable storage medium and device - Google Patents
Processing control method, system, readable storage medium and device Download PDFInfo
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- CN110597094A CN110597094A CN201910853984.0A CN201910853984A CN110597094A CN 110597094 A CN110597094 A CN 110597094A CN 201910853984 A CN201910853984 A CN 201910853984A CN 110597094 A CN110597094 A CN 110597094A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
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- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention relates to a processing control method, a system, a readable storage medium and equipment, belonging to the technical field of industrial automation.A production line can be provided with an edge control panel, the edge control panel is connected with carrying equipment and processing equipment on the production line through data interfaces, the edge control panel controls the production flow on the production line by adopting an edge computing technology to obtain first position information of an object to be processed, so that the carrying equipment is driven to reach the position of the object to be processed, and a grabbing device of the carrying equipment is controlled to grab the object to be processed; the edge control board acquires second position information of the processing equipment so as to drive the carrying equipment to reach the position of the processing equipment, and controls a gripping device of the carrying equipment to place the object to be processed at the processing area of the processing equipment; the edge control plate can realize that the processing control process is directly controlled on the site of the production line, the control is more convenient and faster, and the influence caused by data transmission delay is reduced.
Description
Technical Field
The invention relates to the technical field of industrial automation, in particular to a processing control method, a processing control system, a readable storage medium and a device.
Background
In recent years, industrial automation production is becoming more and more popular, and under the control of a control program, a processing device on a factory assembly line can realize automatic processing of products.
At present, the controlling program of the processing device on the factory assembly line is generally designed in advance and solidified in the processing device, after configuration debugging, different processing devices of the whole assembly line can coordinate operation, produce corresponding products, but the operation of the whole assembly line is generally controlled by the control center of the factory, and the control center is far away from each assembly line in the actual space, when the number of the assembly lines is large, the load of the control center is increased, the control flow processing of each assembly line can not be timely, for the situation that the control center is arranged on the cloud server, the basic data volume of the assembly line is large, the transmission time consumption is long, even delay can be caused for assembly line control, and the automatic processing efficiency is low.
Disclosure of Invention
Based on this, it is necessary to provide a processing control method, a system, a readable storage medium and a device for solving the problems of long time consumption and low automatic processing efficiency of the traditional control flow process of the factory assembly line.
A machining control method comprising the steps of:
the edge control board acquires first position information of the object to be processed, drives the carrying equipment to reach the position of the object to be processed according to the first position information, and controls a gripping device of the carrying equipment to grip the object to be processed;
the edge control board acquires second position information of the processing equipment, drives the carrying equipment to reach the position of the processing equipment according to the second position information, and controls a gripping device of the carrying equipment to place the object to be processed at the processing area of the processing equipment;
the edge control panel controls the processing equipment to process the object to be processed;
the edge control plate is connected with the carrying equipment and the processing equipment through data interfaces.
According to the processing control method, the edge control panel can be arranged on the production line, the edge control panel is connected with the carrying equipment and the processing equipment on the production line through data interfaces, the edge control panel controls the production flow on the production line by adopting an edge computing technology, first position information of an object to be processed is obtained, the carrying equipment is driven to reach the position of the object to be processed, and a grabbing device of the carrying equipment is controlled to grab the object to be processed; the edge control board acquires second position information of the processing equipment so as to drive the carrying equipment to reach the position of the processing equipment, and controls a gripping device of the carrying equipment to place the object to be processed at the processing area of the processing equipment; the edge control panel controls the processing equipment to process the object to be processed; can realize through the edge control board that the processing control process is directly controlled at the production water line scene, compare in the tradition control center through control convenient and fast more, reduce the influence that data transmission postpones to bring, it is consuming time to shorten control flow to handle, the edge control board can carry out supervisory control to the production line of limited strip moreover, can avoid control load too big, improves machining efficiency.
In one embodiment, the step of driving the carrier to the location of the processing tool based on the second location information comprises the steps of:
and the edge control board acquires the working state information of the processing equipment, and drives the carrying equipment to reach the position of the processing equipment according to the second position information if the working state information indicates that the processing equipment is idle.
According to the processing control method, the object to be processed can be smoothly conveyed to the processing equipment, and the problem that the carrying equipment cannot convey the object to be processed when the processing equipment is occupied is avoided.
In one embodiment, the machining control method further includes the steps of:
and if the working state information indicates that the processing equipment is occupied, the edge control board acquires third position information of a processing idle area, drives the carrying equipment to reach the position of the processing equipment according to the third position information, and controls a gripping device of the carrying equipment to place the object to be processed in the processing idle area, wherein the processing idle area corresponds to the processing equipment.
According to the processing control method, the object to be processed is placed in the processing idle area, processing is carried out when the processing equipment is idle, and the object to be processed is prevented from being located in other positions of the production line and influencing the production process.
In one embodiment, the step of the edge control board controlling the processing equipment to process the object to be processed comprises the following steps:
the edge control panel controls the processing equipment to fix the object to be processed through the fixing device;
the edge control board obtains a processing program of the object to be processed, issues the processing program to the processing equipment, and drives the processing equipment to process the object to be processed according to the processing program.
According to the processing control method, the edge control board can control the processing equipment to fix the object to be processed, the object to be processed is prevented from moving, the processing program is issued to the processing equipment and used for processing the object to be processed, the processing scheme can be modified and perfected in time through the issuing mode of the processing program, and the processing of the object to be processed with various requirements is facilitated.
In one embodiment, after the step of controlling the processing device to process the object to be processed by the edge control board, the method further includes the following steps:
the edge control panel acquires feedback information of the machining equipment for finishing machining, and triggers the machining equipment to loosen the machined object through the fixing device according to the feedback information;
the edge control board controls a gripping device of the carrying equipment to grip the processed object;
the edge control board acquires the position information of the moving target of the processed object and drives the carrying equipment to reach the position of the moving target according to the position information of the moving target.
According to the processing control method, the position information of the moving target is sent to the carrying equipment, and the carrying equipment takes the position information of the moving target as a target and reaches the position of the moving target to finish the current processing process.
In one embodiment, the step of controlling the gripping device of the carrying apparatus to grip the object to be processed includes the steps of:
the method comprises the steps of obtaining a first position coordinate of a gripping device and a second position coordinate of an object to be processed, obtaining a moving path according to the first position coordinate and the second position coordinate, moving the gripping device according to the moving path, and controlling the gripping device to grip the object to be processed.
According to the processing control method, when the carrying equipment reaches the position of the object to be processed, the edge control plate obtains the first position coordinate of the gripping device and the second position coordinate of the position of the object to be processed, determines the moving path according to the relation between the two position coordinates, controls the gripping device to move along the moving path, and grips the object to be processed, and the object to be processed can be accurately gripped by the method.
In one embodiment, the carrying device is driven by a servo motor, the first position information comprises position information of the servo motor when the gripping device grips the object to be processed, and the second position information comprises position information of the servo motor when the gripping device places the object to be processed at the processing area of the processing device.
According to the processing control method, when the carrying equipment reaches the position of the object to be processed, the edge control plate obtains the first position coordinate of the gripping device and the second position coordinate of the position of the object to be processed, determines the moving path according to the relation between the two position coordinates, controls the gripping device to move along the moving path, and grips the object to be processed, and the object to be processed can be accurately gripped by the method.
A processing control system is arranged in an edge control panel, the edge control panel is connected with a carrying device and a processing device through a data interface, and the processing control system comprises:
the object grabbing unit is used for acquiring first position information of the object to be processed, driving the carrying equipment to reach the position of the object to be processed according to the first position information, and controlling a grabbing device of the carrying equipment to grab the object to be processed;
the carrying moving unit is used for acquiring second position information of the processing equipment, driving the carrying equipment to reach the position of the processing equipment according to the second position information, and controlling a gripping device of the carrying equipment to place the object to be processed at the processing area of the processing equipment;
and the processing execution unit is used for controlling the processing equipment to process the object to be processed.
According to the processing control system, the edge control panel can be arranged on the production line, the edge control panel is connected with the carrying equipment and the processing equipment on the production line through data interfaces, the edge control panel adopts an edge calculation technology, the processing control system controls the production flow on the production line, the object grabbing unit acquires first position information of the object to be processed, the carrying equipment is driven to reach the position of the object to be processed, and the grabbing device of the carrying equipment is controlled to grab the object to be processed; the carrying moving unit acquires second position information of the processing equipment, drives the carrying equipment to reach the position of the processing equipment, and controls a gripping device of the carrying equipment to place the object to be processed at the position of a processing area of the processing equipment; the processing execution unit controls processing equipment to process an object to be processed; the processing control system in the edge control panel can realize that the processing control process is directly controlled on the site of a production line, compared with the traditional method of controlling through a control center, the method is more convenient and faster, reduces the influence caused by data transmission delay, shortens the time consumed by control flow processing, can manage and control the production line of a limited strip by the edge control panel, can avoid overlarge control load, and improves the processing efficiency.
In one embodiment, the carrying moving unit is used for acquiring the working state information of the processing equipment, and when the working state information indicates that the processing equipment is idle, the carrying equipment is driven to reach the position of the processing equipment according to the second position information.
According to the processing control system, the object to be processed can be smoothly conveyed to the processing equipment, and the problem that the carrying equipment cannot convey the object to be processed when the processing equipment is occupied is avoided.
In one embodiment, the carrying moving unit is further configured to, when the working state information indicates that the processing equipment is occupied, obtain third position information of a processing idle area, drive the carrying equipment to reach the position of the processing equipment according to the third position information, and control the gripping device of the carrying equipment to place the object to be processed in the processing idle area, where the processing idle area corresponds to the processing equipment.
According to the processing control system, the object to be processed is placed in the processing idle area, processing is carried out when the processing equipment is idle, and the object to be processed is prevented from being located in other positions of the production line and influencing the production process.
In one embodiment, the processing execution unit is used for controlling the processing equipment to fix the object to be processed through the fixing device; and acquiring a processing program of the object to be processed, issuing the processing program to the processing equipment, and driving the processing equipment to process the object to be processed according to the processing program.
According to the processing control system, the edge control panel can control the processing equipment to fix the object to be processed, the object to be processed is prevented from moving, the processing program is issued to the processing equipment and used for processing the object to be processed, the processing scheme can be modified and perfected in time in a manner of issuing the processing program, and the processing of the object to be processed with various different requirements is facilitated.
In one embodiment, the processing execution unit is used for acquiring feedback information of the processing equipment for finishing processing, and triggering the processing equipment to release the processed object through the fixing device according to the feedback information;
the carrying moving unit is used for controlling a gripping device of the carrying equipment to grip the processed object; and acquiring the position information of the moving target of the processed object, and driving the carrying equipment to reach the position of the moving target according to the position information of the moving target.
According to the processing control system, the position information of the moving target is sent to the carrying equipment, and the carrying equipment takes the position information of the moving target as a target and reaches the position of the moving target to finish the current processing process.
In one embodiment, the object grabbing unit is configured to acquire a first position coordinate of the grabbing device and a second position coordinate of the object to be processed, acquire a moving path according to the first position coordinate and the second position coordinate, move the grabbing device according to the moving path, and control the grabbing device to grab the object to be processed.
According to the processing control system, when the carrying equipment reaches the position of the object to be processed, the edge control plate acquires the first position coordinate of the gripping device and the second position coordinate of the position of the object to be processed, determines the moving path according to the relation between the two position coordinates, controls the gripping device to move along the moving path, and grips the object to be processed, and can accurately grip the object to be processed by the method.
In one embodiment, the carrying device is driven by a servo motor, the first position information comprises position information of the servo motor when the gripping device grips the object to be processed, and the second position information comprises position information of the servo motor when the gripping device places the object to be processed at the processing area of the processing device.
According to the processing control system, when the carrying equipment reaches the position of the object to be processed, the edge control plate acquires the first position coordinate of the gripping device and the second position coordinate of the position of the object to be processed, determines the moving path according to the relation between the two position coordinates, controls the gripping device to move along the moving path, and grips the object to be processed, and can accurately grip the object to be processed by the method.
A readable storage medium having stored thereon an executable program which, when executed by a processor, performs the steps of the process control method described above.
The readable storage medium can realize that the processing control process is directly controlled on the site of a production line through the stored executable program, is more convenient and quicker to control through a control center compared with the traditional method, reduces the influence caused by data transmission delay, shortens the time consumed by control flow processing, can manage and control a limited production line by the edge control plate, can avoid overlarge control load, and improves the processing efficiency.
The edge control panel comprises a memory and a processor, wherein the memory stores an executable program, and the processor executes the executable program to realize the steps of the processing control method.
Above-mentioned edge control panel through the executable program of operation on the treater, can realize that the processing control process is controlled at production water line scene directly, compares in the tradition to control convenient and fast more through control center, reduces the influence that data transmission postpones to bring, shortens control flow and handles consuming time, and the edge control panel can carry out supervisory control to the production line of limit in addition, can avoid control load too big, improves machining efficiency.
Drawings
FIG. 1 is a schematic flow chart diagram of a process control method in one embodiment;
fig. 2 is a schematic structural diagram of a process control system in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without inventive efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The processing control method provided by the application can be applied to application scenes of various different types of factory assembly line production.
Fig. 1 is a schematic flow chart of a process control method according to an embodiment of the present invention. The machining control method in this embodiment includes the steps of:
step S110: the edge control board acquires first position information of the object to be processed, drives the carrying equipment to reach the position of the object to be processed according to the first position information, and controls a gripping device of the carrying equipment to grip the object to be processed;
in this step, the edge control panel is a hardware control panel designed by using an edge computing technology, and can control various devices and objects on a production line, the object to be processed can be various product raw materials or semi-finished products, and the like, the carrying device is mainly used for carrying and transporting the object to be processed, the edge control panel determines first position information of the object to be processed and then sends the first position information to the carrying device, and the carrying device achieves the position of the object to be processed according to the first position information dimension target; the carrying equipment is also provided with a grabbing device which can grab the object to be processed after the carrying equipment reaches the position of the object to be processed;
step S120: the edge control board acquires second position information of the processing equipment, drives the carrying equipment to reach the position of the processing equipment according to the second position information, and controls a gripping device of the carrying equipment to place the object to be processed at the processing area of the processing equipment;
in the step, the edge control board determines second position information of the processing equipment and issues the second position information to the carrying equipment, and the carrying equipment takes the second position information as a target and reaches the position of the processing equipment; the gripping device arranged on the carrying equipment can place the object to be processed at the position of the processing area after the carrying equipment reaches the position of the processing equipment, and the processing equipment can process the object to be processed at the position of the processing area;
step S130: the edge control panel controls the processing equipment to process the object to be processed;
the edge control plate is connected with the carrying equipment and the processing equipment through data interfaces.
In this step, the edge control board is connected to the processing device through the data interface, and the processing device can be controlled to process the object to be processed according to the specified flow.
In this embodiment, an edge control panel may be disposed on the production line, the edge control panel is connected to the carrying device and the processing device on the production line through data interfaces, the edge control panel controls the production flow on the production line by using an edge calculation technique to obtain first position information of the object to be processed, so as to drive the carrying device to reach the position of the object to be processed, and control the gripping device of the carrying device to grip the object to be processed; the edge control board acquires second position information of the processing equipment so as to drive the carrying equipment to reach the position of the processing equipment, and controls a gripping device of the carrying equipment to place the object to be processed at the processing area of the processing equipment; the edge control panel controls the processing equipment to process the object to be processed; can realize through the edge control board that the processing control process is directly controlled at the production water line scene, compare in the tradition control center through control convenient and fast more, reduce the influence that data transmission postpones to bring, it is consuming time to shorten control flow to handle, the edge control board can carry out supervisory control to the production line of limited strip moreover, can avoid control load too big, improves machining efficiency.
In one embodiment, the step of driving the carrier to the location of the processing tool in dependence on the second location information comprises the steps of:
and the edge control board acquires the working state information of the processing equipment, and drives the carrying equipment to reach the position of the processing equipment according to the second position information if the working state information indicates that the processing equipment is idle.
In this embodiment, the edge control board first obtains the working state information of the processing equipment, determines whether the processing equipment is idle, determines that the processing equipment is idle according to the working state information, then determines second position information of the processing equipment, and issues the second position information to the carrying equipment, and the carrying equipment takes the second position information as a target and reaches the position of the processing equipment; therefore, the object to be processed can be smoothly conveyed to the processing equipment, and the problem that the carrying equipment cannot convey the object to be processed when the processing equipment is occupied is avoided.
It should be noted that the edge control board may obtain the working state information of the processing device in real time, and the processing device may also actively feed back the working state to the edge control board, or send the change information to the edge control board when the working state changes, so that the edge control board may confirm the working state of the processing device.
In one embodiment, the process control method further comprises the steps of:
and if the working state information indicates that the processing equipment is occupied, the edge control board acquires third position information of a processing idle area, drives the carrying equipment to reach the position of the processing equipment according to the third position information, and controls a gripping device of the carrying equipment to place the object to be processed in the processing idle area, wherein the processing idle area corresponds to the processing equipment.
In this step, when the processing equipment is occupied, the processing equipment is difficult to operate on the object to be processed, the edge control panel acquires the third position information of the processing idle area and issues the third position information to the carrying equipment, the carrying equipment takes the third position information as a target and arrives at the position of the processing equipment, the processing idle area corresponds to the processing equipment, and the gripping device arranged on the carrying equipment can place the object to be processed at the position of the processing equipment after the carrying equipment arrives at the position of the processing equipment, and the object to be processed is processed when waiting for the idle processing equipment, so that the object to be processed is prevented from being located at other positions of a production line and affecting the production process.
Further, after the processing equipment processes the upper object, the edge control board can control the carrying equipment to transfer the upper object, and the gripping device is used for gripping the next object from the idle area of the processing area and placing the next object at the position of the processing area of the processing equipment for processing.
In one embodiment, the step of the edge control board controlling the processing device to process the object to be processed includes the steps of:
the edge control panel controls the processing equipment to fix the object to be processed through the fixing device;
the edge control board obtains a processing program of the object to be processed, issues the processing program to the processing equipment, and drives the processing equipment to process the object to be processed according to the processing program.
In this embodiment, the edge control board can control the processing equipment to fix the object to be processed, prevent that the object to be processed from moving, issue the processing program to the processing equipment for processing the object to be processed, and through the manner of issuing the processing program, the processing scheme can be modified and perfected in time, thereby being convenient for processing the object to be processed with various different requirements.
The fixing device may be a device for fixing, such as a chuck provided in the processing equipment itself, or may be another type of fixing device.
Further, the edge control board may store a machining program in advance, or before machining starts, the machining program is called from a server associated with the edge control board, a control instruction corresponding to the machining program is issued to the machining device, and the machining device machines the object to be machined.
Further, when the edge control panel controls the carrying equipment to convey the object to be processed, the edge control panel can control the processing equipment to open the fixing device to wait for the object to be processed; when the object to be processed is placed at the processing area of the processing equipment, the fixing device is closed, and the object to be processed is fixed.
In one embodiment, after the step of controlling the processing device to process the object to be processed by the edge control board, the method further includes the following steps:
the edge control panel acquires feedback information of the machining equipment for finishing machining, and triggers the machining equipment to loosen the machined object through the fixing device according to the feedback information;
the edge control board controls a gripping device of the carrying equipment to grip the processed object;
the edge control board acquires the position information of the moving target of the processed object and drives the carrying equipment to reach the position of the moving target according to the position information of the moving target.
In this embodiment, after the processing device completes processing of the object to be processed, feedback information may be generated and fed back to the edge control board, the edge control board may trigger the processing device to operate, the processed object is released by the fixing device, and moving target position information of the processed object is determined, where the moving target position is a moving destination of the processed object, and may be a detection station, a next processing station, a storage location, or the like, and the moving target position information is issued to the carrying device, and the carrying device takes the moving target position information as a target, arrives at the moving target position, and completes a current processing process.
Further, when the carrying device reaches the moving target position, the processed object is placed at the moving target position by controlling the gripping device.
In one embodiment, the step of controlling the gripping device of the carrying apparatus to grip the object to be processed includes the steps of:
the method comprises the steps of obtaining a first position coordinate of a gripping device and a second position coordinate of an object to be processed, obtaining a moving path according to the first position coordinate and the second position coordinate, moving the gripping device according to the moving path, and controlling the gripping device to grip the object to be processed.
In this embodiment, since the position of the gripping device on the carrying apparatus is not fixed, the gripping device needs to be moved to grip the object, when the carrying apparatus reaches the position of the object to be processed, the edge control board obtains the first position coordinates of the gripping device and the second position coordinates of the position of the object to be processed, determines the moving path according to the relationship between the two position coordinates, controls the gripping device to move along the moving path, and grips the object to be processed, and thus the object to be processed can be accurately gripped.
Specifically, the gripping device may be a mechanical arm or a mobile robot, for example, a six-axis robot, the first position coordinate may represent a position coordinate of a sixth axis of the six-axis robot, the first position coordinate may represent an edge position coordinate of the object to be processed, the carrying device is provided with an electric cylinder, the sixth axis of the six-axis robot is provided with a clamping jaw, and the clamping jaw is opened and closed in a telescopic manner by controlling the electric cylinder, so as to grip the object to be processed.
Furthermore, the gripping device of the carrying device is controlled to place the object to be processed at the processing area of the processing device, and the moving path of the gripping device can be determined by the first position coordinates of the gripping device and the coordinates of the processing area of the processing device in the process; the process of controlling the gripping device of the carrying device to grip the processed object and conveying the processed object to the moving target position can adopt a coordinate positioning moving path mode, and the specific process is similar to the above process.
In one embodiment, the carrying device is driven by a servo motor, the first position information includes servo motor position information when the gripping device grips the object to be processed, and the second position information includes servo motor position information when the gripping device places the object to be processed at a processing area position of the processing device.
In this embodiment, the carrying device is driven by a servo motor, and the position of the carrying device can be represented by the position of the servo motor, that is, the first position information includes position information of the servo motor when the gripping device grips the object to be processed, the second position information includes position information of the servo motor when the gripping device places the object to be processed at the processing area of the processing device, and the moving position of the carrying device can be accurately controlled by controlling the position of the servo motor when the servo motor operates.
Further, when the carrying device is controlled to move to the moving target position, the position of the carrying device can be controlled through the servo motor.
According to the above-described machining control method, a machining control system is further provided in an embodiment of the present invention, and an embodiment of the machining control system will be described in detail below.
Referring to fig. 2, a schematic structural diagram of a process control system according to an embodiment is shown. The processing control system in this embodiment is provided in an edge control panel, the edge control panel is connected to the carrying device and the processing device via data interfaces, and the processing control system includes:
the object grabbing unit 210 is configured to acquire first position information of the object to be processed, drive the carrying device to reach the position of the object to be processed according to the first position information, and control a grabbing device of the carrying device to grab the object to be processed;
the carrying moving unit 220 is configured to obtain second position information of the processing equipment, drive the carrying equipment to reach the position of the processing equipment according to the second position information, and control the gripping device of the carrying equipment to place the object to be processed at the processing area of the processing equipment;
and a processing execution unit 230 for controlling the processing device to process the object to be processed.
In this embodiment, an edge control panel may be disposed on the production line, the edge control panel is connected to the carrying device and the processing device on the production line through data interfaces, the edge control panel uses an edge calculation technique, and controls the production flow on the production line through a processing control system, and the object grabbing unit 210 acquires first position information of the object to be processed, so as to drive the carrying device to reach the position of the object to be processed, and control the grabbing device of the carrying device to grab the object to be processed; the carrying moving unit 220 acquires second position information of the processing equipment, so as to drive the carrying equipment to reach the position of the processing equipment, and control the gripping device of the carrying equipment to place the object to be processed at the processing area of the processing equipment; the processing execution unit 230 controls the processing device to process the object to be processed; the processing control system in the edge control panel can realize that the processing control process is directly controlled on the site of a production line, compared with the traditional method of controlling through a control center, the method is more convenient and faster, reduces the influence caused by data transmission delay, shortens the time consumed by control flow processing, can manage and control the production line of a limited strip by the edge control panel, can avoid overlarge control load, and improves the processing efficiency.
In one embodiment, the carrying moving unit 220 is configured to obtain the working status information of the processing equipment, and drive the carrying equipment to the position of the processing equipment according to the second position information when the working status information indicates that the processing equipment is idle.
In one embodiment, the carrying moving unit 220 is further configured to, when the working status information indicates that the processing equipment is occupied, obtain third position information of a processing idle area, drive the carrying equipment to reach the position of the processing equipment according to the third position information, and control the gripping device of the carrying equipment to place the object to be processed in the processing idle area, where the processing idle area corresponds to the processing equipment.
In one embodiment, the processing execution unit 230 is used for controlling the processing device to fix the object to be processed by the fixing device; and acquiring a processing program of the object to be processed, issuing the processing program to the processing equipment, and driving the processing equipment to process the object to be processed according to the processing program.
In one embodiment, the processing execution unit 230 is configured to obtain feedback information of the processing device completing the processing, and trigger the processing device to release the processed object through the fixing device according to the feedback information;
the carrying moving unit 220 is used for controlling a gripping device of the carrying apparatus to grip the processed object; and acquiring the position information of the moving target of the processed object, and driving the carrying equipment to reach the position of the moving target according to the position information of the moving target.
In one embodiment, the object grasping unit 210 is configured to acquire a first position coordinate of the grasping apparatus and a second position coordinate of the object to be processed, acquire a moving path according to the first position coordinate and the second position coordinate, move the grasping apparatus according to the moving path, and control the grasping apparatus to grasp the object to be processed.
In one embodiment, the carrying device is driven by a servo motor, the first position information includes servo motor position information when the gripping device grips the object to be processed, and the second position information includes servo motor position information when the gripping device places the object to be processed at a processing area position of the processing device.
The processing control system of the embodiment of the invention corresponds to the processing control methods one by one, and the technical characteristics and the beneficial effects described in the embodiment of the processing control method are all suitable for the embodiment of the processing control system.
A readable storage medium having stored thereon an executable program which, when executed by a processor, performs the steps of the process control method described above.
The readable storage medium can realize that the processing control process is directly controlled on the site of a production line through the stored executable program, is more convenient and quicker to control through a control center compared with the traditional method, reduces the influence caused by data transmission delay, shortens the time consumed by control flow processing, can manage and control a limited production line by the edge control plate, can avoid overlarge control load, and improves the processing efficiency.
The edge control panel comprises a memory and a processor, wherein the memory stores an executable program, and the processor executes the executable program to realize the steps of the processing control method.
Above-mentioned edge control panel through the executable program of operation on the treater, can realize that the processing control process is controlled at production water line scene directly, compares in the tradition to control convenient and fast more through control center, reduces the influence that data transmission postpones to bring, shortens control flow and handles consuming time, and the edge control panel can carry out supervisory control to the production line of limit in addition, can avoid control load too big, improves machining efficiency.
It will be understood by those skilled in the art that all or part of the processes for implementing the embodiments in the process control method can be implemented by using a computer program to instruct related hardware, and the program can be stored in a non-volatile computer readable storage medium, for example, in the embodiments, the program can be stored in the storage medium of a computer system and executed by at least one processor in the computer system to implement the processes including the embodiments of the process control method as described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
In an embodiment, the main object of the present invention is to provide a method and a system for intelligently controlling a processing process through an edge computing technique, wherein an edge control panel is provided, the edge control panel is utilized to directly control the processing control process on a production line site, and compared with the conventional method in which the control center is utilized to perform control, the method and the system are more convenient and faster, the influence caused by data transmission delay is reduced, the processing time of a control flow is shortened, and the edge control panel can manage and control a limited production line, thereby avoiding overlarge control load and improving the processing efficiency.
In the specific application, the following description is given by taking the example that the car core on the side bin of the production line is put into a processing station for processing:
the edge control board acquires the position of a servo motor corresponding to the position of the vehicle core, and calculates the position to which the track servo motor needs to operate according to a function;
the edge control board issues position information to control a track servo motor to operate, so that the robot reaches the position of the vehicle core;
the edge control plate controls the opening of a clamp on the robot through an electric cylinder;
the edge control board calculates the execution position of the clamp on the robot through a function, the execution position is sent to the robot, and the robot moves the sixth shaft to the execution position after analysis;
the edge control panel controls the folding of the clamp on the robot through the electric cylinder;
the edge control panel controls the robot to return to a safe position;
the method comprises the steps that an edge control board obtains position information of a track servo motor which needs to run to a machining station, and the position information can be the same as position information of machining equipment;
the edge control board calculates the corresponding execution position from the robot carrying core to the processing station through a function;
the edge control board judges the station type, confirms whether the processing station is idle, and controls a chuck on a clamping position on the processing station to open if the processing station is determined to be idle;
the edge control board issues position information of a processing station and controls a track servo motor to move to the position of the processing station;
the edge control board sends the chuck position information of the machining station to the robot, and the robot moves the sixth shaft to the execution position relative to the chuck after analysis;
the edge control plate controls the opening of a clamp on the robot through an electric cylinder;
the edge control panel controls a chuck on a processing station clamping position to clamp;
the edge control panel controls the robot to return to a safe position;
the edge control board calls a processing program to be used according to the process requirement and sends the processing program to processing equipment of a processing station;
and the processing equipment returns the information of the equipment which finishes processing to the edge control panel through a processing finish notification protocol, and the edge control panel analyzes and judges the data and modifies the state of the corresponding station after acquiring the information. If the task is a timing task, finding a processing completion station during scanning, and generating a distribution task;
the edge control panel acquires the position of a servo motor corresponding to the machining completion equipment, calculates the position to which the track servo motor needs to run through a function, and controls a chuck on a clamping position of a machining station to be opened;
the edge control board issues position information to control the track servo motor to run to a processing station position;
the edge control panel calculates the execution position of the robot clamp through a function, and the clamp on the robot is controlled to be opened through an electric cylinder;
the edge control board sends the chuck position information to the robot, and the robot moves the sixth shaft to the execution position of the clamp after analysis;
the edge control panel controls the folding of the clamp on the robot through the electric cylinder;
the edge control panel controls the robot to return to a safe position and controls a chuck on the station clamping position to be tightened;
the edge control board acquires the position of the servo motor corresponding to the next target position;
the edge control panel calculates the execution position of the robot clamp through a function;
the edge control board issues position information to control the track servo motor to run to a target position;
the edge control plate controls the opening of a clamp on the robot through an electric cylinder;
the edge control panel controls the robot to return to a safe position.
It should be noted that the edge control board can control various robots to perform processing operations, including but not limited to various brands of industrial robots such as KUKA robot.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by a program instructing the relevant hardware. The program may be stored in a readable storage medium. Which when executed comprises the steps of the method described above. The storage medium includes: ROM/RAM, magnetic disk, optical disk, etc.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A machining control method is characterized by comprising the following steps:
the edge control panel acquires first position information of an object to be processed, drives a carrying device to reach the position of the object to be processed according to the first position information, and controls a grabbing device of the carrying device to grab the object to be processed;
the edge control board acquires second position information of the processing equipment, drives the carrying equipment to reach the position of the processing equipment according to the second position information, and controls a gripping device of the carrying equipment to place the object to be processed at the processing area of the processing equipment;
the edge control panel controls the processing equipment to process the object to be processed;
wherein, the edge control panel is connected with the carrying equipment and the processing equipment through data interfaces.
2. The process control method according to claim 1, wherein the step of driving the carrier device to the position of the processing device according to the second position information comprises the steps of:
and the edge control board acquires the working state information of the processing equipment, and drives the carrying equipment to reach the position of the processing equipment according to the second position information if the working state information indicates that the processing equipment is idle.
3. The machining control method according to claim 2, further comprising the steps of:
and if the working state information indicates that the processing equipment is occupied, the edge control board acquires third position information of a processing idle area, drives the carrying equipment to reach the position of the processing equipment according to the third position information, and controls a gripping device of the carrying equipment to place the object to be processed in the processing idle area, wherein the processing idle area corresponds to the processing equipment.
4. The machining control method according to claim 1, wherein the step of the edge control board controlling the machining apparatus to machine the object to be machined includes the steps of:
the edge control panel controls the processing equipment to fix the object to be processed through a fixing device;
and the edge control panel acquires a processing program of the object to be processed, issues the processing program to the processing equipment, and drives the processing equipment to process the object to be processed according to the processing program.
5. The machining control method according to claim 1, wherein after the step of the edge control board controlling the machining device to machine the object to be machined, further comprising the steps of:
the edge control panel acquires feedback information of the machining equipment for finishing machining, and triggers the machining equipment to loosen the machined object through the fixing device according to the feedback information;
the edge control board controls a gripping device of the carrying equipment to grip the processed object;
and the edge control board acquires the position information of the moving target of the processed object and drives the carrying equipment to reach the position of the moving target according to the position information of the moving target.
6. The machining control method according to claim 1, wherein the step of controlling the gripping device of the carrier to grip the object to be machined includes the steps of:
acquiring a first position coordinate of the gripping device and a second position coordinate of the object to be processed, acquiring a moving path according to the first position coordinate and the second position coordinate, moving the gripping device according to the moving path, and controlling the gripping device to grip the object to be processed.
7. The machining control method according to any one of claims 1 to 6, wherein the carrier device is driven by a servo motor, the first position information includes servo motor position information when the gripping device grips the object to be machined, and the second position information includes servo motor position information when the gripping device places the object to be machined at a machining zone position of the machining device.
8. A machine control system provided in an edge control panel connected to a carrier and a machine via a data interface, the machine control system comprising:
the object grabbing unit is used for acquiring first position information of an object to be processed, driving the carrying equipment to reach the position of the object to be processed according to the first position information, and controlling a grabbing device of the carrying equipment to grab the object to be processed;
the carrying moving unit is used for acquiring second position information of the processing equipment, driving the carrying equipment to reach the position of the processing equipment according to the second position information, and controlling a gripping device of the carrying equipment to place the object to be processed at the processing area of the processing equipment;
and the processing execution unit is used for controlling the processing equipment to process the object to be processed.
9. A readable storage medium having stored thereon an executable program, wherein the executable program, when executed by a processor, performs the steps of the process control method of any one of claims 1 to 7.
10. An edge control panel comprising a memory and a processor, the memory storing an executable program, wherein the processor implements the steps of the process control method of any one of claims 1 to 7 when executing the executable program.
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Application publication date: 20191220 |