CN107598922B - Multitask teaching control method and system - Google Patents
Multitask teaching control method and system Download PDFInfo
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- CN107598922B CN107598922B CN201710754499.9A CN201710754499A CN107598922B CN 107598922 B CN107598922 B CN 107598922B CN 201710754499 A CN201710754499 A CN 201710754499A CN 107598922 B CN107598922 B CN 107598922B
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Abstract
The invention relates to the field of industrial teaching robot control, and particularly discloses a multitask teaching control method and a multitask teaching control system. According to the multi-task teaching control method, the processing areas are set to be the plurality of working tables, the processing shafts of the working tables are configured, the processing heads of the working tables are configured, the processing tasks of the working tables are sequentially taught, and teaching files of the working tables are stored.
Description
Technical Field
The invention relates to the field of industrial teaching robot control, in particular to a multitask teaching control method and a multitask teaching control system.
Background
The invention relates to the application field of industrial teaching robot control, in particular to the processing teaching application of desktop type dispensing and plastic dripping equipment. For the various non-standard devices currently appearing on the market, most of these devices are not as intuitive as those based on XYZ as a coordinate system as we conventionally define. The control system of the non-standard equipment is generally customized and developed by adopting a PLC or a universal card, and has poor universality and difficult adaptation to process change aiming at specific working occasions.
At present, the basic ideas of the 'undo' and 'redo' algorithms in industrial control are the same, and a large amount of data on the site needs to be stored to ensure the correctness and the reliability of functions. Therefore, different algorithm differences are reflected in the design of the data structure, and different data structure designs reflect the efficiency of function implementation.
Disclosure of Invention
In view of this, the present application provides a multitask teaching control method and system, which are optimized and refined on the data structure definition, and on the basis, a data buffer area for operating the relevant teaching files is added, so that the advantage of saving the field data in a relatively simplified manner is achieved.
In order to solve the technical problems, the technical scheme provided by the invention is a multitask teaching control method, which comprises the following steps:
setting a processing area into a plurality of working tables;
configuring a processing shaft of each workbench;
processing heads of all the working tables are configured;
and teaching the processing tasks of the working tables in sequence, and storing teaching files of the working tables.
Preferably, the teaching of the processing tasks of the respective work benches in sequence further comprises, before the step of storing the teaching files: and configuring the instruction channel to which each workbench belongs.
Preferably, the method for setting the processing area to be a plurality of working tables comprises the following steps: and setting the processing area into a plurality of working tables according to the number of the processing stations and/or the number of the processing heads.
Preferably, the method for configuring the processing axis of each working table comprises the following steps: the processing shafts of the work tables are arranged to correspond to the control shafts of the processing equipment.
Preferably, the method of configuring the machining head of each station comprises: the processing head of each work table corresponds to the processing head of the processing equipment.
Preferably, the method for configuring the instruction channel to which each workstation belongs includes: a stage in which the machining axis and the machining head do not interfere is disposed in different command channels.
Preferably, the method for configuring the instruction channel to which each workstation belongs includes: each set of work tables having no interference between the machining axis and the machining head is sequentially arranged in different command channels.
The invention also provides a multitask teaching control system, which comprises:
the distribution module is used for setting the processing area into a plurality of working tables;
the configuration module is used for configuring the teaching parameters of each workbench;
the processing module is respectively connected with the distribution module, the configuration module and the storage module and is used for processing and teaching the processing tasks of the working tables;
and the storage module is used for storing the teaching files of all the working tables.
More preferably, the configuration module includes a processing axis configuration unit and a processing head configuration unit.
Preferably, the configuration module further comprises an instruction channel configuration unit.
Compared with the prior art, the beneficial effects of the method are detailed as follows: according to the multi-task teaching control method, the processing areas are set to be the plurality of working tables, the processing shafts of the working tables are configured, the processing heads of the working tables are configured, the processing tasks of the working tables are sequentially taught, and teaching files of the working tables are stored.
The application provides a multitask teaching control system sets up the processing area into a plurality of workstation through the distribution module, the teaching parameter of each workstation of configuration module configuration, the teaching file of each workstation is preserved to storage module, processing module handles the processing task of teaching each workstation, the control reliability problem of multistation non-standard processing equipment has been solved, control system's complexity has been reduced, independent work and controllable effect simultaneously between each workstation have been realized.
Drawings
FIG. 1 is a flow chart of a multitask teaching control method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a multitask teaching control method according to another embodiment of the present invention;
FIG. 3 is a schematic structural diagram of multi-stage processing according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a multitask teaching control system according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, an embodiment of the present invention provides a multitask teaching control method, including: setting a processing area into a plurality of working tables; configuring a processing shaft of each workbench; processing heads of all the working tables are configured; and teaching the processing tasks of the working tables in sequence, and storing teaching files of the working tables.
The method for setting the machining area to be the plurality of working tables comprises the following steps: and setting the processing area into a plurality of working tables according to the number of the processing stations and/or the number of the processing heads.
Here, the meaning of the table: particularly for a plane table with synchronization-related axis combination, such as an X-axis and a Y-axis, processing can be completed on a plane, thereby expanding a table like XYZUVW; the table may also include axes that are not synchronization related, such as a spindle for wheel rotation control, but have consistent control requirements when starting and stopping. Two workbenches need to be controlled independently, each worker is respectively active, and the hardware algorithm of the FPGA is adopted to realize that the workbenches are independent and controllable simultaneously. The packets introduced by the workbench result in a reduction in the amount of computation.
A method of configuring a machining axis of each table, comprising: the processing shafts of the work tables are arranged to correspond to the control shafts of the processing equipment.
Here, the configuration of the machine axes is determined by the wiring of the machine and the controller, and if the customer connects the control port of the 1 axis to the drive motor of the Y axis, the interface provided on the software marks the 1 axis as the Y axis.
A method of configuring a processing head of each station, comprising: the processing head of each work table corresponds to the processing head of the processing equipment.
As shown in fig. 2, an embodiment of the present invention provides another multitask teaching control method, where on the basis of the above embodiment, before the step of teaching the processing tasks of the respective workstations in sequence and saving teaching files, the method further includes: and configuring the instruction channel to which each workbench belongs.
The method for configuring the instruction channel to which each workbench belongs comprises the following steps: a stage in which the machining axis and the machining head do not interfere is disposed in different command channels. The multi-instruction channel is a software design which can be controlled and manufactured simultaneously by matching with a plurality of workbenches.
Example 1, independent double worktables, non-standard equipment developed by a certain customer, with one processing head above and below the equipment, and 3 axis controls above and below the processing head, respectively, process a full version of workpiece, first by the upper processing head, then the workpiece is turned over and continues to be processed by the lower processing head. Under normal working conditions, two workpieces are processed simultaneously. In this apparatus, we define the upper 3 axes as the table 1: x1\ Y1\ Z1, the following 3 axes being defined as stage 2: X2Y2Z 2. The upper and lower processes are independently taught, the upper process teaching is switched to the workbench 1 for teaching, and the lower process teaching is switched to the workbench 2 for teaching. The specific control flow is as follows:
s11: tables 1 and 2 are disposed, and axes 1, 2 and 3 are disposed as X, Y, Z axes of table 1, and axes 4, 5 and 6 are disposed as X, Y, Z axes of table 2.
S12: and teaching a front machining program. Firstly, controlling the cylinder to enable the workpiece to face upwards, switching the teaching interface to the teaching interface and creating a teaching file of the workbench 1, wherein the teaching file is created by software in the instruction channel 1, and the workbench of the teaching file is default to be 1.
S13: the instruction channel 1 is set as the current operation instruction channel, the workbench 1 is configured to the instruction channel 1, all instructions are output through the instruction channel 1 before the instruction channel 1 is switched, and the motion instruction corresponding to X, Y, Z is distributed to the corresponding 1, 2 and 3 axes on the workbench 1 for execution.
S14: and (3) moving the traversing alignment point finding of the machining head, and sequentially storing each teaching point into a teaching file, so as to finish teaching of the machining task of the workbench 1.
S15: and teaching a back processing program. Firstly, controlling the cylinder to enable the workpiece to face downwards, switching the teaching interface to the teaching interface and creating a teaching file of the workbench 2, at the moment, the software establishes a teaching file in the instruction channel 2, and the workbench of the teaching file is defaulted to be 2.
S16: the instruction channel 2 is set as the current operation instruction channel, the workbench 2 is configured to the instruction channel 2, all instructions are output through the instruction channel 2 before the instruction channel 2 is switched, and the motion instruction corresponding to X, Y, Z is distributed to the corresponding 4, 5 and 6 axes on the workbench 2 to be executed.
S17: and (3) moving the traversing alignment point finding of the machining head, and sequentially storing each teaching point into a teaching file, so as to finish teaching of the machining task of the workbench 2.
S18: and (3) finishing teaching, wherein a worker operates an external start button to start front processing, and when the front processing finish cylinder drives the workpiece to the back, the back is started until the whole processing is finished.
The added equipment of example 1 has only 2 work stations, so different command channels can directly correspond to the machining command channels on the front side or the back side.
Preferably, the method for configuring the instruction channel to which each workstation belongs may further include: each set of work tables having no interference between the machining axis and the machining head is sequentially arranged in different command channels.
Example 2, multi-stage processing, as shown in fig. 3, the processing equipment comprises a station a, a station B, a station C and a station D, and 2 processing heads. The specific control flow is as follows:
s21: the tables 1, 2, 3, and 4 are arranged, the axes 1, 2, and 3 are arranged as the X, Y, Z axis of the table 1, the axes 1, 5, and 3 are arranged as the X, Y, Z axis of the table 2, the axes 4, 2, and 6 are arranged as the X, Y, Z axis of the table 3, and the axes 4, 5, and 6 are arranged as the X, Y, Z axis of the table 4.
S22: and switching to a teaching interface and creating a teaching file executed on the instruction channel 1, wherein the software creates a teaching file in the instruction channel 1, and the teaching file is not associated with a workbench. At this time, instruction channel 1 is set as the current operating instruction channel.
S23: and teaching the machining program of the station A. And switching to the workbench 1 in the teaching interface, wherein the software configures the workbench 1 to the command channel 1, all commands are output through the command channel 1 before the command channel 1 is switched, and the motion commands corresponding to X, Y, Z are distributed to the corresponding 1, 2 and 3 axes on the workbench 1 for execution.
S24: and (3) moving the alignment point finding traversed by the machining head 1, and sequentially storing each teaching point into a teaching file, so that teaching of the machining task of the workbench 1, namely the station A, is completed.
S25: and teaching a B station machining program. And switching to the workbench 2 in the teaching interface, wherein the software configures the workbench 2 to the command channel 1, all commands are output through the command channel 1 before the command channel 1 is switched, and the motion commands corresponding to X, Y, Z are distributed to the corresponding 1, 5 and 3 axes on the workbench 2 for execution.
S26: and (3) moving the alignment point finding traversed by the processing head 1, and sequentially storing each teaching point into a teaching file, so that teaching of the processing task of the workbench 2, namely the station B is completed, and teaching of the processing file of the instruction channel 1 is completed.
S27: and switching to a teaching interface and creating a teaching file executed on the instruction channel 2, wherein the software creates a teaching file in the instruction channel 2, and the teaching file is not associated with a workbench. At this time, instruction channel 2 is set as the current operation instruction channel.
S28: and teaching a D-position machining program. And switching to the workbench 4 in the teaching interface, wherein the software configures the workbench 4 to the command channel 2, all commands are output through the command channel 2 before the command channel 2 is switched, and the motion commands corresponding to X, Y, Z are distributed to the corresponding 4, 5 and 6 axes on the workbench 4 to be executed.
S29: and (3) the mobile processing head 2 is traversed to align and find points, and each teaching point is sequentially stored in a teaching file, so that the teaching of the processing task of the working table 4, namely the D station, is completed.
S2A: and teaching a C station machining program. And switching to the workbench 3 in the teaching interface, wherein the software configures the workbench 3 to the command channel 2, all commands are output through the command channel 2 before the command channel 2 is switched, and the motion commands corresponding to X, Y, Z are distributed to the corresponding 4, 2 and 6 axes on the workbench 3 for execution.
S2B: and (3) moving the alignment point finding traversed by the processing head 2, and sequentially storing each teaching point into a teaching file, so that teaching of the processing task of the workbench 3, namely the C station, is completed, and teaching of the processing file of the instruction channel 2 is completed.
S2C: after the teaching is finished, the processing file 1 is opened to start the processing, and the processing file 1 is automatically loaded to the instruction channel 1 to be executed. And opening the processing file 2 to start processing, and automatically loading the processing file 2 to the instruction channel 2 for execution.
S2D: in the instruction channel 1, the teaching elements of the station A are taken out firstly, and at the moment, the software automatically configures the workbench 1 to the instruction channel 1, X, Y, Z corresponding movement instructions are distributed to the workbench 1 to be executed on corresponding 1, 2 and 3 axes. In the instruction channel 2, the teaching elements of the D-position are taken out firstly, and at the moment, the software automatically configures the workbench 4 to the instruction channel 2, X, Y, Z corresponding movement instructions are distributed to the corresponding 4, 5 and 6 axes on the workbench 4 to be executed.
S2E: in the instruction channel 1, the processing execution of the station A is completed, the teaching elements of the station B are taken out, and the software automatically configures the workbench 2 to the instruction channel 1, X, Y, Z corresponding movement instructions are distributed to the workbench 2 to be executed on the corresponding 1, 5 and 3 axes. The instruction is not able to perform the output immediately at this point, the lowest condition for the output is that all the axis resources allocated to the table 2 of channel 1 are freed and not occupied by other channels.
S2F: in the instruction channel 2, the processing execution of the station D is completed, the teaching elements of the station C are taken out, and the software automatically configures the workbench 3 to the instruction channel 2, wherein the motion instructions corresponding to X, Y, Z are distributed to the corresponding 4, 2 and 6 axes on the workbench 3 for execution. The output is not immediately executable by the command at this time, and the lowest condition for the output is that all the axis resources allocated to the stage 3 of the command channel 2 are released and not occupied by other channels.
In example 2, the work table 1 and the work table 4 belong to a group of work tables in which the machining axis and the machining head do not have interference, and therefore, the work tables can be respectively allocated to the command channel 1 and the command channel 2 for simultaneous machining, the work table 2 and the work table 3 also belong to a group of work tables in which the machining axis and the machining head do not have interference, and are also immediately allocated to the command channel 1 and the command channel 2, the previous group of work tables are simultaneously machined, and after the machining is completed, the next group of work tables are simultaneously machined, and the simultaneous machining mode improves the machining efficiency.
As shown in fig. 4, the present invention also provides a multitask teaching control system comprising: the distribution module is used for setting the processing area into a plurality of working tables; the configuration module is used for configuring the teaching parameters of each workbench; the processing module is respectively connected with the distribution module, the configuration module and the storage module and is used for processing and teaching the processing tasks of the working tables; and the storage module is used for storing the teaching files of all the working tables.
The configuration module comprises a processing shaft configuration unit and a processing head configuration unit. Wherein, the configuration module further comprises an instruction channel configuration unit.
The above is only a preferred embodiment of the present invention, and it should be noted that the above preferred embodiment should not be considered as limiting the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and these modifications and adaptations should be considered within the scope of the invention.
Claims (5)
1. A multitask teaching control method is characterized by comprising the following steps:
setting a processing area into a plurality of working tables, wherein the working tables comprise shaft combinations with relevant synchronism and/or shaft combinations with irrelevant synchronism and having the consistency requirement of start-stop control;
configuring a processing shaft of each workbench;
processing heads of all the working tables are configured;
configuring the instruction channels to which the working tables belong, namely configuring the working tables of which the machining axes and the machining heads do not have interference to different instruction channels or sequentially configuring the working tables of which the machining axes and the machining heads do not have interference to different instruction channels;
and teaching the processing tasks of the working tables in sequence, and storing teaching files of the working tables.
2. The multitask teaching control method according to claim 1, wherein the method of setting the processing area to a plurality of tables includes: and setting the processing area into a plurality of working tables according to the number of the processing stations and/or the number of the processing heads.
3. The multitask teaching control method according to claim 1, wherein the method of arranging the processing axis of each table includes: the processing shafts of the work tables are arranged to correspond to the control shafts of the processing equipment.
4. The multitask teaching control method according to claim 1, wherein the method of arranging the processing head of each stage includes: the processing head of each work table corresponds to the processing head of the processing equipment.
5. A multitask teaching control system comprising:
the distribution module is used for setting the processing area into a plurality of working tables, and the working tables comprise shaft combinations with relevant synchronism and/or shaft combinations with irrelevant synchronism and the requirements of start-stop control consistency;
the configuration module is used for configuring teaching parameters of each workbench and comprises:
a processing shaft configuration unit for configuring the processing shaft of each worktable;
a processing head configuration unit for configuring the processing head of each workbench;
the command channel configuration unit is used for configuring the command channels of the working tables, namely the working tables of which the machining axes and the machining heads do not have interference are configured to different command channels or all groups of working tables of which the machining axes and the machining heads do not have interference are sequentially configured to different command channels;
the processing module is respectively connected with the distribution module, the configuration module and the storage module and is used for processing and teaching the processing tasks of the working tables;
and the storage module is used for storing the teaching files of all the working tables.
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| CN111844052B (en) * | 2020-06-30 | 2022-04-01 | 杭州展晖科技有限公司 | Point position teaching programming method of automatic point drilling machine |
| CN115781635A (en) * | 2022-11-04 | 2023-03-14 | 北京镁伽机器人科技有限公司 | Robot teaching method and device, electronic device, and storage medium |
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| JP2001222309A (en) * | 2000-02-10 | 2001-08-17 | Yaskawa Electric Corp | Robot controller |
| CN100495481C (en) * | 2007-05-31 | 2009-06-03 | 上海交通大学 | General-purpose electromechnical equipment motion control demonstration and reproducing system |
| JP2010105105A (en) * | 2008-10-29 | 2010-05-13 | Olympus Corp | Automatic manufacturing apparatus |
| JP5582427B2 (en) * | 2012-12-18 | 2014-09-03 | 株式会社安川電機 | Teaching data creation apparatus, robot system, and teaching data creation method |
| CN104766527B (en) * | 2015-03-25 | 2018-04-10 | 淮安信息职业技术学院 | Integrate the industrial robot instructional device that polynary post capability is trained |
| CN104908041B (en) * | 2015-06-19 | 2016-09-21 | 广州数控设备有限公司 | A kind of series connection six-shaft industrial robot control device and method |
| JP6378144B2 (en) * | 2015-07-31 | 2018-08-22 | ファナック株式会社 | Servo control system having learning control device having function of optimizing learning memory allocation |
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