CN108068112A - A kind of device, implementation method and the processing method of same station workpieces processing - Google Patents
A kind of device, implementation method and the processing method of same station workpieces processing Download PDFInfo
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- CN108068112A CN108068112A CN201711064900.2A CN201711064900A CN108068112A CN 108068112 A CN108068112 A CN 108068112A CN 201711064900 A CN201711064900 A CN 201711064900A CN 108068112 A CN108068112 A CN 108068112A
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- 238000000034 method Methods 0.000 title claims abstract description 82
- 238000012545 processing Methods 0.000 title claims abstract description 63
- 238000003672 processing method Methods 0.000 title abstract description 5
- 238000004519 manufacturing process Methods 0.000 claims abstract description 224
- 238000003754 machining Methods 0.000 claims abstract description 51
- 230000006870 function Effects 0.000 claims abstract description 46
- 230000008569 process Effects 0.000 claims abstract description 45
- 238000005259 measurement Methods 0.000 claims description 26
- 238000003860 storage Methods 0.000 claims description 18
- 238000005516 engineering process Methods 0.000 claims description 14
- 230000007613 environmental effect Effects 0.000 claims description 14
- 230000001960 triggered effect Effects 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 230000005055 memory storage Effects 0.000 claims description 2
- 238000005520 cutting process Methods 0.000 abstract description 6
- 238000005457 optimization Methods 0.000 abstract description 4
- 238000003466 welding Methods 0.000 description 19
- 238000001514 detection method Methods 0.000 description 15
- 238000005553 drilling Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 12
- 238000005507 spraying Methods 0.000 description 10
- 239000007921 spray Substances 0.000 description 6
- 238000005286 illumination Methods 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 230000001052 transient effect Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000003801 milling Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Automation & Control Theory (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The embodiment of the present invention provides a kind of device, implementation method and the processing method of same station workpieces processing.Described device includes：Positioned at multiple intelligence manufacture robots of same processing stations, it is respectively used to realize different machining functions；The general module on the processing stations is further included, for performing the operation of the general character in process, multiple intelligence manufacture robots share the general module；Multiple intelligence manufacture robots include special module respectively, for performing the operation of the individual character of corresponding intelligence manufacture robot；General module and special module combine the machining function that corresponding intelligence manufacture robot can be achieved.The embodiment of the present invention shares general module by a variety of intelligence manufacture robots, share same station, with the same coordinate system, it and can be by the same operation, workpiece non-cutting times such as dismounting, handling, circulation, clamping, positioning between different intelligent manufacturing equipment are avoided, so as to improve production efficiency, saving employment and equipment cost, optimization plant configuration.
Description
Technical field
The present embodiments relate to intelligent Manufacturing Technology fields, are specially a kind of device of same station workpieces processing, reality
Existing method and processing method.
Background technology
In track transportation industry or even entire discrete manufacturing business production manufacturing process, it will usually successively into luggage
Match somebody with somebody, weld, polishing, detecting, several typical process such as adjusting, machine add, spray, these work would generally have that labor intensity is big, matter
Measure the features such as unstable, environmental pollution is big, high labor cost.Manufacturing enterprise in order to improve production efficiency, reduce production cost, carry
Rise product quality, it will usually introducing put together machines people, welding robot, milling robot, detection robot, drilling robot,
The corresponding intelligent manufacturing equipment such as spray robot, is sequentially completed the processes such as assembling, welding, polishing, detection, drilling, spraying.
Intelligent manufacturing equipment used in production is perhaps from same brand, perhaps from different brands, each
Equipment is all a set of independent system.In general, these intelligent manufacturing equipments can be connected into production line by manufacturing enterprise, each intelligence
Can manufacturing equipment all have there are one individual station.Therefore, workpiece needs are constantly carried and circulated between different stations, work
Part or automatic flow is realized on a moving belt or is circulated by human assistance.It is required for filling again on each station
Folder and positioning, each intelligent manufacturing equipment are required for independent worker to be operated.From the angle of beat, especially it is difficult to
The large-scale workpiece to circulate on a moving belt, except the process time of intelligent manufacturing equipment in itself, it is also necessary to plus dismounting, handling,
The non-cutting times such as circulation, clamping, positioning, and non-cutting time is often also longer than process time.Also, due to each intelligence
Manufacturing equipment is required for independent worker to be operated, and also results in huge manpower waste.
The content of the invention
To solve the problems, such as that transfer present in assembly line processing is difficult in existing intelligence manufacture, resource cost is serious, this
Inventive embodiments provide a kind of device, implementation method and the processing method of same station workpieces processing.
In a first aspect, the embodiment of the present invention provides a kind of device of same station workpieces processing, which includes：Positioned at same
Multiple intelligence manufacture robots of one processing stations, the multiple intelligence manufacture robot are used to implement different machining functions；
Described device further includes：General module on the processing stations, the multiple intelligence manufacture robot share described logical
With module, the general module is used to perform the general character operation in process；The multiple intelligence manufacture robot wraps respectively
Special module is included, the special module is used to perform the individual character operation of corresponding intelligence manufacture robot；The general module and institute
State machining function of the special module with reference to the achievable correspondence intelligence manufacture robot.
Second aspect, the embodiment of the present invention provide a kind of method for realizing same station workpieces processing, and this method includes：It obtains
The general module of multiple intelligent manufacturing equipments is taken, the general module is the module that intelligent manufacturing equipment can be general；Obtain institute
State the special module of multiple intelligent manufacturing equipments, the special module is the dedicated module of intelligent manufacturing equipment, the die for special purpose
Block corresponds to the proprietary feature of the intelligence manufacture robot of the intelligent manufacturing equipment；By the general module and the multiple intelligence
The special module of manufacturing equipment integrates；The general module is used to perform the general character operation in process；The special module
For performing the operation of the individual character of corresponding intelligence manufacture robot；The general module and the special module are implemented in combination with corresponding institute
State the machining function of intelligence manufacture robot.
The third aspect, the embodiment of the present invention provide a kind of method of same station workpieces processing, and this method includes：Initialization
Operation, the initialization operation include input workpiece information, carry out workpiece positioning and obtain environment measurement data；According to default suitable
Sequence judges whether the corresponding function of the intelligence manufacture robot performs successively, if so, according to the environment measurement data into
Row task setting, program setting and machining locus generation, then trigger the intelligence manufacture robot according to the machining locus
Workpieces processing；If it is not, the intelligence manufacture robot motion is not triggered then；Wherein, if being known according to the judgement of operating condition sensing signal
Operating mode changes, then adjusts machined parameters and the machining locus；After completing all manufacturing procedures, storage technology document is simultaneously
Upload data.
Fourth aspect, the embodiment of the present invention provide a kind of electronic equipment, including memory and processor, the processor and
The memory completes mutual communication by bus；The memory storage has and can be referred to by the program that the processor performs
Order, the processor call described program instruction to be able to carry out following method：Initialization operation, the initialization operation include defeated
Enter workpiece information, carry out workpiece positioning and obtain environment measurement data；Judge the intelligence manufacture machine successively according to preset order
Whether the corresponding function of device people performs, if so, carrying out task setting, program setting and processing according to the environment measurement data
Then Track Pick-up triggers the intelligence manufacture robot according to the machining locus workpieces processing；If it is not, it does not trigger then described
Intelligence manufacture robot motion；Wherein, if knowing that operating mode changes according to the judgement of operating condition sensing signal, machined parameters are adjusted
With the machining locus；After completing all manufacturing procedures, storage technology document simultaneously uploads data.
5th aspect, the embodiment of the present invention provide a kind of computer readable storage medium, are stored thereon with computer program,
The computer program realizes following method when being executed by processor：Initialization operation, the initialization operation include input workpiece
Information carries out workpiece positioning and obtains environment measurement data；Judge the intelligence manufacture robot pair successively according to preset order
Whether the function of answering performs, and is given birth to if so, carrying out task setting, program setting and machining locus according to the environment measurement data
Into then triggering the intelligence manufacture robot according to the machining locus workpieces processing；If it is not, the intelligence system is not triggered then
Make robot motion；Wherein, if knowing that operating mode changes according to the judgement of operating condition sensing signal, machined parameters and described are adjusted
Machining locus；After completing all manufacturing procedures, storage technology document simultaneously uploads data.
The embodiment of the present invention shares one or more general modules by a variety of intelligence manufacture robots, shares same work
Position has the same coordinate system, and can be avoided workpiece by the same operation and dismounted, hung between different intelligent manufacturing equipment
The non-cutting times such as fortune, circulation, clamping, positioning, so as to improve production efficiency, saving employment and equipment cost, optimization plant configuration.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments, for those of ordinary skill in the art, without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the apparatus structure schematic diagram of same station workpieces processing provided in an embodiment of the present invention；
Fig. 2 is the apparatus structure schematic diagram of another same station workpieces processing provided in an embodiment of the present invention；
Fig. 3 is the method flow diagram provided in an embodiment of the present invention for realizing same station workpieces processing；
Fig. 4 is the method flow diagram of same station workpieces processing provided in an embodiment of the present invention；
Fig. 5 is the method flow diagram of another same station workpieces processing provided in an embodiment of the present invention；
Fig. 6 is the structure diagram of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without creative efforts belong to the scope of protection of the invention.
Fig. 1 is the apparatus structure schematic diagram of same station workpieces processing provided in an embodiment of the present invention.As shown in Figure 1, institute
Stating device includes：
Positioned at multiple intelligence manufacture robots of same processing stations, intelligence manufacture robot 1 (20), intelligence manufacture machine
People 2 (30) ... intelligence manufacture robot n (40), the multiple intelligence manufacture robot are used to implement different machining functions；
Intelligence manufacture robot of intelligence manufacture robot 1 ... n as shown in Figure 1 can realize the different machining function of n kinds, such as institute
It can be put together machines people, welding robot, milling robot, detection robot, drilling robot to state intelligence manufacture robot
Or spray robot, it is respectively used to the function that realization assembles, welds, polishes, detects, drills and spray.
Described device further includes：General module 10 on the processing stations, the multiple intelligence manufacture robot
The general module 10 is shared, the general module 10 is used to perform the general character operation in process；
General character operation refers to during the multiple intelligence manufacture processing of robots using the operation of same module,
Such as workpiece is positioned, environmental parameter detects, the realization of control function is (as utilized industrial personal computer establishment control software control assembly
Controller so realize control function), the propulsion of guide rail etc..Therefore realize that the module of corresponding general character operation is referred to as general module,
The multiple intelligence manufacture robot shares the general module.
The multiple intelligence manufacture robot includes special module respectively, and the special module is made for performing corresponding intelligence
Make the individual character operation of robot；
The individual character operation is to realize respective different processing during referring to the multiple intelligence manufacture processing of robots
Function and the different operating carried out, need to use respective dedicated module, and such as execution end of the intelligence manufacture robot carries out
Specific operation, if drilling robot carries out drilling operation, welding robot is subjected to.Therefore corresponding is realized
Property operation module be referred to as special module, the respective special special module of the multiple intelligence manufacture robot.The intelligence
Manufacture machine people includes the special module, and the intelligence manufacture robot is made of the special module in other words.
The method for obtaining the general module and the special module is as follows：
Modularity analysis is carried out to existing intelligent manufacturing equipment, different comprising modules are divided into equipment level；Then
Classify to the comprising modules, be divided into general module and special module, be practically used for realizing the intelligence system of specific function
It is the major part that each intelligent manufacturing equipment is different from other intelligent manufacturing equipments, therefore, intelligence to make the corresponding each module of robot
Each module corresponding to energy manufacture machine people is special module, such as robot controller, robot body, performs end and auxiliary material
Device, and be if remaining overall control component (such as industrial personal computer, assembly controller), mechanical guide part (such as guide rail) etc. can be with
It is shared, because of referred to herein as general module.The division of general module and special module can also according to function Bu Tong further into
Row subdivision.
The general module 10 and the special module are with reference to the processing work(of the achievable correspondence intelligence manufacture robot
Energy.
After the general module 10 of the intelligent manufacturing equipment and the special module is obtained, pass through modularization weight
The multiple intelligent manufacturing equipment is integrated in one by group, obtains same station workpieces processing described in the embodiment of the present invention
Device.In modularization regrouping process, due to the general module 10 be in the multiple intelligent manufacturing equipment it is general, because
This retains a set of general module 10；Since the special module is that each intelligent manufacturing equipment realizes different machining functions
Main modular, there is respective different characteristics, therefore, retain all special modules namely retain it is all by it is described specially
The intelligence manufacture robot formed with module.
Since actual intelligent manufacturing equipment is actually to be collectively constituted by the general module 10 and the special module
, therefore the general module 10 and the special module combine the processing that the corresponding intelligence manufacture robot can be achieved
Function.
Since the multiple intelligence manufacture robot is integrated in same station, difference can be realized on same station
Process, during to work pieces process, workpiece to be machined only need clamping once, positioning calibration once, intermediate link is not required to
Dismount and circulate workpiece, and a variety of intelligence manufacture robots are sequentially completed every manufacturing procedure under same coordinate-system.
The intelligent manufacturing equipment can come from same supplier, can be from different suppliers.
The embodiment of the present invention shares one or more general modules by a variety of intelligence manufacture robots, shares same work
Position has the same coordinate system, and can be avoided workpiece by the same operation and dismounted, hung between different intelligent manufacturing equipment
The non-cutting times such as fortune, circulation, clamping, positioning, so as to improve production efficiency, saving employment and equipment cost, optimization plant configuration.
Further, based on above-described embodiment, described device is additionally operable to by performing described in default control programme-control
Multiple intelligence manufactures are robot coordinated to be acted to complete manufacturing procedure.
Described device is by performing the default robot coordinated action of control the multiple intelligence manufacture of programme-control with complete
Into manufacturing procedure.Wherein, the control program can be worked out in the control software on the industrial personal computer, and described device can be with base
In same control software, by performing, default control the multiple intelligence manufacture of programme-control is robot coordinated to be acted to complete
Manufacturing procedure.Wherein, according to the difference of process, the control program can be adjusted.
On the basis of above-described embodiment, the embodiment of the present invention is by performing default control the multiple intelligence of programme-control
Can manufacture machine people's coordination, centralized Control is carried out, so as to fulfill the processing of certain working procedure, and can effectively intensive money
Human cost is saved in source.
Further, based on above-described embodiment, the general module includes industrial personal computer, positioner, assembly controller, electricity
Source, environmental sensor, air pump and guide rail；The special module includes performing end, robot body, robot controller and auxiliary
Expect device.
Fig. 2 is the apparatus structure schematic diagram of another same station workpieces processing provided in an embodiment of the present invention.Such as Fig. 2 institutes
Show, industrial personal computer 1 (containing control software), positioner 2, assembly controller (containing power supply) 6, environmental sensor 7, air pump 8, guide rail 11
It is shared for various intelligent manufacturing equipments, is general module；Perform end 3, robot body 4, robot controller 9, auxiliary material dress
Put it is 10 special for various intelligence manufacture robots, be respectively completed such as weld, polish, detecting, drill process, for special module.
Each module shown in Fig. 2 is the common module of intelligent manufacturing equipment.
Wherein, the execution end 3 of all intelligence manufacture robots can complete coating workpieces working position, be connected to same
One assembly controller 6 is uniformly controlled by the same worker in same control software.The assembly controller 6, in same bus
Under, guide rail 11, environmental sensor 7, positioner 2, air pump 8 and different intelligent manufacture machine people can be controlled by industrial personal computer 1
Robot controller 9, robot body 4, perform end 3, the disparate modules such as auxiliary material device 10, form the closed loop of difference in functionality
Control, to realize the processing to workpiece 5.
It should be noted that for Universal Die environmental sensor in the block 6, due to inspection needed for each intelligence manufacture robot
The environmental parameter of survey may be different, therefore the environmental sensor needed for it may be different, and the environmental sensor 6 can be each
The union of environmental sensor needed for the intelligence manufacture robot.When realizing corresponding machining function, need to only gather corresponding
Intelligence manufacture robot needed for environmental sensor measured value.
On the basis of above-described embodiment, the embodiment of the present invention is by providing the classification of the common module of intelligent manufacturing equipment
Situation improves the practicability of the device of the same station workpieces processing of the embodiment of the present invention.
Further, based on above-described embodiment, the intelligence manufacture robot can increase and decrease.
The device of same station workpieces processing provided in an embodiment of the present invention, the intelligence manufacture robot therein can be with
It is made choice according to the needs of actual process, to realize different functions.During use, if necessary to increase new add
Work function can integrate new intelligence manufacture robot, and the intelligence manufacture robot is carried out hardware with existing apparatus is connected,
Simultaneously required manufacturing procedure is realized by changing control program.If some machining function no longer needs, also can remove corresponding
Intelligence manufacture robot, by the hardware of the intelligence manufacture robot and existing apparatus connect remove, while pass through change control
Processing procedure sequence realizes required manufacturing procedure.Four kinds of welding, polishing, detection, drilling processes can be such as included, can also be included up and down
The other process such as material, assembling, spraying or any combination.
On the basis of above-described embodiment, the embodiment of the present invention is new to realize by adding in new intelligence manufacture robot
Manufacturing procedure；By removing the intelligent robot no longer needed, to reduce cost；By increasing and decreasing intelligent robot this hair
The device that bright embodiment is provided is more flexible, more practicability.
Further, based on above-described embodiment, described device is additionally operable to by performing described in default control programme-control
Multiple robot coordinated actions of intelligence manufacture are specifically included with completing manufacturing procedure：
Initialization operation, the initialization operation include input workpiece information, carry out workpiece positioning and obtain environment measurement
Data；
The workpiece information is inputted in the control interface of industrial personal computer, including essential informations such as workpiece material, workpiece number；It is described
The industrial personal computer of device controls positioner to carry out workpiece positioning by assembly controller, and the progress workpiece positioning is included to workpiece
It is positioned, establishes the position relationship of workpiece and the device of the same station workpieces processing, realizing the process of process processing
In, only it need to carry out one-time positioning；Described device obtains the environment measurement data of environmental sensor detection, the environment measurement data
Including ambient condition information, such as temperature, humidity, intensity of illumination.
Judge whether the corresponding function of the intelligence manufacture robot performs successively according to preset order, if so, according to
The environment measurement data carry out task setting, program setting and machining locus generation, then trigger the intelligence manufacture machine
People is according to the machining locus workpieces processing；If it is not, the intelligence manufacture robot motion is not triggered then；
The preset order is set in control software according to the process of required realization, the preset order refers to judging
The order whether intelligence manufacture robot corresponding function is realized.According to set process, described device is according to default suitable
Sequence judges whether the corresponding function of the intelligence manufacture robot performs successively, if so, according to the environment measurement data into
Row task setting, program setting and machining locus generation, wherein program setting can be real by off-line programing or calling existing program
It is existing, the intelligence manufacture robot is then triggered according to the machining locus workpieces processing；If it is not, the intelligence system is not triggered then
Make robot motion.
According to the difference of the process of realization, the preset order may need to adjust.Device as described in the present embodiment of the invention
Four kinds of detection, welding, drilling, spraying intelligence manufacture robots are integrated with, if required process is detection, welds, drills, spray
Apply, then should successively judge to detect in the preset order, weld, drill, the corresponding intelligence manufacture robot of spraying function whether
It performs；If required process is welding, drilling, spraying, detection, should successively judge in the preset order to weld, drill,
Whether spraying, the corresponding intelligence manufacture robot of detection function perform.
After completing all manufacturing procedures, storage technology document simultaneously uploads data.
The embodiment of the present invention can be based on same control software, realize that the parameter of a variety of intelligence manufacture robots work pieces process is set
The work such as fixed, off-line programing, Track Pick-up, operation perform, data upload, document output.
The embodiment of the present invention is by performing the default control robot coordinated action of the multiple intelligence manufacture of programme-control
To complete manufacturing procedure, the reliability of process processing is improved.
Further, based on above-described embodiment, described device is additionally operable to by performing described in default control programme-control
Multiple robot coordinated actions of intelligence manufacture are further included with completing manufacturing procedure：
Operating condition sensing signal is obtained, machined parameters and the machining locus are adjusted according to the situation of change of operating mode.
In process, described device is adjusted according to the situation of change of operating mode and processed by obtaining operating condition sensing signal
Parameter and the machining locus.The operating condition sensing signal includes the situation of workpiece to be machined, such as seam track information；The work
Condition perceptual signal can be obtained by the sensor for being installed on the execution end, and the visual sensing of end is performed as described in being installed on
Device can obtain seam track information, and according to seam track information, adjustment in real time performs position and the posture of end.
The embodiment of the present invention improves workpiece and adds by adjusting machining locus and machined parameters according to the situation of change of operating mode
The reliability of work.
Fig. 3 is the method flow diagram provided in an embodiment of the present invention for realizing same station workpieces processing.As shown in figure 3, institute
The method of stating includes：
Step 101, the general module for obtaining multiple intelligent manufacturing equipments, the general module can be with for intelligent manufacturing equipment
General module；
Step 102, the special module for obtaining the multiple intelligent manufacturing equipment, the special module are intelligent manufacturing equipment
Dedicated module, the special module correspond to the proprietary feature of the intelligence manufacture robot of the intelligent manufacturing equipment；
Step 103 integrates the special module of the general module and the multiple intelligent manufacturing equipment；The Universal Die
Block is used to perform the general character operation in process；The special module is used to perform the individual character behaviour of corresponding intelligence manufacture robot
Make；
Step 104, the general module and the special module are implemented in combination with corresponding to adding for the intelligence manufacture robot
Work function.
Modularity analysis is carried out to existing intelligent manufacturing equipment, different comprising modules are divided into equipment level；Then
Classify to the comprising modules, be divided into general module and special module, be practically used for realizing the intelligence system of specific function
It is the major part that each intelligent manufacturing equipment is different from other intelligent manufacturing equipments, therefore, intelligence to make the corresponding each module of robot
Each module corresponding to energy manufacture machine people is special module, such as robot controller, robot body, performs end and auxiliary material
Device, and be if remaining overall control component (such as industrial personal computer, assembly controller), mechanical guide part (such as guide rail) etc. can be with
It is shared, because of referred to herein as general module.The division of general module and special module can also according to function Bu Tong further into
Row subdivision.
After the general module of the intelligent manufacturing equipment and the special module is obtained, recombinated by modularization,
The multiple intelligent manufacturing equipment is integrated in one.In modularization regrouping process, since the general module is described more
It is general in a intelligent manufacturing equipment, therefore only retains a set of general module；Since the special module is each intelligence
Energy manufacturing equipment realizes the main modular of different machining functions, has respective different characteristics, therefore, retains all described special
Module namely all intelligence manufacture robots being made of the special module of reservation.
The general module is used to perform the general character operation in process, and the general character operation refers to the multiple intelligence
Using the operation of same module in manufacture machine people's process, such as workpiece is positioned, environmental parameter detects, control work(
The realization of energy, propulsion of guide rail etc..Therefore realize that the module of corresponding general character operation is referred to as general module, the multiple intelligence manufacture
Robot shares the general module.
The special module is used to perform the individual character operation of corresponding intelligence manufacture robot, and the individual character operation refers to described
The different operating carried out during multiple intelligence manufacture processing of robots for the respective different machining functions of realization, need to use each
From dedicated module, the specific operation for performing end and carrying out of such as intelligence manufacture robot, as drilling robot carries out
Drilling operation, welding robot are subjected to.Therefore realize that the module of corresponding individual character operation is referred to as special module, it is described
The respective special special module of multiple intelligence manufacture robots.The intelligence manufacture robot include the special module or
Person says that the intelligence manufacture robot is made of the special module.
Since actual intelligent manufacturing equipment is actually what is collectively constituted by the general module and the special module,
Therefore the general module and the special module are with reference to the machining function of the achievable correspondence intelligence manufacture robot.
Since the multiple intelligence manufacture robot is integrated in same station, difference can be realized on same station
Process, during to work pieces process, workpiece to be machined only need clamping once, positioning calibration once, intermediate link is not required to
Dismount and circulate workpiece, and a variety of intelligence manufacture robots are sequentially completed every manufacturing procedure under same coordinate-system.
The intelligent manufacturing equipment can come from same supplier, can be from different suppliers.
The embodiment of the present invention shares one or more general modules by a variety of intelligence manufacture robots, shares same work
Position has the same coordinate system, and can be avoided workpiece by the same operation and dismounted, hung between different intelligent manufacturing equipment
The non-cutting times such as fortune, circulation, clamping, positioning, so as to improve production efficiency, saving employment and equipment cost, optimization plant configuration.
Fig. 4 is the method flow diagram of same station workpieces processing provided in an embodiment of the present invention.As shown in figure 4, the side
Method includes：
Step 201, initialization operation, the initialization operation include input workpiece information, carry out workpiece positioning and acquisition
Environment measurement data；
The workpiece information is inputted in the control interface of industrial personal computer, including essential informations such as workpiece material, workpiece number；It is described
The industrial personal computer of device controls positioner to carry out workpiece positioning by assembly controller, and the progress workpiece positioning is included to workpiece
It is positioned, establishes the position relationship of workpiece and the device of the same station workpieces processing, realizing the process of process processing
In, only it need to carry out one-time positioning；Described device obtains the environment measurement data of environmental sensor detection, the environment measurement data
Including ambient condition information, such as temperature, humidity, intensity of illumination.
Step 202 judges whether the corresponding function of the intelligence manufacture robot performs according to preset order successively, if
It is that then carrying out task setting, program setting and machining locus according to the environment measurement data generates, and then triggers the intelligence
Manufacture machine people is according to the machining locus workpieces processing；If it is not, the intelligence manufacture robot motion is not triggered then；Wherein,
If knowing that operating mode changes according to the judgement of operating condition sensing signal, machined parameters and the machining locus are adjusted；
The preset order is set in control software according to the process of required realization, the preset order refers to judging
The order whether intelligence manufacture robot corresponding function is realized.According to set process, described device is according to default suitable
Sequence judges whether the corresponding function of the intelligence manufacture robot performs successively, if so, according to the environment measurement data into
Row parameter setting, program setting and machining locus generation, wherein program setting can be real by off-line programing or calling existing program
It is existing, the intelligence manufacture robot is then triggered according to the machining locus workpieces processing；If it is not, the intelligence system is not triggered then
Make robot motion；
According to the difference of the process of realization, the preset order may need to adjust.Device as described in the present embodiment of the invention
Four kinds of detection, welding, drilling, spraying intelligence manufacture robots are integrated with, if required process is detection, welds, drills, spray
Apply, then should successively judge to detect in the preset order, weld, drill, the corresponding intelligence manufacture robot of spraying function whether
It performs；If required process is welding, drilling, spraying, detection, should successively judge in the preset order to weld, drill,
Whether spraying, the corresponding intelligence manufacture robot of detection function perform.
In process, by obtaining operating condition sensing signal, machined parameters and institute are adjusted according to the situation of change of operating mode
State machining locus.The operating condition sensing signal includes the situation of workpiece to be machined, and the operating condition sensing signal can be by being installed on
The sensor for performing end obtains.
After all manufacturing procedures of step 203, completion, storage technology document simultaneously uploads data.
The embodiment of the present invention can be based on same control software, realize that the parameter of a variety of intelligence manufacture robots work pieces process is set
The work such as fixed, off-line programing, Track Pick-up, operation perform, data upload, document output.
Fig. 5 is the method flow diagram of another same station workpieces processing provided in an embodiment of the present invention.It as shown in figure 5, should
The step of method is：
The essential informations such as A input operators job number, name, workpiece material, workpiece number；
B positions workpiece, establishes the position relationship of workpiece and intelligent manufacturing equipment system；
C gathers ambient condition information, such as temperature, humidity, intensity of illumination；
D determines whether to be subjected to, if be subjected to, first sets weld task information, Ran Houkai
Beginning off-line programing calls existing program, and generation welding processing track performs welding operation, and work is perceived while welding and operating
Condition information, and on-line tuning is carried out to welding track and welding parameter, until completing welding operation；
E complete welding operation or skip welding operation after, it is necessary to judge whether to successively sanding operation, whether into
Whether row detection operation carries out drilling operation, if it is, the operating process of similar welding is carried out, if it is not, then skipping this item
Process；
After F completes all manufacturing procedures, storage technology document simultaneously uploads data.
The embodiment of the present invention is by performing the default control robot coordinated action of the multiple intelligence manufacture of programme-control
To complete manufacturing procedure, the reliability of process processing is improved.
Fig. 6 is the structure diagram of electronic equipment provided in an embodiment of the present invention.As shown in fig. 6, electronic equipment 1 includes place
Manage device 501, memory 502 and bus 503.Wherein, the processor 501 and the memory 502 are complete by the bus 503
Into mutual communication；The processor 501 is used to call the program instruction in the memory 502, to perform above-mentioned each side
The method that method embodiment is provided, such as including：Initialization operation, the initialization operation include input workpiece information, carry out
Workpiece positions and obtains environment measurement data；Judging the corresponding function of the intelligence manufacture robot successively according to preset order is
No execution is generated if so, carrying out task setting, program setting and machining locus according to the environment measurement data, then touched
Send out intelligence manufacture robot described according to the machining locus workpieces processing；If it is not, the intelligence manufacture robot is not triggered then
Action；Wherein, if knowing that operating mode changes according to the judgement of operating condition sensing signal, machined parameters and the processing rail are adjusted
Mark；After completing all manufacturing procedures, storage technology document simultaneously uploads data.
The embodiment of the present invention discloses a kind of computer program product, and the computer program product includes being stored in non-transient
Computer program on computer readable storage medium, the computer program include program instruction, when described program instructs quilt
When computer performs, computer is able to carry out the method that above-mentioned each method embodiment is provided, such as including：Initialization operation,
The initialization operation includes input workpiece information, carries out workpiece positioning and obtains environment measurement data；According to preset order according to
It is secondary to judge whether the corresponding function of the intelligence manufacture robot performs, if so, being appointed according to the environment measurement data
Business setting, program setting and machining locus generation, then trigger the intelligence manufacture robot and are processed according to the machining locus
Workpiece；If it is not, the intelligence manufacture robot motion is not triggered then；Wherein, if knowing operating mode according to the judgement of operating condition sensing signal
It changes, then adjusts machined parameters and the machining locus；After completing all manufacturing procedures, storage technology document simultaneously uploads
Data.
The embodiment of the present invention provides a kind of non-transient computer readable storage medium storing program for executing, the non-transient computer readable storage
Medium storing computer instructs, and the computer instruction makes the computer perform the side that above-mentioned each method embodiment is provided
Method, such as including：Initialization operation, the initialization operation include input workpiece information, carry out workpiece positioning and obtain environment
Measurement data；Judge whether the corresponding function of the intelligence manufacture robot performs successively according to preset order, if so, according to
The environment measurement data carry out task setting, program setting and machining locus generation, then trigger the intelligence manufacture machine
People is according to the machining locus workpieces processing；If it is not, the intelligence manufacture robot motion is not triggered then；Wherein, if according to work
The judgement of condition perceptual signal knows that operating mode changes, then adjusts machined parameters and the machining locus；Complete all processing works
After sequence, storage technology document simultaneously uploads data.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through
The relevant hardware of program instruction is completed, and foregoing program can be stored in a computer read/write memory medium, the program
Upon execution, the step of execution includes above method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or light
The various media that can store program code such as disk.
The embodiments such as electronic equipment described above are only schematical, illustrate wherein described as separating component
Unit may or may not be physically separate, and the component shown as unit may or may not be object
Manage unit, you can be located at a place or can also be distributed in multiple network element.It can select according to the actual needs
Some or all of module therein is selected to realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying wound
In the case of the work for the property made, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on such understanding, on
Technical solution is stated substantially in other words to embody the part that the prior art contributes in the form of software product, it should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
Order, which is used, so that electronic equipment (can be personal computer, server or the network equipment etc.) performs each embodiment
Or the method described in some parts of embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
To modify to the technical solution recorded in foregoing embodiments or carry out equivalent substitution to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical solution spirit and
Scope.
Claims (10)
1. a kind of device of same station workpieces processing, which is characterized in that including：
Positioned at multiple intelligence manufacture robots of same processing stations, the multiple intelligence manufacture robot is used to implement different
Machining function；
Described device further includes：General module on the processing stations, the multiple intelligence manufacture robot share institute
General module is stated, the general module is used to perform the general character operation in process；
The multiple intelligence manufacture robot includes special module respectively, and the special module is used to perform corresponding intelligence manufacture machine
The individual character operation of device people；
The general module and the special module are with reference to the machining function of the achievable correspondence intelligence manufacture robot.
2. the apparatus according to claim 1, which is characterized in that described device is additionally operable to by performing default control program
The robot coordinated action of the multiple intelligence manufacture is controlled to complete manufacturing procedure.
3. the apparatus according to claim 1, which is characterized in that the general module includes industrial personal computer, positioner, assembly
Controller, power supply, environmental sensor, air pump and guide rail；The special module includes performing end, robot body, robot
Controller and auxiliary material device.
4. the apparatus according to claim 1, which is characterized in that the intelligence manufacture robot can increase and decrease.
5. the apparatus of claim 2, which is characterized in that described device is additionally operable to by performing default control program
The robot coordinated action of the multiple intelligence manufacture is controlled to be specifically included to complete manufacturing procedure：
Initialization operation, the initialization operation include input workpiece information, carry out workpiece positioning and obtain environment measurement data；
Judge whether the corresponding function of the intelligence manufacture robot performs successively according to preset order, if so, according to described
Environment measurement data carry out task setting, program setting and machining locus generation, then trigger the intelligence manufacture robot and press
According to the machining locus workpieces processing；If it is not, the intelligence manufacture robot motion is not triggered then；
After completing all manufacturing procedures, storage technology document simultaneously uploads data.
6. device according to claim 5, which is characterized in that described device is additionally operable to by performing default control program
The robot coordinated action of the multiple intelligence manufacture is controlled to be further included to complete manufacturing procedure：
Operating condition sensing signal is obtained, machined parameters and the machining locus are adjusted according to the situation of change of operating mode.
A kind of 7. method for realizing same station workpieces processing, which is characterized in that the described method includes：
The general module of multiple intelligent manufacturing equipments is obtained, the general module is the module that intelligent manufacturing equipment can be general；
The special module of the multiple intelligent manufacturing equipment is obtained, the special module is the dedicated module of intelligent manufacturing equipment,
The special module corresponds to the proprietary feature of the intelligence manufacture robot of the intelligent manufacturing equipment；
The special module of the general module and the multiple intelligent manufacturing equipment is integrated；The general module adds for performing
General character operation during work；The special module is used to perform the individual character operation of corresponding intelligence manufacture robot；
The general module and the special module are implemented in combination with corresponding to the machining function of the intelligence manufacture robot.
8. a kind of method of the same station workpieces processing of device according to any one of claims 1 to 6, feature exist
In, including：
Initialization operation, the initialization operation include input workpiece information, carry out workpiece positioning and obtain environment measurement data；
Judge whether the corresponding function of the intelligence manufacture robot performs successively according to preset order, if so, according to described
Environment measurement data carry out task setting, program setting and machining locus generation, then trigger the intelligence manufacture robot and press
According to the machining locus workpieces processing；If it is not, the intelligence manufacture robot motion is not triggered then；Wherein, if according to operating mode sense
Know that signal judgement knows that operating mode changes, then adjust machined parameters and the machining locus；
After completing all manufacturing procedures, storage technology document simultaneously uploads data.
9. a kind of electronic equipment, which is characterized in that including memory and processor, the processor and the memory pass through total
Line completes mutual communication；The memory storage has the program instruction that can be performed by the processor, the processor tune
Method as claimed in claim 8 is able to carry out with described program instruction.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program quilt
Processor realizes method as claimed in claim 8 when performing.
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