CN109760080A - A kind of mechanical clamp group and correlation technique - Google Patents
A kind of mechanical clamp group and correlation technique Download PDFInfo
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- CN109760080A CN109760080A CN201811608514.XA CN201811608514A CN109760080A CN 109760080 A CN109760080 A CN 109760080A CN 201811608514 A CN201811608514 A CN 201811608514A CN 109760080 A CN109760080 A CN 109760080A
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Abstract
A kind of mechanical clamp group and correlation technique, wherein the mechanical clamp group includes: input and output I/O interface module and N number of fixture, and the N is the integer greater than one；The I/O interface module can be connect with the fixture by heavy-duty connector, the female head/foot position of heavy duty of the heavy-duty connector is provided in the I/O interface module, the public head/foot position of heavy duty of the heavy-duty connector is provided on the fixture, the signal point on the fixture is connected on the public head/foot position of the heavy duty.
Description
Technical field
This application involves electronic technology field more particularly to a kind of mechanical clamp group and correlation techniques.
Background technique
Under the overall background of industry 4.0, more and more equipment start to require modularization, flexibility design scheme.In mesh
In preceding general equipment, robot and fixture are two more important units.Currently, robot is the model of flexible working,
And fixture is then often that engineer is in advance independently programmable each sleeve clamp.
In the hardware design of the prior art, at present general way be each sleeve clamp using matched IO (In Out,
Input and output) interface module since a sleeve clamp is only correspondingly connected with an I/O interface module leads to the higher of equipment cost.
Summary of the invention
The embodiment of the present application provides a kind of mechanical clamp group and correlation technique, a pair of between I/O interface and fixture for providing
More connection types enables multiple fixtures to be multiplexed an I/O interface.
A kind of mechanical clamp group that the embodiment of the present application first aspect provides, comprising:
Input and output I/O interface module and N number of fixture, the N are the integer greater than zero；
The I/O interface module can be connect with the fixture by heavy-duty connector, be arranged in the I/O interface module
The female head/foot position of heavy duty of heavy-duty connector is stated, the public head/foot position of heavy duty of the heavy-duty connector is provided on the fixture, it is described
Signal point on fixture is connected on the public head/foot position of the heavy duty.
Further, the mechanical clamp group further include: fixture acts collector；
The fixture movement collector, which is used to be compiled according to the combination of action signal, generates fixture action group, the fixture
Action group is a set of combinative movement that fixture can be performed.
Further, the mechanical clamp group further include: action database；
The action database is used to store at least two sets of the fixture action group that the fixture movement collector generates.
Further, the fixture movement collector includes: fixture action signal compilation unit, and fixture detects signal and compiles
Translate unit and manual intervention signal compilation unit；
What the fixture action signal compilation unit was used to compile fixture executes movement；
The fixture detection signal compilation unit is used to compile the detection operation for executing situation in place to fixture movement；
The fixture detection signal compilation unit is used to compile the intervention action of manual intervention fixture.
Further, the execution logic of the fixture action group, comprising:
Call the sleeve clamp action group specified in the action database；
Fixture movement is executed according to the fixture action signal in the fixture action group；
According to the fixture detection signal in the fixture action group, to the execution that the fixture acts, situation is examined in place
It surveys, if the movement of fixture action signal is carried out the movement for completing the fixture action group in place；If any fixture movement letter
Number movement be not carried out in place, then execute alarm operation.
Further, the execution logic of the fixture action group, further includes:
After the sleeve clamp action group specified in calling the action database, detect whether to receive manual intervention
Signal, if so, executing the manual intervention signal.
Further, the manual intervention signal includes any of the following the combination of signal or more:
Both hands enabling signal, pause signal or leapfrog signal.
Further, the fixture acts collector further include: man-machine interface；
The man-machine interface includes the fixture action signal compilation unit, fixture detection signal compilation unit and
The corresponding compiling interface of the manual intervention signal compilation unit；
The compiling interface includes the step in signal designation position corresponding with each movement and a sleeve clamp action group
Timing and content.
The execution method for the fixture movement that the embodiment of the present application second aspect provides, comprising:
A sleeve clamp action group in call action database, the fixture action group include: fixture action signal and folder
Tool detection signal；
Fixture movement is executed according to the fixture action signal in the fixture action group；
According to the fixture detection signal in the fixture action group, to the execution that the fixture acts, situation is examined in place
It surveys, if the movement of fixture action signal is carried out in place, the movement of the fixture action group executes completion；If any fixture is dynamic
The movement for making signal is not carried out in place, then executes alarm operation.
Further, the fixture action group, further includes: manual intervention signal；
After the sleeve clamp action group specified in the calling action database, the method also includes:
It detects whether to receive the manual intervention signal, if so, executing the manual intervention signal.
Therefore application scheme includes I/O interface module and multiple fixtures, wherein is arranged in I/O interface module
There is the female head/foot position of the heavy duty of the heavy-duty connector, the public head/foot position of heavy duty of the heavy-duty connector, institute are provided on the fixture
It states the signal point on fixture to be connected on the public head/foot position of the heavy duty, multiple fixtures is enabled to be multiplexed an I/O interface；
Meanwhile when needing another fixture in practical applications, fixture can quickly be replaced by the plug of heavy-duty connector, it is convenient
Fast.
Detailed description of the invention
Fig. 1 is a structural schematic diagram of mechanical clamp group provided by the embodiments of the present application；
Fig. 2 is another structural schematic diagram of mechanical clamp group provided by the embodiments of the present application；
Fig. 3 is the database interface schematic diagram of mechanical clamp group provided by the embodiments of the present application；
Fig. 4 is that the fixture of mechanical clamp group provided by the embodiments of the present application acts interface schematic diagram；
Fig. 5 is the flow diagram of the execution method of fixture provided by the embodiments of the present application movement.
Specific embodiment
To enable present invention purpose, feature, advantage more obvious and understandable, below in conjunction with the application
Attached drawing in embodiment, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described reality
Applying example is only some embodiments of the present application, and not all embodiments.Based on the embodiment in the application, those skilled in the art
Member's every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
Herein, using the suffix for indicating such as " module ", " component " or " unit " of element only for advantageous
In explanation of the invention, there is no specific meanings for itself.
Embodiment one
The embodiment of the present application provides a kind of mechanical clamp group and correlation technique, a pair of between I/O interface and fixture for providing
More connection types enables multiple fixtures to be multiplexed an I/O interface.
Referring to Fig. 1, the mechanical clamp group mainly comprises the following modules:
I/O interface module 101 and N number of fixture 102, the N are the integer greater than zero；
The I/O interface module can be connect with the fixture by heavy-duty connector, be arranged in the I/O interface module
The female head/foot position 1011 of heavy duty of heavy-duty connector is stated, the public head/foot position of heavy duty of the heavy-duty connector is provided on the fixture
1021, the signal point on the fixture is connected on the public head/foot position 1021 of the heavy duty.Wherein, the I/O interface module
The female head/foot position 1011 of heavy duty match with the heavily loaded male head/foot position 1021 on the fixture.
Illustratively, the heavy-duty connector is specially push-in heavy-duty connector.It is connected compared to hard signal, more
Need to dock the prior art of each signal wire when changing fixture again, the embodiment of the present application only needs fast insert-pull heavy duty male connector
The replacement of fixture can be completed in foot position.
I/O interface module can have multiple signaling points, and in the female head/foot position of design heavy duty, I/O interface module can distribute solid
Fixed signaling point enables it be used for the connection of the public head/foot position of the heavy duty on fixture to heavily loaded female head/foot position.
Therefore application scheme includes I/O interface module and multiple fixtures, wherein is arranged in I/O interface module
There is the female head/foot position of the heavy duty of the heavy-duty connector, the public head/foot position of heavy duty of the heavy-duty connector, institute are provided on the fixture
It states the signal point on fixture to be connected on the public head/foot position of the heavy duty, multiple fixtures is enabled to be multiplexed an I/O interface；
Meanwhile when needing another fixture in practical applications, fixture can quickly be replaced by the plug of heavy-duty connector, it is convenient
Fast.
In the embodiment of the present application, one-to-many connection type between I/O interface and fixture, in the more feelings of the quantity of fixture
Under condition, the superiority of the program can be more embodied.Such as when a tooling has 100 sleeve clamp, using traditional way, behaviour
Make in complexity and cost, is all very big investment.And use the scheme of the embodiment of the present application, then it can mitigate it significantly
Complexity and reduce cost.
Embodiment two
In existing robot field, fixture is then often that engineer is in advance independently programmable each sleeve clamp.
Independent and fixed programming, so that each sleeve clamp only has fixed movement, thus it is (i.e. flexibly suitable not meet flexibility requirement
Demand with practical application promptly matches the movement of corresponding fixture for practical application request), it provides in the embodiment of the present invention
The implementation being compiled is acted to fixture, referring to Fig. 2, specifically including:
In example 1 on hardware foundation included by mechanical clamp group, the mechanical clamp group further include: fixture is dynamic
Make collector 103 and action database 104；
The fixture movement collector 103, which is used to be compiled according to the combination of action signal, generates fixture action group, described
Fixture action group is a set of combinative movement that fixture can be performed.
The action database 104 is used to store at least two sets of the fixture movement that the fixture movement collector generates
Group.
Further, the fixture movement collector includes: fixture action signal compilation unit 1031, fixture detection letter
Number compilation unit 1032 and manual intervention signal compilation unit 1033；
What the fixture action signal compilation unit 1031 was used to compile fixture executes movement；
The fixture detection signal compilation unit 1032 is used to compile dynamic to the detection for executing situation in place of fixture movement
Make；
The fixture detection signal compilation unit 1033 is used to compile the intervention action of manual intervention fixture.
Further, the fixture movement collector includes: man-machine interface 1034；
The man-machine interface 1034 includes the fixture action signal compilation unit, and the fixture detects signal compilation unit
And the corresponding compiling interface of the manual intervention signal compilation unit；
The compiling interface includes the step in signal designation position corresponding with each movement and a sleeve clamp action group
Timing and content.
Illustratively, in the embodiment of the present application, user can be man-machine based on providing in fixture movement collector 103
Interface 1034 (e.g., operation interface shown in Fig. 3) is designed and compiles to fixture movement.Wherein, a sleeve clamp action group
Action signal may include: fixture action signal, fixture detection signal and manual intervention signal.User is in man-machine interface 1034
In be respectively completed after fixture action signal, fixture detection signal and the corresponding movement of manual intervention signal be arranged, according to setting
The action sequence of meter can save as a sleeve clamp action group, and store into action database 104.
When user needs to meet specific generation demand, and in call action database when corresponding fixture action group, fixture
The execution logic of action group can be with are as follows:
Call the sleeve clamp action group specified in the action database；
Fixture movement is executed according to the fixture action signal in the fixture action group；
According to the fixture detection signal in the fixture action group, to the execution that the fixture acts, situation is examined in place
It surveys, if the movement of fixture action signal is carried out the movement for completing the fixture action group in place；If any fixture movement letter
Number movement be not carried out in place, then execute alarm operation.
Wherein, it after the sleeve clamp action group specified in calling the action database, detects whether to connect in real time
Manual intervention signal is received, if so, executing the manual intervention signal.
The manual intervention signal includes any of the following the combination of signal or more:
Both hands enabling signal, pause signal or leapfrog signal.
The both hands enabling signal is under the scene of manual intervention, and fixture starts a kind of Starting mode of execution movement, instruction
Fixture starts execution movement and staff's both hands leave relevant range.
The pause signal is a kind of indication signal for suspending execution movement.
The leapfrog signal is the indication signal that fixture skips given step.
In practical applications, the movement of fixture performed by fixture can be observed in real time in user, can if discovery executes exception
To send artificial intervention signal to fixture by operation interface, after mechanical clamp group receives the artificial intervention signal, according to this
Operation indicated by manual intervention signal executes corresponding movement.In addition, situation can also be in place for the execution of fixture movement
It is voluntarily detected by mechanical clamp group, after mechanical clamp group executes fixture detection signal, discovery fixture movement is not carried out in place,
It then can be with warning note user, so that the relevant operation error of manual intervention correction form signals can be used in recruitment.
It should be noted that each functional module is drawn in the embodiment of figure 1 above and the exemplary mechanical clamp group of Fig. 2
Point be merely illustrative of, can according to need in practical application, for example, corresponding hardware configuration requirement or software realization
It is convenient to consider, and above-mentioned function distribution is completed by different functional modules, i.e., the internal structure of electronic device is divided into not
Same functional module, to complete all or part of the functions described above.Moreover, in practical applications, in the present embodiment
Corresponding functional module can be by corresponding hardware realization, can also execute corresponding software by corresponding hardware and complete.This
Each embodiment that specification provides can all apply foregoing description principle, repeat no more below.
Embodiment three
In order to make it easy to understand, the embodiment of the present application provides the application examples of specific fixture movement compiling, Fig. 3 and figure are please referred to
4, comprising:
As shown in figure 3, it is database interface that Fig. 3 is exemplary, which is that user is programmed fixture movement
Interface, contain action sequence design, each step movement design, each step movement feedback signal, each step movement in
Manual intervention and teaching, duplication paste etc. operation, by the interface, user can complete to fixture act completely setting
Meter, and store in the database.
Specifically, the first row is shown " close to switch ", " valve events ", " SD " in database interface exemplified by Fig. 3,
" QT ", " JP ", the content of " ED "；Wherein, " close to switch " it is corresponding be fixture action signal movement, " valve events " are corresponding
It is the movement of fixture detection signal, and " SD ", it is the movement of manual intervention signal that " QT " and " JP " corresponding, wherein " SD ",
" QT ", " JP " and " ED " respectively correspond " both hands starting ", " pause ", the meaning of " leapfrog " and " end ".It is shown below the first row
Multiple dots are shown with, indicate the signal designation position of corresponding actions.The S0 to S5 that first row in database interface is shown distinguishes table
Show step 0 to step 5.
Illustratively, it is assumed that the first fixture action group is in a line corresponding to S0, " close to switch " part corresponding the
One and second signal designation site it is bright, " valve events " corresponding third and fourth signal designation site is bright, and " JP " is corresponding
Signal designation site is bright and " JP " corresponding serial number is shown as " 001 ", then the step 0 of the first fixture action group includes:
The corresponding fixture movement (i.e. fixture action signal) in first and second signal designation positions in " close to switch ", " valve events " are corresponding
The corresponding detection operation in third and fourth signal designation position (i.e. fixture detection signal), and " leapfrog 001 " (skip step
Rapid manual intervention movement 1).
S0 is successively being set into S5 after corresponding signal designation position, the choosing of " setting " in the interface of click data library
, then it can complete the design of a sleeve clamp action group.It further, further include having " step volume below " setting " option
Number ", " CtrC ", " CtrV ", " both hands ", " pause ", the options such as " End " and " leapfrog " can be viscous to particular step completion duplication
The function of patch, convenient for the efficiency of raising movement setting.
Lower left corner part in database interface includes " valve events " corresponding movement VH1 to VH5, and movement
The display items of VW1-VW5, wherein the initial bit (position where when i.e. fixture is not dynamic) of " VH " expression movement, " VW " indicates dynamic
Work working position (i.e. fixture execute after a certain movement where position).
As shown in figure 4, it is fixture movement interface that Fig. 4 is exemplary, it is behaviour of the user to particular jig which, which acts interface,
Make interface, which has invoked specific action group in the database.In the interface, user can be to the particular jig
It is operated manually, the practical operations such as signal monitoring, signal shielding and dry running, previous step, next step, to improve fixture
Operability.
It is successively shown " in place " in the corresponding file of a movement specifically, fixture acts interface, Alarm and " screen
Cover " display position；For acting VH1, " in place ", these three display positions of Alarm and " shielding " respectively indicate that " acting VH1 is
It is no in place ", " act VH1 it is not in place when whether alarm ", " movement VH1 alarm whether is shielded when not in place " instruction.
In the embodiment of the present application, the program modularity design of mechanical clamp group is illustrated, engineer and confession can be improved
Answer the working efficiency of quotient both sides.
Example IV
The embodiment of the present application also provides the execution methods of fixture corresponding with above-mentioned fixture action group movement, please refer to
Fig. 5, comprising:
501, the sleeve clamp action group in call action database；
A sleeve clamp action group in call action database, the fixture action group include: fixture action signal and folder
Tool detection signal.
502, fixture movement is executed according to the fixture action signal in the fixture action group；
Fixture movement is executed according to the fixture action signal in the fixture action group.
503, the execution fixture acted according to the fixture detection signal in the fixture action group in place situation into
Row detection；
According to the fixture detection signal in the fixture action group, to the execution that the fixture acts, situation is examined in place
It surveys, if the movement of fixture action signal is carried out in place, the movement of the fixture action group executes completion；If any fixture is dynamic
The movement for making signal is not carried out in place, then executes alarm operation.
504, it detects whether to receive the manual intervention signal；
It detects whether to receive the manual intervention signal, if so, executing the manual intervention signal.
In practical applications, the movement of fixture performed by fixture can be observed in real time in user, can if discovery executes exception
To send artificial intervention signal to fixture by operation interface, after mechanical clamp group receives the artificial intervention signal, according to this
Operation indicated by manual intervention signal executes corresponding movement.In addition, situation can also be in place for the execution of fixture movement
It is voluntarily detected by mechanical clamp group, after mechanical clamp group executes fixture detection signal, discovery fixture movement is not carried out in place,
It then can be with warning note user, so that the relevant operation error of manual intervention correction form signals can be used in recruitment.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the module, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple module or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or module
Letter connection can be electrical property, mechanical or other forms.
The module as illustrated by the separation member may or may not be physically separated, aobvious as module
The component shown may or may not be physical module, it can and it is in one place, or may be distributed over multiple
On network module.Some or all of the modules therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
It, can also be in addition, can integrate in a processing module in each functional module in each embodiment of the application
It is that modules physically exist alone, can also be integrated in two or more modules in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.
If the integrated module is realized in the form of software function module and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a readable storage medium storing program for executing, including some instructions are used so that a meter
It calculates machine equipment (can be personal computer, server or the network equipment etc.) and executes each embodiment the method for the application
All or part of the steps.And readable storage medium storing program for executing above-mentioned includes: USB flash disk, mobile hard disk, ROM, RAM, magnetic or disk etc.
The various media that can store program code.
It should be noted that for the various method embodiments described above, describing for simplicity, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the application is not limited by the described action sequence because
According to the application, certain steps can use other sequences or carry out simultaneously.Secondly, those skilled in the art should also know
It knows, the embodiments described in the specification are all preferred embodiments, and related actions and modules might not all be this Shen
It please be necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
The above are the descriptions to a kind of mechanical clamp group provided herein and correlation technique, for the technology of this field
Personnel, according to the thought of the embodiment of the present application, there will be changes in the specific implementation manner and application range, to sum up, this
Description should not be construed as the limitation to the application.
Claims (10)
1. a kind of mechanical clamp group characterized by comprising
Input and output I/O interface module and N number of fixture, the N are the integer greater than one；
The I/O interface module can be connect with the fixture by heavy-duty connector, be provided in the I/O interface module described heavy
The female head/foot position of heavy duty of connector is carried, the public head/foot position of heavy duty of the heavy-duty connector, the fixture are provided on the fixture
On signal point be connected on the public head/foot position of heavy duty.
2. mechanical clamp group according to claim 1, which is characterized in that
The mechanical clamp group further include: fixture acts collector；
The fixture movement collector, which is used to be compiled according to the combination of action signal, generates fixture action group, the fixture movement
Group is a set of combinative movement that fixture can be performed.
3. mechanical clamp group according to claim 2, which is characterized in that
The mechanical clamp group further include: action database；
The action database is used to store at least two sets of the fixture action group that the fixture movement collector generates.
4. mechanical clamp group according to claim 2, which is characterized in that
The fixture movement collector includes: fixture action signal compilation unit, and fixture detects signal compilation unit and people
Work intervention signal compilation unit；
What the fixture action signal compilation unit was used to compile fixture executes movement；
The fixture detection signal compilation unit is used to compile the detection operation for executing situation in place to fixture movement；
The fixture detection signal compilation unit is used to compile the intervention action of manual intervention fixture.
5. mechanical clamp group according to claim 3, which is characterized in that
The execution logic of the fixture action group, comprising:
Call the sleeve clamp action group specified in the action database；
Fixture movement is executed according to the fixture action signal in the fixture action group；
According to the execution that the fixture detection signal in the fixture action group acts the fixture, situation is detected in place, if
The movement of fixture action signal is carried out in place, then completes the movement of the fixture action group；If any fixture action signal
Movement is not carried out in place, then executes alarm operation.
6. mechanical clamp group according to claim 5, which is characterized in that
The execution logic of the fixture action group, further includes:
After the sleeve clamp action group specified in calling the action database, detect whether to receive manual intervention letter
Number, if so, executing the manual intervention signal.
7. mechanical clamp group according to claim 1, which is characterized in that
The manual intervention signal includes any of the following the combination of signal or more:
Both hands enabling signal, pause signal or leapfrog signal.
8. mechanical clamp group according to claim 4, which is characterized in that
The fixture acts collector further include: man-machine interface；
The man-machine interface includes the fixture action signal compilation unit, fixture detection signal compilation unit and described
The corresponding compiling interface of manual intervention signal compilation unit；
The compiling interface includes the step timing in signal designation position corresponding with each movement and a sleeve clamp action group
And content.
9. a kind of execution method of fixture movement characterized by comprising
A sleeve clamp action group in call action database, the fixture action group include: fixture action signal and fixture inspection
Survey signal；
Fixture movement is executed according to the fixture action signal in the fixture action group；
According to the execution that the fixture detection signal in the fixture action group acts the fixture, situation is detected in place, if
The movement of fixture action signal is carried out in place, then the movement of the fixture action group executes completion；If any fixture movement letter
Number movement be not carried out in place, then execute alarm operation.
10. execution method according to claim 5, which is characterized in that
The fixture action group, further includes: manual intervention signal；
After the sleeve clamp action group specified in the calling action database, the method also includes:
It detects whether to receive the manual intervention signal, if so, executing the manual intervention signal.
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| CN108687691A (en) * | 2018-03-29 | 2018-10-23 | 大族激光科技产业集团股份有限公司 | A kind of control method and system for fixture |
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