CN111055280B - Control method, device and system of multifunctional working system - Google Patents
Control method, device and system of multifunctional working system Download PDFInfo
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- CN111055280B CN111055280B CN201911314946.4A CN201911314946A CN111055280B CN 111055280 B CN111055280 B CN 111055280B CN 201911314946 A CN201911314946 A CN 201911314946A CN 111055280 B CN111055280 B CN 111055280B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention provides a control method, a device and a system of a multifunctional working system, wherein the control method comprises the following steps: responding to a control instruction for indicating at least one type of practical training unit in the multifunctional working system to work, and selecting an operation component corresponding to the robot unit according to the type of the practical training unit; selecting a clamping component of the robot unit matched with the training unit in structure; and executing corresponding practical training operation on each raw material on the workbench according to a control program corresponding to the control instruction to obtain a corresponding finished product. According to the invention, a plurality of training units capable of completing different types of training tasks are integrated in a multifunctional working system, and a certain type of training unit in the multifunctional working system is mobilized to work according to a received control instruction. Therefore, the work of a certain type of training unit in the multifunctional working system can be accurately controlled, and the purchase cost can be reduced.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a control method, a device and a system of a multifunctional working system.
Background
In the prior art, if the operation of robots with different functions is to be trained, a device for training the operation needs to be configured for each robot, for example, if the operation is to be trained for a robot with a carrying function, a device for training the carrying function needs to be configured, or if the operation is to be trained for a robot with a palletizing function, a device for training the palletizing function needs to be configured, or if the operation is to be trained for a robot with a polishing function, a device for training the polishing function needs to be configured.
In practical application, each time a new function of the robot is added, equipment capable of performing practical training on the new function needs to be configured for the new function, so that a large amount of manpower and material resources are wasted for maintaining the equipment, and the cost is increased due to the purchase of the new practical training equipment.
Therefore, in the long-term research and development, the inventor has conducted a great deal of research and study on a control method of a single working system, and has proposed a control method of a multifunctional working system to solve one of the above technical problems.
Disclosure of Invention
The present invention is directed to a method, an apparatus, and a system for controlling a multifunctional operating system, which are capable of solving at least one of the above-mentioned problems. The specific scheme is as follows:
according to a specific embodiment of the present invention, in a first aspect, the present invention provides a control method for a multifunctional working system, including:
receiving a control instruction for indicating at least one type of practical training unit in the multifunctional working system to work;
responding to the control instruction, and selecting an operation component corresponding to the robot unit according to the type of the practical training unit;
responding to the control instruction, selecting a clamping component of the robot unit matched with the practical training unit in structure, so that each raw material of the practical training unit can be clamped to a workbench of the practical training unit through the clamping component;
and executing corresponding practical training operation on each raw material on the workbench according to a control program corresponding to the control instruction to obtain a corresponding finished product.
According to a second aspect of the present invention, there is provided a control apparatus for a multifunction working system, including:
the receiving unit is used for receiving a control instruction for indicating at least one type of practical training unit in the multifunctional working system to work;
the selection unit is used for responding to the control instruction received by the receiving unit and selecting an operation component corresponding to the robot unit according to the type of the practical training unit; and
responding to the control instruction, selecting a clamping component of the robot unit matched with the practical training unit in structure, so that each raw material of the practical training unit can be clamped to a workbench of the practical training unit through the clamping component;
and the processing unit is used for executing corresponding practical training operation on each raw material on the workbench according to the control program corresponding to the control instruction received by the receiving unit to obtain a corresponding finished product.
According to a third aspect of the present invention, there is provided a multifunction working system including: the control device of the multifunctional working system, the robot unit, the training units of at least one type and the conveying device for conveying raw materials of the training units are arranged on the robot unit.
Compared with the prior art, the scheme of the embodiment of the invention at least has the following beneficial effects:
the invention provides a control method, a device and a system of a multifunctional working system, wherein a plurality of practical training units capable of completing different types of practical training tasks are integrated in the multifunctional working system, and one type of practical training unit in the multifunctional working system is mobilized to work according to a received control instruction. Therefore, the work of a certain type of practical training unit in the multifunctional working system can be accurately controlled, and various types of practical training units can be integrated in the same multifunctional working system, so that the purchase cost is finally reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 shows a flowchart of a control method of a multifunction working system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a multifunctional work system in a specific application scenario according to an embodiment of the present invention;
fig. 3 is a schematic view showing a configuration of a control device of the multifunction working system according to the embodiment of the present invention;
fig. 4 shows a schematic diagram of an electronic device connection structure according to an embodiment of the invention.
The reference numerals are represented as:
1. a conveying device; 2. a robot unit; 3. a warehousing training unit; 4. a finishing impression training unit; 5. polishing the training unit; 6. control device of the multifunctional working system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It should be understood that although the terms first, second, third, etc. may be used to describe … … in embodiments of the present invention, these … … should not be limited to these terms. These terms are used only to distinguish … …. For example, the first … … can also be referred to as the second … … and similarly the second … … can also be referred to as the first … … without departing from the scope of embodiments of the present invention.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in the article or device in which the element is included.
Alternative embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1, according to a specific implementation manner of the present disclosure, in a first aspect, an embodiment of the present disclosure provides a control method of a multifunctional working system, which specifically includes the following method steps:
s102: receiving a control instruction for indicating at least one type of practical training unit in the multifunctional working system to work;
in this step, the type of the training unit at least includes one of the following items: the training unit is a carrying and stacking training unit, the training unit is an engraving training unit, the training unit is a robot track training unit, the training unit is a polishing training unit, the training unit is a warehousing training unit, the training unit is a visual detection and sorting training unit, and the training unit is a custom training unit; the self-defined practical training unit comprises any one of a practical training unit for robot equipment operation and application maintenance, a practical training unit for robot installation in debugging technology, a practical training unit for electric control cabinet wiring and electric element selection, a practical training unit for industrial robot coordinate system creation and use, a practical training unit for a conveying system based on programmable logic controller control and a practical training unit for system integration based on industrial robot and programmable logic controller; the above only lists common custom training units, and other custom training units may also be provided, which are not described herein again.
In this step, the type of the training unit may be a robot trajectory training unit, and the following description is made for the robot trajectory training unit:
the robot track training unit is characterized in that a multi-part pattern combination design is adopted, a three-dimensional curved surface is matched to simulate a real production environment, and a tool coordinate system convenient for robot teaching is matched on a workbench surface of the robot track training unit; and a local coordinate system and corresponding product track coordinates are arranged on the workbench surface of the robot track training unit.
The practical training content which can be completed by the robot track practical training unit is as follows: the method comprises the following steps of tool coordinate system creation, local coordinate system creation, plane track simulation gluing practical training, curved surface track simulation welding, gluing practical training and the like.
In this step, the type of the practical training unit may also be a visual inspection and sorting practical training unit, and the following description is made for the visual inspection and sorting practical training unit:
an industrial camera or an intelligent camera is used as an information input source, and can be matched with a robot unit to complete practical training tasks such as product sorting or vision-guided robot unit grabbing; for example, identifying the chess pieces scattered on the board, and directing the robot unit to grab one or some of the chess pieces scattered on the board and place the one or some of the chess pieces in a pre-configured position; as another example, a camera is used to detect the workpiece size; or sorting workpieces of different colors.
Because different training units have different training teaching tasks, the control method provided by the embodiment of the disclosure can realize modularized and staged teaching on different types of training units.
Optionally, the clamping member comprises at least one of:
the robot comprises a robot clamping jaw, a robot adsorption clamp, a clamping part with a laser engraving gun head and a clamping part with a welding gun head; alternatively, the first and second electrodes may be,
the operation member includes at least one of:
the robot comprises a robot clamping jaw, a robot adsorption clamp, an engraving gun with a laser engraving gun head, a welding gun with a welding gun head, a part capable of spraying simulated glue, a polishing part and an image acquisition part.
The above list only lists common clamping components and operation components, and is not limited to the above common clamping components and operation components, which are not described herein again.
S104: responding to the control instruction, and selecting an operation part corresponding to the robot unit according to the type of the practical training unit;
in this step, the types of the training units are different, and the operation parts corresponding to the selected robots are also different.
If the type of the training unit is a carrying and stacking training unit, selecting an operation part corresponding to the robot unit according to the type of the training unit, wherein the operation part comprises any one of a robot clamping jaw and a robot adsorption clamp; alternatively, the first and second electrodes may be,
if the type of the training unit is an engraving training unit, selecting any one of an engraving gun with a laser engraving gun head and a welding gun with a welding gun head corresponding to the robot unit according to the type of the training unit; alternatively, the first and second electrodes may be,
if the type of the practical training unit is the robot track practical training unit, selecting any one of an engraving gun with a laser engraving gun head, a welding gun with a welding gun head and a part capable of spraying simulated gluing corresponding to the robot unit according to the type of the practical training unit; alternatively, the first and second electrodes may be,
if the type of the training unit is a polishing training unit, selecting an operating part corresponding to the robot unit as a polishing part according to the type of the training unit;
in practical application, the grinding part is a part arranged at the tail end of a robot flange and is mainly controlled by a robot unit, and different grinding heads are replaced according to the technological requirements of products to carry out technological treatment such as grinding, polishing, deburring and the like on the products; alternatively, the first and second electrodes may be,
if the type of the training unit is a warehousing training unit, selecting an operating part corresponding to the robot unit according to the type of the training unit, wherein the operating part comprises any one of a robot clamping jaw and a robot adsorption clamp; alternatively, the first and second electrodes may be,
if the type of the practical training unit is the visual detection and sorting practical training unit, the operation component corresponding to the robot unit is selected to be any one of the image acquisition component, the robot clamping jaw and the robot adsorption clamp according to the type of the practical training unit.
In addition, the type of the practical training unit can be a self-defined practical training unit, wherein the self-defined practical training unit comprises any one of a practical training unit for robot equipment operation and application maintenance, a practical training unit for robot installation in debugging technology, a practical training unit for electrical control cabinet wiring and electrical element selection, a practical training unit for industrial robot coordinate system creation and use, a practical training unit for a conveying system based on programmable logic controller control, and a practical training unit for system integration based on the industrial robot and the programmable logic controller; the above only lists common custom training units, and other custom training units may also be provided, which are not described herein again.
Optionally, the selecting an operation component corresponding to the robot unit according to the type of the practical training unit further includes the following steps:
if the type of the practical training unit is a self-defined practical training unit, selecting an operating component of the robot unit matched with the practical training unit in structure according to the type of the practical training unit, wherein the self-defined practical training unit comprises a practical training unit for robot equipment operation and application maintenance, a practical training unit for robot installation in debugging technology, a practical training unit for electric control cabinet wiring and electric element selection, a practical training unit for industrial robot coordinate system creation and use, a practical training unit for a transmission system based on programmable logic controller control, and any one of a practical training unit for system integration based on an industrial robot and a programmable logic controller.
And if the custom training unit is the common training unit, selecting an operating component of the robot unit matched with the structure of the training unit according to the type of the custom training unit. For example, if the type of the custom training unit is a robot device operation and application maintenance training unit, the selected operation part of the robot unit is a robot clamping jaw or a robot adsorption clamp.
Fig. 2 is a schematic structural diagram of a multifunctional work system in a specific application scenario according to an embodiment of the present invention. As shown in fig. 2, the multifunctional working system includes a conveying device 1, a robot unit 2, a warehousing training unit 3, an engraving training unit 4, a polishing training unit 5, and a control device 6 of the multifunctional working system.
As shown in fig. 2, the transfer device 1 includes a transfer belt and two sets of tray buffer units. The trays are thrown out by the cache unit, are conveyed by a flow line, and are recovered by the tray recovery unit after a series of processes such as positioning, assembly, product identification, product storage and the like; the transmission device can complete a series of logic control functions of a programmable logic controller, such as transmission unit streamline control, transmission unit blocking and positioning cylinder control, tray cache unit control and the like.
As shown in fig. 2, the robot unit 2 includes a fixing portion, a clamping component and an operating component, wherein the clamping component is configured to clamp each raw material of each practical training unit to a workbench corresponding to each practical training unit, and the operating component is configured to execute corresponding practical training operation according to a control program corresponding to each practical training unit and obtain a corresponding finished product; the clamping part comprises any one of a robot clamping jaw, a robot adsorption clamp, a clamping part with a laser engraving gun head and a clamping part with a welding gun head; the operation part comprises any one of a robot clamping jaw, a robot adsorption clamp, an engraving gun with a laser engraving gun head, a welding gun with a welding gun head, a part capable of spraying simulated glue, a polishing part and an image acquisition part.
As shown in fig. 2, the warehousing practical training unit 3 can be matched with the robot unit and the assembly line to form a handling system, so as to realize the practical training process of conveying the product from warehousing to warehousing; in practical application, the warehouse is in an m x n layout, and the offset instruction can be subjected to practical training aiming at the robot unit under a specified coordinate system; in addition, the storage training unit 3 can be matched with a carrying and stacking training unit to carry and stack training.
As shown in fig. 2, the workbench of the engraving training unit 4 adopts an inclined design, and a laser engraving coordinate system and a corresponding letter track are pre-engraved on the engraving training unit; therefore, the real-training of the workpiece coordinate system on the inclined workbench can be realized, and the laser point of the robot can be simulated.
As shown in fig. 2, the grinding training unit 5 simulates a ground product by using a three-dimensional profile body, and completes training of a robot grinding process by matching with a robot grinding clamp. In practical application, different process flows and grinding methods can be adopted to grind the product meeting the requirements of users according to the structural characteristics of the product and the requirements of the customers. The polishing method based on the process flow is a conventional technology, and is not described in detail herein.
As shown in fig. 2, the control device 6 of the multifunctional working system is a computer equipped with a computer display screen, and the control device 6 can receive a control instruction for instructing at least one type of training unit in the multifunctional working system to work and control each training unit to run a control program corresponding to the control instruction, so as to obtain a corresponding finished product.
Optionally, after selecting an operation component corresponding to the robot unit according to the type of the practical training unit, the method further includes the following steps:
reading the type of the training unit; wherein the content of the first and second substances,
the type of the training unit at least comprises one of the following items:
the training unit is of a carrying and stacking training unit, the training unit is of an engraving training unit, the training unit is of a robot track training unit, the training unit is of a polishing training unit, the training unit is of a storage training unit, the training unit is of a visual detection and sorting training unit, and the training unit is of a custom training unit.
S106: responding to the control instruction, selecting a clamping component of the robot unit matched with the practical training unit in structure so as to clamp each raw material of the practical training unit to a workbench of the practical training unit through the clamping component;
in this step, the clamping member includes at least one of:
the robot comprises a robot clamping jaw, a robot adsorption clamp, a clamping part with a laser engraving gun head and a clamping part with a welding gun head.
In specific application, the training unit has different structures and corresponding clamping components; different clamping components can be selected according to different structures of the specific practical training unit, and are not repeated herein.
The robot gripping jaw and the robot suction jig are explained as follows:
the robot clamping jaw and the robot adsorption clamp are arranged at the tail end of a flange of the robot unit 2, so that the carrying action of a product can be completed; the clamping jaw of the robot is controlled by an electromagnetic valve, and products can be conveyed to a target position from a material taking position; the sucker is controlled by a vacuum solenoid valve, and products can be carried as well; the user can select suitable transport frock by oneself according to the project demand to accomplish real standard project.
The following description is made for the clamping part with the laser engraving gun head, the clamping part with the welding gun head and the part capable of spraying the simulated glue coating:
the clamping part with laser engraving gun head, the clamping part with welding gun head and the part capable of spraying out simulation glue coating: the double-clamping-jaw structure is adopted, arc welding gun and laser engraving processes are simulated, the real training unit matched with the robot track can realize real training of welding or gluing tracks, and the real training items matched with the engraving module can simulate laser cutting, laser engraving and the like.
Robot simulation rubber coating & sculpture anchor clamps: the tool adopts a double-clamping-claw design concept, simulates an arc welding gun and a laser engraving process, can realize practical training of a welding or gluing track by matching with a track practical training module, and can simulate practical training items such as laser engagement, laser engraving and the like by matching with the use of an accurate engraving practical training unit. By adopting the structure of the double clamping jaws, a user can freely switch the practical training for the tool, and different tools can be selected according to different process or project requirements.
S108: and executing corresponding practical training operation on each raw material on the workbench according to a control program corresponding to the control instruction to obtain a corresponding finished product.
In this step, the control programs corresponding to the control instructions are configured in advance, and different control programs have one-to-one mapping relationships with different practical training units, so that on the workbench corresponding to the practical training unit, practical training operation is performed on each raw material according to the control programs configured in advance, and finally a corresponding finished product is obtained.
Optionally, after obtaining the corresponding finished product, the method further includes the following steps:
comparing the finished product with the corresponding standard finished product to obtain a comparison result, and correcting the control program of the practical training unit corresponding to the finished product according to the comparison result to obtain a corrected control program; therefore, the accuracy of the original control program of each training unit can be continuously corrected, and the control accuracy of each training unit is finally improved.
According to the control method of the multifunctional working system, the training units capable of completing different types of training tasks are integrated into the multifunctional working system, and one type of training unit in the multifunctional working system is dispatched to work according to the received control instruction, so that not only can one type of training unit in the multifunctional working system be accurately controlled to work, but also multiple types of training units can be integrated into the same multifunctional working system, and therefore the purchase cost is finally reduced.
Example 2
The embodiment of the present disclosure is applied to embodiment 1, and is used to implement the method steps as described in embodiment 1, and the explanation based on the same name and meaning is the same as that in embodiment 1, and has the same technical effect as that in embodiment 1, and details are not repeated here. Referring to fig. 3, according to a second aspect of the present disclosure, the present disclosure provides a control device of a multifunctional working system, including a receiving unit 302, a selecting unit 304, and a processing unit 306, which are as follows:
a receiving unit 302, configured to receive a control instruction for instructing at least one type of training unit in the multifunctional working system to work;
the selecting unit 304 is configured to select, in response to the control instruction received by the receiving unit 302, an operation component corresponding to the robot unit according to the type of the training unit; and
responding to the control instruction, selecting a clamping component of the robot unit matched with the practical training unit in structure so as to clamp each raw material of the practical training unit to a workbench of the practical training unit through the clamping component;
and the processing unit 306 is configured to execute corresponding practical training operations on each raw material on the workbench according to the control program corresponding to the control instruction received by the receiving unit 302, so as to obtain a corresponding finished product.
Optionally, the selecting unit 304 is specifically configured to:
if the type of the training unit is a carrying and stacking training unit, selecting an operation part corresponding to the robot unit according to the type of the training unit, wherein the operation part comprises any one of a robot clamping jaw and a robot adsorption clamp; alternatively, the first and second electrodes may be,
if the type of the training unit is an engraving training unit, selecting any one of an engraving gun with a laser engraving gun head and a welding gun with a welding gun head corresponding to the robot unit according to the type of the training unit; alternatively, the first and second electrodes may be,
if the type of the practical training unit is the robot track practical training unit, selecting any one of an engraving gun with a laser engraving gun head, a welding gun with a welding gun head and a part capable of spraying simulated gluing corresponding to the robot unit according to the type of the practical training unit; alternatively, the first and second electrodes may be,
if the type of the training unit is a polishing training unit, selecting an operating part corresponding to the robot unit as a polishing part according to the type of the training unit; alternatively, the first and second electrodes may be,
if the type of the training unit is a warehousing training unit, selecting an operating part corresponding to the robot unit according to the type of the training unit, wherein the operating part comprises any one of a robot clamping jaw and a robot adsorption clamp; alternatively, the first and second electrodes may be,
if the type of the practical training unit is the visual detection and sorting practical training unit, the operation component corresponding to the robot unit is selected to be any one of the image acquisition component, the robot clamping jaw and the robot adsorption clamp according to the type of the practical training unit.
Optionally, the clamping member comprises at least one of:
the robot comprises a robot clamping jaw, a robot adsorption clamp, a clamping part with a laser engraving gun head and a clamping part with a welding gun head; alternatively, the first and second electrodes may be,
the operation member includes at least one of:
the robot comprises a robot clamping jaw, a robot adsorption clamp, an engraving gun with a laser engraving gun head, a welding gun with a welding gun head, a part capable of spraying simulated glue, a polishing part and an image acquisition part.
Optionally, the selecting unit 304 is further specifically configured to:
if the type of the practical training unit is a self-defined practical training unit, selecting an operating component of the robot unit matched with the practical training unit in structure according to the type of the practical training unit, wherein the self-defined practical training unit comprises a practical training unit for robot equipment operation and application maintenance, a practical training unit for robot installation in debugging technology, a practical training unit for electric control cabinet wiring and electric element selection, a practical training unit for industrial robot coordinate system creation and use, a practical training unit for a transmission system based on programmable logic controller control, and any one of a practical training unit for system integration based on an industrial robot and a programmable logic controller.
Optionally, the apparatus further comprises:
a reading unit (not shown in fig. 3) configured to read a type of the practical training unit after the selecting unit 304 selects an operation component corresponding to the robot unit according to the type of the practical training unit; the type of the practical training unit read by the reading unit at least comprises one of the following items:
the training unit is of a carrying and stacking training unit, the training unit is of an engraving training unit, the training unit is of a robot track training unit, the training unit is of a polishing training unit, the training unit is of a storage training unit, the training unit is of a visual detection and sorting training unit, and the training unit is of a custom training unit.
Optionally, the processing unit 306 is further configured to: and after the corresponding finished product is obtained, comparing the finished product with the corresponding standard finished product to obtain a comparison result, and correcting the control program of the practical training unit corresponding to the finished product according to the comparison result to obtain a corrected control program.
The control device of the multifunctional working system provided by the embodiment of the disclosure integrates a plurality of practical training units capable of completing different types of practical training tasks into one multifunctional working system, and mobilizes a certain type of practical training unit in the multifunctional working system to work according to a received control instruction, so that not only can the work of the certain type of practical training unit in the multifunctional working system be accurately controlled, but also various types of practical training units can be integrated into the same multifunctional working system, and the purchase cost is finally reduced.
Example 3
The embodiment of the present disclosure is adapted to embodiments 1 and 2, is configured to implement the method steps as described in embodiment 1, and a multifunctional working system including the control device, the robot unit, at least one type of training unit, and the conveying device configured to convey the raw material of each training unit as described in embodiment 2, and explanations based on the same names and meanings are respectively the same as those in embodiments 1 and 2, and have the same technical effects as those in embodiments 1 and 2, and are not described herein again. According to a specific implementation manner of the embodiments of the present disclosure, in a third aspect, an embodiment of the present disclosure provides a multifunctional working system, including: the control device of the multifunctional working system, the robot unit, the training units of at least one type and the conveying device for conveying the raw materials of each training unit are as described in embodiment 2.
Fig. 2 is a schematic structural diagram of a multifunctional work system in a specific application scenario according to an embodiment of the present invention. As shown in fig. 2, the multifunctional working system includes a conveying device 1, a robot unit 2, a warehousing training unit 3, an engraving training unit 4, a polishing training unit 5, and a control device 6 of the multifunctional working system. Specifically, for the description of fig. 2, please refer to the related description of embodiment 1, which is not repeated herein.
Optionally, the robot unit includes a fixing portion, a clamping component and an operating component, wherein the clamping component is configured to clamp each raw material of each practical training unit to a workbench corresponding to each practical training unit, and the operating component is configured to execute a corresponding practical training operation and obtain a corresponding finished product according to a control program corresponding to each practical training unit.
Optionally, the clamping part comprises any one of a robot clamping jaw, a robot adsorption clamp, a clamping part with a laser engraving gun head and a clamping part with a welding gun head; the operation part comprises any one of a robot clamping jaw, a robot adsorption clamp, an engraving gun with a laser engraving gun head, a welding gun with a welding gun head, a part capable of spraying simulated glue, a polishing part and an image acquisition part.
According to the multifunctional working system provided by the embodiment of the disclosure, a plurality of practical training units capable of completing different types of practical training tasks are integrated in one multifunctional working system, and a certain type of practical training unit in the multifunctional working system is mobilized to work according to a received control instruction, so that not only can the work of the certain type of practical training unit in the multifunctional working system be accurately controlled, but also various types of practical training units can be integrated in the same multifunctional working system, and the purchase cost is finally reduced.
Example 4
As shown in fig. 4, the present embodiment provides an electronic apparatus for a control method of a multifunction operating system, the electronic apparatus including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the one processor to cause the at least one processor to: a plurality of training units capable of completing different types of training tasks are integrated in a multifunctional working system, and a certain type of training unit in the multifunctional working system is mobilized to work according to a received control instruction, so that the training unit not only can be accurately controlled to work, but also can be integrated in the same multifunctional working system, and the purchase cost is finally reduced.
Example 5
The embodiment of the present disclosure provides a non-volatile computer storage medium, where computer-executable instructions are stored, and the computer-executable instructions may execute the control method of the multifunctional working system in any method embodiment.
Example 6
Referring now to FIG. 4, shown is a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure. The terminal device in the embodiments of the present disclosure may include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), a vehicle terminal (e.g., a car navigation terminal), and the like, and a stationary terminal such as a digital TV, a desktop computer, and the like. The electronic device shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 4, the electronic device may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 401 that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)402 or a program loaded from a storage means 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the electronic apparatus are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
Generally, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 408 including, for example, tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. While fig. 4 illustrates an electronic device having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 409, or from the storage device 408, or from the ROM 402. The computer program performs the above-described functions defined in the methods of the embodiments of the present disclosure when executed by the processing device 401.
It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: a plurality of training units capable of completing different types of training tasks are integrated into a multifunctional working system, and one type of training unit in the multifunctional working system is mobilized to work according to a received control instruction. Therefore, the work of a certain type of practical training unit in the multifunctional working system can be accurately controlled, and various types of practical training units can be integrated in the same multifunctional working system, so that the purchase cost is finally reduced.
Alternatively, the computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: a plurality of training units capable of completing different types of training tasks are integrated into a multifunctional working system, and one type of training unit in the multifunctional working system is mobilized to work according to a received control instruction. Therefore, the work of a certain type of practical training unit in the multifunctional working system can be accurately controlled, and various types of practical training units can be integrated in the same multifunctional working system, so that the purchase cost is finally reduced.
Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.
Claims (8)
1. A control method of a multifunction work system, comprising:
receiving a control instruction for indicating at least one type of practical training unit in the multifunctional working system to work; wherein the type of the training unit at least comprises one of the following items: the training unit is a carrying and stacking training unit, the training unit is an engraving training unit, the training unit is a robot track training unit, the training unit is a polishing training unit, the training unit is a warehousing training unit, the training unit is a visual detection and sorting training unit, and the training unit is a custom training unit;
in response to the control instruction, the robot unit selects an operation part corresponding to the robot unit from the plurality of operation parts according to the type of at least one training unit indicated by the control instruction; wherein the operating member includes at least one of:
the robot comprises a robot clamping jaw, a robot adsorption clamp, an engraving gun with a laser engraving gun head, a welding gun with a welding gun head, a part capable of spraying simulated glue, a polishing part and an image acquisition part;
responding to the control instruction, selecting a clamping component of the robot unit matched with at least one practical training unit structure indicated by the control instruction from a plurality of clamping components by the robot unit so as to clamp each raw material of the practical training unit to a workbench of the practical training unit through the clamping component, wherein the clamping component at least comprises one of the following items:
the robot comprises a robot clamping jaw, a robot adsorption clamp, a clamping part with a laser engraving gun head and a clamping part with a welding gun head;
and executing corresponding practical training operation on each raw material on the workbench according to a control program corresponding to the control instruction to obtain a corresponding finished product.
2. The method according to claim 1, wherein the selecting an operation component corresponding to the robot unit according to the type of the training unit comprises:
if the type of the practical training unit is a carrying and stacking practical training unit, selecting an operation part corresponding to the robot unit according to the type of the practical training unit, wherein the operation part comprises any one of a robot clamping jaw and a robot adsorption clamp; alternatively, the first and second electrodes may be,
if the type of the practical training unit is an engraving practical training unit, selecting any one of an engraving gun with a laser engraving gun head and a welding gun with a welding gun head corresponding to the robot unit according to the type of the practical training unit; alternatively, the first and second electrodes may be,
if the type of the practical training unit is a robot track practical training unit, selecting any one of an engraving gun with a laser engraving gun head, a welding gun with a welding gun head and a part capable of spraying simulated glue according to the type of the practical training unit, wherein the operating part corresponding to the robot unit comprises the engraving gun with the laser engraving gun head, the welding gun with the welding gun head and the part capable of spraying the simulated glue; alternatively, the first and second electrodes may be,
if the type of the training unit is a polishing training unit, selecting an operating part corresponding to the robot unit as a polishing part according to the type of the training unit; alternatively, the first and second electrodes may be,
and if the type of the practical training unit is a warehousing practical training unit, selecting an operating part corresponding to the robot unit according to the type of the practical training unit, wherein the operating part comprises any one of a robot clamping jaw and a robot adsorption clamp.
3. The method according to claim 1, wherein the selecting an operating component corresponding to the robot unit according to the type of the training unit further comprises:
if the type of the practical training unit is a self-defined practical training unit, selecting an operating component of the robot unit matched with the practical training unit in structure according to the type of the practical training unit, wherein the self-defined practical training unit comprises a robot equipment operation and application maintenance practical training unit, a robot installation debugging technology practical training unit, an electric control cabinet wiring and electric element model selection practical training unit, an industrial robot coordinate system creating and using practical training unit, a conveying system practical training unit based on programmable logic controller control, and any one of a system integration practical training unit based on an industrial robot and a programmable logic controller.
4. The method according to claim 1, wherein after the selecting the operation component corresponding to the robot unit according to the type of the practical training unit, the method further comprises:
reading the type of the training unit; wherein the content of the first and second substances,
the type of the training unit at least comprises one of the following items:
the training unit is of a carrying and stacking training unit type, an engraving training unit type, a robot track training unit type, a polishing training unit type, a warehousing training unit type, a visual detection and sorting training unit type and a custom training unit type.
5. The method of claim 1, wherein after said obtaining a corresponding finished product, said method further comprises:
and comparing the finished product with the corresponding standard finished product to obtain a comparison result, and correcting the control program of the practical training unit corresponding to the finished product according to the comparison result to obtain a corrected control program.
6. A control device of a multifunction working system, characterized by comprising:
the receiving unit is used for receiving a control instruction for indicating at least one type of practical training unit in the multifunctional working system to work; wherein the type of the training unit at least comprises one of the following items: the training unit is a carrying and stacking training unit, the training unit is an engraving training unit, the training unit is a robot track training unit, the training unit is a polishing training unit, the training unit is a warehousing training unit, the training unit is a visual detection and sorting training unit, and the training unit is a custom training unit;
the selecting unit is configured to, in response to the control instruction received by the receiving unit, select, by the robot unit, an operating component corresponding to the robot unit from the multiple operating components according to the type of the at least one training unit indicated by the control instruction, where the operating component at least includes one of:
the robot comprises a robot clamping jaw, a robot adsorption clamp, an engraving gun with a laser engraving gun head, a welding gun with a welding gun head, a part capable of spraying simulated glue, a polishing part and an image acquisition part; and
responding to the control instruction, selecting a clamping component of the robot unit matched with at least one practical training unit structure indicated by the control instruction from a plurality of clamping components by the robot unit so as to clamp each raw material of the practical training unit to a workbench of the practical training unit through the clamping component, wherein the clamping component at least comprises one of the following items:
the robot comprises a robot clamping jaw, a robot adsorption clamp, a clamping part with a laser engraving gun head and a clamping part with a welding gun head;
and the processing unit is used for executing corresponding practical training operation on each raw material on the workbench according to the control program corresponding to the control instruction received by the receiving unit to obtain a corresponding finished product.
7. A multi-function work system, comprising: the multifunctional working system as claimed in claim 6, wherein the control device comprises a robot unit, at least one type of training unit and a conveying device for conveying raw materials of each training unit.
8. The system according to claim 7, wherein the robot unit comprises a fixing part, a clamping part and an operating part, wherein the clamping part is used for clamping each raw material of each practical training unit to a workbench corresponding to each practical training unit, and the operating part is used for executing corresponding practical training operation according to a control program corresponding to each practical training unit and obtaining a corresponding finished product.
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