CN111142473A - Method and device for controlling machining of workpiece, and computer storage medium - Google Patents
Method and device for controlling machining of workpiece, and computer storage medium Download PDFInfo
- Publication number
- CN111142473A CN111142473A CN201911231982.4A CN201911231982A CN111142473A CN 111142473 A CN111142473 A CN 111142473A CN 201911231982 A CN201911231982 A CN 201911231982A CN 111142473 A CN111142473 A CN 111142473A
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- Prior art keywords
- instruction information
- gripper
- workpiece
- controlling
- tool
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32416—Tool information for program to use and needed timing, adapt timing
Abstract
A method for controlling processing of a workpiece includes: acquiring first instruction information; controlling the mechanical arm to be coupled with the first claw and controlling the first claw to perform a first operation according to the first instruction information; acquiring second instruction information; controlling the mechanical arm to release the coupling with the first claw according to the second instruction information; controlling the mechanical arm to be coupled with the second gripper according to the second instruction information; controlling a second gripper to perform a second operation according to the second instruction information; one of the first gripper and the second gripper is used for picking and placing a workpiece, and the other gripper used for picking and placing a tool is used for picking and placing the tool. The invention also provides a device for controlling the processing of the workpiece and a computer storage medium. According to the invention, the mechanical arm is coupled with the first paw and the second paw according to different instruction information, so that the operation of picking and placing the workpiece can be finished, the operation of picking and placing the cutter can be finished, manual operation is not needed, the time is saved, the workpiece processing efficiency is improved, and the automation and the intellectualization of workpiece processing are realized.
Description
Technical Field
The present invention relates to the field of workpiece processing, and in particular, to a method and an apparatus for controlling processing of a workpiece, and a computer storage medium.
Background
During the machining process of a workpiece, such as a numerical control machining process, the workpiece is often subjected to loading and unloading and tool replacement. At present, the feeding and discharging of workpieces are generally completed automatically by a mechanical arm, but the cutter replacement is still completed manually, time and labor are consumed for manual cutter replacement, and the machining efficiency is influenced.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method, an apparatus, and a computer storage medium for controlling processing of a workpiece, which are advantageous for improving the processing efficiency of the workpiece.
A method of controlling processing of a workpiece, comprising: acquiring first instruction information; controlling the mechanical arm to be coupled with the first claw according to the first instruction information; controlling the first paw to perform a first operation according to the first instruction information; acquiring second instruction information; controlling the mechanical arm to be decoupled from the first gripper according to the second instruction information; controlling the mechanical arm to be coupled with a second gripper according to the second instruction information; controlling the second gripper to perform a second operation according to the second instruction information; one of the first gripper and the second gripper is used for picking and placing a workpiece, and the other gripper used for picking and placing a tool is used for picking and placing the tool.
Further, the first gripper is used for picking and placing a workpiece, the second gripper is used for picking and placing a tool, the first instruction information is instruction information for picking and placing the workpiece, and the second instruction is instruction information for picking and placing the tool.
Further, the first operation is to grasp a workpiece to be machined by the first hand and move the workpiece to a machining table.
Further, the first operation is to grasp a processed workpiece on a processing mechanism by the first gripper and move the processed workpiece onto a material loading table.
Further, the second operation is to grasp a new tool placed on the tool changing table by the second gripper and move the new tool to an empty tool position on a new tool placing table.
Further, the second operation further includes moving the tool to a tool recognition component after the second gripper grabs and picks up a new tool on the replacement tool post, so that the tool recognition component recognizes information of the new tool.
Further, the method for controlling the processing of the workpiece further includes: acquiring third instruction information; and controlling a second gripper to perform third operation according to the third instruction information, wherein the third instruction information is instruction information for taking out an old cutter, and the third operation is that the old cutter on a machining mechanism is grabbed by the second gripper and the old cutter is placed on an old cutter position on a cutter changing table.
Further, the method for controlling the processing of the workpiece further includes: acquiring fourth instruction information; controlling the mechanical arm to be decoupled from the first paw according to fourth instruction information; controlling the mechanical arm to be coupled with the third paw according to the fourth instruction information; controlling the third paw to carry out fourth operation according to the fourth instruction information; and the fourth operation is that the third claw grabs the machined workpiece and moves the machined workpiece to a deburring station.
A computer storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described method of controlling processing of a workpiece.
A machining control device for a workpiece, comprising: a mechanical arm; a controller communicatively coupled to the robotic arm; the paw placing table is used for placing a first paw and a second paw; the controller is used for sending first instruction information and second instruction information to the mechanical arm; the mechanical arm is used for controlling the mechanical arm to be coupled with the first gripper according to the first instruction information when the first instruction information is acquired, and controlling the first gripper to perform first operation according to the first instruction information; the mechanical arm is further used for controlling the mechanical arm to release the coupling with the first gripper according to second instruction information when second instruction information is acquired, controlling the mechanical arm to be coupled with the second gripper according to the second instruction information, and controlling the second gripper to perform second operation according to the second instruction information, wherein one of the first gripper and the second gripper is used for picking and placing a workpiece, the other one of the first gripper and the second gripper is used for picking and placing a tool, one of the first instruction information and the second instruction information is instruction information for picking and placing the workpiece, and the other one of the first instruction information and the second instruction information is instruction information for picking and placing the tool.
According to the invention, the mechanical arm is coupled with the first claw and the second claw according to different instruction information, so that the operation of picking and placing the workpiece can be finished, the operation of picking and placing the cutter can be finished, manual operation is not needed, the time is saved, the workpiece processing efficiency is improved, and the automation and the intellectualization of workpiece processing are realized.
Drawings
Fig. 1 is a perspective view of a workpiece processing control device according to the present invention.
Fig. 2 is a partial perspective view of the workpiece processing control apparatus in fig. 1.
Fig. 3 is a perspective view of the new blade placement table in fig. 1.
Fig. 4 is a perspective view of the tool changer of fig. 1.
Fig. 5 is a flowchart of a method for controlling processing of a workpiece according to the present invention.
Description of the main elements
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
Referring to fig. 1 to 4, the present invention provides a workpiece processing control apparatus 100, which includes a robot arm 20, a controller 22, a material loading platform 24, a material positioning platform 26, a new tool placing platform 30, a gripper placing platform 40, a tool changing platform 50, a tool identifier 60, and a processing mechanism 70.
The machining mechanism 70 comprises a workbench 72, the workbench 72 is used for placing a workpiece 80, and the machining mechanism 70 is used for machining the workpiece 80 placed on the workbench 72. The material carrying table 24 is used for carrying the workpiece 80 to be processed and the processed workpiece 80. The material positioning table 26 is used for positioning the workpiece 80 to be machined and the machined workpiece 80, so that the robot arm 20 can more accurately place the workpiece 80 to be machined on the worktable 72 and more accurately place the machined workpiece 80 on the material bearing table 24. Specifically, the material positioning table 26 includes a plurality of air cylinders 28, and the plurality of air cylinders 28 can position the workpiece 80 placed on the material positioning table 26 in a plurality of directions.
The new tool positioning table 30 includes a plurality of tool positions 32 for positioning a plurality of new tools 34. The tool changer 50 includes an old tool position 52 and a new tool position 54. The old tool position 52 is used for placing an old tool 51, and specifically, the old tool 51 is a tool used by the machining mechanism 70. The new tool position 54 is used for placing a new tool 34 ready for use, in particular, the new tool 34 ready for use is a tool to be transferred to the new tool positioning table 30 to supplement the empty tool position 32 of the new tool positioning table 30. The tool changing table 50 further comprises a sensing area 56, the sensing area 56 is used for being sensed by the mechanical arm 20 when the mechanical arm 20 moves to the tool changing table 50, and the mechanical arm 20 determines whether to move to a preset position according to the sensing result, so that the mechanical arm 20 can accurately pick and place a new tool 34.
The gripper placement stage 40 includes a first placement location 42 and a second placement location 44. The first placement location 42 is used for placing a first gripper 46. The second placement location 44 is for placing a second gripper 48. The gripper placement stage 40 further includes a shielding plate 45 that is slidably located above the first placement position 42 and the second placement position 44, and when the shielding plate 45 slides right above the first placement position 42 and the second placement position 44, the first gripper 46 and the second gripper 48 are prevented from receiving the magazines such as oil mist and dust. The tool identifier 60 is used to identify the new tool 34, specifically, the new tool 34 has a two-dimensional code thereon, and the tool identifier 60 is a scanner, which identifies the new tool 34 by scanning the two-dimensional code on the new tool 34.
The controller 22 is in communication connection with the robot arm 20, the machining mechanism 70, and the tool identifier 60, and is configured to send a control command to the robot arm 20 according to the motion of the machining mechanism 70 and the identification information identified by the tool identifier 60. The control instruction comprises first instruction information and second instruction information. When the robot arm 20 acquires the first instruction information, the robot arm 20 is controlled to couple with the first gripper 46 according to the first instruction information, and the first gripper 46 is controlled to perform the first operation. When the robot arm 20 acquires the second instruction information, the robot arm 20 is controlled to be decoupled from the first gripper 46 and then coupled to the second gripper 48 according to the second instruction information, and the second gripper 48 is controlled to perform the second operation.
The first gripper 46 is used for picking and placing the workpiece 80, and the second gripper 48 is used for picking and placing the tools (including the new tool 34 and the old tool 51). The first instruction information is instruction information for picking and placing the workpiece 80, and the second instruction is instruction information for picking and placing the tool. The first instruction information and the second instruction information correspond to a series of operations.
In one embodiment, the instruction information for picking and placing the workpiece 80 in the first instruction information is to place the workpiece 80 on the worktable 72, and the operation corresponding to the first instruction information includes: the robot 20 controls the robot 20 to couple with the first gripper 46 according to the first instruction information, and controls the first gripper 46 to perform the first operation of gripping a workpiece 80 to be processed and moving the workpiece 80 onto the table 72 according to the first instruction information. Specifically, after the first gripper 46 grabs the workpiece 80 to be processed on the material bearing platform 24, the workpiece 80 to be processed is firstly moved and placed on the material positioning platform 26 for positioning, and then the first gripper 46 grabs the workpiece 80 on the material positioning platform 26 and moves and places the workpiece 80 on the working platform 72. In another embodiment, the instruction information for picking and placing the workpiece 80 in the first instruction information is to place the processed workpiece 80 on the material carrying table 24, and the operation corresponding to the first instruction information includes: the robot 20 controls the robot 20 to couple with the first gripper 46 according to the first instruction information, and controls the first gripper 46 to perform the first operation of gripping the processed workpiece 80 on the processing mechanism 70 and moving the processed workpiece 80 to the material loading platform 24 according to the first instruction information. Specifically, after the first gripper 46 grabs the workpiece 80 to be processed on the material bearing platform 24, the workpiece 80 to be processed is firstly moved and placed on the material positioning platform 26 for positioning, and then the first gripper 46 grabs the workpiece 80 on the material positioning platform 26 and moves and places the workpiece 80 on the working platform 72.
The instruction information for taking and placing the tool from the second instruction information is to place a new tool 34 on the new tool placing table 30, and the operation corresponding to the second instruction information includes: the robot 20 controls the robot 20 to release the coupling with the first gripper 46 according to the second instruction information, the robot 20 controls the robot 20 to couple with the second gripper 48 according to the second instruction information, and controls the second gripper 48 to perform the second operation of grabbing the new tool 34 placed on the tool changer 50 and moving the new tool 34 to an empty tool position 32 on the new tool placing table 30 according to the second instruction information. In one embodiment, after the second gripper 48 grabs the new tool 34 placed on the tool changing table 50, the new tool 34 is moved to the tool identifier 60 to allow the tool identifier 60 to identify the information of the new tool 34, and then the new tool 34 is placed in the empty tool position 32 corresponding to the information of the new tool 34 according to the information of the new tool 34 and a tool relation table. The tool relationship table indicates the correspondence between different tools and different tool positions 32. Further, in one embodiment, a plurality of tool sensors 36 are disposed on the new tool rest 30. The plurality of tool sensing members 36 are disposed adjacent to the plurality of tool positions 32, and are configured to sense whether a tool is placed in the plurality of tool positions 32. Before the new tool 34 is placed at the tool position 32, the mechanical arm 20 obtains information whether a tool is placed at the tool position 32, and controls the second gripper 48 to place the new tool 34 at the tool position 32 corresponding to the information of the new tool 34 when no tool is placed at the tool position 32 corresponding to the information of the new tool 34.
In another embodiment, the contents of the first instruction information and the second instruction information are interchanged, and the contents of the first operation and the second operation are interchanged. The first gripper 46 is used for picking and placing tools, and the second gripper 48 is used for picking and placing workpieces 80. The robot 20 controls the robot 20 to couple with the first gripper 46 for picking and placing the tool according to the first command information. The mechanical arm 20 is controlled to be decoupled from the first gripper 46 for picking and placing the tool and then coupled with the second gripper 48 for picking and placing the workpiece 80 according to the second instruction information.
The controller 22 also sends a third command to the robotic arm 20. When the robot arm 20 acquires the third instruction information, the second gripper 48 is controlled to perform the third operation according to the third instruction information. In one embodiment, the third instruction information is instruction information for fetching an old tool 51, and the third operation is to grasp the old tool 51 on the machining mechanism 70 by the second gripper 48 and place the old tool 51 at an old tool position 52 on the tool changer 50. In another embodiment, the third instruction information is instruction information of replacing a new tool 34, and the third operation is to grasp an old tool 51 on a machining mechanism 70 by the second gripper 48, place the old tool 51 on an old tool position 52 on the tool changing table 50, grasp a new tool 34 on the new tool placement table 30, and place the new tool on the machining mechanism 70.
The controller 22 also sends a fourth command to the robotic arm 20. When the robot 20 acquires the fourth instruction information, the robot 20 is controlled to release the coupling with the first gripper 46 and then to couple with a third gripper (not shown) according to the fourth instruction information, and the third gripper is controlled to perform a fourth operation. In one embodiment, the third gripper is a gripper for picking and placing the machined workpiece, and the fourth operation is to grasp the machined workpiece 80 by the third gripper and move the machined workpiece 80 to a deburring station to remove burrs on the workpiece.
It is understood that the first gripper, the second gripper and the third gripper are designed according to the structure of the workpiece and the tool, and the shape of the first gripper, the second gripper and the third gripper is matched with the shape of the workpiece and the tool.
Referring to fig. 5, a flowchart of a method for controlling processing of a workpiece according to the present invention is provided. The method for controlling the machining of the workpiece comprises the following steps.
Step S502: first instruction information is acquired.
Step S503: the robot arm 20 is controlled to be coupled to the first gripper 46 according to the first command information.
Step S504: and controlling the first claw 46 to perform a first operation according to the first instruction information.
Step S505: and acquiring second instruction information.
Step S506: and controlling the mechanical arm 20 to be decoupled from the first gripper 46 according to the second instruction information.
Step S507: and controlling the mechanical arm to be coupled with the second gripper 48 according to the second instruction information.
Step S508: and controlling the second gripper 48 to perform a second operation according to the second instruction information.
One of the first gripper 46 and the second gripper 48 is used for picking and placing the workpiece 80, and the other one is used for picking and placing the tool, and one of the first instruction information and the second instruction information is instruction information for picking and placing the workpiece 80, and the other one is instruction information for picking and placing the tool.
In one embodiment, the first gripper 46 is used to pick and place a workpiece 80 and the second gripper 48 is used to pick and place a tool. The first instruction information is instruction information for picking and placing the workpiece 80, and the second instruction is instruction information for picking and placing the tool. The first instruction information and the second instruction information correspond to a series of operations.
In one embodiment, the instruction information for picking and placing the workpiece 80 in the first instruction information is to place the workpiece 80 on the worktable 72, and the operation corresponding to the first instruction information includes: the robot 20 controls the robot 20 to couple with the first gripper 46 according to the first instruction information, and controls the first gripper 46 to perform the first operation of gripping a workpiece 80 to be processed and moving the workpiece 80 onto the table 72 according to the first instruction information. In another embodiment, the instruction information for picking and placing the workpiece 80 in the first instruction information is to place the processed workpiece 80 on a material carrying table 24, and the operation corresponding to the first instruction information includes: the robot 20 controls the robot 20 to couple with the first gripper 46 according to the first instruction information, and controls the first gripper 46 to perform the first operation of gripping a processed workpiece 80 on a processing mechanism 70 and moving the processed workpiece 80 to the material loading platform 24 according to the first instruction information.
The instruction information for taking and placing the tool from the second instruction information is to place a new tool 34 on the new tool placing table 30, and the operation corresponding to the second instruction information includes: the mechanical arm 20 controls the mechanical arm 20 to release the coupling with the first gripper 46 according to the second instruction information, the mechanical arm 20 controls the mechanical arm 20 to be coupled with the second gripper 48 according to the second instruction information, and controls the second gripper 48 to grab the new tool 34 placed on the tool changing table 50 and move the new tool 34 to an empty tool position 32 on the new tool placing table 30 according to the second instruction information. Specifically, after the second gripper 48 is placed on a new tool 34, it first moves to a tool identifier 60 to allow the tool identifier 60 to identify the information of the new tool 34, and then places the new tool 34 on the empty tool position 32 corresponding to the information of the new tool 34 according to the information of the new tool 34 and a tool relationship table indicating the correspondence between different tools and different tool positions 32. Further, before the new tool 34 is placed in the tool position 32, information on whether a tool is placed on the corresponding tool position 32 is obtained, and when no tool is placed on the tool position 32 corresponding to the information of the new tool 34, the second gripper 48 is controlled to place the new tool 34 in the tool position 32 corresponding to the information of the new tool 34.
Step S509: and acquiring third instruction information.
Step S510: and controlling the second gripper 48 to perform a third operation according to the third instruction information.
In one embodiment, the third command message is a command message for retrieving the old tool 51, and the third operation is to grasp the old tool 51 on a machining mechanism 70 by the second gripper 48 and place the old tool 51 at the old tool position 52 on a tool changer 50. In another embodiment, the third instruction information is to replace the new tool 34, and the third operation is to grasp an old tool 51 on the machining mechanism 70 by a second gripper, place the old tool 51 on an old tool position 52 on the tool changing table 50, and place the new tool 34 on the machining mechanism 70 after grasping the new tool 34 on the new tool placing table 30.
Step S511: and acquiring fourth instruction information.
Step S512: and controlling the mechanical arm 20 to release the coupling with the first gripper 46 according to the fourth command information.
Step S513: and controlling the mechanical arm to be coupled with the third paw according to the fourth instruction information.
Step S514: and controlling the third paw to carry out fourth operation according to the fourth instruction information.
In one embodiment, the third gripper is a gripper for picking and placing the machined workpiece, and the fourth operation is to grasp the machined workpiece 80 by the third gripper and move the machined workpiece 80 to a deburring station to remove burrs on the workpiece. It is understood that the above steps S502-S514 may be switched according to actual situations, and the sequence in the above flowchart is not limited.
According to the invention, the mechanical arm 20 is coupled with the first claw and the second claw according to different instruction information, so that the operation of picking and placing the workpiece 80 and the operation of picking and placing the cutter can be finished, manual operation is not needed, the time is saved, the processing efficiency of the workpiece 80 is improved, and the automation and the intellectualization of the processing of the workpiece 80 are realized.
It will be appreciated by those skilled in the art that the above embodiments are illustrative only and not intended to be limiting, and that suitable modifications and variations to the above embodiments are within the scope of the disclosure provided that the invention is not limited thereto.
Claims (10)
1. A method of controlling processing of a workpiece, comprising:
acquiring first instruction information;
controlling the mechanical arm to be coupled with the first claw according to the first instruction information;
controlling the first paw to perform a first operation according to the first instruction information;
acquiring second instruction information;
controlling the mechanical arm to be decoupled from the first gripper according to the second instruction information;
controlling the mechanical arm to be coupled with a second gripper according to the second instruction information;
controlling the second gripper to perform a second operation according to the second instruction information;
one of the first gripper and the second gripper is used for picking and placing a workpiece, and the other gripper is used for picking and placing a cutter.
2. The method of claim 1, wherein the first gripper is used for picking and placing a workpiece, the second gripper is used for picking and placing a tool, the first command information is command information for picking and placing a workpiece, and the second command is command information for picking and placing a tool.
3. The method of controlling processing of a workpiece according to claim 2, wherein the first operation is to grasp the workpiece to be processed by the first hand and move the workpiece to a processing table.
4. The method according to claim 2, wherein the first operation is to grasp a processed workpiece on a processing mechanism by the first gripper and move the processed workpiece on a material holding table.
5. The work control method of claim 2, wherein the second operation is to grasp a new tool placed on a tool changer by the second gripper and move the new tool to an empty position on a new tool placing table.
6. The method for controlling processing of a workpiece according to claim 5, wherein the second operation further comprises moving the new tool to a tool identifier after the second gripper has grasped the new tool on the replacement tool post, so that the tool identifier identifies information of the new tool.
7. The method of controlling processing of a workpiece according to claim 1, further comprising:
acquiring third instruction information;
and controlling a second gripper to perform third operation according to the third instruction information, wherein the third instruction information is instruction information for taking out an old cutter, and the third operation is that the old cutter on a machining mechanism is grabbed by the second gripper and the old cutter is placed on an old cutter position on a cutter changing table.
8. The method of controlling processing of a workpiece according to claim 1, the method further comprising:
acquiring fourth instruction information;
controlling the mechanical arm to be decoupled from the first paw according to fourth instruction information;
controlling the mechanical arm to be coupled with the third paw according to the fourth instruction information;
controlling the third paw to carry out fourth operation according to the fourth instruction information;
and the fourth operation is that the third claw grabs the machined workpiece and moves the machined workpiece to a deburring station.
9. A computer storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing a method of controlling machining of a workpiece as defined in any one of claims 1 to 8.
10. A machining control device for a workpiece, comprising:
a mechanical arm;
a controller communicatively coupled to the robotic arm;
the paw placing table is used for placing a first paw and a second paw;
the controller is used for sending first instruction information and second instruction information to the mechanical arm;
the mechanical arm is used for controlling the mechanical arm to be coupled with the first gripper according to the first instruction information when the first instruction information is acquired, and controlling the first gripper to perform first operation according to the first instruction information;
the mechanical arm is further used for controlling the mechanical arm to release the coupling with the first gripper according to second instruction information when second instruction information is acquired, controlling the mechanical arm to be coupled with the second gripper according to the second instruction information, and controlling the second gripper to perform second operation according to the second instruction information, wherein one of the first gripper and the second gripper is used for picking and placing a workpiece, the other one of the first gripper and the second gripper is used for picking and placing a tool, one of the first instruction information and the second instruction information is instruction information for picking and placing the workpiece, and the other one of the first instruction information and the second instruction information is instruction information for picking and placing the tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911231982.4A CN111142473A (en) | 2019-12-05 | 2019-12-05 | Method and device for controlling machining of workpiece, and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911231982.4A CN111142473A (en) | 2019-12-05 | 2019-12-05 | Method and device for controlling machining of workpiece, and computer storage medium |
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| Publication Number | Publication Date |
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| CN111142473A true CN111142473A (en) | 2020-05-12 |
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| CN201911231982.4A Withdrawn CN111142473A (en) | 2019-12-05 | 2019-12-05 | Method and device for controlling machining of workpiece, and computer storage medium |
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| CN205497507U (en) * | 2016-02-26 | 2016-08-24 | 东莞市速美达自动化有限公司 | Manipulator anchor clamps quick change device |
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2019
- 2019-12-05 CN CN201911231982.4A patent/CN111142473A/en not_active Withdrawn
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|---|---|---|---|---|
| CN101758411A (en) * | 2008-11-27 | 2010-06-30 | 德克尔-马霍泽巴赫有限责任公司 | Tool change for machine tools |
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| CN205497507U (en) * | 2016-02-26 | 2016-08-24 | 东莞市速美达自动化有限公司 | Manipulator anchor clamps quick change device |
| CN206825082U (en) * | 2017-06-16 | 2018-01-02 | 科锐精密工业（深圳）有限公司 | A kind of Machinetool workpiece automatic loading and unloading system |
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