CN113189947A - Assembly production line digital twin real-time action simulation method based on PLC data - Google Patents
Assembly production line digital twin real-time action simulation method based on PLC data Download PDFInfo
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- CN113189947A CN113189947A CN202110460814.3A CN202110460814A CN113189947A CN 113189947 A CN113189947 A CN 113189947A CN 202110460814 A CN202110460814 A CN 202110460814A CN 113189947 A CN113189947 A CN 113189947A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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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
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an assembly line digital twin real-time action simulation method based on PLC data, wherein, the assembly production line respectively realizes the lifting of the workpiece carrier plate and the sequential horizontal pushing at each station through a lifting cylinder and a translation cylinder, realizes the closed circulation of the workpiece carrier plate in the whole assembly production line, realizes the grabbing of parts and the placing on the workpiece carrier plate for assembly through a mechanical arm clamp, it is characterized in that the method firstly determines the time point when the real-time PLC signal starts to drive the assembly production line to move through a virtual-real synchronization method of the production line state, then a material circulation simulation method is used for constructing the motion simulation of the workpiece carrier plate and the disassembly reset simulation of the finished parts in the assembly line, and calculating the position information of each cylinder by a part position determining method, and simulating the actions of clamping and placing each part on a workpiece carrier plate by a clamp in an assembly station area by using a production line workpiece binding method. The method of the invention can ensure the real-time performance of the virtual-real mapping and the fluency of the simulation.
Description
Technical Field
The invention relates to the technical field of assembly line digital twinning, in particular to an assembly line digital twinning real-time action simulation method based on PLC data.
Background
At present, in the field of manufacturing industry, along with the development of automation, the product assembly line is more widely used originally, and research and development on the product assembly line generally focuses on three-dimensional model construction and key mechanism action simulation on the production line, or a flow modeling software is utilized to construct an assembly line flow model, a production flow is optimized according to a simulation result, and the production assembly efficiency is improved.
However, at present, a large amount of data in the assembly line is not effectively utilized, the assembly process of the assembly line is not effectively and comprehensively monitored and controlled, at present, a three-dimensional model of the assembly line is constructed through a digital twin technology, the assembly line is driven to move by using real-time sensor data, and the mapping of a real assembly line of a physical world is completed in a virtual world, so that the assembly condition of the assembly line is reflected.
However, in the current digital twin, information such as the state, position, angle and the like of equipment is usually directly acquired through a sensor, sensor data is used for directly driving a virtual model to move, and aiming at the production line action controlled by the PLC equipment in an assembly production line, a large number of sensors may need to be arranged and an original production line is modified by using the method, so that a large amount of cost is increased, and the method is not very popular.
Meanwhile, in the operation process of an actual production line, various physical phenomena such as gravity, friction force, contact force, electromagnetic attraction and the like exist, although physical phenomena such as gravity collision and object collision can be simulated in a software system in real time by using a physical engine, a large amount of computing resources are needed, the production line motion stuck phenomenon in a virtual environment is easily caused, and high-fidelity low-delay virtual-real mirror image mapping cannot be guaranteed.
Disclosure of Invention
Aiming at the production line action controlled by PLC equipment in an assembly production line, the position of a part is determined by utilizing PLC real-time signal data, signal duration and part movement speed, the PLC real-time signal data is used as a judgment condition to simulate the action of production line equipment, and aiming at the problem of large simulation calculation amount of physical laws in the movement process, the physical phenomenon is simulated by a method of constructing parent-child relationship among different objects to bind with each other and releasing the parent-child relationship according to the space positions of the objects and the related control signal states, the construction and the release of the parent-child relationship do not occupy a large amount of computing resources of a system, and the real-time performance of virtual-real mapping and the smoothness of simulation can be ensured.
The purpose of the invention is realized by the following technical scheme:
a PLC data-based assembly line digital twin real-time action simulation method is characterized in that the assembly line respectively realizes the lifting of a workpiece carrier plate and the sequential horizontal pushing at each station through a lifting cylinder and a translation cylinder, realizes the closed circulation of the workpiece carrier plate in the whole assembly line, realizes the grabbing of parts and the placing of the parts on the workpiece carrier plate for assembly through a mechanical arm clamp, the method comprises the steps of firstly determining the time point when a real-time PLC signal starts to drive an assembly production line to move through a virtual-real synchronization method of the production line state, then a material circulation simulation method is used for constructing the motion simulation of the workpiece carrier plate and the disassembly reset simulation of the finished parts in the assembly line, and calculating the position information of each cylinder by a part position determining method, and simulating the actions of clamping and placing each part on a workpiece carrier plate by a clamp in an assembly station area by using a production line workpiece binding method.
Furthermore, the assembly production line is divided into an assembly preparation area, an assembly station area, a finished product area and a support plate recovery area, wherein a first lifting cylinder in the assembly preparation area pushes the idle plate to move upwards, and a first lifting cylinder retracts after the support plate reaches the assembly station area; when the mechanical arm drives the clamp to move to the position close to the part, the clamp adsorbs or grabs the part, the clamp drives the part to move together, and when the part moves to the position close to the workpiece support plate, the clamp places the part on the workpiece support plate to complete the assembly action; the second lifting cylinder in the finished product area pushes the workpiece support plate to move downwards, and the second lifting cylinder retracts after the workpiece support plate reaches the support plate recovery area; and a second translation cylinder of the support plate recovery area extends out to push all empty workpiece support plates in the support plate recovery area to advance to a station, and the translation cylinder retracts to prepare for pushing the next workpiece support plate.
Further, the virtual-real synchronization method for the production line state specifically includes the following steps:
according to the operation condition of the assembly line, sequentially putting 0 and 1 data of each PLC into an array when the assembly cycle action of the assembly line is finished, setting the array as an initial state I, and sequentially putting 0 and 1 data of each PLC into an array when the assembly cycle action of the assembly line is started, setting the array as an initial state II; and acquiring data of a PLC industrial personal computer on an actual assembly production line in real time, and when the PLC data of the actual assembly production line is changed from an initial state I to an initial state II, considering that the actual assembly production line starts assembly cycle action, and starting to perform real-time action simulation on the assembly production line at the moment.
Further, the material circulation simulation method simulates the whole material circulation in an assembly production line, and specifically comprises the following steps:
(1) obtaining the working area where each workpiece carrier plate is located and resetting the parts
Setting numbers for all the workpiece support plates, comparing the distance between each workpiece support plate and the finished product area to obtain the number of the support plate in the finished product area, and reversely pushing to obtain the working area where each workpiece support plate is located; in order to ensure that the parts of the assembly body realize integral circulation without continuously generating new parts, more and more physical models are generated in the system, and when the finished product workpiece after assembly reaches a finished product area, all the parts in the assembly body are reset to the discharging positions corresponding to all the parts.
(2) Simulation of circular motion of workpiece carrier plates in each area
Setting a corresponding relation between PLC data of each air cylinder and air cylinder states, judging the air cylinder states of each area according to the air cylinder PLC data acquired in real time, setting all workpiece support plates in a certain area as children of the air cylinder when the air cylinder in the certain area is in an extending state, constructing a parent-child relation, simulating the movement of the air cylinder by using a part position determination method, and driving the workpiece support plates to move together by the air cylinder; when the cylinder in a certain area is in a retraction state, the parent-child relationship between all the workpiece carrier plates in the area and the cylinder is cancelled, so that the carrier plates are prevented from being driven to move together when the cylinder retracts.
Further, the part position determination method specifically includes the following steps:
firstly, setting an extending speed v1, a retracting speed v2 and a limit position of an air cylinder, performing function calculation once again at regular intervals through a void Update () function in Unity3d to obtain the position of the air cylinder, recording the current time t1 when the function is executed each time, recording the current time t2 after the function is executed each time, obtaining an actual time difference between two functions by subtracting the last function ending time t2 from the current function starting time t1, obtaining the advancing displacement of the air cylinder between the two functions by calculating the displacement which is the speed multiplied by the time, continuously changing the position of the air cylinder, judging whether the object moves beyond the preset limit position, and if the object moves beyond the limit position, moving back to the limit position to prevent the object position from being disordered.
Further, the production line workpiece binding method specifically comprises the following steps:
firstly, setting a corresponding relation between PLC data of a clamp and a clamp state, when the clamp is in a clamping state and the position difference between the clamp and a part is smaller than a preset value, considering that the clamp clamps the part, setting the part as a sub-object of the clamp, and moving the part along with the clamp; when the clamp is in a placing state and the position difference between the workpiece support plate and the part is smaller than a preset value, the clamp is considered to place the part on the workpiece support plate, the parent-child relationship between all the workpiece support plates and the clamp in the area is cancelled, the part is set as a child object of the workpiece support plate, and the part moves along with the workpiece support plate.
The invention has the following beneficial effects:
(1) according to the method, a sensor is not required to be further added on the existing assembly production line, the actions of the cyclic simulation and the part clamping and placing of the integral part and the workpiece carrier plate in the assembly production line can be simulated according to the PLC signal in the current industrial personal computer, and meanwhile, a complex physical simulation engine is not required to be used, so that the simulation smoothness can be effectively improved.
(2) The invention adopts a material circulation simulation method, and drives the whole material circulation action of the simulation assembly production line through a simple PLC data signal;
(3) according to the production line workpiece binding method, the simple object parent-child relationship construction method in the Unity3d is used for simulating the actions of workpiece grabbing, moving and the like in the assembly production line, a complex physical analysis engine is not used, and the calculated amount is effectively reduced;
(4) according to the virtual and real production line state synchronization method in the method, whether the actions of the actual assembly production line and the virtual assembly production line are uniform or not is judged by comparing the real-time PLC data state with the preset PLC data state, and the time point when the PLC data starts to drive action simulation is determined.
Drawings
FIG. 1 is a schematic layout of an assembly line;
FIG. 2 is a flow chart of a virtual-real synchronization method for an assembly line;
FIG. 3 is a flowchart illustrating the determination of the working area of each carrier plate;
FIG. 4 is a flowchart illustrating a process of determining a binding relationship between a carrier plate and a cylinder;
FIG. 5 is a flow chart of a part position determination method;
fig. 6 is a flowchart of the in-line workpiece binding determination.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, it being understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.
As shown in fig. 1, the assembly line related to the method of the present invention is divided into four parts, namely, an assembly preparation area, an assembly station area, a finished product area, and a carrier plate recovery area, wherein a lifting cylinder 1 in the assembly preparation area pushes an empty plate to move upward, and the lifting cylinder 1 retracts after the carrier plate reaches the assembly station area; the method comprises the following steps that a translation cylinder 1 in an assembly station area extends out to push all workpiece support plates in the assembly station area to advance to a station, the translation cylinder retracts to prepare for pushing the next workpiece support plate, part discharging frames are placed on two sides of each assembly station, a mechanical arm clamps a part to assemble, when the mechanical arm drives a clamp to move to the position close to the part, the clamp adsorbs or grabs the part, the clamp drives the part to move together, when the part moves to the position close to the workpiece support plate, the clamp places the part on the workpiece support plate, and assembly is completed; the lifting cylinder 2 in the finished product area pushes the carrier plate to move downwards, and the lifting cylinder 2 retracts after the carrier plate reaches the carrier plate recovery area; and the translation cylinder 2 of the support plate recovery area extends out to push all empty workpiece support plates in the support plate recovery area to advance to a station, and the translation cylinder retracts to prepare for pushing the next workpiece support plate.
The invention discloses an assembly line digital twin real-time action simulation method based on PLC data, which comprises the steps of firstly determining the time point when a real-time PLC signal starts to drive an assembly line to move by a production line state virtual-real synchronization method, then constructing workpiece carrier plate movement simulation and finished part disassembly reset simulation in the assembly line by using a material circulation simulation method, calculating the position information of each air cylinder by using a part position determination method, and simulating the action of clamping and placing each part on the workpiece carrier plate by a clamp in an assembly station area by using a production line workpiece binding method.
Because the actual production line is in dynamic motion, when the PLC real-time data motion simulation is used, the state of the actual production line is unknown, in order to ensure that the device model action in the production line in the virtual environment is consistent with the action of the device in the actual production line, a virtual-real synchronization method (shown in figure 2) of the production line state is needed to determine the time point when the PLC data starts to drive the action simulation, when the actual assembly production line is considered to be consistent with the virtual assembly production line state, the assembly production line real-time action simulation is started, and the PLC actual data drive action simulation confusion caused by the inconsistency of the initial state of the actual assembly production line and the virtual assembly production line is prevented.
1. Virtual and real synchronization method for production line state
As shown in fig. 2, according to the operation status of the assembly line, the 0 and 1 data of each PLC at the end of the assembly cycle of the assembly line are sequentially placed into an array, which is set as an initial state 1, and the 0 and 1 data of each PLC at the beginning of the assembly cycle of the assembly line are sequentially placed into an array, which is set as an initial state 2; and acquiring data of a PLC industrial personal computer on an actual assembly production line in real time, and when the PLC data of the actual assembly production line is changed from an initial state 1 to an initial state 2, considering that the actual assembly production line starts assembly cycle action, and starting to perform real-time action simulation on the assembly production line at the moment.
2. Material circulation simulation method
Reading PLC data of a PLC industrial personal computer in an assembly production line in real time, and simulating the whole material circulation in the assembly production line by a material circulation simulation method, wherein the method is specifically shown in figure 3:
(1) obtaining the working area where each workpiece carrier plate is located and resetting the parts
And setting numbers for all the workpiece support plates, comparing the distance between each workpiece support plate and the finished product area to obtain the number of the support plate in the finished product area, and reversely pushing to obtain the working area where each workpiece support plate is located. For example, when the ith carrier board is in the finished product area, the (i-6) th carrier board is in the assembly preparation area, the (i-5) th to (i-1) th carrier boards are in the assembly station area, and the (i + 1) th to (i + 5) th carrier boards are in the carrier board recovery area.
The part resetting specifically comprises the following steps: meanwhile, in order to ensure that the parts of the assembly body realize integral circulation without continuously generating new parts, more and more physical models are generated in the system, and when the finished product workpiece after assembly reaches a finished product area, all the parts in the assembly body are reset to the discharging positions corresponding to all the parts.
(2) Simulation of circular motion of workpiece carrier plates in each area
As shown in fig. 4, setting a corresponding relationship between PLC data of each cylinder and a cylinder state (for example, when a PLC signal is 0, the cylinder is in a retracted state, and when the PLC signal is 1, the cylinder is in an extended state), determining the cylinder state of each region according to the PLC data of the cylinder obtained in real time, setting all workpiece support plates in a certain region as children of the cylinder when the cylinder in the certain region is in the extended state, establishing a parent-child relationship, simulating the movement of the cylinder by using a part position determination method, and driving the workpiece support plates to move together by the cylinder; when the cylinder in a certain area is in a retraction state, the parent-child relationship between all the workpiece carrier plates in the area and the cylinder is cancelled, so that the carrier plates are prevented from being driven to move together when the cylinder retracts.
The part position determining method is as shown in fig. 5, firstly setting an extending speed v1, a retracting speed v2 and a limit position of an air cylinder, performing function calculation once again at regular intervals through a void Update () function in Unity3d to obtain the position of the air cylinder, recording the current time t1 when the function is performed each time, recording the current time t2 after the function is performed each time, obtaining an actual time difference between two functions by subtracting the last function end time t2 from the current function start time t1, calculating the advancing displacement of the air cylinder between two functions by using the displacement which is the speed multiplied by the time, continuously changing the position of the air cylinder, judging whether the object motion exceeds the preset limit position, and moving back to the limit position if the object motion exceeds the limit position, thereby preventing the object position from being disordered.
3. Production line workpiece binding method
As shown in fig. 6, the action of the robot gripping part placed on the workpiece carrier plate in the assembly line is simulated by the production line workpiece binding method:
aiming at various clamps, the corresponding relation between the PLC data of the clamp and the clamp state is set (for example, when the PLC signal is 0, the clamp is in a placing state, and when the PLC signal is 1, the clamp is in a clamping state),
when the part is a clamp of the electromagnetic valve type, when the electromagnetic valve is electrified and the position difference between the clamp and the part is smaller than a preset value, the part is considered to be clamped by the clamp and is set as a sub-object of the clamp, and the part moves along with the clamp; when the electromagnetic valve is powered off and the position difference between the workpiece support plate and the part is smaller than a preset value, the clamp is considered to place the part on the workpiece support plate, the parent-child relationship between all the workpiece support plates and the clamp in the area is cancelled, the part is set as a child object of the workpiece support plate, and the part moves along with the workpiece support plate;
when the clamping cylinder type clamp is used for clamping the cylinder type clamp, when the clamp is in a clamping state and the position difference between the clamp and the part is smaller than a preset value, the clamp is considered to clamp the part, the part is set as a sub-object of the clamp, and the part moves along with the clamp; when the clamping cylinder type clamp is in a placing state and the position difference between the workpiece support plate and the part is smaller than a preset value, the clamp is considered to place the part on the workpiece support plate, the parent-child relationship between all the workpiece support plates and the cylinders in the area is cancelled, the part is set as a child object of the workpiece support plate, and the part moves along with the workpiece support plate.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and although the invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the form and details of the embodiments may be made and equivalents may be substituted for elements thereof. All modifications, equivalents and the like which come within the spirit and principle of the invention are intended to be included within the scope of the invention.
Claims (6)
1. A PLC data-based assembly line digital twin real-time action simulation method is characterized in that the assembly line respectively realizes the lifting of a workpiece carrier plate and the sequential horizontal pushing at each station through a lifting cylinder and a translation cylinder, realizes the closed circulation of the workpiece carrier plate in the whole assembly line, realizes the grabbing of parts and the placing of the parts on the workpiece carrier plate for assembly through a mechanical arm clamp, it is characterized in that the method firstly determines the time point when the real-time PLC signal starts to drive the assembly production line to move through a virtual-real synchronization method of the production line state, then a material circulation simulation method is used for constructing the motion simulation of the workpiece carrier plate and the disassembly reset simulation of the finished parts in the assembly line, and calculating the position information of each cylinder by a part position determining method, and simulating the actions of clamping and placing each part on a workpiece carrier plate by a clamp in an assembly station area by using a production line workpiece binding method.
2. The PLC data-based assembly line digital twin real-time action simulation method as claimed in claim 1, wherein the assembly line is divided into four parts, namely an assembly preparation area, an assembly station area, a finished product area and a carrier plate recovery area, wherein a first lifting cylinder of the assembly preparation area pushes an idle plate to move upwards, and a second lifting cylinder retracts after the carrier plate reaches the assembly station area; when the mechanical arm drives the clamp to move to the position close to the part, the clamp adsorbs or grabs the part, the clamp drives the part to move together, and when the part moves to the position close to the workpiece support plate, the clamp places the part on the workpiece support plate to complete the assembly action; the second lifting cylinder in the finished product area pushes the workpiece support plate to move downwards, and the second lifting cylinder retracts after the workpiece support plate reaches the support plate recovery area; and a second translation cylinder of the support plate recovery area extends out to push all empty workpiece support plates in the support plate recovery area to advance to a station, and the translation cylinder retracts to prepare for pushing the next workpiece support plate.
3. The PLC data-based assembly line digital twin real-time action simulation method according to claim 1, wherein the production line state virtual-real synchronization method specifically comprises the following steps:
according to the operation condition of the assembly line, sequentially putting 0 and 1 data of each PLC into an array when the assembly cycle action of the assembly line is finished, setting the array as an initial state I, and sequentially putting 0 and 1 data of each PLC into an array when the assembly cycle action of the assembly line is started, setting the array as an initial state II; and acquiring data of a PLC industrial personal computer on an actual assembly production line in real time, and when the PLC data of the actual assembly production line is changed from an initial state I to an initial state II, considering that the actual assembly production line starts assembly cycle action, and starting to perform real-time action simulation on the assembly production line at the moment.
4. The PLC data-based assembly line digital twin real-time action simulation method for the assembly line according to claim 1, wherein the material circulation simulation method simulates the whole material circulation in the assembly line, and specifically comprises the following steps:
(1) obtaining the working area where each workpiece carrier plate is located and resetting the parts
Setting numbers for all the workpiece support plates, comparing the distance between each workpiece support plate and the finished product area to obtain the number of the support plate in the finished product area, and reversely pushing to obtain the working area where each workpiece support plate is located; in order to ensure that the parts of the assembly body realize integral circulation without continuously generating new parts, more and more physical models are generated in the system, and when the finished product workpiece after assembly reaches a finished product area, all the parts in the assembly body are reset to the discharging positions corresponding to all the parts.
(2) Simulation of circular motion of workpiece carrier plates in each area
Setting a corresponding relation between PLC data of each air cylinder and air cylinder states, judging the air cylinder states of each area according to the air cylinder PLC data acquired in real time, setting all workpiece support plates in a certain area as children of the air cylinder when the air cylinder in the certain area is in an extending state, constructing a parent-child relation, simulating the movement of the air cylinder by using a part position determination method, and driving the workpiece support plates to move together by the air cylinder; when the cylinder in a certain area is in a retraction state, the parent-child relationship between all the workpiece carrier plates in the area and the cylinder is cancelled, so that the carrier plates are prevented from being driven to move together when the cylinder retracts.
5. The PLC data-based assembly line digital twin real-time action simulation method as claimed in claim 4, wherein the part position determination method specifically comprises the following steps:
firstly, setting an extending speed v1, a retracting speed v2 and a limit position of an air cylinder, performing function calculation once again at regular intervals through a void Update () function in Unity3d to obtain the position of the air cylinder, recording the current time t1 when the function is executed each time, recording the current time t2 after the function is executed each time, obtaining an actual time difference between two functions by subtracting the last function ending time t2 from the current function starting time t1, obtaining the advancing displacement of the air cylinder between the two functions by calculating the displacement which is the speed multiplied by the time, continuously changing the position of the air cylinder, judging whether the object moves beyond the preset limit position, and if the object moves beyond the limit position, moving back to the limit position to prevent the object position from being disordered.
6. The PLC data-based assembly line digital twin real-time action simulation method as claimed in claim 1, wherein the production line workpiece binding method specifically comprises the steps of:
firstly, setting a corresponding relation between PLC data of a clamp and a clamp state, when the clamp is in a clamping state and the position difference between the clamp and a part is smaller than a preset value, considering that the clamp clamps the part, setting the part as a sub-object of the clamp, and moving the part along with the clamp; when the clamp is in a placing state and the position difference between the workpiece support plate and the part is smaller than a preset value, the clamp is considered to place the part on the workpiece support plate, the parent-child relationship between all the workpiece support plates and the clamp in the area is cancelled, the part is set as a child object of the workpiece support plate, and the part moves along with the workpiece support plate.
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