CN113459642A - Laminating machine, laminating method thereof and readable storage medium - Google Patents
Laminating machine, laminating method thereof and readable storage medium Download PDFInfo
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- CN113459642A CN113459642A CN202110528288.XA CN202110528288A CN113459642A CN 113459642 A CN113459642 A CN 113459642A CN 202110528288 A CN202110528288 A CN 202110528288A CN 113459642 A CN113459642 A CN 113459642A
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- 238000010030 laminating Methods 0.000 title claims abstract description 80
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000003860 storage Methods 0.000 title claims description 10
- 239000000463 material Substances 0.000 claims description 45
- 238000001514 detection method Methods 0.000 claims description 17
- 239000010421 standard material Substances 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000015572 biosynthetic process Effects 0.000 abstract description 3
- 238000011022 operating instruction Methods 0.000 abstract 1
- 239000010405 anode material Substances 0.000 description 10
- 239000010406 cathode material Substances 0.000 description 9
- 230000001960 triggered effect Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B41/00—Arrangements for controlling or monitoring lamination processes; Safety arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B39/00—Layout of apparatus or plants, e.g. modular laminating systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B43/00—Operations specially adapted for layered products and not otherwise provided for, e.g. repairing; Apparatus therefor
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention is suitable for the technical field of production, and provides an laminating machine and a laminating method thereof.A plurality of avoidance positions and execution positions are arranged on the existing operating platform, so that the space occupation and the section bar loss are reduced, two mechanical arms of the laminating machine are controlled to move to the corresponding execution positions or avoidance positions respectively according to different operating instructions at each operating stage, the corresponding operation is executed under the condition of ensuring no mutual interference, the machine collision is avoided in the process of fast and efficient operation, the operation formation is shortened, the assembly time of finished products is reduced, and the efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of laminating, and particularly relates to a laminating machine, a laminating method of the laminating machine and a readable storage medium.
Background
In the limited working space of machine, two sets of transport mechanisms are operated, and the execution is carried out and is placed the laminating operation to product part A and part B, then constitutes the product that needs the processing to accomplish. In the prior art, in order to avoid two carrying mechanisms from colliding, a large movement space needs to be designed for a past machine table, the mechanism is guaranteed to operate independently without interference, space occupation and section loss are more, the stroke is large, the assembly time of finished products is prolonged, efficiency is slow, and the assembly precision of the attaching machine table is not high.
Disclosure of Invention
The invention aims to solve the technical problems that in the prior art, the laminating machine, the laminating method and the readable storage medium thereof occupy more space and more loss of sectional materials, and the assembly time of finished products is prolonged and the efficiency is slow due to larger stroke.
The embodiment of the invention is realized in such a way that the laminating method of the laminating machine comprises the following steps:
responding to a laminating instruction, and respectively controlling a first manipulator and a second manipulator of the laminating machine at the initial positions to execute grabbing operation;
responding to a first operation instruction, and controlling the first manipulator to move to a first execution position after the second manipulator moves to a first avoidance position;
acquiring first information of the first manipulator at the first execution position, and when the first information is determined to meet second operation, moving the first manipulator to a second execution position and controlling the second manipulator to move to the first execution position;
acquiring second information of the second manipulator at the first execution position, controlling the first manipulator to execute a fitting operation when the second information is determined to meet the second operation, and moving the first manipulator to a second avoidance position after the first manipulator finishes the fitting operation;
responding to first detection information that the first manipulator is located at the second avoidance position, controlling the second manipulator to move to the second execution position and execute a bonding operation, and after determining that the second manipulator completes the bonding operation, moving the second manipulator to the initial position;
and responding to second detection information that the second manipulator moves to the initial position, moving the first manipulator to the initial position, and executing a step of detecting whether the bonding instruction is received.
The embodiment of the present invention further provides a laminating machine, including:
a first manipulator;
a second manipulator;
the execution unit is used for responding to a laminating instruction and respectively controlling a first manipulator and a second manipulator of the laminating machine at the initial positions to execute grabbing operation; responding to a first operation instruction, and controlling the first manipulator to move to a first execution position after the second manipulator moves to a first avoidance position; acquiring first information of the first manipulator at the first execution position, and when the first information is determined to meet second operation, moving the first manipulator to a second execution position and controlling the second manipulator to move to the first execution position; acquiring second information of the second manipulator at the first execution position, controlling the first manipulator to execute a fitting operation when the second information is determined to meet the second operation, and moving the first manipulator to a second avoidance position after the first manipulator finishes the fitting operation; responding to first detection information that the first manipulator is located at the second avoidance position, controlling the second manipulator to move to the second execution position and execute a bonding operation, and after determining that the second manipulator completes the bonding operation, moving the second manipulator to the initial position; and responding to second detection information that the second manipulator moves to the initial position, moving the first manipulator to the initial position, and executing a step of detecting whether the bonding instruction is received.
The embodiment of the present invention further provides a laminating machine, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the laminating machine implements the steps in the laminating method described above.
The embodiment of the present invention further provides a readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the fitting method as described above.
Compared with the prior art, the invention has the beneficial effects that: according to the laminating machine and the laminating method thereof provided by the embodiment of the invention, the plurality of avoidance positions and the execution positions are arranged on the existing operation platform, so that the space occupation and the section bar loss are reduced, the two mechanical arms of the laminating machine are controlled to move to the corresponding execution positions or avoidance positions respectively according to different operation instructions in each operation stage, the corresponding operation is executed under the condition of ensuring no mutual interference, the machine collision is avoided in the process of fast and efficient operation, the operation formation is shortened, the assembly time of finished products is reduced, and the efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of an operation platform of a laminating machine according to an embodiment of the present invention;
fig. 2 is a flowchart of a laminating method of a laminator according to an embodiment of the present invention;
fig. 3 is a flowchart of a laminating method of a laminator according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a laminating machine according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 shows an operation platform of a laminating machine according to an embodiment of the present invention, which only illustrates a simple structure for clearly explaining a laminating method according to the present invention, where the laminating machine includes two manipulators, in fig. 1, an upper manipulator is a second manipulator, and a lower manipulator is a first manipulator, and in an embodiment of the present invention, materials are mainly laminated by the laminating machine to complete product assembly, specifically, the first manipulator is mainly used for laminating anode materials, so the first manipulator may also be referred to as an anode manipulator in an actual production process, and the second manipulator is mainly used for laminating cathode materials, so the second manipulator may also be referred to as a cathode manipulator in an actual production process. In the embodiment of the present invention, the assembled qualified product must include the anode material and the cathode material, and in other embodiments, the manipulator may be defined according to the material to be attached according to the actual requirement, and is not limited specifically here.
The operation platform comprises a common photographing position and a common attaching position, the common photographing position is called as a first executing position in the application, the common attaching position is called as a second executing position in the application, the common photographing position is used for confirming materials grabbed by the mechanical arm and judging whether the materials are marked materials or not, if the materials are incomplete or the mechanical arm does not grab the materials, the materials can be identified at the common photographing position, therefore, the operation platform also comprises a first camera unit for detecting the common photographing position, the first camera unit comprises a camera, the camera is used for acquiring image information of the common photographing position and identifying the image information according to an image processing and image identification method and is used for judging whether the materials grabbed by the first mechanical arm or the second mechanical arm are standard materials or not, and the specific judgment mode is that the material information of the image information is matched with stored material information, and if the two materials are consistent, determining that the materials grabbed by the first manipulator or the second manipulator are standard materials. Specifically, because the materials that the first manipulator and the second manipulator snatched are different, and the time that the first manipulator and the second manipulator reached this position of shooing publicly is different, therefore the material information that needs to be preserved is also different.
The first mechanical arm and the second mechanical arm are arranged at the public attaching position, and the first mechanical arm and the second mechanical arm are used for assembling and attaching the products according to set operation steps. The operation platform further sets related conveying paths according to action tracks of the first manipulator and the second manipulator in the laminating method of the laminating machine, for example, as shown in fig. 1, a conveying X-axis, a conveying Y-axis and a conveying Z-axis of the first manipulator are set, and a conveying X-axis, a conveying Y-axis and a conveying Z-axis of the second manipulator are set, for example, as shown in fig. 1, the conveying paths of the first manipulator and the second manipulator are overlapped on the Y-axis, so that different avoidance positions need to be set according to different laminating flows in the laminating method provided by the application in real time.
Fig. 2 shows a fitting method provided in an embodiment of the present invention, which includes:
s201, responding to a laminating instruction, and respectively controlling a first manipulator and a second manipulator of the laminating machine at the initial positions to execute grabbing operation.
In this step, an operator issues a fitting instruction through the operating system, and then the execution unit of the fitting machine controls the first manipulator and the second manipulator to execute the grabbing operation after detecting the fitting instruction issued by the operator. Specifically, the first manipulator and the second manipulator are both located at respective initial positions before the first manipulator and the second manipulator start to perform the bonding operation, or the first manipulator and the second manipulator return to the respective initial positions after the first bonding operation is completed, and materials to be bonded are located at the initial positions, for example, an anode material is located at the initial position of the first manipulator, a cathode material is located at the initial position of the second manipulator, and the anode material or the cathode material are both located in respective placement areas. Further, the execution unit of the laminator responds to the laminating instruction, or returns to respective initial positions after detecting that the first manipulator and the second manipulator respectively complete the previous laminating operation, and then the execution unit determines that the next laminating instruction is triggered at this time, and then continues to control the first manipulator and the second manipulator to execute the grabbing operation. In this step, in order to reduce the operations of the rear section, after the first manipulator and the second manipulator of the laminator, which are respectively controlled to be located at the initial positions, perform the grabbing operation, the method further includes: acquiring the grabbing conditions of the first manipulator and the second manipulator; and if the grabbing condition of the first manipulator or the second manipulator is determined to be that grabbing is not successful, controlling the corresponding manipulator to finish grabbing operation. The steps can avoid the situation that the manipulator only executes the grabbing operation and does not grab the material successfully at that time. Further, in order to avoid the situation that the manipulator still fails to grasp for multiple times due to self failure, which causes time waste, the method also comprises the step of acquiring the grasping situations of the first manipulator and the second manipulator; if the grabbing condition of the first manipulator or the second manipulator is determined to be that grabbing is not successful, controlling the corresponding manipulator to continue to execute grabbing operation; and if the corresponding manipulator is judged not to successfully grab the materials after the manipulator executes the grabbing operation for the rated times, sending alarm information, wherein the alarm information is used for indicating that the current manipulator has faults or does not have the materials to be grabbed. In this embodiment, the manipulator performs the grabbing operation, which is to suck the material through the vacuum chuck provided therein.
S202, responding to a first operation instruction, and controlling the first manipulator to move to a first execution position after the second manipulator moves to a first avoidance position.
In this step, after the execution unit of the laminating machine executes the grabbing operation at the respective initial positions of the first manipulator and the second manipulator, a first operation instruction is automatically triggered, the first operation instruction is a photographing instruction, and the photographing instruction is used for controlling the first manipulator and the second manipulator to respectively go to the public photographing position for photographing. In other embodiments, the photographing instruction may also be triggered by an operator through a system to control the first manipulator and the second manipulator to move to respective positions. In this step, in order to avoid collision or interference between the first mechanical arm and the second mechanical arm in the movement process, the execution unit of the laminating machine controls the second mechanical arm to move to a first avoidance position, and the first avoidance position is a position in the designated movement area of the second mechanical arm, where the public photographing position is not reached yet. Specifically, as shown in fig. 1, the first robot and the second robot execute respective programs in the bonding flow from left to right. In this step, the execution unit controls the second manipulator to move in its Z-axis to avoid a conflict with the first manipulator when the first manipulator moves in its X-axis. And the execution unit controls the manipulator to move to the first execution position after determining that the second manipulator moves to the first avoidance position. In this embodiment, the movement of the robot to the first execution position may indicate that the first robot is located at the first execution position, and may also indicate that the anode material grabbed by the first robot is located at the first execution position.
And S203, acquiring first information of the first manipulator at the first execution position, and when the first information is determined to meet second operation, moving the first manipulator to a second execution position and controlling the second manipulator to move to the first execution position.
In this step, when it is determined that the first manipulator is located at the first execution position, image acquisition is performed on the first execution position in a manner that a photographing unit photographs or records the first execution position to acquire first image information of the first execution position; judging whether the material grabbed by the first manipulator in the first image information is a standard material or not; if so, determining that the first image information meets a second operation, moving the first manipulator to a second execution position, and controlling the second manipulator to move to the first execution position; if not, controlling the first manipulator to return to the initial position, finishing the grabbing operation and returning to the first execution position until the grabbed materials of the first manipulator in the first image information are standard materials. Specifically, the second operation is a bonding operation, and the execution unit may control the first manipulator to move to a second execution position after determining that the material grabbed by the first manipulator is the standard material in the first image information. In this step, it is mainly to determine whether the material grabbed by the first manipulator in step S201 can be used for bonding, or determine whether the first manipulator grabs the material in step S201, so as to improve bonding efficiency and avoid unnecessary rework processes.
S204, obtain the second manipulator is in the second information of first execution position is being confirmed the second information satisfies during the second operation, control first manipulator carries out laminating operation, and after laminating operation was accomplished to first manipulator, will first manipulator removes to the second and dodges the position.
In this step, after determining that the first manipulator reaches the second execution position, the execution unit acquires second information of the second manipulator at the first execution position, where the second information is second image information of whether the second manipulator captures a standard material. Acquiring second image information of the first execution bit; judging whether the grabbed materials of the second manipulator in the second image information are standard materials or not; if so, determining that the second image information meets a second operation, and controlling the first manipulator to execute a fitting operation; if not, controlling the second manipulator to return to the initial position, finishing the grabbing operation and returning to the first execution position until the grabbed materials of the second manipulator in the second image information are standard materials. In this step, because the first manipulator has moved to the second execution position, when it is determined that the material grabbed by the second manipulator, which is acquired by the second manipulator in the second image information of the first execution position, is not a standard material, the first manipulator will not be touched by the second manipulator when the second manipulator returns to the initial position to execute the grabbing operation, so that collision and interference are avoided, and the attaching efficiency is improved. In the embodiment of the present invention, for a situation that two manipulators are likely to interfere or collide with each other in a bonding process, the provided bonding method requires that, in each execution process, it is first determined that one manipulator is started to complete a certain operation, and then another manipulator is controlled to execute a related operation.
S205, responding to the first detection information that the first manipulator is located at the second avoidance position, controlling the second manipulator to move to the second execution position and execute the laminating operation, and determining that the second manipulator moves to the initial position after finishing the laminating operation.
In this step, after the execution unit of the laminator moves the first manipulator to the second avoidance position, the second manipulator which is determined to grasp the standard material in the control step S204 is moved to the second center, and the second manipulator is controlled to perform the laminating operation, and after it is determined that the second manipulator completes the laminating operation, the second manipulator is controlled to return to the initial position first, so that a return sequence after the first manipulator and the second manipulator complete the laminating operation is provided, so as to avoid the occurrence of collision between the first manipulator and the second manipulator, which generally deteriorates and interferes. Specifically, the second avoidance position where the first manipulator is located may be the rightmost area in fig. 1, and in the actual bonding process, only one manipulator may go to the second avoidance position, and after one manipulator goes to the second avoidance position, the other manipulator returns to its own starting position after completing the bonding operation to wait for the next bonding instruction. In the specific implementation process, after the first manipulator moves to the second avoidance position, the detection unit located at the second avoidance position is triggered, and the detection unit can detect whether the first manipulator and the second avoidance position are reached through infrared, light or other sensors. If the detection unit detects that the first manipulator is located at the second avoidance position, first detection information is sent to the execution unit.
And S206, responding to second detection information that the second manipulator moves to the initial position, moving the first manipulator to the initial position, and executing a step of detecting whether the bonding instruction is received.
In this step, if it is determined that the second manipulator has moved to the initial position, the execution unit controls the first manipulator to move from the second avoidance position to the initial position, and continues to detect whether a bonding instruction is received. Specifically, before the step of continuously detecting whether the pasting instruction is received is executed by the execution unit, the execution unit further includes: and acquiring material information of the material to be attached, and if the material to be attached meets the continuous attaching condition, executing the step of respectively controlling a first manipulator and a second manipulator of the attaching machine which are positioned at the initial positions to execute grabbing operation. In this step, after finishing a fitting operation, the execution unit first obtains material information of a material to be fitted at present, where the material information includes information such as the number of anode materials and the number of cathode materials, and executes the detection step when the number of the anode materials is consistent with that of the cathode materials, and if the current anode materials or the cathode materials are inconsistent or one of the anode materials and the cathode materials is used up, the execution unit sends out warning information for prompting the current material to be used up.
In the embodiment of the present invention, the number of the assembled products is set, and in order to inform the relevant personnel through the system in time after the completion of the attaching operation, the attaching method provided by the embodiment of the present invention further includes: acquiring the laminating times of the second manipulator; judging whether the laminating times of the second manipulator reach a preset laminating number or not, and if so, generating operation finishing information; and if not, continuously executing the step of respectively controlling the first manipulator and the second manipulator of the laminating machine at the initial positions to execute the grabbing operation. In this embodiment, because set up to first manipulator and accomplish the laminating operation of anode material earlier, the laminating operation of cathode material is accomplished again to the second manipulator, consequently just can confirm the product number present in order to accomplish the equipment through judging the laminating number of times of second manipulator.
According to the laminating method provided by the embodiment of the invention, the plurality of avoidance positions and the execution positions are arranged on the existing operation platform, so that the space occupation and the section bar loss are reduced, the two mechanical arms of the laminating machine are controlled to move to the corresponding execution positions or avoidance positions respectively according to different operation instructions at each operation stage, the corresponding operation is executed under the condition of ensuring no mutual interference, the machine collision is avoided in the process of fast and efficient operation, the operation formation is shortened, the assembly time of finished products is reduced, and the efficiency is improved.
Fig. 2 shows that the attaching method according to the embodiment of the present invention only sets two avoidance positions on the operation platform, but in an actual production process, a plurality of avoidance positions may be set according to a precision requirement or a safety requirement, and fig. 3 shows the attaching method according to another embodiment of the present invention, where the avoidance positions of the first and second manipulators are set on the operation platform, and the avoidance positions of each manipulator are independent areas, and the avoidance positions may be set on a Z axis or a Y axis, for example, the photographing avoidance position of the first manipulator may be set on a carrying Z axis of the first manipulator, the photographing avoidance position of the second manipulator may be set on a carrying Y axis of the second manipulator, and the corresponding photographing avoidance position and the attaching avoidance position may be set according to an actual need. As long as the movement trajectories of the first manipulator and the second manipulator do not collide, they do not interfere with each other.
Fig. 4 shows a laminating machine provided in an embodiment of the present invention, including:
a first manipulator 401;
a second manipulator 402;
an execution unit 403, configured to respectively control a first manipulator and a second manipulator of the laminator located at the initial position to perform a grabbing operation in response to the lamination instruction; responding to a first operation instruction, and controlling the first manipulator to move to a first execution position after the second manipulator moves to a first avoidance position; acquiring first information of the first manipulator at the first execution position, and when the first information is determined to meet second operation, moving the first manipulator to a second execution position and controlling the second manipulator to move to the first execution position; acquiring second information of the second manipulator at the first execution position, controlling the first manipulator to execute a fitting operation when the second information is determined to meet the second operation, and moving the first manipulator to a second avoidance position after the first manipulator finishes the fitting operation; responding to first detection information that the first manipulator is located at the second avoidance position, controlling the second manipulator to move to the second execution position and execute a bonding operation, and after determining that the second manipulator completes the bonding operation, moving the second manipulator to the initial position; and responding to second detection information that the second manipulator moves to the initial position, moving the first manipulator to the initial position, and executing a step of detecting whether the bonding instruction is received.
The embodiment of the present invention further provides a laminating machine, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, each step in the laminating method shown in fig. 2 or fig. 3 is implemented.
An embodiment of the present invention further provides a readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements each step in the fitting method as shown in fig. 2 or fig. 3.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one type of logical function division, and other division manners may be available in actual implementation, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are presently preferred and that no acts or elements are necessarily required of the invention.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In view of the above description of the laminator and the laminating method and apparatus thereof provided by the present invention, those skilled in the art will recognize that there are variations in the concepts and embodiments of the present invention.
Claims (10)
1. A laminating method of a laminating machine is characterized by comprising the following steps:
responding to a laminating instruction, and respectively controlling a first manipulator and a second manipulator of the laminating machine at the initial positions to execute grabbing operation;
responding to a first operation instruction, and controlling the first manipulator to move to a first execution position after the second manipulator moves to a first avoidance position;
acquiring first information of the first manipulator at the first execution position, and when the first information is determined to meet second operation, moving the first manipulator to a second execution position and controlling the second manipulator to move to the first execution position;
acquiring second information of the second manipulator at the first execution position, controlling the first manipulator to execute a fitting operation when the second information is determined to meet the second operation, and moving the first manipulator to a second avoidance position after the first manipulator finishes the fitting operation;
responding to first detection information that the first manipulator is located at the second avoidance position, controlling the second manipulator to move to the second execution position and execute a bonding operation, and after determining that the second manipulator completes the bonding operation, moving the second manipulator to the initial position;
and responding to second detection information that the second manipulator moves to the initial position, moving the first manipulator to the initial position, and executing a step of detecting whether the bonding instruction is received.
2. The pasting method of claim 1, wherein before the step of detecting whether the pasting instruction is received, further comprising:
and acquiring material information of the material to be attached, and if the material to be attached meets the continuous attaching condition, executing the step of respectively controlling a first manipulator and a second manipulator of the attaching machine which are positioned at the initial positions to execute grabbing operation.
3. The attaching method according to claim 1, wherein the acquiring first information of the first manipulator in the first execution position, and when it is determined that the first information satisfies a second operation, moving the first manipulator to a second execution position and controlling the second manipulator to move to the first execution position includes:
acquiring first image information of the first execution bit;
judging whether the material grabbed by the first manipulator in the first image information is a standard material or not;
if so, determining that the first image information meets a second operation, moving the first manipulator to a second execution position, and controlling the second manipulator to move to the first execution position;
if not, controlling the first manipulator to return to the initial position, finishing the grabbing operation and returning to the first execution position until the grabbed materials of the first manipulator in the first image information are standard materials.
4. The bonding method according to claim 1, wherein the acquiring second information of the second manipulator at the first execution position, and when it is determined that the second information satisfies the second operation, the controlling the first manipulator to perform the bonding operation includes:
acquiring second image information of the first execution bit;
judging whether the grabbed materials of the second manipulator in the second image information are standard materials or not;
if so, determining that the second image information meets a second operation, and controlling the first manipulator to execute a fitting operation;
if not, controlling the second manipulator to return to the initial position, finishing the grabbing operation and returning to the first execution position until the grabbed materials of the second manipulator in the second image information are standard materials.
5. The bonding method according to claim 1, wherein after the respectively controlling the first robot and the second robot of the bonding machine at the start positions to perform the gripping operation, further comprises:
acquiring the grabbing conditions of the first manipulator and the second manipulator;
and if the grabbing condition of the first manipulator or the second manipulator is determined to be that grabbing is not successful, controlling the corresponding manipulator to finish grabbing operation.
6. The bonding method according to claim 5, wherein after the respectively controlling the first robot and the second robot of the bonding machine at the start positions to perform the gripping operation, further comprises:
acquiring the grabbing conditions of the first manipulator and the second manipulator;
if the grabbing condition of the first manipulator or the second manipulator is determined to be that grabbing is not successful, controlling the corresponding manipulator to continue to execute grabbing operation;
and if the corresponding manipulator is judged not to successfully grab the materials after the manipulator executes the grabbing operation for the rated times, sending alarm information, wherein the alarm information is used for indicating that the current manipulator has faults or does not have the materials to be grabbed.
7. The attaching method according to claim 1, further comprising:
acquiring the laminating times of the second manipulator;
judging whether the laminating times of the second manipulator reach a preset laminating number or not, and if so, generating operation finishing information;
and if not, continuously executing the step of respectively controlling the first manipulator and the second manipulator of the laminating machine at the initial positions to execute the grabbing operation.
8. The utility model provides a rigging machine, its characterized in that, rigging machine includes:
a first manipulator;
a second manipulator;
the execution unit is used for responding to a laminating instruction and respectively controlling a first manipulator and a second manipulator of the laminating machine at the initial positions to execute grabbing operation; responding to a first operation instruction, and controlling the first manipulator to move to a first execution position after the second manipulator moves to a first avoidance position; acquiring first information of the first manipulator at the first execution position, and when the first information is determined to meet second operation, moving the first manipulator to a second execution position and controlling the second manipulator to move to the first execution position; acquiring second information of the second manipulator at the first execution position, controlling the first manipulator to execute a fitting operation when the second information is determined to meet the second operation, and moving the first manipulator to a second avoidance position after the first manipulator finishes the fitting operation; responding to first detection information that the first manipulator is located at the second avoidance position, controlling the second manipulator to move to the second execution position and execute a bonding operation, and after determining that the second manipulator completes the bonding operation, moving the second manipulator to the initial position; and responding to second detection information that the second manipulator moves to the initial position, moving the first manipulator to the initial position, and executing a step of detecting whether the bonding instruction is received.
9. Laminating machine comprising a memory, a processor and a computer program stored on the memory and running on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the laminating method according to any one of claims 1 to 7.
10. A readable storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing the steps of the fitting method according to any one of claims 1 to 7.
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