CN114326618A - Workpiece position control method, device, computer equipment and storage medium - Google Patents
Workpiece position control method, device, computer equipment and storage medium Download PDFInfo
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- CN114326618A CN114326618A CN202111599144.XA CN202111599144A CN114326618A CN 114326618 A CN114326618 A CN 114326618A CN 202111599144 A CN202111599144 A CN 202111599144A CN 114326618 A CN114326618 A CN 114326618A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000003860 storage Methods 0.000 title claims abstract description 16
- 238000003754 machining Methods 0.000 claims abstract description 51
- 238000012545 processing Methods 0.000 claims abstract description 37
- 238000005259 measurement Methods 0.000 claims description 34
- 238000004140 cleaning Methods 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 25
- 238000010892 electric spark Methods 0.000 abstract description 24
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- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 239000012636 effector Substances 0.000 description 5
- 238000009760 electrical discharge machining Methods 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 229910001111 Fine metal Inorganic materials 0.000 description 1
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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]
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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
- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
The invention discloses a method and a device for controlling the position of a workpiece, computer equipment and a storage medium. The method comprises the following steps: if the workpiece to be moved meets the processing completion condition and the automatic guide vehicle meets the task waiting condition, determining a jig matched with the workpiece to be moved according to the type of the workpiece to be moved; generating a workpiece moving-out instruction according to the jig matched with the workpiece to be moved out; and sending a workpiece moving-out instruction to the automatic guided vehicle so that the automatic guided vehicle moves to a workpiece moving-out position, and moving the workpiece to be moved out to a target position through a jig matched with the workpiece to be moved out. By using the technical scheme of the invention, the automation of blanking in the electric spark machining production line can be realized.
Description
Technical Field
The embodiment of the invention relates to an industrial automation technology, in particular to a method and a device for controlling the position of a workpiece, computer equipment and a storage medium.
Background
With the development of industrial automation towards high precision and high integration, the traditional electric spark machining mode also develops towards automation.
In an automatic production line, an Automated Guided Vehicle (AGV) is provided, and each production device in the production line is loaded and unloaded by the AGV, but in a complex scene of the electric spark machining production line, the AGV with a single function cannot meet the requirements of the electric spark machining production line.
Disclosure of Invention
The embodiment of the invention provides a method and a device for controlling the position of a workpiece, computer equipment and a storage medium, which are used for realizing the automation of blanking in an electric spark machining production line.
In a first aspect, an embodiment of the present invention provides a method for controlling a position of a workpiece, where the method includes:
if the workpiece to be moved meets the processing completion condition and the automatic guide vehicle meets the task waiting condition, determining a jig matched with the workpiece to be moved according to the type of the workpiece to be moved;
generating a workpiece moving-out instruction according to the jig matched with the workpiece to be moved out;
and sending a workpiece moving-out instruction to the automatic guided vehicle so that the automatic guided vehicle moves to a workpiece moving-out position, and moving the workpiece to be moved out to a target position through a jig matched with the workpiece to be moved out.
In a second aspect, an embodiment of the present invention further provides an apparatus for controlling a position of a workpiece, the apparatus including:
the state judgment module is used for determining a jig matched with the workpiece to be moved according to the type of the workpiece to be moved if the workpiece to be moved meets the processing completion condition and the automatic guide vehicle meets the task waiting condition;
the workpiece moving-out instruction generating module is used for generating a workpiece moving-out instruction according to the jig matched with the workpiece to be moved out;
and the workpiece moving-out instruction sending instruction is used for sending a workpiece moving-out instruction to the automatic guided vehicle so as to enable the automatic guided vehicle to move to a workpiece moving-out position, and moving the workpiece to be moved out to a target position through a jig matched with the workpiece to be moved out.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the method for controlling the position of the workpiece according to any one of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are used to perform a method of controlling the position of a workpiece as in any one of the embodiments of the present invention.
According to the embodiment of the invention, the states of the workpiece to be moved and the automatic guided vehicle are judged, when the workpiece to be moved meets the processing completion condition and the automatic guided vehicle meets the task waiting condition, the matched jig is determined according to the type of the workpiece to be moved, and the workpiece moving-out instruction generated by the matched jig is sent to the automatic guided vehicle, so that the automatic guided vehicle can move the workpiece to be moved out to the target position through the jig. The problem that the AGV in the prior art can not meet the requirements of an electric spark machining production line is solved, and the automation of blanking in the electric spark machining production line is realized.
Drawings
FIG. 1 is a flow chart of a method for controlling a position of a workpiece according to a first embodiment of the present invention;
FIG. 2a is a flowchart of a method for controlling the position of a workpiece according to a second embodiment of the present invention;
FIG. 2b is a schematic structural diagram of an electrical discharge machining production line according to a first embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a workpiece position control apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer device in the fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a workpiece position control method according to an embodiment of the present invention, which is applicable to a case where automatic blanking is performed by an automatic guided vehicle in an electric discharge machining line, and the method can be executed by a workpiece position control device, which can be implemented by software and/or hardware, and is generally integrated into a computer device and used in cooperation with the automatic guided vehicle and an electric discharge machine controller.
As shown in fig. 1, the technical solution of the embodiment of the present invention specifically includes the following steps:
and S110, if the workpiece to be moved out is determined to meet the processing completion condition and the automatic guided vehicle meets the task waiting condition, determining a jig matched with the workpiece to be moved out according to the type of the workpiece to be moved out.
The workpiece to be moved out is a workpiece which needs to be moved out after the processing of the processing machine tool is finished. The machining completion condition may be a machining completion signal sent by the machining tool, which is not limited in this embodiment.
The automatic guided vehicle, that is, the AGV, may be in a task waiting state, and may perform a workpiece carrying-out operation, for example, the task waiting condition may be that the AGV is located in an AGV standby area, and a remaining power of the AGV is above a preset threshold, but specific content of the task waiting condition is not limited in this embodiment.
A fixture refers to a tool that assists in controlling position and/or motion. Typically, the method for controlling the position of the workpiece in this embodiment is suitable for an electric discharge machining production line, in which different types of workpieces need different types of jigs for loading and unloading. For example, if the electrical discharge machining tool cuts the whole workpiece, the cut part is the workpiece to be moved out, and the material of the whole workpiece is the same as that of the workpiece to be moved out, and the workpiece to be moved out by using the conventional suction cup suction method cannot be applied, so that different types of workpieces to be moved out need to be matched with different jigs in the electrical discharge machining production line. The AGV in this embodiment includes devices such as controller, arm, end effector except that the AGV automobile body, can cooperate with the tool, will wait to remove the work piece and remove. The matching relationship between the workpiece type and the jig can be determined in advance and stored in the control device of the workpiece position.
And S120, generating a workpiece moving-out instruction according to the jig matched with the workpiece to be moved out.
After the control equipment of the workpiece position determines the jig matched with the workpiece to be carried out, a workpiece carrying-out instruction is generated and sent to the AGV so as to indicate the AGV to carry out the jig required by the workpiece carrying-out.
S130, sending a workpiece moving-out instruction to the automatic guided vehicle so that the automatic guided vehicle moves to a workpiece moving-out position, and moving the workpiece to be moved out to a target position through a jig matched with the workpiece to be moved out.
The workpiece moving-out position is a position where the AGV needs to park when moving out a workpiece to be moved, the target position is a position where the workpiece to be moved out is stored after being moved out by the AGV through a jig, the target position can be a conveying line or a centralized control material rack, the conveying line is used for conveying the workpiece to be output to the next flow, the centralized control material rack is used for temporarily placing the workpiece to be processed or the workpiece to be processed, and the target position is not limited by the embodiment.
In the embodiment of the invention, after the AGV receives the workpiece carrying-out instruction, the controller of the AGV plans the route according to the map of the production line, the workpiece carrying-out position and the current position of the AGV, which are acquired in advance, so as to determine the traveling route, and the AGV travels to the workpiece carrying-out position along the traveling route. The AGV can possess functions such as speed limit, obstacle avoidance, collision detection in the process of traveling, and this embodiment does not restrict the above-mentioned functions of AGV and the mode of realizing above-mentioned function. After the AGV reaches the workpiece moving-out position, the direction is adjusted through the controller, the mechanical arm and the end effector are adjusted, the workpiece to be moved out is moved out in cooperation with the jig, and the workpiece to be moved out is placed at the target position.
According to the technical scheme of the embodiment, the states of the workpiece to be moved and the automatic guided vehicle are judged, when the workpiece to be moved meets the processing completion condition and the automatic guided vehicle meets the task waiting condition, the matched jig is determined according to the type of the workpiece to be moved, and the workpiece moving-out instruction is generated according to the matched jig and is sent to the automatic guided vehicle, so that the automatic guided vehicle can move the workpiece to be moved out to the target position through the jig. The problem of AGV among the prior art can't adapt to the demand of electric spark machining production line has been solved, move out the work piece of different grade type through different tools, realized the automation of unloading in the electric spark machining production line.
Example two
Fig. 2a is a flowchart of a method for controlling a workpiece position according to a second embodiment of the present invention, in which a determination process of whether a workpiece to be carried out satisfies a processing completion condition and a determination process of whether an automatic guided vehicle satisfies a task waiting condition are further embodied based on the second embodiment of the present invention, and a step of determining whether the workpiece is successfully processed according to a workpiece measurement result is added.
Correspondingly, as shown in fig. 2a, the technical solution of the embodiment of the present invention specifically includes the following steps:
and S210, judging whether a machining end signal sent by the machine tool is received, if so, executing S220, otherwise, returning to execute S210.
In the embodiment of the present invention, the machine tool may be an electric discharge cutting machine tool, an electric discharge forming machine tool, or the like, which is not limited in this embodiment. The spark cutting machine uses continuously moving fine metal wire as electrode, and the gap between the electrode and workpiece is used for pulse spark discharge, and the instantaneous high temperature of spark is used to melt and oxidize local metal to be corroded, so that the workpiece is cut and formed. The electric spark forming machine is an electric spark machine for processing a cavity, a molded body or a through hole by an electric spark forming method. The electric spark machining has many incomparable advantages compared with the traditional cutting machining, and can solve the machining problems of difficult-to-machine materials and parts with complex shapes.
After the machine tool finishes processing the workpiece, the machine tool may send a processing end signal to a control device for the workpiece position, and specifically, after the machine tool finishes processing, the machine tool may send a processing end signal to a control device for the workpiece position by a Programmable Logic Controller (PLC).
And S220, judging whether an emergency gate opening signal sent by an emergency gate is received, if so, executing S230, otherwise, returning to execute S220.
The safety door is equipment used for guaranteeing production safety in an electric spark machining production line, and after the safety door is opened, the safety door shows that a workpiece is in a safe state capable of entering the next production flow.
Specifically, after the safety door is opened, a PLC connected to the safety door wiring sends an opening signal of the safety door to a control device of the workpiece position.
And S230, judging whether a cleaning completion signal sent by the workpiece cleaning equipment is received, if so, executing S240, otherwise, returning to execute S230.
The workpiece cleaning apparatus is an apparatus for cleaning a workpiece, and after the workpiece is machined by the electric discharge machine, material chips, dust, and the like may exist on the workpiece, and the workpiece cleaning apparatus is required to clean the workpiece.
Specifically, after the workpiece cleaning device finishes cleaning the workpiece, the PLC connected to the workpiece cleaning device by wiring sends a cleaning completion signal to the control device at the workpiece position.
And S240, determining that the workpiece to be carried out meets the machining completion condition.
And after the machining end signal, the safety door opening signal and the cleaning completion signal are simultaneously received, determining that the machining completion condition is met.
Optionally, this embodiment may also set a receiving time interval of each signal, and specifically, if the emergency gate opening signal is not received within the first receiving time interval after the machining end signal is received, the machining end condition is considered to be not satisfied. Or within a second reception time interval after the reception of the emergency gate opening signal, the cleaning completion signal is not received yet, and the process completion condition is considered to be not satisfied.
It should be noted that the determination of the processing end signal, the emergency gate opening signal, and the cleaning end signal is only one of the manners for determining whether the workpiece to be removed is processed, and in actual production, whether the workpiece to be removed is processed may be determined only according to one or two of the processing end signal, the emergency gate opening signal, and the cleaning end signal.
And S250, acquiring the current position and the current state of the automatic guided vehicle.
In the embodiment of the invention, after the workpiece to be carried out is determined to be processed, whether the automatic guided vehicle can execute the workpiece carrying-out task is judged, and the current position and the current state of the AGV are obtained.
Specifically, the control device of the workpiece position may send an inquiry instruction to the AGV, and after receiving the inquiry instruction, the AGV feeds back the current position and the current state to the control device of the workpiece position. The AGV may also send the current position and the current status to the control device of the workpiece position at regular intervals, which is not limited in this embodiment.
The current position and the current state of the AGV can be fed back to the AGV control equipment by the AGV, and then the current position and the current state are sent to the control equipment of the workpiece position by the AGV control equipment. The AGV may also directly feed back to the control device of the workpiece position, which is not limited by the embodiment.
And S260, judging whether the current position of the automatic guided vehicle is in the automatic guided vehicle standby area, if so, executing S270, and otherwise, returning to execute S260.
And determining that the current position of the automatic guided vehicle is in the standby area of the automatic guided vehicle, namely determining that the automatic guided vehicle is in an idle state and does not carry out the task of carrying in or carrying out the workpiece.
And S270, judging whether the current state of the automatic guided vehicle is a task waiting state, if so, executing S280, and otherwise, returning to execute S270.
The task waiting state may be that the current electric quantity of the automated guided vehicle is greater than or equal to a preset electric quantity, and/or that the automated guided vehicle does not receive the workpiece carrying-in or carrying-out task currently.
And S280, determining that the automatic guided vehicle meets task waiting conditions.
In the embodiment of the present invention, the number of AGVs may be one or more, when there are a plurality of AGVs, the operation of carrying out the workpiece to be carried out can be performed as long as one AGV satisfies the task waiting condition, and when a plurality of AGVs satisfy the task waiting condition at the same time, the AGV with the highest electric power can be selected to perform the operation of carrying out the workpiece to be carried out. In this embodiment, when the number of AGVs and the number of AGVs satisfying the task waiting condition are plural, the manner of selecting AGVs is not limited.
And S290, determining a jig matched with the workpiece to be moved out according to the type of the workpiece to be moved out.
In the embodiment of the invention, the control equipment of the workpiece position determines the jig matched with the type of the workpiece to be moved out according to the predetermined matching relationship between the type of the workpiece and the jig.
And S2100, generating a workpiece moving-out instruction according to the jig matched with the workpiece to be moved out and the workpiece measuring position.
The workpiece measurement position is a position where the workpiece needs to be placed when the workpiece after being carried out is measured. After the workpiece is placed at the workpiece measuring position, the workpiece can be conveyed to workpiece measuring equipment, and the surface roughness, the size and the like of the workpiece are measured.
In the embodiment of the invention, after the workpiece is carried out, the workpiece is further measured, so that whether the workpiece is processed qualified or not is judged according to the measurement result. According to the technical scheme, the automatic workpiece moving-out and measuring device can achieve automatic workpiece moving-out and automatic workpiece measuring, and labor cost of multiple stations is saved.
And S2110, sending a workpiece carrying-out instruction to the automatic guide vehicle so that the automatic guide vehicle moves to a workpiece carrying-out position, and carrying out the workpiece to be carried out to a workpiece measuring position through a jig matched with the workpiece to be carried out.
The workpiece position control equipment sends a workpiece moving-out instruction to the AGV, the AGV moves to the workpiece moving-out position after receiving the workpiece moving-out instruction, the orientation is adjusted through the controller, the mechanical arm and the end effector are adjusted, the workpiece to be moved out is moved out in cooperation with the jig, and the workpiece to be moved out is placed at the workpiece measuring position. The above embodiments have already described the process, and the description of the embodiment is not repeated herein.
And S2120, acquiring a workpiece measurement result sent by the workpiece measurement device.
After the workpiece is placed at the workpiece measuring position, the workpiece is conveyed to the workpiece measuring device, and after the workpiece measuring device measures the workpiece, the measurement result is sent to the control device of the workpiece position. Specifically, the measurement result may be transmitted to the control device of the workpiece position by a PLC wired to the workpiece measuring device.
S2130, judging whether the workpiece measurement result is matched with the standard size of the workpiece, if so, executing S2140, and otherwise, executing S2150.
In the embodiment of the present invention, the workpiece measurement result is matched with the workpiece standard size, which may be a difference value between the workpiece measurement result and the workpiece standard size, and is within a preset error interval.
S2140, determining that the workpiece is successfully machined. S2160 is performed.
When the workpiece measurement result is matched with the standard workpiece size, the workpiece is qualified in machining, the control device of the workpiece position can send a homing instruction to the AGV to instruct the AGV to return to the standby area of the automatic guided vehicle, and can also send a workpiece moving-in instruction to the AGV to instruct the AGV to continuously move the workpiece to be machined into the machining waiting position. In this embodiment, an example of sending a workpiece loading instruction to an AGV is given, but this embodiment does not limit this, and the instruction may be set according to actual needs of production.
S2150, workpiece processing failure is determined, and a workpiece scrapping instruction is sent to the workpiece measuring device, so that the workpiece measuring device can convey the workpiece with processing failure to a workpiece scrapping area.
When the workpiece measurement result is not matched with the standard size of the workpiece, the workpiece processing failure is indicated, and the workpiece needs to be scrapped at the moment, so that the position control equipment of the workpiece sends a workpiece scrapping instruction to the workpiece measurement equipment, and the workpiece measurement equipment transmits the workpiece to an NG (NG) area, namely a workpiece scrapping area.
Similarly, after determining that the workpiece machining fails, the control device of the workpiece position may send a homing instruction to the AGV to instruct the AGV to return to the automatic guided vehicle standby area, or send a workpiece carrying-in instruction to the AGV to instruct the AGV to continue carrying the workpiece to be machined into the machining waiting position.
In the embodiment of the invention, the position control equipment of the workpiece can store the workpiece processing result and periodically count the rejection rate, so that when the rejection rate is higher, the rejection reason of the workpiece can be analyzed in time and corrected, and the success rate of workpiece processing is improved.
And S2160, judging whether the current state of the machine tool is a processing waiting state, if so, executing S2170, otherwise, returning to execute S2160.
When a new workpiece to be machined needs to be conveyed to a machining machine tool for machining, the position control device of the workpiece needs to judge whether the current state of the machine tool is a machining waiting state. The machining waiting state may be a state in which the machine tool is not currently in a machining state, and similarly, the control device at the workpiece position may send a machine tool state query instruction to the PLC, and the PLC feeds back the current state of the machine tool to the control device at the workpiece position.
And S2170, sending a workpiece carrying-in command to the automatic guided vehicle to instruct the automatic guided vehicle to move to a workpiece carrying-in position, and carrying the workpiece to be machined to a machining waiting position.
The workpiece carrying-in position is a position which is required to be parked when the AGV executes a task of carrying in the workpiece to be processed. The machining standby position is a position where the workpiece to be machined is temporarily placed before entering the machine tool for machining, and the workpiece to be machined is conveyed from the machining standby position to the machine tool. Similarly, the processing waiting position can be a conveying line, a centralized control material rack and the like.
After the control equipment at the workpiece position sends a workpiece carrying-in instruction to the AGV, the AGV can firstly move to the workpiece storage position, control the mechanical arm and the end effector through the controller to grab the workpiece to be machined, then move to the workpiece carrying-in position, and control the mechanical arm and the end effector through the controller to carry the workpiece to be machined to the machining waiting position.
Specific application scenario 1
Fig. 2b is a schematic structural diagram of an electrical discharge machining production line according to a first specific application scenario of the present invention, and as shown in fig. 2b, the electrical discharge machining production line includes: at least one electric discharge machine, an electric discharge machine controller, a control device for the position of the workpiece, an automatic guided vehicle and an automatic guided vehicle control device. Wherein:
the electric spark processing machine tool is connected with an electric spark processing machine tool controller in a wiring mode, and the electric spark processing machine tool controller is in communication connection with control equipment of the position of the workpiece, the automatic guide vehicle and the automatic guide vehicle control equipment, and the control equipment of the position of the workpiece and the automatic guide vehicle control equipment respectively.
The electric spark processing production line also comprises workpiece measuring equipment which is connected with the electric spark processing machine tool controller in a wiring way.
The electric spark machine tool is used for processing a workpiece to be processed;
an electric discharge machine controller for sending the current state of the electric discharge machine to a control device of the workpiece position;
the automatic guided vehicle control equipment is used for sending the current state of the automatic guided vehicle to the control equipment of the workpiece position;
the control device of the workpiece position is used for sending a workpiece carrying-out instruction of the workpiece to be carried out to the automatic guided vehicle control device when the current state of the electric spark machine tool is determined to be a machining completion state and the current state of the automatic guided vehicle is determined to be a task waiting state;
the automatic guided vehicle is used for carrying out the workpiece to be carried out after receiving a workpiece carrying-out instruction sent by the automatic guided vehicle control equipment and placing the workpiece at a workpiece measuring position;
the workpiece measuring equipment is used for measuring the workpiece and feeding back the measurement result to the controller of the electric spark machining machine tool;
the electric discharge machine tool controller is also used for sending the measurement result to the control equipment of the workpiece position;
the control device of the workpiece position is used for judging whether the workpiece is successfully processed according to the measurement result and sending a workpiece loading instruction of the workpiece to be unloaded to the automatic guided vehicle control device when the workpiece is failed to be processed;
and the automatic guided vehicle is used for grabbing the workpiece to be machined and placing the workpiece to be machined at a machining waiting position after receiving the workpiece carrying-in instruction sent by the automatic guided vehicle control equipment.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a workpiece position control device according to a third embodiment of the present invention, which is integrated into a computer device and used in cooperation with an automatic guided vehicle and an electric discharge machine controller. The device includes: a status determination module 310, a workpiece carry-out command generation module 320, and a workpiece carry-out command transmission module 330. Wherein:
the state judgment module 310 is configured to determine a jig matched with the workpiece to be moved out according to the type of the workpiece to be moved out if it is determined that the workpiece to be moved out meets the processing completion condition and the automatic guided vehicle meets the task waiting condition;
a workpiece moving-out instruction generating module 320, configured to generate a workpiece moving-out instruction according to the fixture matched with the workpiece to be moved out;
the workpiece carrying-out instruction sending module 330 is configured to send a workpiece carrying-out instruction to the automated guided vehicle, so that the automated guided vehicle moves to a workpiece carrying-out position, and carries out the workpiece to be carried out to a target position through a fixture matched with the workpiece to be carried out.
According to the technical scheme of the embodiment, the states of the workpiece to be moved and the automatic guided vehicle are judged, when the workpiece to be moved meets the processing completion condition and the automatic guided vehicle meets the task waiting condition, the matched jig is determined according to the type of the workpiece to be moved, and the workpiece moving-out instruction is generated according to the matched jig and is sent to the automatic guided vehicle, so that the automatic guided vehicle can move the workpiece to be moved out to the target position through the jig. The problem that the AGV in the prior art can not meet the requirements of an electric spark machining production line is solved, and the automation of blanking in the electric spark machining production line is realized.
On the basis of the above embodiment, the state determining module 310 includes:
and the machining completion condition judging unit is used for determining that the workpiece to be moved out meets the machining completion condition if determining that the machining completion signal sent by the machine tool, the safety door opening signal sent by the safety door and the cleaning completion signal sent by the workpiece cleaning equipment are received.
On the basis of the above embodiment, the state determining module 310 includes:
the automatic guided vehicle state acquisition unit is used for acquiring the current position and the current state of the automatic guided vehicle;
and the task waiting condition judging unit is used for determining that the automatic guided vehicle meets the task waiting condition if the current position of the automatic guided vehicle is determined to be in the automatic guided vehicle standby area and the current state is the task waiting state.
On the basis of the above embodiment, the target position includes a workpiece measurement position;
the workpiece carrying-out instruction generating module 320 is specifically configured to:
and generating a workpiece moving-out instruction according to the jig matched with the workpiece to be moved out and the workpiece measuring position.
On the basis of the above embodiment, the apparatus further includes:
the workpiece measurement result acquisition module is used for acquiring a workpiece measurement result sent by the workpiece measurement equipment;
and the first workpiece measurement result judging module is used for determining that the workpiece is successfully processed if the workpiece measurement result is matched with the standard workpiece size.
On the basis of the above embodiment, the apparatus further includes:
the second workpiece measurement result judging module is used for determining that the workpiece fails to be machined if the workpiece measurement result is determined to be not matched with the standard size of the workpiece, and sending a workpiece scrapping instruction to the workpiece measuring equipment so that the workpiece measuring equipment can transmit the workpiece which fails to be machined to a workpiece scrapping area;
and the workpiece carrying-in instruction sending module is used for sending a workpiece carrying-in instruction to the automatic guided vehicle to instruct the automatic guided vehicle to move to the workpiece carrying-in position and carry the workpiece to be machined to the machining waiting position if the current state of the machine tool is determined to be the machining waiting state.
The control device for the workpiece position provided by the embodiment of the invention can execute the control method for the workpiece position provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of a computer apparatus according to a fourth embodiment of the present invention, as shown in fig. 4, the computer apparatus includes a processor 70, a memory 71, an input device 72, and an output device 73; the number of processors 70 in the computer device may be one or more, and one processor 70 is taken as an example in fig. 4; the processor 70, the memory 71, the input device 72 and the output device 73 in the computer apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 4.
The memory 71 is a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as modules corresponding to the method for controlling the position of a workpiece in the embodiment of the present invention (for example, a state determination module 310, a workpiece carry-out instruction generation module 320, and a workpiece carry-out instruction transmission instruction 330 in the apparatus for controlling the position of a workpiece). The processor 70 executes various functional applications of the computer device and data processing by executing software programs, instructions, and modules stored in the memory 71, that is, implements the above-described control method of the workpiece position. The method comprises the following steps:
if the workpiece to be moved meets the processing completion condition and the automatic guide vehicle meets the task waiting condition, determining a jig matched with the workpiece to be moved according to the type of the workpiece to be moved;
generating a workpiece moving-out instruction according to the jig matched with the workpiece to be moved out;
and sending a workpiece moving-out instruction to the automatic guided vehicle so that the automatic guided vehicle moves to a workpiece moving-out position, and moving the workpiece to be moved out to a target position through a jig matched with the workpiece to be moved out.
The memory 71 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 71 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 71 may further include memory located remotely from the processor 70, which may be connected to a computer device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 72 may be used to receive input numeric or character information and generate key signal inputs relating to user settings and function controls of the computer apparatus. The output device 73 may include a display device such as a display screen.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method for controlling a position of a workpiece, the method including:
if the workpiece to be moved meets the processing completion condition and the automatic guide vehicle meets the task waiting condition, determining a jig matched with the workpiece to be moved according to the type of the workpiece to be moved;
generating a workpiece moving-out instruction according to the jig matched with the workpiece to be moved out;
and sending a workpiece moving-out instruction to the automatic guided vehicle so that the automatic guided vehicle moves to a workpiece moving-out position, and moving the workpiece to be moved out to a target position through a jig matched with the workpiece to be moved out.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the method for controlling the position of the workpiece provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the control device for workpiece positions, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method of controlling a position of a workpiece, comprising:
if the workpiece to be moved meets the processing completion condition and the automatic guide vehicle meets the task waiting condition, determining a jig matched with the workpiece to be moved according to the type of the workpiece to be moved;
generating a workpiece moving-out instruction according to the jig matched with the workpiece to be moved out;
and sending a workpiece moving-out instruction to the automatic guided vehicle so that the automatic guided vehicle moves to a workpiece moving-out position, and moving the workpiece to be moved out to a target position through a jig matched with the workpiece to be moved out.
2. The method of claim 1, wherein determining that the workpiece to be carried out satisfies the machining completion condition comprises:
and if the safety door opening signal sent by the safety door and the cleaning completion signal sent by the workpiece cleaning equipment are determined to be received, determining that the workpiece to be moved out meets the processing completion condition.
3. The method of claim 1, wherein determining that the automated guided vehicle satisfies a task waiting condition comprises:
acquiring the current position and the current state of the automatic guided vehicle;
and if the current position of the automatic guided vehicle is determined to be in the automatic guided vehicle standby area and the current state is the task waiting state, determining that the automatic guided vehicle meets the task waiting condition.
4. The method of claim 1, wherein the target position comprises a workpiece measurement position;
according to with treat that the tool that workpiece matches carries out, generate the work piece and carry out the instruction, include:
and generating a workpiece moving-out instruction according to the jig matched with the workpiece to be moved out and the workpiece measuring position.
5. The method of claim 4, wherein after sending the workpiece removal command to the automated guided vehicle, further comprising:
acquiring a workpiece measuring result sent by workpiece measuring equipment;
and if the workpiece measurement result is matched with the standard workpiece size, determining that the workpiece is successfully processed.
6. The method of claim 5, wherein after obtaining the workpiece measurements transmitted by the workpiece measurement device, further comprising:
if the workpiece measuring result is determined to be not matched with the standard size of the workpiece, determining that the workpiece is failed to be machined, and sending a workpiece scrapping instruction to workpiece measuring equipment so that the workpiece measuring equipment can transmit the workpiece which is failed to be machined to a workpiece scrapping area;
and if the current state of the machine tool is determined to be the machining waiting state, sending a workpiece carrying-in instruction to the automatic guided vehicle to instruct the automatic guided vehicle to move to the workpiece carrying-in position, and carrying the workpiece to be machined to the machining waiting position.
7. A control apparatus for a position of a workpiece, comprising:
the state judgment module is used for determining a jig matched with the workpiece to be moved according to the type of the workpiece to be moved if the workpiece to be moved meets the processing completion condition and the automatic guide vehicle meets the task waiting condition;
the workpiece moving-out instruction generating module is used for generating a workpiece moving-out instruction according to the jig matched with the workpiece to be moved out;
and the workpiece moving-out instruction sending instruction is used for sending a workpiece moving-out instruction to the automatic guided vehicle so as to enable the automatic guided vehicle to move to a workpiece moving-out position, and moving the workpiece to be moved out to a target position through a jig matched with the workpiece to be moved out.
8. The apparatus of claim 7, further comprising:
the workpiece measurement result acquisition module is used for acquiring a workpiece measurement result sent by the workpiece measurement equipment;
and the first workpiece measurement result judging module is used for determining that the workpiece is successfully processed if the workpiece measurement result is matched with the standard workpiece size.
9. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, implements a method of controlling the position of a workpiece as claimed in any one of claims 1 to 6.
10. A storage medium containing computer-executable instructions, which when executed by a computer processor, are for performing a method of controlling the position of a workpiece as claimed in any one of claims 1 to 6.
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