CN115229484A - Screw locking system, screw locking method and computer storage medium - Google Patents
Screw locking system, screw locking method and computer storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
Abstract
The application discloses a screw locking system, a screw locking method and a computer storage medium. The screw locking system includes: the parameter configuration mechanism is used for configuring the screw locking process and acquiring configuration information; a robot mechanism; a locking mechanism; the control mechanism comprises an executable script module and a controller, wherein the executable script module is connected with the parameter configuration mechanism and is used for generating control information of the screw locking process based on the configuration information; the controller is connected with the executable script module, the robot mechanism and the locking mechanism and used for generating a control instruction based on the control information so as to control the robot mechanism and the locking mechanism to perform screw locking operation. Through the mode, the individualized screw locking operation can be carried out according to the actual process requirement, and the efficiency and the accuracy of the screw locking are improved.
Description
Technical Field
The present disclosure relates to the field of screw locking technologies, and in particular, to a screw locking system, a screw locking method, and a computer storage medium.
Background
With the continuous development of the industrial automation in the 21 st century, many manual operations in the field of industrial production are replaced by industrial robots, and the industrial robots greatly improve the labor productivity and reduce the burden of workers by virtue of the accuracy, flexibility and high efficiency of the industrial robots, and even can execute complex work which cannot be executed by many people.
In the screw locking process, a screw needs to be grabbed from a screw feeding device, then the screw is carried to a point position of a workpiece, and then the screw is locked at the point position. Traditional plane screw machine comprises the cartesian robot of XYZ degree of freedom, screwdriver, tool and screw feeding equipment, and the cartesian robot is criticized the electricity and is removed the point position that needs lock screw, then attaches the operation with the lock of screwdriver carrying out the screw. However, the conventional plane screw machine can only lock screws on one fixed plane; for some workpieces (such as automobile seats, lamps and household appliances) with different screw locking requirements, the multi-degree-of-freedom joint robot is more suitable for screw locking operation.
No matter the screw machine is a traditional plane screw machine with a rectangular coordinate robot or a screw machine with a multi-degree-of-freedom joint robot, the screw locking operation of the robot and the screwdriver is controlled through a controller according to inherent control flow, personalized screw locking operation cannot be carried out according to actual process requirements, the problems that devices such as a control flow and the screwdriver cannot be matched and the like cannot be solved, the screw locking efficiency is low, and the accuracy is low.
Disclosure of Invention
The application provides a screw locking system, a screw locking method and a computer storage medium, which are used for carrying out personalized screw locking operation according to actual process requirements and improving the efficiency and the accuracy of screw locking.
In order to solve the above technical problem, the present application provides a screw locking system. This screw lock attaches system includes: the parameter configuration mechanism is used for configuring the screw locking process and acquiring configuration information; a robot mechanism; a locking mechanism; the control mechanism comprises an executable script module and a controller, wherein the executable script module is connected with the parameter configuration mechanism and is used for generating control information of the screw locking process based on the configuration information; the controller is connected with the executable script module, the robot mechanism and the locking mechanism and used for generating a control instruction based on the control information so as to control the robot mechanism and the locking mechanism to perform screw locking operation.
In order to solve the above technical problems, the present application provides a screw locking method. The screw locking method comprises the following steps: configuring a screw locking process and acquiring configuration information; generating control information of the screw locking process based on the configuration information by using the executable script; and generating a control instruction based on the control information, and controlling the robot mechanism and the locking mechanism to perform screw locking operation by using the control instruction.
In order to solve the above technical problem, the present application provides a computer storage medium. The computer storage medium stores program instructions that when executed by the processor implement any of the screw locking methods described above.
The technical effects of the application are as follows: different from the prior art, the screw locking system comprises a parameter configuration mechanism, a robot mechanism, a locking mechanism and a control mechanism, wherein the control mechanism comprises an executable script module and a controller, the parameter configuration mechanism can be used for configuring the screw locking process based on actual process requirements to realize the personalized screw locking process, and corresponding configuration information is obtained; and then, generating control information based on the configuration information by using an executable script module, generating control instructions based on the control information by using a controller, and controlling the robot mechanism and the locking mechanism to lock and attach the screws by using the control instructions. Through the mode, the screw locking process can be configured individually based on actual process requirements, so that the whole screw locking operation can better meet the actual process requirements, and the screw locking efficiency and accuracy can be improved. Therefore, the method and the device can perform individualized screw locking operation according to actual process requirements, and improve the efficiency and accuracy of screw locking. In addition, the configuration information of the parameter configuration mechanism is read by adopting the executable script module, and the code of the script does not need to be modified in the change of the technological process, the modification and the addition of the parameters and the like, so that the application threshold can be reduced, and the programming error can be avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic view of an embodiment of a screw locking system of the present application;
FIG. 2 is a control flow diagram of an executable script module of the present application;
FIG. 3 is a schematic block diagram of an embodiment of an executable script module, a controller, and a parameter configuration module of the present application;
FIG. 4 is a schematic structural diagram of an embodiment of the screw locking attachment system of the present application;
FIG. 5 is a schematic flowchart of an embodiment of a screw locking method of the present application;
FIG. 6 is a detailed flowchart of step S51 in the embodiment of FIG. 5;
FIG. 7 is a schematic structural diagram of an embodiment of a computer storage medium of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be noted that the following examples are only illustrative of the present application, and do not limit the scope of the present application. Likewise, the following examples are only some examples and not all examples of the present application, and all other examples obtained by a person of ordinary skill in the art without any inventive step are within the scope of the present application.
In the description of the embodiments of the present application, it should be noted that the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
In the embodiments of the present application, unless otherwise explicitly specified or limited, a first feature "on" or "under" a second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
The present application firstly provides a screw locking system, as shown in fig. 1, fig. 1 is a schematic structural diagram of an embodiment of the screw locking system of the present application. The screw locking system 10 of the present embodiment includes: a parameter configuration mechanism 11, a robot mechanism 12, a locking mechanism 13 and a control mechanism 14; the parameter configuration mechanism 11 is used for configuring a screw locking process and acquiring configuration information; the control mechanism 14 comprises an executable script module 141 and a controller 412, wherein the executable script module 141 is connected with the parameter configuration mechanism 11 and is used for generating control information of the screw locking process based on the configuration information; the controller 142 is connected to the executable script module 141, the robot mechanism 12 and the locking mechanism 13, and is configured to generate a control instruction based on the control information, so as to control the robot mechanism 12 and the locking mechanism 13 to perform a screw locking operation.
The executable script module 141 is internally provided with an executable script, the parameter configuration mechanism 11 transmits configuration information of the screw locking process to the executable script module 141, the executable script module 141 obtains control information based on the configuration information by using the executable script, the control information comprises information such as a function mark bit, a point location and the like of the screw locking, then the executable script module 141 issues the control information to the controller 142 in a form of an instruction, the controller 142 analyzes the control information sent by the executable script module 141, then issues a control instruction related to the robot mechanism 12, and issues a control instruction related to the locking mechanism 13.
When a workpiece flows on a production line, specified operation content needs to be completed within a certain beat, the position of an area where the workpiece is relatively stopped is a station, specifically, in a screw locking process, different placing positions are considered as different stations, for example, the position of a screw required to be locked based on the workpiece on the station is a screw locking point position.
The robot mechanism 12 of the present embodiment may be a robot arm or a robot, such as a multi-degree-of-freedom robot arm or a robot; the locking mechanism 13 is arranged at the end of the robot mechanism 12, the robot mechanism 12 moves to drive the locking mechanism 13 to move to a bin where screws are placed to take out the screws, and then the locking mechanism 13 is driven to move to a point where the screws to be locked are placed, so that the locking mechanism 13 can lock the screws. The controller 142 controls the movement of the robot mechanism 12 and the operations of locking and throwing of the locking mechanism 13, i.e., the screw locking operation.
The locking mechanism 13 of this embodiment includes the screwdriver, like ordinary screwdriver or intelligent screwdriver, when carrying out the screw locking operation, locking mechanism 13 sets up the end at robot mechanism 12 to carry out the operation such as getting of screw, transport and lock. Of course, in other embodiments, other tools such as a screwdriver may be used instead of the screwdriver.
Specifically, the end of the robot mechanism 12 may be provided with a vacuum suction pipe mechanism for sucking screws, and the locking mechanism 13 is disposed in the vacuum suction pipe mechanism, so that the screws sucked by the vacuum suction pipe mechanism can be sucked by the locking mechanism 13, and the locking mechanism 13 directly locks the screws sucked by the locking mechanism 13 at screw locking positions in a screw locking process.
In an application scenario, the parameter configuration mechanism 11 may configure the intelligent electric screwdriver for the current screw locking operation, and the parameter configuration mechanism 11 first obtains configuration information set by an operator, where the configuration information includes configuration information related to a robot mechanism, configuration information related to the intelligent electric screwdriver (such as torque magnitude, locking angle, locking speed, etc.), and configuration information of other processes of the whole screw locking operation; the executable script module 141 generates control information based on the configuration information, and the controller 142 generates a first control command and a second control command based on the control information, and controls the operation of the robot mechanism 12 using the first control command, and controls the intelligent electric batch operation (such as adjusting the torque, locking the angle, locking the speed, etc.) using the second control command.
Specifically, the configuration information may further include second device information of the robot mechanism 12 and first device information of the locking mechanism 13, and the controller 142 is further configured to match the robot mechanism 12 having the second device information from the plurality of robot mechanisms and match the locking mechanism 13 having the first device information from the plurality of locking mechanisms 13, so as to control the robot mechanism 12 having the second device information and the locking mechanism 13 having the first device information to perform the screw locking operation.
The device information may be a device model, a device ID, or the like.
In another application scenario, a common screwdriver can be configured for the current screw locking operation through the parameter configuration mechanism 11 to obtain configuration information set by an operator, wherein the configuration information includes configuration information related to the robot mechanism and configuration information of other procedures of the whole screw locking operation; the control mechanism 14 generates a control command based on the configuration information, and controls the operation of the robot mechanism 12 by using the control command, so that the robot mechanism 12 can control a common electric batch to perform related processes in addition to the unique processes thereof.
In this embodiment, the parameter configuration mechanism 11 may be used to configure the screw locking process based on actual process requirements, so as to implement an individualized screw locking process and obtain corresponding configuration information; then, the executable script module 141 generates control information based on the configuration information, and the controller 142 generates control commands based on the control information, and the robot mechanism 12 and the locking mechanism 13 are controlled to perform screw locking operation by using the control commands. Through the mode, the screw locking process can be individually configured based on actual process requirements, so that the whole screw locking operation can better meet the actual process requirements, and the screw locking efficiency and accuracy can be improved. Therefore, the embodiment can perform individualized screw locking operation according to the actual process requirement, and improve the efficiency and the accuracy of screw locking. In addition, in the embodiment, the configuration information of the parameter configuration mechanism 11 is read by using the executable script module, and the change of the process, the modification and the addition of the point location and the like do not need to modify the code of the script, so that the application threshold can be reduced, and the programming error can be avoided.
Further, the screw locking system 10 of the present embodiment may include a plurality of robot mechanisms 12 and/or a plurality of locking mechanisms 13, and the controller 142 may determine the robot mechanism 12 and/or the locking mechanism 13 of the current screw locking operation configuration based on the configuration information about the robot mechanism 12 and/or the configuration information about the plurality of locking mechanisms 13 acquired by the parameter configuration mechanism 11.
Optionally, the screw locking process of this embodiment includes a screw taking process and a screw locking process, and this embodiment can configure the screw taking process, the screw locking process, the global information and the function information in the screw locking process through the parameter configuration mechanism 11 to respectively implement personalized configuration of the screw process, the screw locking process, the global information and the function information, so that each process and various information better meet actual process requirements, and the efficiency and accuracy of screw locking are improved.
The second device information of the robot mechanism 12 and the first device information of the locking mechanism 13 may also be configured by the parameter configuration mechanism 11 in this embodiment.
Specifically, the configuration information corresponding to the screw taking procedure at least comprises screw taking point positions, screw taking information and the like; the configuration information corresponding to the screw locking process at least comprises screw locking point positions, screw locking information and the like; the global information at least comprises the association information and the speed between the screw taking point position and the screw locking point position; the function information includes the type of the locking mechanism 13, the movement pattern of the robot mechanism 12, a locking abnormality processing policy, and the like.
The global information is used to define the association between the processes in the screw locking process, and as the pivot between the processes, for example, the association between the screw point location and the screw locking point location, the cartesian speed, the joint speed, and the like are taken.
When the screw locking fails, such as various abnormalities of incorrect screw model, damaged screw and the like, the screw locking operation cannot be normally completed, the screw is still on the locking mechanism 13, the screw needs to be thrown off and then another screw needs to be grabbed, the process is a material throwing process, the screw locking process of the embodiment further comprises a material throwing process, the embodiment can configure the material throwing process through the parameter configuration mechanism 11, so that the individualized configuration of the material throwing process is realized, and the efficiency and the accuracy of the screw locking operation are improved. Configuration information corresponding to the material throwing procedure at least comprises material throwing point positions, material throwing information and the like; the global information also comprises the correlation information between the material throwing point position and the screw taking point position and/or the screw locking point position.
Optionally, the configuration information corresponding to the screw locking process may further include a transition point, where the transition point is a point located between the screw taking point and the screw locking point, so that the locking mechanism 13 that has obtained the screw from the screw taking point moves to the transition point first and then moves to the screw locking point, so as to ensure that the locking mechanism 13 does not interfere with the working environment during the screw conveying process. The global information comprises the association information between any two or more of a screw taking point position, a screw locking point position, a transition point position and a material throwing point position.
Wherein, get the screw information and can include: the device comprises an air cylinder contraction in-place signal, a feeding mechanism material signal, a screw suction success signal, an air cylinder extension control signal, a screw suction signal and the like; the locking screw information may include: starting to lock the screw signal, starting to rotate the signal, locking successfully signal and alarm signal; the material throwing information may include: blowing and material throwing signals and the like.
In an application scenario, the signals related to the above-described respective processes may be set and stored in a data structure as shown in table 1, and when these signals are arranged, the values of the corresponding variables may be arranged.
TABLE 1
| Serial number | Type (B) | Name (R) | Corresponding variable | |
| 1 | DI | Cylinder contracting in place | _CYL_LIMIT | |
| 2 | DI | The lock is successfully attached | _DRIVER_DONE | |
| 3 | DI | The feeder has material | _FEEDER_READY | |
| 4 | DI | Successful suction of the screw | _VACUUM_FEEDBACK | |
| 5 | DO | Starting locking screw | _TIGHTENING | |
| 6 | DO | Cylinder extension control | _CYL_CONTROL | |
| 7 | DO | Suction screw | _VACUUM_CONTROL | |
| 8 | DO | Starting rotation | _FREE_DRIVE | |
| 9 | DO | | _ALARM | |
| 10 | DO | The working position is | _READY_FOR_NEW_PRODUCT | |
| 11 | DO | Blowing and throwing material | _CLEAN_NOZZLE |
Further, the configuration parameters also include a station idle signal, which can be configured by the corresponding variable of serial number 10 in table 1.
For example, the corresponding variable _ DRIVER _ DONE that the locking is successful is actually a serial number of DI (digital input), if _ DRIVER _ DONE is set to 5, it represents that when the program runs to the step that needs to query whether the locking is successful, the signal condition of the interface of DI serial number 5 will be queried, and if the signal is true (the high level can be agreed in advance to be true), it represents that the querying result is that the locking is successful; similarly, the corresponding variable _ tighting for starting locking the screw is a serial number of DO (digital output), and if the _ tighting is set to 10, a signal of true (high level can be agreed in advance to be true) is output on an interface with the DO serial number of 10 to drive the locking mechanism 13 to lock the screw when representing that the program runs to the interface with the DO serial number of 10.
The function information can be configured through the function identification bit. In an application scenario, the function information may be set and stored by using a data structure as shown in table 2, and when configuring the function information, the value of the variable corresponding to the function identification bit may be configured. As shown in table 2, the type of the locking mechanism 13 can be configured by the function identification bit of serial number 1; if the locking mechanism 13 needs to be configured as an intelligent electric batch, setting the value of the corresponding variable of the function identification bit of the serial number 1 as true; if the locking mechanism 13 needs to be configured as a normal electric batch, the value of the variable corresponding to the function identification bit of serial number 1 is false.
Further, the movement pattern of the robot mechanism 12 may be configured by the function identification bit of serial number 5, and the locking exception handling policy may be configured by the function identification bits of serial numbers 3, 4, and 6.
The function information also comprises rotation deviation correction during screw taking in the screw taking process, and the function information can be configured through the function identification position of the serial number 2.
TABLE 2
Wherein the speed in the global information may include cartesian speed, joint speed of the robot mechanism 12; get screw information and still include: the material taking speed and the material taking time delay are obtained, the material throwing information further comprises the material throwing speed and the material throwing time delay, and the screw locking information further comprises the screw locking speed and the screw locking time delay.
In an application scenario, the speed and the time delay may be set and stored by using a data structure as shown in table 3, and when configuring these information, the values of the corresponding variables may be configured.
TABLE 3
For example, a screw-on delay is used to ensure that the screw is vacuumed up by the locking mechanism 13, and a screw-on delay is used to ensure that the screw is locked into the screw-on point.
Further, the present embodiment may also configure the offset of the point. In an application scenario, the screw point location and its offset, the screw locking point location and its offset, and the material throwing point location and its offset may be set and stored by using a data structure as shown in table 4, and when configuring these information, the values of the corresponding variables may be configured.
TABLE 4
The offset (i.e., the height above the table 4) is set so that the locking mechanism 13 moves to a point close to the screw taking point, the screw locking point, and the material throwing point before reaching the target point, thereby preventing interference (e.g., collision) during the movement.
For example, 1. The process of moving the locking mechanism 13 to the screw-taking position may be: taking a point above the screw point location (calculating by taking the height above the screw point location) → taking the screw point location; 2. the process of moving the locking mechanism 13 to the locking screw point position can be as follows: the transition point position 1 → the transition point position 2 →.. → the upper point of the screw locking point position (calculated by the height above the screw locking point position) → the screw locking point position; 3. the process of moving the locking mechanism 13 to the material throwing position can be as follows: the point above the point of material throwing (calculated by the height above the point of material throwing) → the point of material throwing.
The point location list may be set and stored by a data structure shown in table 5. And the screw locking point location and the transition point location can be configured through the point location list.
TABLE 5
Wherein, (1) each lock screw point (point position) can form a lock screw point (point position) unit with 0-n transition points (point positions); and (2) forming a lock screw point list by the m lock screw point units.
Further, in this embodiment, the parameter configuration mechanism 11 may also configure station information in the screw locking process, and the station information may be set and stored by using a data structure shown in table 6.
TABLE 6
The parameters in the whole screw locking process can be configured through the corresponding variables.
Optionally, the parameter configuration mechanism 11 of this embodiment is provided with a visual interface, and the visual interface is provided with information configuration options for acquiring configuration information set by an operator.
Specifically, the parameter configuration mechanism 11 may be a touch-controllable display mechanism, and information configuration options corresponding to the configuration information in each of the processes are provided on a display interface of the display mechanism, where the information configuration options include an identification area and an information configuration area; the identifier area may display a corresponding variable of the configuration information or a name of the configuration information (see the above table), and the information configuration area is used as an input window of the configuration information, and is used to input the configuration information set by the operator, that is, a value of the corresponding variable, which may be set in a pull-down menu form corresponding to the information configuration area, for the operator to select.
In an application scenario, configuration information of the screw taking process, the screw locking process, the material throwing process, the global information and the functional information can be configured through different display area models of a visual interface or through different switchable interfaces.
The embodiment realizes visualization of process configuration through the parameter configuration mechanism 11, can reduce application difficulty, and improves convenience of information configuration and accuracy and efficiency of configuration.
Optionally, the screw locking system 10 of the present embodiment further includes: and the register 15 is connected with the parameter configuration mechanism 11 and the controller 142 respectively, and is used for storing the key information of the robot mechanism 12 and the locking mechanism 13 acquired by the controller 142, and transmitting the key information to the parameter configuration mechanism 11 so as to display the key information through a visual interface, and visually and timely displaying the key information of the screw locking process to an operator, so as to effectively monitor the screw locking process.
The controller 142 may upload key information in the screw attaching process to the register 15, which may include: the current screw number, the designated screw number to be executed, the screw locking result, the screw locking torque, the screw locking angle, the screw locking beat, the number of screws on the product (workpiece), the product (workpiece) locking result, the product (workpiece) locking angle, the product (workpiece) locking torque, the alarm code, the number of locking screws, the number of bad locking and the number of locking products (workpieces), etc. The controller 142 may obtain the key information from the robot mechanism 12 and the locking mechanism 13.
The key information and explanations are shown in table 7.
TABLE 7
The register 15 stores the key information sent from the controller 142 according to a specific rule, and the key information is accessible to the parameter configuration mechanism 11 and the external device.
The controller 142 also obtains feedback information (such as locking result, locking torque, number of turns, etc.) from the locking mechanism 13, and obtains feedback information (such as information in material taking and conveying processes, etc.) from the robot mechanism 12; the controller 142 uploads the feedback information to the register 15.
In the embodiment, the executable script module is used for reading the configuration information of the parameter configuration mechanism 11, and the change of the technological process, the modification and the addition of the point locations and the like do not need to modify the codes of the script, so that the application threshold can be reduced, and the programming error can be avoided.
In an application scenario, a control flow implemented by an executable script in the executable script module 141 is as shown in fig. 2, specifically, it is determined whether to throw material during resetting based on configuration information, and if so, it is determined whether to over-reset; if the reset occurs, the material throwing task of the robot mechanism 12 is controlled, then the electric batch and the gas circuit are controlled to reset DO, and if the situation that the material is not thrown or the reset does not occur during the reset is determined, the electric batch and the gas circuit are directly controlled to reset DO; then determining whether a designated screw serial number exists, if so, directly controlling the robot mechanism 12 to execute a screw taking task, if not, controlling the main program of the controller 142 to be in an idle state, namely, starting the idle state DO of the main program, and then judging whether an automatic screw driving Dl is received; if the main program is not received, keeping the main program in an idle state, if the main program is received, acquiring a locking screw point position queue corresponding to the automatic screw driving Dl, creating/emptying a locking result queue, resetting an abnormal DO signal corresponding to the work, and then controlling the robot mechanism 12 to execute a screw taking task; meanwhile, updating the locking structure information at the corresponding position of the locking result queue, judging whether the locking queue is finished or not, if not, locking the next screw, if so, uploading the locking result queue, updating the station abnormal DO output information according to the station locking result, and then controlling the main program of the controller 142 to be in an idle state; after the screw taking task is completed, performing a screw locking task and obtaining a screw locking result; then, judging whether NG skips or NG alarms or not based on the screw locking result; if NG alarms and NG prompts, executing an alarm process, and if NG alarms but no NG prompts, executing a subsequent process; and if the NG skips and prompts the NG, further judging whether the material is thrown when the NG skips, if so, executing a subsequent flow after the material throwing task, and if the NG skips the non-NG prompt or does not throw the material when the NG skips, directly executing the subsequent flow.
Wherein NG is a feedback signal that the electric batch (locking mechanism 13) is not successfully locked.
The executable script module 141 may output various control information in the screw attaching process (various control information involved in the above-described control flow) to the controller 142 according to the configuration information of the parameter configuration mechanism 11 based on the control flow.
In other embodiments, a manual script writing method can be adopted to implement the control flow of the screw locking process.
The parameter configuration mechanism 11, the control mechanism 14 and/or the register 15 of the present embodiment may be integrated with the robot mechanism 12.
In another embodiment, as shown in fig. 3, fig. 3 is a schematic structural diagram of an embodiment of an executable script module, a controller and a parameter configuration module according to the present application. The executable script module 141 of the present embodiment includes a screw fetching script sub-module 311, a screw transporting script sub-module 312, and a screw locking script sub-module 313, which are independently arranged, and are connected to the controller 142 and the parameter configuration mechanism 11.
The screw taking script sub-module 311 generates control information related to the screw taking process based on the configuration information related to the screw taking process and the related global information and functional information acquired by the parameter configuration mechanism 11; the screw conveying script sub-module 312 generates control information related to the screw conveying process based on the configuration information related to the screw taking process, the configuration information related to the screw locking process, and the related global information and functional information acquired by the parameter configuration mechanism 11; the screw locking script sub-module 313 generates control information related to the screw locking process based on the configuration information related to the screw locking process and the related global information and functional information acquired by the parameter configuration mechanism 11.
The embodiment modularizes the executable scripts of the whole screw locking process, namely modularizes the executable scripts corresponding to different procedures to adapt to different feeding mechanisms and locking mechanisms, and each sub-module is independently debugged, so that the programming efficiency can be improved, and the application threshold can be reduced.
The screw taking script sub-module 311 is responsible for handling the interaction logic between the robot mechanism and the feeding mechanism during the material taking process, and different feeding mechanisms need different screw taking script sub-modules 311. Taking the air-suction screw feeder as an example, the interaction logic of the screw fetching script sub-module 311 corresponding to the air-suction screw feeder is as follows:
1) Determining that no screw is arranged on a locking mechanism at the tail end of the robot mechanism (no material is carried to take out); 2) Controlling the robot mechanism to move the locking mechanism to the position above a material taking point of the feeding mechanism; 3) Determining that the feeding mechanism is ready for screws (determining that material can be taken); 4) Controlling the locking mechanism to move to a material taking point of the feeding mechanism; 5) Controlling the robot mechanism to open a sleeve vacuum valve connected with the locking mechanism, and sucking a screw through vacuum negative pressure; 6) Controlling the tail end of the robot mechanism to move above the material taking point; 7) And (4) determining that the locking mechanism is provided with a screw (confirming that the material taking is successful).
The screw transport script submodule 312 is responsible for connecting the screw taking script submodule 311 and the screw locking script submodule 313, and the screw transport script submodule 312 can be fixed and cannot be changed due to the change of a feeding mechanism or a locking mechanism and the like; the screw transport script sub-module 312 can increase transition points during the transport process, and ensure that no interference collision occurs with the operation environment during the transport process (the transition points are executed in the reverse direction when the screw transport script sub-module 313 returns).
The interaction logic 1 (from the feed mechanism to the lock screw point) of the fortune screw script sub-module 312 is as follows:
1) Controlling the robot mechanism to move to a transition point A; 2) Controlling the robot mechanism to move to a transition point B, and continuously adding other transition points in the middle; 3) Controlling the tail end of the robot mechanism to move above a screw locking point; 4) And controlling the tail end of the robot mechanism to move to a screw locking point.
The interaction logic 1 of the fortune screw script sub-module 312 (from the lock screw point back to the feed mechanism) is as follows:
5) Controlling the robot mechanism to move above the screw locking point; 6) Controlling the robot mechanism to move to a transition point B; 7) The robot mechanism is controlled to move to transition point a (reverse execution transition point).
The lock screw script sub-module 313 is responsible for processing the interaction logic of the robot mechanism and the lock attachment mechanism when locking the screw, and different lock screw script sub-modules 313 are needed for different pendants and electric screwdriver. Taking the cylinder pressing type pendant and the intelligent electric screwdriver as examples, the interaction logic of the lock screw script sub-module 313 corresponding to the cylinder pressing type pendant and the intelligent electric screwdriver is as follows:
1) Starting the electric screwdriver to rotate in a forward locking way, and simultaneously pressing the air cylinder; 2) Waiting for the electric batch feedback locking completion signal; 3) The robot mechanism obtains the final torque, the number of turns, the result and other data of the electric screwdriver lock through the communication interface.
According to the embodiment, the screw-taking script sub-module 311 and the screw-locking script sub-module 313 can be independently debugged, the problem that the programming method process in the application of the robot screw locking is complex can be solved, the debugging efficiency can be improved, a specific module can be independently tested, and the positioning problem is convenient; and the device can also be used for adapting different feeding structures and locking mechanisms in the past by parameter configuration.
Of course, the executable script module 141 may further include a material throwing script sub-template to generate corresponding control information based on the configuration information corresponding to the material throwing process.
The present application further provides another embodiment of a screw locking system, as shown in fig. 4, fig. 4 is a schematic structural diagram of an embodiment of the screw locking system of the present application. The screw locking system 40 of the present embodiment is different from the screw locking system 10 of the above embodiment in that: the screw locking system 40 of the present embodiment includes a plurality of locking mechanisms 13, and the screw locking system 40 of the present embodiment further includes a plug-in management mechanism 41, where the plug-in management mechanism 41 is respectively connected to the parameter configuration mechanism 11, the locking mechanisms 13, and the controller 142, and is configured to manage the plurality of locking mechanisms 13; the parameter configuration mechanism 11 is further configured to obtain first device information of the locking mechanism 13, and configure a plug-in for the locking mechanism 13 with the first device information based on the first device information, and the plug-in management mechanism 41 obtains status information of the locking mechanism with the first device information based on the plug-in, and feeds the status information back to the control mechanism 14.
Wherein the plurality of locking mechanisms 13 may be of the same type or of different types.
The controller 142 issues control information related to the locking mechanism 13 through the card management mechanism 41, and meanwhile, obtains feedback information (such as locking result, locking torque, number of turns, etc.) of the locking mechanism 13 from the card management mechanism 41.
The plug-in management mechanism 41 is responsible for managing the locking mechanism 13, the parameter configuration mechanism 11 can select different plug-ins to be configured, and after the configuration is completed, the plug-in management mechanism 41 can control and read information of the locking mechanism 13 according to the plug-ins.
The parameter configuration mechanism 11 can be adapted to the locking mechanisms 13 of different models through the plug-in management mechanism 41, so that the universality of functions is improved.
The present application further provides a screw locking method, as shown in fig. 5, fig. 5 is a schematic flow chart of an embodiment of the screw locking method of the present application, the screw locking method of the present embodiment can be used in the screw locking system, and the screw locking method of the present embodiment specifically includes the following steps:
step S51: and configuring the screw locking process and acquiring configuration information.
And configuring the screw locking process through a parameter configuration mechanism, and acquiring configuration information. The screw locking process comprises a screw taking process, a screw locking process and the like, and the screw taking process in the screw locking process can be configured through the parameter configuration mechanism, and at least screw taking point position and screw taking information are obtained; configuring a screw locking process in a screw locking process through a parameter configuration mechanism, and at least acquiring screw locking point positions and screw locking information; configuring global information in the screw locking process through a parameter configuration mechanism, and at least acquiring association information and speed between screw point positions and screw locking point positions; and configuring the function information in the screw locking process through the parameter configuration mechanism, and at least acquiring the type of the locking mechanism, the motion mode of the robot mechanism and a locking abnormity processing strategy.
Furthermore, the screw locking process can further comprise a material throwing process, the material throwing process in the screw locking process can be configured through the parameter configuration mechanism, and at least material throwing point position and material throwing information are obtained.
Optionally, a transition point position may also be set for the screw locking process, and the transition point position in the screw locking process may be configured by the parameter configuration mechanism.
Specifically, the configuration information corresponding to the screw taking procedure at least comprises screw taking point positions, screw taking information and the like; the configuration information corresponding to the screw locking process at least comprises screw locking point positions, transition point positions, screw locking information and the like; the configuration information corresponding to the material throwing procedure at least comprises material throwing point positions, material throwing information and the like; the global information at least comprises the association information and the speed between any two or more of a screw taking point position, a screw locking point position, a transition point position and a material throwing point position; the function information comprises the type of the locking mechanism, the motion mode of the robot mechanism, the locking exception handling strategy and the like. For specific introduction of the configuration information, reference may be made to the above embodiments, which are not described herein again.
The parameter configuration mechanism is provided with a visual interface, and information configuration options are arranged on the visual interface and used for acquiring configuration information set by an operator.
Alternatively, the present embodiment may implement step S51 by a method as shown in fig. 6, where the method of the present embodiment includes step S61 and step S62.
Step S61: and displaying information configuration options of the screw locking and attaching process by using a visual interface.
Displaying information configuration options corresponding to the configuration information by using a visual interface, wherein the information configuration options comprise an identification area and an information configuration area; the identification area may display a corresponding variable of the configuration information or a name of the configuration information, and the information configuration area is used as an input window of the configuration information and is used for inputting the configuration information set by the operator, that is, a value of the corresponding variable.
Step S62: and acquiring the configuration information of the controller on the information configuration options.
Configuration information that can be set in the information configuration area of the information configuration option from the controller.
Step S52: and generating control information of the screw locking process based on the configuration information by using the executable script.
The executable script module generates control information of the screw locking process based on the configuration information; the controller generates a control instruction based on the control information so as to control the robot mechanism and the locking mechanism to perform screw locking operation.
The configuration information of the parameter configuration mechanism is read by adopting the executable script, the codes of the script do not need to be modified in the process change, the point location modification, the point location addition and the like, the application threshold can be reduced, and the programming error can be avoided. The control flow of the executable script can refer to the above embodiments.
Step S53: and generating a control instruction based on the control information, and controlling the robot mechanism and the locking mechanism to perform screw locking operation by using the control instruction.
In another embodiment, the key information of the robot mechanism and the locking mechanism can be further acquired, stored and displayed through a visual interface, so that the key information of the screw locking process can be visually and timely displayed to an operator, and the key information of the robot mechanism and the locking mechanism can be effectively monitored and acquired. The introduction of the key information can be referred to the above embodiments of the screw locking system.
In another embodiment, a plurality of locking mechanisms can be further managed by a plug-in management mechanism; the plug-in management mechanism acquires first equipment information of the locking mechanism from the parameter configuration mechanism, configures plug-ins for the locking mechanism with the first equipment information based on the first equipment information, acquires state information of the locking mechanism with the first equipment information based on the plug-ins, and feeds the state information back to the control mechanism.
In another embodiment, the configuration information further includes second device information of the robot mechanism and first device information of the locking mechanism, and the controller may further match the robot mechanism having the second device information and the locking mechanism having the first device information, so as to control the robot mechanism having the second device information and the locking mechanism having the first device information to perform the screw locking operation by using the control command.
The plurality of locking mechanisms may be the same or different.
The working principle of the screw locking system can be referred to in the expansion scheme of the screw locking method.
Different from the prior art, the screw locking system comprises a parameter configuration mechanism, a robot mechanism, a locking mechanism and a control mechanism, wherein the control mechanism comprises an executable script module and a controller, the parameter configuration mechanism can be firstly utilized to configure the screw locking process based on actual process requirements so as to realize the personalized screw locking process and acquire corresponding configuration information; and then, generating control information based on the configuration information by using an executable script module, generating control instructions based on the control information by using a controller, and controlling the robot mechanism and the locking mechanism to perform screw locking operation by using the control instructions. Through the mode, the screw locking process can be configured individually based on actual process requirements, so that the whole screw locking operation can better meet the actual process requirements, and the screw locking efficiency and accuracy can be improved. Therefore, the method and the device can perform personalized screw locking operation according to actual process requirements, and improve the efficiency and accuracy of screw locking. In addition, the configuration information of the parameter configuration mechanism is read by adopting the executable script module, and the code of the script does not need to be modified in the change of the technological process, the modification and the addition of the parameters and the like, so that the application threshold can be reduced, and the programming error can be avoided.
The present application further provides a computer storage medium, as shown in fig. 7, fig. 7 is a schematic structural diagram of an embodiment of the computer storage medium of the present application. The computer storage medium 111 has stored thereon program instructions 112, and the program instructions 112, when executed by a processor (not shown), implement the screw attaching method described above.
The computer storage medium 111 of the embodiment may be, but is not limited to, a usb disk, an SD card, a PD optical drive, a removable hard disk, a high-capacity floppy drive, a flash memory, a multimedia memory card, a server, and the like.
In addition, if the above functions are implemented in the form of software functions and sold or used as a standalone product, they may be stored in a storage medium readable by a mobile terminal, that is, the present application also provides a storage device storing program data, which can be executed to implement the method of the above embodiments, and the storage device may be, for example, a usb disk, an optical disk, a server, etc. That is, the present application may be embodied as a software product, which includes several instructions for causing an intelligent terminal to perform all or part of the steps of the methods described in the embodiments.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (15)
1. A screw locking system, comprising:
the parameter configuration mechanism is used for configuring the screw locking process and acquiring configuration information;
a robot mechanism;
a locking mechanism;
the control mechanism comprises an executable script module and a controller, wherein the executable script module is connected with the parameter configuration mechanism and is used for generating control information of the screw locking process based on the configuration information; the controller is connected with the executable script module, the robot mechanism and the locking mechanism and used for generating a control instruction based on the control information so as to control the robot mechanism and the locking mechanism to perform screw locking operation.
2. The screw locking system according to claim 1, wherein the parameter configuration mechanism configures a screw fetching process, a screw locking process, global information and functional information in the screw locking process.
3. The screw locking system according to claim 2, wherein the configuration information corresponding to the screw fetching process at least includes screw fetching point locations and screw fetching information; the configuration information corresponding to the screw locking process at least comprises screw locking point positions and screw locking information; the global information at least comprises the association information and the speed between the screw taking point position and the screw locking point position; the function information comprises the type of the locking mechanism, the motion mode of the robot mechanism and a locking exception handling strategy.
4. The screw locking system of claim 3, wherein the configuration information corresponding to the screw locking process further includes transition points.
5. The screw locking system according to claim 2, wherein the parameter configuration mechanism is provided with a visual interface, and the visual interface is provided with an information configuration option for acquiring the configuration information set by an operator.
6. The screw-locking system of claim 5, further comprising:
and the register is respectively connected with the parameter configuration mechanism and the controller and is used for storing the key information of the robot mechanism and the locking mechanism acquired by the controller and transmitting the key information to the parameter configuration mechanism so as to display the key information through the visual interface.
7. The screw-attaching system according to claim 1, comprising a plurality of said attaching mechanisms, said screw-attaching system further comprising:
the plug-in management mechanism is respectively connected with the parameter configuration mechanism, the locking mechanism and the controller and is used for managing the locking mechanisms;
the parameter configuration mechanism is further configured to obtain first device information of the locking mechanism, configure a plug-in for the locking mechanism with the first device information based on the first device information, and the plug-in management mechanism obtains state information of the locking mechanism with the first device information based on the plug-in and feeds back the state information to the controller.
8. The screw locking system according to any one of claims 1 to 7, wherein the configuration information further includes second device information of the robot mechanism and first device information of the locking mechanism, and the controller is further configured to match out the robot mechanism having the second device information from the plurality of robot mechanisms and match out the locking mechanism having the first device information from the plurality of locking mechanisms, so as to control the robot mechanism having the second device information and the locking mechanism having the first device information to perform screw locking operation.
9. The screw locking system of claim 1, wherein the executable script module comprises a screw fetching script sub-module, a screw transporting script sub-module and a screw locking script sub-module, which are independent of each other, and are connected to the controller and the parameter configuration mechanism.
10. A screw locking method is characterized by comprising the following steps:
configuring a screw locking process and acquiring configuration information;
generating control information of the screw locking process based on the configuration information by using an executable script;
and generating a control instruction based on the control information, and controlling the robot mechanism and the locking mechanism to perform screw locking operation by using the control instruction.
11. The screw locking method according to claim 10, wherein the configuring the screw locking process and obtaining the configuration information comprises:
configuring a screw taking procedure in the screw locking process, and at least acquiring screw taking point positions and screw taking information;
configuring a screw locking process in the screw locking process, and at least acquiring screw locking point positions and screw locking information;
configuring global information in the screw locking process, and at least acquiring association information and speed between the screw taking point location and the screw locking point location;
and configuring the function information in the screw locking process, and at least acquiring the type of the locking mechanism, the motion mode of the robot mechanism and a locking abnormity processing strategy.
12. The screw locking method according to claim 10, wherein the configuring the screw locking process and obtaining the configuration information comprises:
displaying information configuration options of the screw locking and attaching process by using a visual interface;
and acquiring control information of the controller on the information configuration options, and acquiring configuration information set by the controller based on the control information.
13. The screw locking method of claim 12, further comprising:
acquiring key information of the robot mechanism and the locking mechanism;
and displaying the key information through the visual interface.
14. The screw locking method according to claim 10, wherein the configuration information further includes second device information of a robot mechanism and first device information of a locking mechanism, the screw locking method further comprising:
and matching the robot mechanism with the second equipment information and the locking mechanism with the first equipment information, so as to control the robot mechanism with the second equipment information and the locking mechanism with the first equipment information to perform screw locking operation by using the control instruction.
15. A computer storage medium, characterized in that program instructions are stored thereon, which when executed by a processor, implement the screw attaching method of any one of claims 10 to 14.
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| CN202210808229.2A CN115229484A (en) | 2022-07-08 | 2022-07-08 | Screw locking system, screw locking method and computer storage medium |
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| CN202210808229.2A CN115229484A (en) | 2022-07-08 | 2022-07-08 | Screw locking system, screw locking method and computer storage medium |
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