CN115401694A - Control method and device of three-axis manipulator, terminal equipment and storage medium - Google Patents
Control method and device of three-axis manipulator, terminal equipment and storage medium Download PDFInfo
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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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Abstract
The invention discloses a control method and a control device of a three-axis manipulator, terminal equipment and a computer readable storage medium, wherein the method is applied to an automatic line body system, the automatic line body system comprises a main controller, the three-axis manipulator and an automatic line body, the main controller is in communication connection with the three-axis manipulator, and the three-axis manipulator is installed on the automatic line body; the method comprises the steps that a task to be executed is determined in a plurality of preset triaxial tasks through a main controller, and a triaxial control program corresponding to the task to be executed is determined; and executing the three-axis control program through the main controller to control the three-axis manipulator to operate at one or more tool processing positions of the automatic line body so as to process the task to be executed. By adopting the technical scheme of the invention, the three-axis manipulator can be quickly compatible with an automatic line body.
Description
Technical Field
The invention belongs to the technical field of electronic product manufacturing, and particularly relates to a control method and device of a three-axis manipulator, a terminal device and a computer readable storage medium.
Background
With the rapid development of automation technology, the transformation and upgrade of production and manufacturing modes are deepened continuously, and the automation production line is widely applied in various industries.
The three-axis manipulator plays an important role in the traditional automated line body and is mainly responsible for completing various production tasks such as CCD (Charge coupled Device) inspection, gluing, welding, screwing, height inspection, material taking and placing, sub-tool overturning and the like, but as the process requirements of electronic products are complex and various, the consistency of interaction signals established by the three-axis manipulator and a controller is poor, the interaction logic is complex, the transportability is poor, and further the field debugging of the automated line body is hindered. In addition, the automation System of the new era needs to control the equipment to complete various processing tasks and simultaneously perform a large amount of data interaction, but the current three-axis manipulator is difficult to perform the processing tasks and simultaneously perform the data interaction with multiple systems such as RFID (Radio Frequency Identification), MES (Manufacturing Execution System), CCD and the like.
In summary, how to quickly and compatibly implement a three-axis manipulator into an automated linear body has become a critical technical problem to be solved in the electronic manufacturing industry.
Disclosure of Invention
The invention mainly aims to provide a control method and device of a three-axis manipulator, terminal equipment and a computer readable storage medium. Aims to make the three-axis manipulator be quickly compatible with the automatic wire body.
In order to achieve the above object, the present invention provides a control method of a three-axis manipulator, which is applied to an automated line system, where the automated line system includes a main controller, a three-axis manipulator and an automated line, where the main controller is in communication connection with the three-axis manipulator, and the three-axis manipulator is mounted on the automated line;
the control method of the three-axis manipulator comprises the following steps:
determining a task to be executed in a plurality of preset triaxial tasks through the main controller, and determining a triaxial control program corresponding to the task to be executed;
and executing the three-axis control program through the main controller to control the three-axis manipulator to operate at one or more tool processing positions of the automatic line body so as to process the task to be executed. Optionally, the main controller is communicatively connected to the three-axis manipulator through a plurality of same control signal lines, and the method further includes:
determining a target control signal line corresponding to the task to be executed from a plurality of control signal lines according to the task to be executed by the main controller;
establishing, by the master controller, a communication connection with the three-axis manipulator using the target control signal line.
Optionally, the automated line body system further includes a tool processing system, the tool processing system is in communication connection with the main controller, the tool processing system is installed at one or more tool processing positions of the automated line body, and the method further includes:
receiving a tool processing result processed by the tool processing system at the tool processing position aiming at the tool carried by the three-axis manipulator through the main controller;
and controlling the three-axis manipulator to run on the automatic line body through the main controller according to the tool processing result.
Optionally, after the step of receiving, by the main controller, a tool processing result that the tool processing system processes the tool carried by the three-axis robot at the tool processing position, the method further includes:
judging whether the state of the tool is normal or not and generating a tool state record based on the tool processing result through the main controller;
and controlling the three-axis manipulator to process the tool according to the tool state record through the main controller.
Optionally, the automated line further includes a defective product processing position, and the step of controlling, by the main controller, the three-axis manipulator to process the tool according to the tool state record includes:
reading the tool state record through the main controller to determine whether the states of the plurality of tools are normal or not;
if the tool is determined to be abnormal, the main controller executes the three-axis control program to control the three-axis manipulator to be on the automatic line body, and the tool is conveyed to the defective product processing position;
and if the state of the tool is determined to be normal, the main controller executes the three-axis control program to control the three-axis manipulator to be on the automated line body, and the tool is conveyed to the next tool processing position.
Optionally, the step of determining, by the master controller, a task to be executed among a plurality of preset triaxial tasks includes:
receiving a three-axis control instruction through the main controller, wherein the three-axis control instruction is generated based on a preset three-axis human-computer interface;
and determining the task to be executed to which the triaxial task number points from a plurality of preset triaxial tasks through the main controller according to the triaxial task number carried in the triaxial control instruction.
Optionally, the method further comprises:
detecting, by the master controller, whether the three-axis control program is successfully invoked;
and if the triaxial control program is not successfully called, triggering an alarm prompt corresponding to the triaxial control program through the main controller.
In addition, in order to achieve the above object, the present invention further provides a control device of a three-axis manipulator, which is applied to an automated line body system, where the automated line body system includes a main controller, a three-axis manipulator and an automated line body, where the main controller is in communication connection with the three-axis manipulator, and the three-axis manipulator is mounted on the automated line body;
the control device of the three-axis manipulator comprises:
the task determining module is used for determining a task to be executed in a plurality of preset triaxial tasks through the main controller and determining a triaxial control program corresponding to the task to be executed;
and the task execution module is used for executing the three-axis control program through the main controller so as to control the three-axis manipulator to operate at one or more tool processing positions of the automatic line body so as to process the task to be executed.
In addition, to achieve the above object, the present invention also provides a terminal device, including: the control program of the three-axis manipulator of the terminal equipment realizes the steps of the control method of the three-axis manipulator when being executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer readable storage medium having stored thereon a control program of a three-axis robot, the control program of the three-axis robot being executed by a processor to implement the steps of the control method of the three-axis robot as described above.
The embodiment of the invention provides a control method and device of a three-axis manipulator, terminal equipment and a computer readable storage medium, which are applied to an automatic line system, wherein the automatic line system comprises a main controller, the three-axis manipulator and an automatic line body, the main controller is in communication connection with the three-axis manipulator, and the three-axis manipulator is installed on the automatic line body; determining a task to be executed in a plurality of preset triaxial tasks through the main controller, and determining a triaxial control program corresponding to the task to be executed; and executing the three-axis control program through the main controller to control the three-axis manipulator to operate at one or more tool processing positions of the automatic line body so as to process the task to be executed.
In the embodiment of the invention, in the manufacturing process of executing the electronic product based on the automation line body, the corresponding three-axis control program is called based on the main controller according to the current three-axis task to be executed to automatically control the three-axis manipulator to run at one or more working processing positions of the automation line body so as to process the task.
Drawings
Fig. 1 is a schematic device structure diagram of a hardware operating environment of a terminal device according to an embodiment of the present invention;
FIG. 2 is a schematic flowchart illustrating steps of a method for controlling a three-axis robot according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control system according to an embodiment of the control method of the three-axis robot of the present invention;
fig. 4 is a schematic diagram of a human-machine interface of a control system according to an embodiment of the control method of the three-axis manipulator of the present invention;
fig. 5 is a schematic diagram illustrating a control system according to an embodiment of the method for controlling a three-axis robot of the present invention;
fig. 6 is a functional block diagram of a control device of a three-axis robot according to an embodiment of the present invention.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment related to a terminal device according to an embodiment of the present invention.
The terminal equipment provided by the embodiment of the invention can be used for controlling a three-axis manipulator in the production and manufacturing of electronic products by using an automatic line system. In addition, the automatic line body system comprises a main controller, a three-axis manipulator and an automatic line body, wherein the main controller is in communication connection with the three-axis manipulator, and the three-axis manipulator is installed on the automatic line body. Specifically, the terminal device may be a smartphone, a PC (Personal Computer), a tablet Computer, a portable Computer, or the like.
As shown in fig. 1, the terminal device may include: a processor 1001, e.g. a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Those skilled in the art will appreciate that the terminal device configuration shown in fig. 1 is not intended to be limiting of the terminal device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a control program of the three-axis manipulator.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and communicating data with the background server; the user interface 1003 is mainly used for connecting a client and performing data communication with the client; and the processor 1001 may be configured to call up a control program of the three-axis manipulator stored in the memory 1005, and perform the following operations:
determining a task to be executed in a plurality of preset triaxial tasks through the main controller, and determining a triaxial control program corresponding to the task to be executed;
and executing the three-axis control program through the main controller to control the three-axis manipulator to operate at one or more tool processing positions of the automatic line body so as to process the task to be executed. Optionally, the main controller is communicatively connected to the three-axis manipulator through a plurality of control signal lines, and the processor 1001 may be further configured to call a control program of the three-axis manipulator stored in the memory 1005, and perform the following operations:
determining a target control signal line corresponding to the task to be executed from a plurality of control signal lines according to the task to be executed by the main controller;
establishing, by the master controller, a communication connection with the three-axis manipulator using the target control signal line.
Optionally, the automated line system further includes a tooling processing system, the tooling processing system is in communication connection with the main controller, the tooling processing system is installed at one or more tooling processing positions of the automated line, and the processor 1001 may be further configured to call a control program of the three-axis manipulator stored in the memory 1005, and execute the following operations:
receiving a tool processing result processed by the tool processing system at the tool processing position aiming at the tool carried by the three-axis manipulator through the main controller;
and controlling the three-axis manipulator to run on the automatic line body through the main controller according to the tool processing result.
Optionally, the processor 1001 may be further configured to call a control program of the three-axis robot stored in the memory 1005, and after the step of receiving, by the main controller, a tooling processing result that the tooling processing system processes a tooling carried by the three-axis robot at the tooling processing position, further perform the following operations:
judging whether the state of the tool is normal or not and generating a tool state record through the main controller based on the tool processing result;
and controlling the three-axis manipulator to process the tool according to the tool state record through the main controller.
Optionally, the processor 1001 may be further configured to call a control program of the three-axis manipulator stored in the memory 1005, and perform the following operations:
reading the tool state record through the main controller to determine whether the respective states of the plurality of tools are normal or not;
if the tool is determined to be abnormal, the main controller executes the three-axis control program to control the three-axis manipulator to be on the automatic line body, and the tool is conveyed to the defective product processing position;
and if the state of the tool is determined to be normal, the main controller executes the three-axis control program to control the three-axis manipulator to be on the automated line body, and the tool is conveyed to the next tool processing position.
Optionally, the processor 1001 may be further configured to call a control program of the three-axis manipulator stored in the memory 1005, and perform the following operations:
receiving a three-axis control instruction through the main controller, wherein the three-axis control instruction is generated based on a preset three-axis human-computer interface;
and determining the task to be executed to which the triaxial task number points from a plurality of preset triaxial tasks through the main controller according to the triaxial task number carried in the triaxial control instruction.
Optionally, the processor 1001 may be further configured to call a control program of the three-axis manipulator stored in the memory 1005, and perform the following operations:
detecting, by the master controller, whether the three-axis control program is successfully invoked;
and if the triaxial control program is not successfully called, triggering an alarm prompt corresponding to the triaxial control program through the main controller.
Based on the terminal device, various embodiments of the control method of the three-axis manipulator are provided.
The three-axis manipulator plays an important role in the traditional automation line body and is mainly responsible for completing various production tasks such as CCD (Charge coupled Device) inspection, gluing, welding, screwing, height detection, material taking and placing, sub-tool overturning and the like, but the interactive signals established by the three-axis manipulator and the controller have poor consistency, complex interactive logic and poor transportability due to complex and various process requirements of electronic products, so that the field debugging of the automation line body is hindered. In addition, the automation System of the new era needs to control the equipment to complete various processing tasks and simultaneously perform a large amount of data interaction, but the current three-axis manipulator is difficult to perform the processing tasks and simultaneously perform the data interaction with multiple systems such as RFID (Radio Frequency Identification), MES (Manufacturing Execution System), CCD and the like.
In summary, how to quickly and compatibly implement a three-axis manipulator into an automated linear body has become a critical technical problem to be solved in the electronic manufacturing industry.
Aiming at the phenomenon, the invention provides a control method of a three-axis manipulator. The control method of the three-axis manipulator is applied to an automatic line body system, and the automatic line body system comprises a main controller, the three-axis manipulator and an automatic line body, wherein the main controller is in communication connection with the three-axis manipulator, and the three-axis manipulator is installed on the automatic line body.
According to the control method of the three-axis manipulator, in the process of executing the manufacturing of electronic products based on the automation line body, the corresponding three-axis control program is called based on the main controller according to the current three-axis task to be executed to automatically control the three-axis manipulator to run at one or more working processing positions of the automation line body so as to perform task processing.
Referring to fig. 2, fig. 2 is a flowchart illustrating a control method of a three-axis robot according to a first embodiment of the present invention. It should be noted that although a logical sequence is shown in the flow chart, the control method of the three-axis manipulator of the present invention may, of course, perform the steps shown or described in a different order than that shown or described herein in some cases.
In a first embodiment of the control method of a three-axis robot of the present invention, the control method of a three-axis robot of the present invention includes:
step S10: determining a task to be executed in a plurality of preset triaxial tasks through the main controller, and determining a triaxial control program corresponding to the task to be executed;
in this embodiment, the main controller receives a triaxial task number to be executed, finds a triaxial task corresponding to the triaxial task number from a plurality of triaxial tasks as a to-be-executed task, and then analyzes the to-be-executed task to obtain one or more triaxial control programs.
Illustratively, the main controller divides the three-axis processing task into 14 subtasks, that is, 14 three-axis tasks, and the 14 three-axis tasks may be defined according to the use requirement of the automation line body for the three-axis manipulator, where it is to be noted that one or more three-axis control programs may be predefined in each three-axis task. When a machining task needs to be executed by using a three-axis manipulator, firstly determining a current three-axis task to be executed, and then analyzing the task to be executed to obtain one or more pre-defined three-axis control programs.
It should be noted that various processing tasks executed by the three-axis manipulator in the automated line body may include CCD inspection, gluing, welding, screwing, height detection, material picking and placing, turning sub-tooling, and the like, and it should be understood that, based on different design requirements of practical application, the three-axis manipulator may execute any processing task that is adaptive to the functional characteristics of the three-axis manipulator itself in different feasible embodiments, and the control method of the three-axis manipulator of the present invention is not limited to the specific processing task that the three-axis manipulator can execute.
Further, in a possible embodiment, the method for controlling a three-axis manipulator according to the present invention, in step S10, the step of "determining a task to be executed in a plurality of preset three-axis tasks by the main controller" may include:
step S101, receiving a three-axis control instruction through the main controller, wherein the three-axis control instruction is generated based on a preset three-axis human-computer interface;
and S102, determining a task to be executed to which the triaxial task number points from a plurality of preset triaxial tasks through the main controller according to the triaxial task number carried in the triaxial control instruction.
In this embodiment, a corresponding triaxial control instruction is manually issued on a triaxial human-machine interface according to a machining operation that needs to be executed by a triaxial manipulator in an actual automation line, where the triaxial control instruction includes a triaxial task number, and a corresponding triaxial task to be executed is determined according to the triaxial task number.
Illustratively, the schematic diagram of the control system human machine interface shown in fig. 4 includes, in addition to the three-axis tasks of the 14 three-axis manipulators, a run key and an emergency stop key and a status display of the control system. In practical application, after all devices included in the system are ready to operate, a worker can click a corresponding triaxial task on a human-computer interface according to a machining task which is required to be executed currently by a triaxial manipulator to generate a triaxial control instruction, and after the triaxial control instruction is received by a main controller, the triaxial task which is required to be executed currently is determined in 14 triaxial tasks according to a triaxial program number included in the triaxial control instruction.
It should be noted that the human-computer interface may display a three-axis task, a system running state, other mechanism processing system interfaces, and the like, and it should be understood that, based on different design requirements of practical applications, in different feasible embodiments, the human-computer interface may display any data information and control keys related to the control method of the three-axis manipulator, and the control method of the three-axis manipulator of the present invention is not limited to specific display contents of the human-computer interface.
Therefore, the system designs a three-axis manipulator operation human-computer interface, a debugging technician can manually operate to complete three-axis manipulator motion simulation and automatic program test, so that debugging becomes simpler and more convenient, and the debugging efficiency is improved.
And S20, executing the three-axis control program through the main controller to control the three-axis manipulator to operate at one or more tool processing positions of the automated line body so as to process the task to be executed.
In this embodiment, the main controller executes one or more triaxial control programs obtained by analyzing the task to be executed, so as to control the triaxial manipulator to move to one or more tool processing positions on the automated line, and then control the triaxial manipulator to process the tool until the task to be executed is processed.
Exemplarily, as shown in the structural diagram of the control system shown in fig. 3, the control system in the present invention comprises four modules, which are a main controller module, a three-axis manipulator module, an input/output module, and a human-computer interface module. And a control instruction for controlling the three-axis manipulator is manually sent to the main controller through the human-computer interface module, and the main controller directly controls the three-axis manipulator to execute actions through the input and output module after receiving the control instruction. Specifically, after initialization of each device on the automation line is completed, the assembly line operates, the tool flows in, the main controller executes a first three-axis control program in a task to be executed, the three-axis manipulator is controlled to move to a tool receiving position, after the tool receiving is completed, the main controller executes a second three-axis control program in the task to be executed, the three-axis manipulator is controlled to convey the tool to a screw driving position, and then the main controller continues to execute a next three-axis control program in the task to be executed until the task to be executed is processed and completed.
In this embodiment, in the control method of the three-axis manipulator, a three-axis task corresponding to a three-axis task number is found as a task to be executed in a plurality of three-axis tasks through the three-axis task number to be executed received by the main controller, and then the task to be executed is analyzed to obtain one or more three-axis control programs. And manually sending a corresponding triaxial control instruction on a triaxial human-computer interface according to the processing operation to be executed by the triaxial manipulator in the actual automation line, wherein the triaxial control instruction comprises a triaxial task number, and determining a corresponding triaxial task to be executed according to the triaxial task number. And the main controller executes one or more triaxial control programs obtained by analyzing the task to be executed, so as to control the triaxial manipulator to run to one or more tool processing positions on the automatic line body, and then control the triaxial manipulator to process the tool until the task to be executed is processed.
Therefore, in the manufacturing process of executing electron generation based on the automation line body, the corresponding three-axis control program is called based on the main controller according to the current three-axis task to be executed to automatically control the three-axis manipulator to run at one or more working processing positions of the automation line body to perform task processing.
Further, based on the above-described first embodiment of the control method of the three-axis robot hand of the present invention, a second embodiment of the control method of the three-axis robot hand of the present invention is proposed.
In this embodiment, the main controller of the present invention is communicatively connected to the three-axis manipulator through the same plurality of control signal lines, and the control method of the three-axis manipulator of the present invention may further include:
step A, determining a target control signal line corresponding to the task to be executed from a plurality of control signal lines according to the task to be executed through the main controller;
and B, establishing communication connection with the three-axis manipulator by using the target control signal line through the main controller.
In this embodiment, after the master controller determines the task to be executed, the master controller determines, according to the task to be executed, a target control signal line corresponding to the task to be executed, from among a plurality of identical control signal lines connecting the master controller and the three-axis manipulator, and then the master controller uses the target control signal line to establish communication connection between the master controller and the three-axis manipulator.
It should be noted that, in this embodiment, the main controller and the three-axis robot each have 32 IO input/output ports (16 inputs/16 outputs), and the port connection modes are standardized and completely consistent. The main controller establishes communication connection with the three-axis manipulator through 32 IO input/output ports, 14 ports of 16 output ports respectively control 14 three-axis tasks correspondingly, and the rest 2 output ports respectively control three axes to execute operation starting and emergency stopping tasks.
For example, as shown in the schematic diagram of the human-machine interface of the control system shown in fig. 4, the three-axis tasks collectively include three-axis tasks 1 to 14, after the main controller determines that the tasks to be executed are three-axis task 3 and three-axis task 5, the main controller finds a third control signal line corresponding to the three-axis task 3 and a fifth control signal line corresponding to the three-axis task 5 from among the 16 output control signal lines, and after detecting that the third control signal line and the fifth control signal line can be normally connected, the main controller establishes a communication connection with the three-axis manipulator by using the third control signal line and the fifth control signal line.
In this embodiment, in the control method of the three-axis manipulator, after the main controller determines the task to be executed, the main controller determines, according to the task to be executed, a target control signal line corresponding to the task to be executed in the same plurality of control signal lines connecting the main controller and the three-axis manipulator, and then the main controller uses the target control signal line to establish communication connection between the main controller and the three-axis manipulator.
Therefore, when the three-axis manipulator executes various processing tasks in the automatic line body, the control signal lines for connecting the main controller and the three-axis manipulator are completely the same, so that the transportability of the three-axis manipulator is enhanced. In addition, when the three-axis machining task is changed, a control circuit does not need to be changed, and therefore the debugging efficiency of the three-axis manipulator is improved.
Further, a third embodiment of the control method of the three-axis robot hand of the present invention is proposed based on the first embodiment and/or the second embodiment of the control method of the three-axis robot hand of the present invention described above.
In this embodiment, the method for controlling a three-axis manipulator according to the present invention may further include:
step C, detecting whether the triaxial control program is successfully called or not through the main controller;
and D, if the triaxial control program is not successfully called, triggering an alarm prompt corresponding to the triaxial control program through the main controller.
In this embodiment, while the main controller controls the three-axis manipulator to execute the task to be executed, the main controller detects whether the three-axis control program obtained by analyzing the task to be executed can be successfully called, and if it is detected that the three-axis control program is not successfully called, the main controller triggers an alarm prompt corresponding to the three-axis control program.
Illustratively, the main controller executes the three-axis control program and simultaneously detects the calling condition of the three-axis control program in real time, if the three-axis control program fails to call the program due to code error of the three-axis control program, failure of a calling interface, overtime configuration and the like, or if the communication between the main controller and the three-axis manipulator is disconnected due to loosening of a control signal line between the main controller and the three-axis manipulator corresponding to a task to be executed or poor contact and the like, so that the main controller fails to call the three-axis control program, the main controller triggers an alarm prompt corresponding to the three-axis control program, and the alarm prompt is displayed on a human-computer interface of the control system.
In this embodiment, in the control method of the three-axis manipulator, while the main controller controls the three-axis manipulator to execute the task to be executed, the main controller detects whether the three-axis control program obtained by analyzing the task to be executed can be successfully called, and if it is detected that the three-axis control program is not successfully called, the main controller triggers an alarm prompt corresponding to the three-axis control program.
Therefore, the main controller triggers corresponding alarm reminding when the calling of the three-axis control program fails, so that the follow-up fault processing is facilitated, the intelligence of the three-axis manipulator control method is improved, and the visualization of the three-axis manipulator control method is enhanced.
Further, based on the first embodiment and/or the second embodiment and/or the third embodiment of the control method of a three-axis robot hand of the present invention described above, a fourth embodiment of the control method of a three-axis robot hand of the present invention is proposed.
In this embodiment, the automated line body system of the present invention further includes a tool processing system, wherein the tool processing system is in communication connection with the main controller, and the tool processing system is installed at one or more tool processing positions of the automated line body, and the control method of the three-axis manipulator of the present invention may further include:
step E, receiving a tool processing result processed by the tool processing system at the tool processing position aiming at the tool carried by the three-axis manipulator through the main controller;
and F, controlling the three-axis manipulator to run on the automatic line body through the main controller according to the tool processing result.
In this embodiment, the main controller executes a three-axis control program to control the three-axis manipulator to transport the tool to one or more tool processing positions, the corresponding tool processing system in the tool processing positions processes the tool carried by the three-axis manipulator to obtain a tool processing result, the tool processing result is transmitted to the main controller, and the main controller controls the three-axis manipulator to continue to operate on the automation line according to the tool processing result.
Exemplarily, as shown in a workflow diagram of a control system shown in fig. 5, after initialization of each device on an automation line is completed, a flow belt operates, a tool flows in, a main controller sends out a control instruction to control a three-axis manipulator to connect to a tool position, after the tool is connected, the main controller sends out the control instruction to control the three-axis manipulator to carry the tool to read the tool data from an RFID reading position, and if the tool state is NG (Not Good, defective), the main controller sends out an instruction to control the three-axis manipulator to carry the tool to send the tool position; if the tool state is OK, the main controller sends an instruction to control the three-axis manipulator to carry the tool to remove the CCD code scanning positions, the CCD vision system acquires the product code of the tool and uploads the product code to the MES system, and the MES system performs routing inspection on the tool according to the tool product code. If the tooling information corresponding to the tooling product code can be found in the MES system, judging that the routing inspection is OK, sending an instruction by the main controller, and controlling the three-axis manipulator to carry the tooling to remove the CCD inspection position; if the tool information corresponding to the tool product code cannot be found in the MES system, the NG is checked through the route, the main controller sends out an instruction, and the three-axis manipulator is controlled to carry the tool to send the position of the tool. And the tool at the CCD inspection position is inspected through the CCD vision system, and the CCD inspection result is uploaded to the MES system. And then, a main controller sends out a control instruction to control the three-axis manipulator to carry the tool to write the RFID position, and the main controller writes an inspection result obtained by processing each tool to inspect the tool into an electronic tag of the tool. And finally, sending out a control instruction by the main controller. And controlling the three-axis manipulator to carry the tool to send the tool position.
Further, in a possible embodiment, after the step of receiving, by the main controller, a tool processing result that the tool processing system processes the tool carried by the three-axis robot at the tool processing position, the method for controlling a three-axis robot according to the present invention may further include:
g, judging whether the state of the tool is normal or not and generating a tool state record based on the tool processing result through the main controller;
and H, controlling the three-axis manipulator to process the tool according to the tool state record through the main controller.
In this embodiment, after receiving a tool processing result obtained by processing a tool by each tool processing system, the main controller determines whether the state of the tool is a defective product according to the tool processing result, generates a tool state record, and then controls the three-axis manipulator to process the tool according to the tool state record.
Illustratively, the main controller controls the three-axis manipulator to carry the tool to remove CCD code scanning positions, the CCD vision system obtains a product code of the tool and uploads the product code to the MES system, the MES system performs routing inspection on the tool according to the product code of the tool, if the routing inspection is NG, the MES system sends an inspection result to the main controller, and the main controller determines that the tool is a defective product according to the inspection result and records the tool as the defective product. And then, the main controller controls the three-axis manipulator to further process the tool according to the recorded tool state.
Further, in a possible embodiment, step H may include:
step H01, reading the tool state records through the main controller to determine whether the states of the plurality of tools are normal or not;
step H02, if the tool is determined to be abnormal, the main controller executes the three-axis control program to control the three-axis manipulator to move on the automated line body, and the tool is conveyed to the defective product processing position;
and H03, if the state of the tool is determined to be normal, the main controller executes the three-axis control program to control the three-axis manipulator to be on the automatic line body, and the tool is conveyed to the next tool processing position.
In this embodiment, the main controller reads the tool state record, determines whether the respective states of the plurality of tools are defective products, and if it is determined that the states of the tools are defective products, the main controller executes a three-axis control program to control the three-axis manipulator to carry the tool with the defective product in the state to a defective product processing position, and if it is determined that the states of the tools are normal, the main controller executes the three-axis control program to control the three-axis manipulator to carry the tool with the normal product in the state to a next tool processing position.
Illustratively, when the assembly line carries the tool to move to a defective product screening position on the automatic line body, the main controller reads the tool state record of the tool and determines whether the tool is a defective product. If the main controller reads that the tool is in a defective state, the main controller sends a control instruction to control the three-axis manipulator to carry the tool to move to a defective processing position; and if the main controller reads that the state of the tool is normal, the main controller sends a control instruction to control the three-axis manipulator to carry the tool to move to the next tool processing position until the task to be executed of the three-axis manipulator is processed and completed.
In this embodiment, in the control method of the three-axis manipulator, the main controller executes a three-axis control program to control the three-axis manipulator to convey the tool to one or more tool processing positions, the corresponding tool processing system at the tool processing position processes the tool carried by the three-axis manipulator to obtain a tool processing result, and then the tool processing result is transmitted to the main controller, and the main controller controls the three-axis manipulator to continue to operate on the automated line according to the tool processing result. And after the main controller receives tool processing results obtained by processing the tools by the tool processing systems, judging whether the state of the tools is a defective product or not according to the tool processing results, generating tool state records, and then controlling the three-axis manipulator to process the tools according to the tool state records by the main controller. The main controller reads the tool state records, determines whether the respective states of the plurality of tools are defective products or not, if the states of the tools are determined to be defective products, the main controller executes a three-axis control program to control the three-axis manipulator to carry the tools with the states of the defective products to a defective product processing position, and if the states of the tools are determined to be normal, the main controller executes the three-axis control program to control the three-axis manipulator to carry the tools with the states of the normal products to a next tool processing position.
Therefore, the embodiment of the invention completes information interaction between the main controller and other tool processing systems while controlling the three-axis manipulator to execute the three-axis task through the main controller, so that the three-axis manipulator is more flexible and convenient to use in an automatic line body, and the use requirement of a modern line body is better met.
In addition, the embodiment of the invention also provides a control device of the three-axis manipulator, the control device of the three-axis manipulator is applied to an automatic line body system, the automatic line body system comprises a main controller, the three-axis manipulator and an automatic line body, wherein the main controller is in communication connection with the three-axis manipulator, and the three-axis manipulator is installed on the automatic line body.
Referring to fig. 6, fig. 6 is a functional block diagram of a control device of a three-axis robot according to an embodiment of the present invention, and as shown in fig. 6, the control device of the three-axis robot according to the present invention includes:
the task determining module 10 is configured to determine a task to be executed among a plurality of preset triaxial tasks through the main controller, and determine a triaxial control program corresponding to the task to be executed;
and the task execution module 20 is configured to execute the three-axis control program through the main controller to control the three-axis manipulator to operate at one or more tool processing positions of the automated line body so as to process the task to be executed.
Optionally, the main controller is in communication connection with the three-axis manipulator through the same plurality of control signal lines, and the control device of the three-axis manipulator further includes:
the signal line determining module is used for determining a target control signal line corresponding to the task to be executed from the plurality of control signal lines according to the task to be executed by the main controller;
and the communication connection module is used for establishing communication connection with the three-axis manipulator by using the target control signal line through the main controller.
Optionally, the automated line body system further includes a tool processing system, the tool processing system is in communication connection with the main controller, and the tool processing system is installed at one or more tool processing positions of the automated line body, and the control device of the three-axis manipulator of the present invention further includes:
the receiving module is used for receiving a tool processing result processed by the tool processing system at the tool processing position aiming at the tool carried by the three-axis manipulator through the main controller;
and the first control module is used for controlling the three-axis manipulator to run on the automatic line body according to the tool processing result through the main controller.
Optionally, the control device for a three-axis manipulator of the present invention further includes:
the state recording module is used for judging whether the state of the tool is normal or not and generating a tool state record through the main controller based on the tool processing result;
and the second control module is used for controlling the three-axis manipulator to process the tool according to the tool state record through the main controller.
Optionally, the second control module is further configured to read the tool state record through the main controller to determine whether the states of the plurality of tools are normal; if the tool is determined to be abnormal, the main controller executes the three-axis control program to control the three-axis manipulator to be on the automatic line body, and the tool is conveyed to the defective product processing position; and if the state of the tool is determined to be normal, the main controller executes the three-axis control program to control the three-axis manipulator to be on the automatic line body, and the tool is conveyed to the next tool processing position.
Optionally, the task determining module 10 is further configured to receive a three-axis control instruction through the main controller, where the three-axis control instruction is generated based on a preset three-axis human-machine interface; and determining the task to be executed to which the triaxial task number points from a plurality of preset triaxial tasks through the main controller according to the triaxial task number carried in the triaxial control instruction.
Optionally, the control device of a three-axis manipulator of the present invention further includes:
the detection module is used for detecting whether the three-axis control program is successfully called or not through the main controller;
and the alarm module is used for triggering an alarm prompt corresponding to the three-axis control program through the main controller if the three-axis control program is detected to be not successfully called.
The specific embodiment of the control device of the three-axis manipulator of the present invention in operation is basically the same as the above embodiments of the control method of the three-axis manipulator of the present invention, and details thereof are not repeated herein.
The present invention also provides a computer storage medium having a control program for a three-axis robot stored thereon, the control program for the three-axis robot implementing the steps of the method for controlling a three-axis robot according to any one of the above embodiments when executed by a processor.
The specific embodiment of the computer storage medium of the present invention is basically the same as the embodiments of the method for controlling a program of a three-axis manipulator of the present invention, and will not be described herein again.
The present invention further provides a computer program product, where the computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the method for controlling a three-axis manipulator according to any one of the above embodiments are implemented, which are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a terminal device (e.g. TWS headset, etc.) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The control method of the three-axis manipulator is characterized by being applied to an automatic line body system, wherein the automatic line body system comprises a main controller, the three-axis manipulator and an automatic line body, the main controller is in communication connection with the three-axis manipulator, and the three-axis manipulator is installed on the automatic line body;
the control method of the three-axis manipulator comprises the following steps:
determining a task to be executed in a plurality of preset triaxial tasks through the main controller, and determining a triaxial control program corresponding to the task to be executed;
and executing the three-axis control program through the main controller to control the three-axis manipulator to operate at one or more tool processing positions of the automatic line body so as to process the task to be executed.
2. The method of controlling a three-axis robot of claim 1, wherein the master controller is communicatively coupled to the three-axis robot via a same plurality of control signal lines, the method further comprising:
determining a target control signal line corresponding to the task to be executed from a plurality of control signal lines according to the task to be executed by the main controller;
establishing, by the master controller, a communication connection with the three-axis manipulator using the target control signal line.
3. The method of controlling the three-axis robot of claim 1, wherein the automated wire body system further comprises a tool handling system communicatively coupled to the master controller, the tool handling system being mounted in one or more tool handling locations on the automated wire body, the method further comprising:
receiving a tool processing result processed by the tool processing system aiming at the tool carried by the three-axis manipulator at the tool processing position through the main controller;
and controlling the three-axis manipulator to run on the automatic line body through the main controller according to the tool processing result.
4. The method of controlling a three-axis robot of claim 3, wherein after the step of receiving, by the master controller, tooling process results of the tooling processing system processing the tooling carried by the three-axis robot at the tooling processing position, the method further comprises:
judging whether the state of the tool is normal or not and generating a tool state record through the main controller based on the tool processing result;
and controlling the three-axis manipulator to process the tool according to the tool state record through the main controller.
5. The method for controlling the three-axis manipulator according to claim 4, wherein the automated line further includes a defective product processing position, and the step of controlling, by the main controller, the three-axis manipulator to process the tool according to the tool state record includes:
reading the tool state record through the main controller to determine whether the states of the plurality of tools are normal or not;
if the tool is determined to be abnormal, the main controller executes the three-axis control program to control the three-axis manipulator to be on the automatic line body, and the tool is conveyed to the defective product processing position;
and if the state of the tool is determined to be normal, the main controller executes the three-axis control program to control the three-axis manipulator to be on the automated line body, and the tool is conveyed to the next tool processing position.
6. The method for controlling a three-axis robot hand of claim 1, wherein the step of determining a task to be performed among a plurality of preset three-axis tasks by the main controller comprises:
receiving a three-axis control instruction through the main controller, wherein the three-axis control instruction is generated based on a preset three-axis human-computer interface;
and determining the task to be executed to which the triaxial task number points from a plurality of preset triaxial tasks through the main controller according to the triaxial task number carried in the triaxial control instruction.
7. The method of controlling a three-axis robot of any of claims 1 to 6, further comprising:
detecting, by the master controller, whether the tri-axis control program is successfully invoked;
and if the triaxial control program is not successfully called, triggering an alarm prompt corresponding to the triaxial control program through the main controller.
8. The control device of the three-axis manipulator is characterized by being applied to an automatic line system, wherein the automatic line system comprises a main controller, the three-axis manipulator and an automatic line body, the main controller is in communication connection with the three-axis manipulator, and the three-axis manipulator is installed on the automatic line body;
the control device of the three-axis manipulator comprises:
the task determination module is used for determining a task to be executed in a plurality of preset triaxial tasks through the main controller and determining a triaxial control program corresponding to the task to be executed;
and the task execution module is used for executing the three-axis control program through the main controller so as to control the three-axis manipulator to operate at one or more tool processing positions of the automatic line body so as to process the task to be executed.
9. A terminal device, characterized in that the terminal device comprises: memory, a processor and a control program of a three-axis robot stored on the memory and executable on the processor, the control program of the three-axis robot, when executed by the processor, implementing the steps of the control method of the three-axis robot according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a control program of a three-axis robot is stored thereon, which when executed by a processor, realizes the steps of the control method of the three-axis robot according to any one of claims 1 to 7.
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