CN116136678A

CN116136678A - Control method for integrating three-coordinate measuring machine into intelligent workshop management and control system

Info

Publication number: CN116136678A
Application number: CN202111366746.0A
Authority: CN
Inventors: 杜劲松; 汪广平; 张清石; 姜宇; 屈新河; 宋亚丽; 杨旭; 畅申; 王伟; 李想
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2021-11-18
Filing date: 2021-11-18
Publication date: 2023-05-19

Abstract

The invention relates to the field of discrete flexible machining production line control and three-coordinate measurement, in particular to a control method for integrating a three-coordinate measuring machine into an intelligent workshop management and control system. The method comprises the following steps: 1) Initializing a three-coordinate measuring machine; 2) The PLC control system controls the workshop executing mechanism to pick up the workpiece and place the workpiece at a measuring position on the three-coordinate measuring machine; 3) The three-coordinate measuring machine is used for measuring the workpiece and generating a measurement report; 4) After the measurement is finished, the PLC control system controls the workshop executing mechanism to retrieve the workpiece, and the three-coordinate measuring machine is restored to an initial state. According to the invention, the independent unit equipment for three-coordinate measurement is integrated into the intelligent production line system, so that manual operation is avoided, labor is saved, and efficiency is improved.

Description

Control method for integrating three-coordinate measuring machine into intelligent workshop management and control system

Technical Field

The invention relates to the field of discrete flexible machining production line control and three-coordinate measurement, in particular to a control method for integrating a three-coordinate measuring machine into an intelligent workshop management and control system.

Background

The three-coordinate machine is placed in a constant-temperature three-coordinate measuring room, and the measuring room is provided with a safety door and is kept in a closed state at ordinary times. The three-coordinate machine adopts a special control line, is connected with a computer loaded with measurement software and used for automatic measurement control, and is also provided with a three-coordinate driving hand wheel, so that the control of each shaft of the three-coordinate machine can be manually operated. Because the three-coordinate machine is an independent unit, the control including the safety door is only designed around the three-coordinate machine as the center, and the manual feeding and discharging, the manual measurement file importing, the manual control measurement, the report acquisition and the qualification judgment are not problematic. For how the three-coordinate machine is integrated into an intelligent production line, the automatic door opening and closing, the automatic feeding and discharging, the automatic introduction of a measurement file, the automatic acquisition of a quality report and the active quality tracing are quite difficult.

Disclosure of Invention

The invention aims to provide a control method for integrating a three-coordinate measuring machine into an intelligent workshop management and control system, so as to overcome the defect that the three-coordinate measuring machine is difficult to integrate into an intelligent production line.

The technical scheme adopted by the invention for achieving the purpose is as follows:

a three-coordinate measuring machine incorporated into an intelligent vehicle management and control system, comprising: the system comprises a three-coordinate measuring machine, an I/O interface board card, a PLC control system and a workshop executing mechanism, wherein the control system of the three-coordinate measuring machine is connected with an upper computer, and the three-coordinate measuring machine, the I/O interface board card, the PLC control system and the workshop executing mechanism are sequentially connected.

The three-coordinate measuring machine is connected with the I/O interface board card through an RS232 communication interface.

The workshop actuating mechanism includes: six axis robot and robot ground rail.

A control method for integrating a three-coordinate measuring machine into an intelligent workshop management and control system comprises the following steps:

1) Initializing a three-coordinate measuring machine;

2) The PLC control system controls the workshop executing mechanism to pick up the workpiece and place the workpiece at a measuring position on the three-coordinate measuring machine;

3) The three-coordinate measuring machine is used for measuring the workpiece and generating a measurement report;

4) After the measurement is finished, the PLC control system controls the workshop executing mechanism to retrieve the workpiece, and the three-coordinate measuring machine is restored to an initial state.

The step 1) comprises the following steps:

1.1 The upper computer transmits a three-coordinate detection task to the PLC control system, and simultaneously invokes a three-coordinate measurement program in the workshop MES according to the codes of the workpieces;

1.2 The PLC control system issues instructions to the three-coordinate measuring machine according to the three-coordinate detection task, so that the three coordinate axes of the three-coordinate measuring machine are moved to the safety point.

Said step 2) comprises the steps of:

2.1 The PLC control system judges whether the three-coordinate measuring machine is at a safety point and is in a stop state at the current moment according to the state information of the three-coordinate measuring machine;

2.2 When the three-coordinate measuring machine is at a safe point and is in a stop state, the PLC control system controls the workshop executing mechanism to pick up the workpiece and place the workpiece at a measuring position on the three-coordinate measuring machine, otherwise, the step 1) is returned.

The step 3) comprises the following steps:

3.1 The PLC control system sends the information of the placed workpieces to the upper computer, and the upper computer invokes a three-coordinate measuring program of the corresponding workpiece in the workshop MES and downloads the three-coordinate measuring program into the control system of the three-coordinate measuring machine through the Ethernet;

3.2 After the downloading is finished, the upper computer sends an instruction to the PLC control system, the PLC control system checks whether the three-coordinate measuring machine is at a safety point and in a stop state at the current moment according to the instruction, if so, the upper computer sends the instruction to the three-coordinate measuring machine, the three-coordinate measuring machine detects a workpiece according to the instruction, and otherwise, the step 1) is returned.

Said step 5) comprises the steps of:

4.1 After the detection is finished, the three-coordinate measuring machine automatically moves to a safety point, and meanwhile, state information at the current moment is sent to an upper computer through a PLC control system;

4.2 The upper computer deletes the three-coordinate measuring program in the control system of the three-coordinate measuring machine, acquires the detection report of the three-coordinate measuring machine and sends the detection report to the workshop MES, and waits for the feedback measurement result of the workshop MES;

4.3 After the upper computer obtains the measurement result, the measurement result is sent to the PLC control system, and a task of taking a part is issued to the PLC control system;

4.4 The PLC control system judges whether the three-coordinate measuring machine is at a safety point and is in a stop state at the current moment, if so, the workshop executing mechanism is controlled to retrieve the workpiece, the three-coordinate measuring machine returns to the initial position to prepare for the measurement of the next workpiece, and if not, the operation is stopped.

And after the 1-time workpiece measurement is completed, carrying out corresponding blanking task processing on the measured workpiece according to the measurement result.

The invention has the following beneficial effects and advantages:

1. according to the invention, the independent unit equipment for three-coordinate measurement is integrated into the intelligent production line system, so that manual operation is avoided, labor is saved, and efficiency is improved.

2. The automatic feeding of the robot ensures the repeatability and consistency of the feeding position precision, and provides better measurement conditions for the measurement of a three-coordinate machine.

3. The measurement report and the measurement result can be interconnected and communicated with the production line MES through the upper computer, so that the real-time sharing of data and information and the timely updating are realized.

4. For an open-loop processing production line, three-coordinate measurement well supplements the last step of production and processing, a production line closed-loop system is realized, active quality tracing and production data analysis can be carried out by feeding back measurement data and measurement results to the production line system in real time, specific production unit shutdown maintenance can be carried out on a problematic workpiece product, shutdown is carried out, no stop of the line is achieved, and production stagnation is avoided to the greatest extent.

Drawings

FIG. 1 is a schematic diagram of a device unit and software system relationship;

FIG. 2 is a schematic diagram of the implementation steps;

fig. 3 is a state machine diagram of a three-coordinate machine.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

The coordinate measuring machine is used as an independent unit, no redundant communication interface is connected with the upper computer system, and a hardware interface connected with the PLC control system is also lacked, so that the communication interface expansion is firstly carried out to realize the connection of the upper computer and the three coordinates, and the PLC control system and the three coordinates for how to be integrated into the production line control system.

Expansion of a communication interface:

1) The three-coordinate control computer is added with PCI network port conversion equipment, an independent IP is arranged and is connected with a switch platform of the upper computer, and the interconnection of the three-coordinate computer and the upper computer platform is realized;

2) The 24 paths of I/O interface boards are added, interface signals are connected into the PLC control system through the relay, the other ends of the boards are RS232 communication interfaces and are connected with the three-coordinate control computer, and the interconnection of input and output signals of three-coordinate software and the PLC control system is realized.

And secondly, rewriting three-coordinate control software. The three-coordinate system is used as a slave device to be integrated into a management and control system, and the three-coordinate software control right is redistributed according to the requirements of an upper computer platform and a PLC control system to control the three-coordinate system to start, measure and the like. The control and state of the three-coordinate machine are required to be fed back to the PLC control system in real time, and the control instruction and the state connected with the PLC are specifically represented by the I/O point positions in 24 paths of signals, including the control instruction of the upper computer, and are divided into the following parts:

table 1 three coordinate control instruction, status and I/O Board Address Table

The numbers in the table represent addresses of 24I/O signals, such as: the load-return safety point is represented as an address for the PLC to output and control the load instruction of the return safety point to be connected to the address In1 of the I/O board card, when the three-coordinate software reads that the address In1 of the I/O board card is 1, the load instruction of the return safety point can be executed, and the three-coordinate software is ready to be controlled to move to a position far away from the measured safety point.

The execution_operation instruction corresponds to the address In5, and indicates that the current loading instruction is executed, when the safety point instruction is loaded before, and after the execution is finished (i.e. In1 is finished), if In5 is 1, the three-coordinate machine immediately executes the operation instruction returned to the safety point, and the three-coordinate axis is controlled to move to a position far away from measurement, so that the robot is prevented from colliding with the three-coordinate measuring machine when picking and placing a workpiece.

Meanwhile, the current information of the three-coordinate machine can be effectively obtained by reading the state of the three-coordinate machine through the I/O board card, and the information is used for judging how the current three-coordinate machine is in by the PLC, and whether the execution is finished or not. In the present invention, a 6-bit number is used to represent a three-coordinate state, for example, "101001", where 1 is true and 0 is false, and the following is specifically mentioned:

table 2 exemplary schematic table of three coordinate 6 bit numerical status indications

Out1

Out2

Out3

Out4

Out5

Out6

Examples of the examples

1

0

1

0

1

Paraphrasing meaning

Allow loading

No fault

After the measurement is finished

Security point undetermined

Program is not loaded

Shaft stop

Thirdly, designing a signal interaction control method for three-coordinate measurement. The part related to three-coordinate measurement in the carding production line execution flow comprises a production line upper computer, a PLC control system, a workshop MES, a six-axis robot, a measuring room safety door, a cleaning machine, a three-coordinate measuring machine, a machine tool and the like, wherein the relation between equipment units and software systems is shown in the attached figure 1, the serial numbers of interaction signals in the attached figure 1 are described as shown in the table 3:

TABLE 3 description of schematic diagrams of device elements and software System relationships

As described above, the technical scheme adopted by the invention for realizing the purposes of automatic measurement, automatic uploading report, result analysis, quality tracing and the like of the three-coordinate measuring machine is as follows:

performing communication interface expansion of a three-dimensional machine;

modifying the three-coordinate machine software and the communication protocol;

and designing a signal interaction control method of three-coordinate measurement, and integrating the method into a production line system.

The control method for integrating the three-coordinate measuring machine into the intelligent workshop management and control system comprises the following specific implementation steps of executing In1 and then executing In5, which is simply marked as 1-5, as shown In figures 2 and 3:

1) After the cleaning machine finishes cleaning, the upper computer issues a three-coordinate detection task to the PLC control system, and meanwhile, the upper computer invokes a three-coordinate measurement program of the workshop MES according to the workpiece codes;

2) And judging that the three coordinates are ready, sending an In1 instruction of 'loading_returning to a safety point' to the three coordinates, and resetting In1 to send an In5 instruction of 'executing_operating instruction' to the three coordinates at the same time after 1 second intervals. At this time, if the three-coordinate machine is powered on and the communication is normal, the safety point program is loaded first, then the operation of returning to the safety point is executed, the three coordinate axes move away from the measurement part, the moving state is 000000, and the state is 101001 after the safety point is stopped;

3) And the PLC control system judges that the state of the three-coordinate measuring machine is 101001, and then sends an In2 instruction of a loading_judging position to the three-coordinate measuring machine, and after 1 second interval, the In2 is reset and simultaneously sends an In5 instruction of an executing_operating instruction to the three-coordinate measuring machine. At this time, the three-coordinate opportunity firstly loads a safety point position judging program, then executes a safety point position judging instruction, if the actual shaft position is at a safety point, outputs 101101, out4=1, and indicates that the safety point position is judged, and the robot picking and placing action can be performed;

4) The PLC control system controls the ground rail mobile robot to the point of the cleaning machine to pick up the workpiece, after the completion, the ground rail mobile robot reaches the three-coordinate point, the PLC control system opens a safety door of the three-coordinate measuring room, after the opening is confirmed, the workpiece is placed at a fixed measuring position, the robot moves the mechanical arm out of the safety door, and at the moment, the PLC control system closes the safety door of the measuring room;

5) After the safety door is closed, the PLC control system sends the information of the placement completion to the upper computer, and the upper computer downloads the three-coordinate measuring program called from the workshop MES to a control computer connected with the three-coordinate machine through the Ethernet.

6) After the downloading is finished, the upper computer sends a starting instruction to the PLC control system, and the PLC receives the starting instruction of the upper computer and checks that the three-coordinate state is still 101101.

7) The state is correct, and the In6 instruction of the 'load_measurement program' is executed to the three-dimensional machine. Because the three-coordinate measurement program has excessive content, the three-coordinate measurement program needs to wait for the completion of the loading of the three-coordinate measurement program and then send an execution instruction to the three-coordinate machine. When waiting, the three-coordinate state is 101101, and becomes 101111 after loading is completed, and Out5 = 1 indicates that the program loading is completed and the measurement operation can be performed;

8) After the PLC control system receives 101111, the reset In6 simultaneously sends an In5 instruction of an execution_operation instruction to the three-coordinate machine at intervals of 1 second, the three-coordinate machine starts to move, and a measurement program is executed, wherein the state is 000000;

9) After the three-coordinate measuring machine finishes the measuring operation, automatically moving the three-coordinate machine to a safe point position, wherein the state is 101001, which means that the report acquisition and the part taking operation can be performed after the measurement is finished, and the PLC sends the finishing state to the upper computer;

10 The upper computer deletes the loading program of the fixed path of the three-coordinate computer and acquires the measurement report of the three-coordinate computer;

11 The upper computer sends the acquired report to the workshop MES to wait for the workshop MES to feed back the measurement result;

12 After the upper computer obtains the result, the work piece is qualified or not is sent to the PLC control system, and a task of taking the work piece is sent to the PLC;

13 The PLC checks that the three-coordinate state is still 101001, and prepares to execute a fetching instruction;

14 After repeating step 3, the three-coordinate state is 101101;

15 The PLC control system controls the ground rail mobile robot to the three-coordinate point position, the PLC control system opens a safety door of the three-coordinate measuring room, after the safety door is determined to be opened, a task of taking the workpiece is executed, and after the workpiece is completely taken out and the mechanical arm moves out of the safety door, the PLC control system executes a command of closing the safety door of the measuring room;

16 After closing the measuring room safety door, repeating the step 2 to change the three-coordinate state from 101101 to 101001, and restoring to the initial state to prepare for the continuous measurement of the next workpiece;

17 And (3) completing 1 time of measurement, and carrying out corresponding blanking task processing on the measured workpiece according to the measurement result.

The invention is applied to flexible production line construction projects of a large-scale aviation processing plant, and the processing products are used in the fields of aviation, aerospace and the like, and have the advantages of multiple product varieties, small batch, poor universality of production process and higher quality requirement, so that the discrete flexible production method is adopted to carry out production line construction. The production unit that the production line involved includes: PLC control system, six robots, robot ground rail, a plurality of machine tools, cleaning machine, tool library, intelligent packing cupboard and three coordinate measuring machine etc..

Examples:

the system comprises the following components:

1) Three-coordinate measuring machine and state signal thereof

2) PLC control system and control signal of three coordinates thereof

3) Upper computer of production line

4) Workshop MES

5) Six-axis robot with ground rail and clamping jaw

6) Measuring room safety door

7) Cleaning machine

8) Machine tool and tool

The control method adopted by the invention is designed and realized based on a state machine of a three-coordinate measuring machine, as shown in fig. 3, and is respectively described below.

1. Initial state:

and after the three-coordinate machine is powered on, the state is maintained by default. The automatic return to the initial state after other operations are executed and movement occurs, and the state can respond to a control instruction sent by the PLC, and is 101001;

2. safety state:

because the three-coordinate measuring machine is required to be judged to be in a stop state and in the position of a safety point during the three-coordinate measuring, the three-coordinate measuring machine cannot be damaged during the operation of the robot mechanical arm. At this time, a safe state of "101101" is designed.

Before the robot picking and placing action, a 2-5 instruction is sent, a position judging program can be executed by three coordinates, the initial state is changed from 101001 to 101101, and external equipment is allowed to carry out the picking and placing work piece operation;

3. motion state:

the state of the axes of the three-dimensional machine during operation, which is "000000" at this time, the PLC prohibits the operation of the three-dimensional machine, waiting for it to return automatically to the initial state.

4. Loading state:

the state is a state that the loading time is overlong when the three-coordinate machine loads a program, and then design is easy to happen. When the loading is not completed, the state is 101101, and after the loading is completed, the state is 101111, namely the loading state, and the execution operation of the loading program can be performed at the moment. That is, when transmitting the 6 to 5 instruction, the step-by-step transmission is required, in6 is transmitted first, and In5 is transmitted when waiting for the state "101111".

Through the division of the state machines, the PLC control system can effectively control and monitor the state of the three-coordinate measuring machine. Briefly, when placing a workpiece, first, 2 to 5 is performed, and the placing operation is performed according to the feedback safety state. After the placement is finished, executing In6, and after the loading is finished, executing In5; when picking up a workpiece, firstly executing 2 to 5, executing a picking up action according to the feedback safety state, and after the picking up is finished, executing 1 to 5 to enable the three coordinates to return to the initial state. The three-coordinate machine can perform workpiece taking and placing actions only in a safe state, and the PLC can not execute related tasks in a motion state.

The control method of the invention also fuses the loading and deleting of the upper computer measurement program into the control flow, is compatible with the software interconnection of the workshop MES, and the PLC control system is also added into the control and state monitoring of the measurement room safety door, so that the three-coordinate measuring machine is finally organically fused into the intelligent workshop management and control system. The integration of the three-coordinate machine is used as the last closed loop link of machining production, and the control requirement of the product quality of the production line is well supplemented. As described above, the three-coordinate measuring machine integrated into the intelligent production line can perform active quality tracing and analysis through the upper computer system, and for a production line comprising a plurality of machining devices, the machine can stop without stopping the line, and the normal production of the whole production line cannot be affected by the faults of the single machining device.

Claims

1. The utility model provides a three-dimensional measuring machine fuses intelligent workshop management and control system which characterized in that includes: the system comprises a three-coordinate measuring machine, an I/O interface board card, a PLC control system and a workshop executing mechanism, wherein the control system of the three-coordinate measuring machine is connected with an upper computer, and the three-coordinate measuring machine, the I/O interface board card, the PLC control system and the workshop executing mechanism are sequentially connected.

2. The three-coordinate measuring machine integrated with the intelligent vehicle management and control system according to claim 1, wherein the three-coordinate measuring machine is connected with the I/O interface board card through an RS232 communication interface.

3. The three-dimensional measuring machine integrated into an intelligent vehicle management and control system according to claim 1, wherein the vehicle operator comprises: six axis robot and robot ground rail.

4. A control method for integrating a three-coordinate measuring machine into an intelligent workshop management and control system is characterized by comprising the following steps:

1) Initializing a three-coordinate measuring machine;

5. The control method for integrating the three-coordinate measuring machine into the intelligent workshop management and control system according to claim 4, wherein the step 1) comprises the following steps:

6. The control method for integrating the three-coordinate measuring machine into the intelligent workshop management and control system according to claim 4, wherein the step 2) comprises the following steps:

7. The method for controlling the integration of the three-coordinate measuring machine into the intelligent workshop management and control system according to claim 4, wherein the step 3) comprises the following steps:

8. The method for controlling the integration of the three-coordinate measuring machine into the intelligent workshop management and control system according to claim 4, wherein the step 5) comprises the following steps:

9. The control method for integrating the three-coordinate measuring machine into the intelligent workshop management and control system according to claim 4, wherein after 1-time workpiece measurement is completed, the measured workpiece is subjected to corresponding blanking task processing according to the measurement result.