CN116149265A

CN116149265A - Convertible workstation and information transfer method thereof

Info

Publication number: CN116149265A
Application number: CN202111392604.1A
Authority: CN
Inventors: 陈鸿欣; 余家润; 蓝天伟; 陈怡宏; 宫春斐
Original assignee: Delta Electronics Inc
Current assignee: Delta Electronics Inc
Priority date: 2021-11-23
Filing date: 2021-11-23
Publication date: 2023-05-23

Abstract

The invention provides a convertible workstation and an information transmission method thereof. The convertible workstation subscribes to a topic corresponding to a composite application. The management device publishes a message to subscribers of the topic. The convertible workstation performs an action based on the information when the information is received. When the convertible workstation is changed to another combined application, another theme is subscribed based on the other combined application. The invention can quickly change the application of the workstation, reduce the changing cost and shorten the setting time before online.

Description

Convertible workstation and information transfer method thereof

Technical Field

The present invention relates to workstations, and more particularly to convertible workstations and information transfer methods therefor.

Background

An automated production line is typically provided with a plurality of workstations, each for implementing different applications.

However, the existing workstations cannot be quickly retrofitted for different applications due to lack of standardization and modularization, which makes the current automated production line necessary to add dedicated workstations for the required applications, thereby increasing the production line setup cost.

Further, when the application changes, the dedicated workstations must be eliminated directly and new workstations purchased, resulting in waste.

In addition, in the existing automation production line, a master-slave (demand/response) information transmission method is often adopted, which makes it necessary to greatly modify the software settings of the management device, for example, change the transmission targets of various control instructions of the management device, each time a workstation is newly added, deleted or changed. The above-mentioned drawbacks make it necessary to spend a great deal of time taking the workstation off-line or on-line each time the workstation is replaced (replacement application).

Accordingly, the existing workstation and the information transmission method thereof have the above problems, and a more effective solution is needed.

Disclosure of Invention

The invention provides a convertible workstation and an information transmission method thereof, which can standardize and modularize the workstation and can quickly set the type of information received according to the application of the workstation.

In one embodiment, a convertible workstation includes a first function station, a second function station, a robotic station, and a control device. The first function station includes a first function device. The second function station includes a second function device. The robot station is used for operating the first function equipment of the first function station to realize a first combined application when the first function station is connected through the cable, and is used for operating the second function equipment of the second function station to realize a second combined application when the second function station is connected through the cable. The control device is connected with the robot station through a cable, and is set to subscribe to a first theme corresponding to the first combined application when the robot station is connected with the first function station, receive first information distributed to all subscribers of the first theme, and control the robot station or the first function station based on the first information to realize the first combined application. The control device is configured to subscribe to a second topic corresponding to the second combined application when the robot station is connected to the second function station, receive second information published to all subscribers of the second topic, and control the robot station or the second function station based on the second information to implement the second combined application.

In one embodiment, a method for transferring information in a convertible workstation includes: a) Setting a convertible workstation to subscribe to a first theme, wherein the first theme is a first combined application of a function station and a robot station corresponding to the convertible workstation; b) Publishing a first message of the first topic to all subscribers of the first topic through a management device; c) When the convertible workstation receives the first information, executing an action based on the first information; and d) subscribing to a second topic based on the second combined application when the convertible workstation is changed to a second combined application.

The invention can quickly change the application of the workstation, reduce the changing cost and shorten the setting time before online.

Drawings

Fig. 1 is a block diagram of an information delivery network according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of an automated manufacturing line according to an embodiment of the present invention.

FIG. 3 is a block diagram of a convertible workstation in accordance with one embodiment of the present invention.

FIG. 4 is a block diagram of a processor according to an embodiment of the invention.

Fig. 5 is a schematic diagram of an integrated external socket according to an embodiment of the invention.

FIG. 6 is a schematic diagram of a convertible workstation in accordance with an embodiment of the present invention.

FIG. 7 is a schematic diagram of an automated manufacturing line according to an embodiment of the present invention.

Fig. 8 is a schematic diagram of information transfer according to an embodiment of the invention.

FIG. 9 is a schematic diagram of a process editing interface according to an embodiment of the invention.

Fig. 10 is a flowchart of an information transfer method according to an embodiment of the invention.

FIG. 11 is a flow chart of a change combination application according to an embodiment of the invention.

FIG. 12 is a sequential diagram of registration and subscription according to an embodiment of the present invention.

FIG. 13 is a flowchart illustrating an exemplary embodiment of an operation.

FIG. 14 is a flow chart of a workstation change in accordance with an embodiment of the present invention.

FIG. 15 is a flowchart of a standardized connection according to an embodiment of the present invention.

FIG. 16 is a flowchart illustrating process editing and publishing according to an embodiment of the present invention.

Reference numerals illustrate:

10: management node

11-12: node

12: node

13: network system

20: management apparatus

21: convertible workstation

22: user computer

220: flow editing interface

23: network system

30: control apparatus

300: processor and method for controlling the same

301: memory device

302: network interface

31: robot station

310: control box

311: mechanical arm

312: wiring box

32: function station

320: control box

321: functional device

322: wiring box

33: function station

34: function station

350: integrated cable

351: integrated cable

352: integrated cable

353: network cable

40: system layer

41: intermediate layer

42: application layer

410: node application

420: robot working system

430: operating system

500-503: connecting terminal

51: integrated external socket

510-512: socket

520-523: connecting terminal

54: integrated external socket

540-542: socket

6: convertible workstation

600: control apparatus

610: four-axis robot station

611: six-axis robot station

620: screw locking functional station

621: dispensing function station

7: automatic production line

70: network exchanger

71. 78: conveying apparatus

72-77: convertible workstation

800-802: process flow

810-812: theme

820-821: convertible workstation

83-85: information processing system

900: starting point

901-904: flow action

905: break point

906: end point

910-916: conditions (conditions)

920-926: list action

1000: publisher(s)

1001: manager (S)

1002: subscriber(s)

S10-S15: information transfer step

S20-S21: application change step

S300-S312: registration/subscription step

S40-S42: action step

S50-S53: workstation changing step

S60-S62: standardized connection procedure

S70-S72: procedure issuing step

S80-S83: procedure editing step

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The invention provides a modularized convertible workstation and an information transmission method of the modularized convertible workstation.

The convertible workstation of the present invention includes a modular robotic station and a functional station. The invention can select the combination of the robot station and the function station capable of realizing the combination application according to the application required by the automatic production line (namely the combination application which is described later), and rapidly assemble the selected robot station and function station into the convertible workstation for the combination application.

In addition, when the combined application is changed, in order to enable the convertible workstation to be rapidly offline/online from the automated production line, the invention provides an information transmission method applied to the convertible workstation.

Fig. 1 is a schematic diagram of an information transmission network according to an embodiment of the invention. In the present invention, an automated production line may include a management node 10 and a plurality of nodes (two

nodes

11, 12 are illustrated in fig. 1). The plurality of

nodes

11, 12 are respectively responsible for different applications of the automated production line.

Taking an automatic production line of a circuit board as an example, a plurality of nodes can respectively execute different applications such as loading blank boards, printing solder paste, solder paste inspection, small element forming, large element forming, element inspection, welding inspection, board collecting, testing, board cutting and the like.

The management node 10 is connected to all the nodes 11 to 12 via a network 13, and the network 13 may be, for example, a local area network, an industrial ethernet network, a Wi-Fi network, other wired/wireless network, or any combination thereof, without limitation.

The publish/subscribe mechanism of the present invention is described next.

In the invention, each node only receives the information belonging to the subscription topic, but not the information not belonging to the subscription topic. The information may be, for example, a control signal, a data signal, a response signal, or the like, and is not limited.

For example, the node 12 may subscribe to the first topic such that when other nodes publish first information for the first topic, the first information is sent to all subscribers (including the node 12) of the first topic. And, when the other nodes publish the second information of the second topic, the node 12 does not receive the second information because it is not subscribed to the second topic.

In the present invention, if a new node is required to be added in an automation line for new application, the new node only needs to register with the management node 10 and subscribe to one or more topics required for implementing the new application, so that the communication setting of the new node can be completed quickly, and the settings of other nodes (such as nodes 11 and 12) do not need to be changed.

For example, the new node may subscribe to the first topic such that when the other nodes publish the first information for the first topic, the first information is sent to all subscribers of the first topic (including the new node) without changing the settings of the other nodes 10-12.

The invention can rapidly complete the setting of network communication without disturbing the operation of other nodes when the nodes are on line or off line through the publishing/subscribing mechanism.

Referring to fig. 1 and fig. 2, fig. 2 is a schematic diagram of an automated production line according to an embodiment of the invention. The management node 10 of fig. 1 may be, for example, a management device 20, and each node 11-12 may be, for example, a switchable workstation 21. Network 23 is the same as or similar to network 13 and will not be described in detail herein.

The automated production line may include a management device 20 and a plurality of convertible workstations 21 connected via a network 23, the plurality of convertible workstations 21 each being configured to implement a different combination of applications. And, information may be transferred between the management device 20 and each switchable workstation 21 through the aforementioned publish/subscribe mechanism.

In one embodiment, the automated manufacturing line may include a user computer 22 connected to a network 23, such as a personal computer, a tablet computer, a notebook computer, and other general purpose computers. The user computer 22 is used to provide a process editing interface 220. The process editing interface 220 may be, for example, a Graphical User Interface (GUI) and provides automated process creation/editing functionality.

Specifically, the user may operate the flow editing interface 220 to quickly establish a corresponding flow based on the combined application of the designated convertible workstation 21, and issue the flow to the convertible workstation 21 for execution.

Compared with directly writing the program code, the invention greatly reduces the threshold, cost and time for developing/maintaining the automatic control program through the flow editing interface 220.

In one embodiment, the user computer 22 can execute the robotic operating system 410 shown in fig. 4, generate and display the process editing interface 220 described above through the robotic operating system 410, and receive the user operation to edit the process through the process editing interface 220.

Referring to fig. 1 to 3, fig. 3 is a schematic diagram of a convertible workstation according to an embodiment of the invention.

The convertible workstation 21 of the present embodiment may include one or more robotic stations (one robotic station 31 is illustrated in fig. 3) and one or more function stations (three function stations 32-34 are illustrated in fig. 3). The robot station 31 and the functional stations 32-34 can be connected in series through the unique integrated cables 350-352 to realize the sharing and transmission of resources such as network, electric power, air pressure and the like, so that the purpose of transmission can be realized by replacing the traditional method that a plurality of different cables are needed, the number of the cables is greatly reduced, and the disassembly time is greatly shortened.

Each robot station 31 may include a control box 310, a robot arm 311, and a distribution box 312 electrically connected. The robotic station 31 is operative to operate the connected functional stations 32-34 to implement the corresponding combined application.

The control box 310 is used to control the robot station 31. Specifically, the control box 310 may receive power and network signals (e.g., control signals) through the distribution box 312, and control the posture of the robot 311 based on the network signals.

The robot 311 is movable in multiple degrees of freedom and is used to perform processing on the functional stations 32-34. For example, the function device 321 (for example, a tool such as a tin gun, a jig, or a screw locking machine) of the function station 32 is operated to perform operations such as soldering, inserting, and locking screws. The robot 311 may be a four-axis robot, a six-axis robot, etc., without limitation.

It is worth mentioning that the type of manipulator 311 used may be determined based on the requirements of the functional device 321 to be operated (e.g. the requirements for degrees of freedom).

Each of the function stations 32-34 (fig. 3 illustrates the function station 32) may include a control box 320, a function device 321, and a distribution box 322 electrically connected thereto.

The control box 320 is used to control the function station 32. Specifically, the control box 320 may receive power and network signals (e.g., control signals) through the distribution box 322 and control the function device 321 based on the network signals.

The functional device 321 is used to provide different application tools for the robotic arm 311 of the robotic station 31, such as a laser soldering tool, a card tool, a screw locking tool, a labeling tool, a dispensing tool, or a jig.

Thus, the robot arm 311 of the robot station 31 may be configured with different function stations 32-34 to achieve different combination applications, such as a laser welding application, an automatic plugging application, an automatic screw locking application, an automatic dispensing application, an automatic labeling application, or an automatic clamping application.

It should be noted that, each of the

distribution boxes

312 and 322 is a standardized electric cabinet, and the plurality of connection terminals for integrating the workstation are a single integrated external socket, so that the robot station 31 and the function stations 32-34 of the present invention can be quickly assembled and disassembled through a single integrated cable 350-352 by the above simplification. The invention can greatly improve the refitting speed due to the simplified number of cables.

In one embodiment, the convertible workstation 21 may include a control device 30. The control device 30 may be provided at the robot station 31, and may be connected to the robot station 31 through the network cable 353.

In addition, the organizer 312 of the robotic station 31 and the organizer of the function station 32-34 may be connected in series by integrated cables 350-352. The integrated cables 350-352 described above may include network cables.

Thereby, when the control device 30 is connected to the network through the network interface 302, the robot station 31 and all the function stations 32-34 that connect the control device 30 can also be connected to the network. The control device 30 is connected to the network 23 for external communication, and is used for controlling the convertible workstation 21, such as sending control signals to control the robot 311 and/or the functional device 321. Still further, the control device 30 implements the information transfer method of the convertible workstation of the present invention as the

aforementioned node

11 or 12.

In one embodiment, the control device 30 may include a processor 300, a memory 301 and a network interface 302 electrically connected.

The processor 300, such as a system-on-a-chip, a microprocessor or a central processing unit, is configured to execute operations and programs and to control the device 30.

Memory 301, such as RAM, ROM, EEPROM, flash memory, other memory, or any combination thereof, is used to store data.

A network interface 302, such as an ethernet card, is used to connect the

networks

13, 23 with other workstations, such as the robotic station 31 and the functional stations 32-34.

Referring to fig. 1 to 4 together, fig. 4 is a schematic diagram of a processor according to an embodiment of the invention.

In the present embodiment, the memory 301 of the control device 30 may include a non-transitory computer readable recording medium, where a computer program is stored in the non-transitory computer readable recording medium, and the computer program is recorded with computer executable program codes, and when the processor 300 executes the program codes, the various functions of the present invention can be implemented.

Specifically, the computer programs may include an operating system 400 (e.g., windows, linux, unix, etc.), a robotic operating system 410 (e.g., robot OS), and a node application 420. In a software architecture, processor 300 may run operating system 400 at system layer 40 to provide software and hardware resource management and allocation, and may run robotic operating system 410 at middle layer 41. The robotic operating system 410 acts as Middleware (Middleware) that may provide various auxiliary tools to assist in development and management, such as a flow editing interface 220, node application 420, application Program Interface (API), or other software tools executing at the application layer 42. The node application 420 is used to implement the decentralized communication as shown in fig. 1.

Therefore, the invention can realize the rapid development and maintenance of the automatic function through the robot operating system 410.

Referring to fig. 6, a schematic diagram of a convertible workstation according to an embodiment of the invention is shown. As for the robot stations, alternatively, the present embodiment provides a four-axis robot station 610 and a six-axis robot station 611 as an example.

As for the function stations, the present embodiment provides an example of the screw locking function station 620 and the dispensing function station 621 as an alternative.

The present embodiment also provides a control apparatus 600, where the control apparatus 600 is installed with the aforementioned robotic work system 410.

When an automatic screw locking application (combination application) with a low degree of freedom requirement is to be achieved, the user may install the control apparatus 600 to the four-axis robot station 610 and connect the four-axis robot station 610 with the screw locking function station 620 through an integrated cable. Thereby, a switchable workstation 6 for implementing an automatic screw locking application can be obtained.

When changing to an automatic dispensing application (combination application) that achieves a higher degree of freedom requirement, the user can replace the four-axis robot station 610 with a six-axis robot station 611 having more degrees of freedom and replace the screw locking function station 620 with the dispensing function station 621. Thereby, the switchable workstation 6 may be changed to enable an automatic dispensing application.

Please refer to fig. 7, which is a schematic diagram of an automated manufacturing line according to an embodiment of the present invention. In this embodiment, the automated production line 7 may include a

conveyor

71, 78, a plurality of switchable workstations 72-77, and a network switch 70 electrically connected to the above.

The network switch 70 provides a network communication environment so that a management device (not shown) can set up a workflow for implementing a specified application for each of the

delivery devices

71, 78 and each of the switchable workstations 72-77.

Taking automatic assembly of computer products as an example, the conveying device 71 is configured to provide a housing. The convertible workstation 72 is configured to place a plurality of computer components in the chassis. The convertible workstation 73 is configured to lock portions of the computer components to the chassis. The convertible workstation 74 is configured to glue portions of the computer components to the chassis. The convertible workstation 75 is configured to flip the computer product to the inspection surface. The switchable workstation 76 is configured to take a photograph of the inspection surface to visually inspect by computer whether there is an installation defect. The convertible workstation 77 extracts defective computer products from the production line based on the inspection results of the convertible workstation 76. The conveyor 78 is configured to transport the flawless computer product to a next production line or packaging area.

Referring to fig. 10, a flowchart of an information transmission method according to an embodiment of the invention is shown. The information transfer method of the embodiments of the present invention can be implemented by the automated production line and the convertible workstation of any of the embodiments.

The information transmission method of the present embodiment includes the following steps.

Step S10: the convertible workstation is set to subscribe to the topic (first topic). The aforementioned subject matter is a combined application (first combined application) implemented corresponding to the current function station (first function station) and the robot station (first robot station) of the convertible workstation.

Step S11: the management device publishes information to all subscribers of the corresponding topic, for example, information of a first topic (first information) to all subscribers of the first topic and information of a second topic (second information) to all subscribers of the second topic.

Step S12: the convertible workstation determines whether information has been received. In particular, since the convertible workstation subscribes to only the first topic, only information of the first topic will be received.

If any information is received by the convertible workstation, step S13 is executed: the convertible workstation performs an action based on the received information.

Step S14: it is determined whether the convertible workstation changes subscription.

If the convertible workstation needs to change the subscribed theme due to changing the combined application (e.g., changing to the second combined application), step S10 is performed to subscribe to a new theme (e.g., the second theme) based on the changed combined application.

If the convertible workstation does not receive any information in step S12 or the convertible workstation does not change the subscription in step S14, step S15 is executed: the management device and the convertible workstation determine whether to end execution, if so, whether to complete all the work, or whether to receive a stop signal, etc.

If the execution is judged to be finished, ending the information transmission method; otherwise, step S11 is executed again.

Fig. 8 is a schematic diagram of information transmission according to an embodiment of the invention. Fig. 8 is a diagram illustrating an embodiment of a method of information transfer for a convertible workstation in accordance with the present invention.

The publisher (e.g., management device) performs flow control to perform different flows, such as a pick-up flow 800, a move flow 801, a screw locking flow 802, and the like, respectively.

Also, the publisher may first establish corresponding topics for different processes, such as a pick topic 810, a move topic 811, a lock topic 812, and so on.

Also, subscribers (convertible workstations 820-821) may subscribe to different topics based on the responsible combined application, e.g., convertible workstation 820 subscribes to pick topic 810 and move topic 811, and convertible workstation 821 subscribes to move topic 811 and lock screw topic 812.

When the publisher executes the pick-up process 800, control information 83 may be sent to the pick-up topic 810 such that a convertible workstation 820 subscribed to the topic receives the information 83 and performs a pick-up action based on the information 83.

When the publisher executes the move process 801, control information 84 may be sent to the move topic 811 such that the

convertible workstations

820, 821 subscribed to the topic both receive the information 84 and perform a move action based on the information 84.

When the publisher performs the screw locking process 802, control information 85 may be sent to the screw locking theme 812 such that the convertible workstation 821 subscribed to the theme receives the information 85 and performs a screw locking action based on the information 85.

Thereby, the

convertible workstations

820, 821 can quickly set up communication connections by subscribing/unsubscribing.

Referring to fig. 10 to 11, fig. 11 is a flowchart of a modification and combination application according to an embodiment of the invention.

Step S20: the combined application is changed by replacing the current robot station and/or function station with a different type of robot station and/or function station, for example, by performing the steps of fig. 15.

Step S21: subscription and information transfer is performed based on the combined application of the changed robotic station and/or functional station, for example, by performing the steps of fig. 10.

Referring to fig. 10 to 12, fig. 12 is a sequential chart of registration and subscription according to an embodiment of the present invention. In this embodiment, the publisher 1000 and subscriber 1002 may be any of the aforementioned nodes 11, 12 (including any of the switchable workstations mentioned in the present disclosure), and the management node 1001 may be the aforementioned management node 10.

First, the publisher 1000 and the management node 1001 connect to the same network as the subscriber 1002 (steps S300 to S302).

Next, the publisher 1000 may issue a registration request to the management node 1001 (step S303), and complete the registration after receiving a successful return result of the registration of the management node 1001 (step S304). Thereby, the management node 1001 can identify the publisher 1000.

After registration is completed, the publisher 1000 may issue a request for establishing a topic to the management node 1001 (step S305), and complete the establishment of one or more topics after receiving a successful return result of the processing by the management node 1001 (step S306). Thereby, the publisher 1000 can publish information for an established topic.

On the other hand, the subscriber 1002 may issue a registration request to the management node 1001 (step S307), and complete registration after receiving a return result of successful registration of the management node 1001 (step S308). Thereby, the management node 1001 can identify the subscriber 1002.

After registration is completed, the subscriber 1002 may issue a subscription request to the management node 1001 (step S309), and complete subscription of one or more topics after receiving a successful return result of the processing of the management node 1001 (step S310). Thereby, the subscriber 1002 may start to receive all information of the subscribed topics over the network.

Thereafter, when the publisher 1000 can publish information (S311), the management node 1001 delivers information to all subscribers 1002 of the subject according to the subject to which the information belongs (step S312).

Referring to fig. 10 to 13, fig. 13 is a flowchart illustrating an embodiment of the present invention. In this embodiment, the convertible workstation may trigger different actions according to different received information. Specifically, the method of the present embodiment further includes the following steps.

Step S40: the convertible workstation is configured to set a plurality of actions for the plurality of information, respectively.

Step S41: the convertible workstation determines whether any subscription information is received.

If the convertible workstation does not receive any information, step S41 is performed again for continuous detection.

If the convertible workstation receives the information, step S42 is executed: the convertible workstation controls the robot station and the function station to execute actions corresponding to the information.

For example, the movement information may correspond to a movement motion and may include coordinate values of the robot arm. The convertible workstation, upon receiving the movement information, may control the robot arm to move to a specified coordinate value (e.g., to swing out a gesture that causes the tip to move to that coordinate value) to cooperate with the functional station.

In another example, the tin supply information may correspond to a tin supply operation and may include a tin supply amount and a tin supply position. When receiving tin supply information, the convertible workstation can control the mechanical arm to move to a designated tin supply position and control the functional station to extrude tin material with tin supply quantity.

Referring to fig. 10 to 14, fig. 14 is a flowchart illustrating workstation modification according to an embodiment of the invention. The convertible workstation can convert the combined application through the embodiment and quickly go on line after converting the combined application. Specifically, the method of the present embodiment further includes the following steps.

Step S50: the control switchable workstation is offline from the network to stop receiving information of the original combined application (first combined application).

Step S51: the function station (first function station, which may have a first function device) or the robot station (first robot station, which may have a first robot arm) of the convertible workstation is replaced with another function station (second function station, which may have a second function device of a different type than the first function device) or another robot station (second robot station, which may have a second robot arm of a different type than the first robot arm). Thereby, the changed convertible workstation can be shifted from realizing the original combined application (first combined application) to realizing the new combined application (second combined application).

Step S52: the changed convertible workstation is set to be connected with a network.

Step S53: and controlling the replaced convertible workstation to register with the management node. And after the registration is completed, the replaced convertible workstation may further subscribe to the management node for a second topic corresponding to the second combined application as described above, so as to receive all information of the second topic through the network.

Referring to fig. 1 to 5, fig. 5 is a schematic diagram of an integrated external socket according to an embodiment of the invention.

In the present embodiment, the robot station 31 includes a plurality of connection terminals, such as a power connection terminal 500 (220V AC), a power connection terminal 501 (24V DC), a connection terminal 502 (Switch, such as a network signal connection terminal), and a connection terminal 503 (Air, such as a pneumatic connection terminal).

The distribution box 312 may integrate the plurality of connection terminals into an integrated external socket 51, and the integrated external socket 51 may include a power socket 510 (e.g., 220V AC power socket), a network socket 511 (e.g., ethernet socket), and a pneumatic socket 512.

The function station 32 includes a plurality of connection terminals, such as a power connection terminal 520 (220V AC), a power connection terminal 521 (24V DC), a network power connection terminal 522 (PoE Switch, for example, power over ethernet), a pneumatic connection terminal 523 (Air, for example, pneumatic connection terminal), and a power connection terminal 524 (48V DC).

The distribution box 312 may integrate the plurality of connection terminals into an integrated external socket 54, and the integrated external socket 54 may include a power socket 540 (e.g., 220V AC power socket), a network socket 541 (e.g., ethernet socket), and a pneumatic socket 542.

The integrated cable 350 includes a cable body (e.g., a cable including a power cable, a network cable, and a pneumatic cable) and a plurality of plugs (e.g., plugs including a power plug, a network plug, and a pneumatic plug are disposed at both ends). The plug is used for docking and integrating the external sockets 51, 54 so that the robot station 31 and the function station 32 can share/transmit power, signals and air pressure.

Referring to fig. 10 to 15, fig. 15 is a flowchart of a standardized connection according to an embodiment of the invention. The method of the present embodiment further comprises the following steps for retrofitting the convertible workstation.

Step S60: the integrated cable 350 connects the integrated external socket 51 of the robot station 31 with the integrated external socket 54 of the function station 32 to form the convertible workstation 21.

Step S61: the robot station 31 or the function station 32 is provided with resources, such as pneumatic transmission, network transmission and/or power transmission, by the integrated cable 350.

Step S62: the control device 30 is set up based on a combination of the robot station 31 and the function station 32, for example, to set up operating parameters or other initialization settings.

Therefore, the invention can quickly refit the convertible workstation.

The invention also provides a flow editing interface based on the robot operating system, and a user can rapidly edit the flow to be executed by the convertible workstation through the flow editing interface.

Referring to fig. 10 to 16, fig. 16 is a flowchart illustrating process editing and publishing according to an embodiment of the invention. The method of the present embodiment further comprises the following steps.

Step S70: a process editing interface 220 is provided on the user computer 22 (which may be equipped with a robotic operating system).

In one embodiment, the process editing interface 220 provides a list of actions for a plurality of actions.

Step S71: the user computer 22 accepts user operations via the process editing interface 220 to edit the process. The flow includes the execution sequence and the execution condition of a plurality of actions.

In one embodiment, the step S71 may include the following steps S80-S83.

Step S80: a process is created at the user computer 22. The above procedure may define a start point and an end point.

Step S81: the user computer 22 receives the drag operation of the user through the flow editing interface 220 to add a plurality of actions between the start point and the end point.

Step S82: the user computer 22 receives the user setting operation through the flow editing interface 220 to set the execution order and execution conditions of the plurality of actions.

Step S83: the edited process is compiled at the user computer 22.

In one embodiment, the user computer 22 can convert the edited process into computer executable program code for exporting through the robot operating system.

Step S72: the user computer 22 transmits the edited flow to the convertible workstation 21 via the network 23 to set the convertible workstation 21 to execute the flow.

In one embodiment, the convertible workstation 21 performs the process by controlling the robotic station 31 and the function station 32 through the robotic work system.

Therefore, the invention can provide a quick and convenient editing process for users.

Fig. 9 is a schematic diagram of a process editing interface according to an embodiment of the invention. The process editing interface may include a process editing area (e.g., left side of fig. 9) and an action list (e.g., right side of fig. 9).

The process editing area is used for editing the process.

Next, the flow data structure is described, and in this example, the flow includes a start point 900 (as a flow entry address), a break point 905 (for interrupting the flow when an exception or error occurs), and an end point 906 (as a flow end address). Further, a plurality of actions may be included between the start point 900 and the end point 906, and the plurality of actions are set with an execution order and an execution condition, and are executed between the start point 900 and the end point 906 based on the execution order and the execution condition.

Any of list actions 920-926 of the action list may be dragged between start point 900 and end point 906 of the flow (drag operation) by the user as flow actions 901-904, e.g.,

drag list actions

920, 925, 926, and 922, respectively, as flow actions 901-904.

Then, the user can set (set the operation) the execution condition or sequence of the flow actions 901-904, for example, the setting condition 910-912 (when the action is successfully executed, the next action is continued), the setting condition 913-916 (when the action is failed, the flow is interrupted).

After the process editing is completed, the user can issue the process to the convertible robot to execute the corresponding combined application.

The foregoing description is only of preferred embodiments of the present invention and is not intended to limit the scope of the claims, so that all equivalent modifications that can be made in the practice of the invention are included in the scope of the invention.

Claims

1. A convertible workstation comprising:

a first function station including a first function device;

a second function station including a second function device;

a robot station for operating the first function device of the first function station to implement a first combined application when the first function station is connected by a cable, and for operating the second function device of the second function station to implement a second combined application when the second function station is connected by a cable; and

The control equipment is set to subscribe to a first theme corresponding to the first combined application when the robot station is connected with the first functional station, receive first information of all subscribers distributed to the first theme, and control the robot station or the first functional station based on the first information to realize the first combined application;

the control device is configured to subscribe to a second topic corresponding to the second combined application when the robot station is connected to the second functional station, receive second information published to all subscribers of the second topic, and control the robot station or the second functional station to implement the second combined application based on the second information.

2. The convertible workstation of claim 1, wherein the robotic station comprises:

the mechanical arm is used for moving with multiple degrees of freedom;

the distribution box is used for connecting the control equipment through a cable and connecting the first function station or the second function station through the cable, and is used for receiving power and network signals; and

And the control box is connected with the mechanical arm and the distribution box and is set to control the mechanical arm to move to the coordinate value based on a coordinate value of the received information so as to work together with the first functional station or the second functional station.

3. The convertible workstation of claim 1, wherein the first functional station, the second functional station, and the robotic station each comprise a organizer for integrating a plurality of connection terminals into an integrated external receptacle;

the integrated external socket of the robot station is connected with the integrated external socket of the first functional station or the integrated external socket of the second functional station through an integrated cable.

4. The convertible workstation of claim 3, wherein the integrated external socket comprises a power socket, a network socket, and a pneumatic socket;

the integrated cable comprises a power cable, a network cable and an air pressure cable, wherein two ends of the integrated cable are provided with a power plug, a network plug and an air pressure plug.

5. The switchable workstation of claim 1, wherein the control device is configured to control the switchable workstation to be offline from a network and to set the changed switchable workstation to be connected to the network when the robotic station is connected to the second functional station, to register the changed switchable workstation with a management node, and to subscribe to the second theme corresponding to the second combined application.

6. The convertible workstation of claim 1, wherein the first functional device is different from the second functional device, the first functional device and the second functional device comprising a laser solder tool, an interposer tool, a screw locking tool, a labeling tool, a dispensing tool, or a fixture;

the first combination application or the second combination application is a laser welding application, an automatic plug-in application, an automatic screw locking application, an automatic dispensing application, an automatic labeling application or an automatic clamping application.

7. The convertible workstation of claim 1, wherein the control device comprises:

a network interface for connecting the network and the robot station; and

And a processor for controlling the robot station, the first function station or the second function station based on the first information or the second information.

8. The convertible workstation of claim 7, wherein the control device further comprises:

a memory; for storing a robotic operating system;

the processor is configured to obtain a flow, and execute the robot operating system to control the robot station, the first functional station or the second functional station to execute the flow, wherein the flow includes an execution sequence and an execution condition of a plurality of actions.

9. The convertible workstation of claim 1, further comprising:

the robot operating system is used for being installed on a user computer, controlling the user computer to display a flow editing interface after being executed, and editing a flow by receiving operation through the flow editing interface.

10. The convertible workstation of claim 9, wherein the process comprises:

a start point as an entry address for the process;

a break point for interrupting the flow when an exception or an error occurs;

an end point as an end address of the flow; and

And a plurality of actions set between the start point and the end point, wherein the actions are selected from an action list provided in the flow editing interface.

11. A method of information transfer for a convertible workstation, comprising:

a) Setting a convertible workstation to subscribe to a first theme, wherein the first theme is a first combined application of a function station and a robot station corresponding to the convertible workstation;

b) Publishing a first message of the first topic to all subscribers of the first topic through a management device;

c) Executing an action based on the first information when the convertible workstation receives the first information; and

d) When the convertible workstation is changed to a second combined application, subscribing to a second theme based on the second combined application.

12. The information delivery method of a convertible workstation as recited in claim 11, wherein the step a) includes:

a1 Setting the convertible workstation to connect to a network;

a2 Registering the convertible workstation with a management node in the network; and

a3 After registration is completed, the switchable workstation is controlled to subscribe to the first topic with the management node to receive all information of the first topic through the network.

13. The information delivery method of a convertible workstation as recited in claim 11, wherein the step c) includes:

c1 Setting a plurality of actions for a plurality of pieces of information, respectively, wherein the plurality of pieces of information includes the first information; and

c2 When the first information is received, the robot station and the function station are controlled to execute the action corresponding to the first information.

14. The information transfer method of a convertible workstation as in claim 13, wherein the information includes a coordinate value of a robotic arm of the robotic station;

step c 2) comprises: the robot arm is controlled to move to the coordinate value to work cooperatively with the function station.

15. The information delivery method of a convertible workstation as recited in claim 11, wherein the step d) includes:

d1 Controlling the convertible workstation offline from a network;

d2 Changing the function station or the robotic station to another function station or another robotic station to change the convertible workstation from the first combined application to the second combined application;

d3 Setting the changed convertible workstation to connect to the network;

d4 Registering the changed convertible workstation with a management node; and

d5 Controlling the switchable workstation to subscribe to the second topic corresponding to the second combined application with the management node to receive all information of the second topic over the network.

16. The method of claim 15, wherein the robotic station comprises a robotic arm having multiple degrees of freedom;

the functional station comprises a laser soldering tool, an inserting tool, a screw locking tool, a labeling tool, a dispensing tool or a clamp;

the first combination application is a laser welding application, an automatic plug-in application, an automatic screw locking application, an automatic dispensing application, an automatic labeling application or an automatic clamping application.

17. The information transfer method of convertible workstation as in claim 11, wherein the robot station comprises a distribution box for integrating a plurality of connection terminals of the robot station into an integrated external socket;

the function station comprises a distribution box, wherein the distribution box is used for integrating a plurality of connecting ends of the function station into an integrated external socket;

before step a), comprising:

e) The integrated external socket of the robot station and the integrated external socket of the function station are connected through an integrated cable to serve as the convertible workstation.

18. The information delivery method of a convertible workstation as in claim 17, further comprising:

f) At least one of air pressure transmission, network transmission and power transmission is provided to the robot station or the functional station through the integrated cable.

19. The information delivery method of a convertible workstation as in claim 11, further comprising:

g1 Providing a procedure editing interface on a user computer, and receiving operation through the procedure editing interface to edit a procedure, wherein the procedure comprises an execution sequence and an execution condition of a plurality of actions;

g2 Transmitting the process to the convertible workstation via a network to configure the convertible workstation to execute the process;

wherein, edit the flow includes:

g11 Creating the process, wherein the process defines a start point and an end point;

g12 Providing an action list of the plurality of actions in the flow editing interface;

g13 Receiving a drag operation through the flow editing interface to add the actions between the starting point and the ending point; and

g14 Receiving a setting operation through the process editing interface to set the execution sequence and the execution condition of the plurality of actions of the process.

20. The information transfer method of a convertible workstation as in claim 19, wherein the convertible workstation comprises a control device including a robotic work system;

wherein step g 2) comprises:

g21 The process is transmitted to the control device to control the robot station and the function station to execute the process through the robot operating system.