CN116352330A

CN116352330A - Switching control device of heavy-load slewing mechanism and automobile processing production line system

Info

Publication number: CN116352330A
Application number: CN202310635547.8A
Authority: CN
Inventors: 吴高灿
Original assignee: Guangzhou Fuji Auto Assembly Co ltd
Current assignee: Guangzhou Fuji Auto Assembly Co ltd
Priority date: 2023-06-01
Filing date: 2023-06-01
Publication date: 2023-06-30
Anticipated expiration: 2043-06-01
Also published as: CN117066743A; CN117066743B; CN116352330B

Abstract

The application provides a switching control device of a heavy-duty slewing mechanism and an automobile processing production line system. The switching control device may include: the welding device comprises a sliding rail set, a servo motor set, a welding mechanism and a master controller; the servo motor unit is in communication connection with the master controller, and the welding mechanism is in communication connection with the master controller; according to the scheme, the switching control device of the heavy-load slewing mechanism is introduced into the automobile processing production line system, the switching control device can schedule the welding mechanism to execute related welding tasks according to the welding tasks initiated by the station host of the automobile processing stations, and a plurality of automobile processing stations can share one welding mechanism, so that the utilization efficiency of the welding mechanism is improved, a sharing mechanism of a plurality of automobile processing stations of the welding mechanism is introduced, the occupied area and investment cost of the automobile processing production line are reduced, and the automation efficiency of the automobile processing production line can be improved.

Description

Switching control device of heavy-load slewing mechanism and automobile processing production line system

Technical Field

The application relates to the technical field of communication and intelligent manufacturing, in particular to a switching device of a heavy-load slewing mechanism and an automobile processing production line system.

Background

In recent years, the automobile industry in China continues to develop rapidly, and the automobile manufacturing industry has become one of the important pillar industries in China. China has become the country with the largest automobile conservation and consumption in the world, and the development of the automobile industry drives the development of the automobile manufacturing equipment industry. The requirements for the automobile manufacturing on welding production lines are higher and higher, and the high flexibility and high beat are characteristics of the automobile manufacturing equipment, so that the collinear production of multiple automobile types can be realized by one production line. The state of the art in body manufacturing directly affects the structure, safety and production efficiency of the body, thereby placing new demands on body manufacturing. High-beat and high-reliability production requires high automation of the welding line equipment.

At present, a plurality of automobile types are produced simultaneously in the automobile manufacturing industry at home and abroad, most of the automobile types are provided with an independent production line, for example, in the prior art, production lines of different automobile types are respectively provided with independent welding mechanisms with the same functions, and the like. The practice shows that the existing automobile production line configuration mode has the defects of large occupied area, large project investment and low automation efficiency, and is inconvenient to realize efficient production management.

Disclosure of Invention

The embodiment of the application provides a heavy-load swing mechanism switching control device and an automobile processing production line system, and is respectively equipped with independent welding mechanisms with the same functions for automobile production lines of different automobile types in the prior art.

The embodiment of the application provides a switching control device of heavy-duty slewing mechanism, which comprises:

the welding device comprises a sliding rail set, a servo motor set, a welding mechanism and a master controller; the servo motor unit is in communication connection with the master controller, and the welding mechanism is in communication connection with the master controller.

The slide rail group includes: an X-direction slide rail and a Y-direction slide rail; the servo motor group comprises an X-direction servo motor and a Y-direction servo motor; the X-direction servo motor can drive the welding mechanism to move on the X-direction sliding rail; the Y-direction servo motor can drive the welding mechanism to move on Y-direction sliding rails, and the sliding rail sets are used for butting N vehicle type processing stations; different vehicle model processing stations can be identified by different station identifications, and N is an integer greater than 1.

The master controller is configured to add a welding task file fn1 to a welding task file queue after receiving a welding task execution request qn1 carrying the welding task file fn1 from a station host Hostn1, where the welding task file fn1 includes a station identifier pro-N1 and a task identifier Tidn1, and the station host Hostn1 belongs to a vehicle type processing station represented by the station identifier pro-N1 among the N vehicle type processing stations.

The master controller is further configured to, when detecting that the welding task file fn1 is located at the head of the welding task file queue (for example, and no other welding task file in an operating state exists in the welding task file queue currently), search a mapping record matching with the station identifier pro-n1 in a cached station identifier and coordinate range mapping table, and when the mapping record Pn1 is found, read a coordinate range co-n1 of a vehicle type processing station represented by the station identifier pro-n1 recorded in the mapping record Pn1, and send a driving instruction carrying the coordinate range co-n1 to the servo motor group.

The servo motor unit is used for driving the welding mechanism to move on the Y-direction sliding rail and/or move on the X-direction sliding rail after receiving a driving instruction carrying the coordinate range co-n1 so that the welding mechanism moves to the coordinate range co-n1; after the welding mechanism moves to the coordinate range co-n1, a driving instruction execution completion response is fed back to the master controller, wherein the driving instruction execution completion response is used for indicating that the welding mechanism has moved to the coordinate range co-n1.

The master controller is further configured to read a welding task file fn1 from a welding task file queue after receiving the response of the driving instruction execution completion, and send a welding task execution instruction CoTn1-1 to the driving welding mechanism, where the welding task execution instruction CoTn1-1 carries the welding task file fn1.

The welding mechanism is used for executing the welding task Tn1 represented by the task identifier Tidn1 by running the welding task file fn1 after receiving a welding task execution instruction CoTn1-1 carrying the welding task file fn1.

It will be appreciated that the welding task file is used to describe a welding task, for example, the welding task file fn1 can describe a welding task Tn1 represented by the task identification tin 1.

In some possible implementations, the master may be further configured to: and after the welding task file fn1 is added into a welding task file queue, marking the working state of the welding task file fn1 as a state to be started in the welding task file queue.

Wherein, the master is further configured to: when the welding task file fn1 is read from the welding task file queue, marking the working state of the welding task file fn1 as an operation state in the welding task file queue.

The welding mechanism is further used for sending a welding task execution instruction completion response RCoTn1-1 to the master controller after the execution of the welding task Tn1 represented by the task identifier Tidn1 is completed, wherein the welding task execution instruction completion response RCoTn1-1 is used for indicating the completion of the execution of the welding task Tn 1.

The master controller is further configured to delete the welding task file fn1 from a welding task file queue after receiving the welding task execution instruction completion response RCoTn1-1 from the welding mechanism.

In some possible implementations, the welding task file may also include a priority identification that identifies the priority of the corresponding welding task. For example, the welding task file further includes a priority identifier priid1, where the priority identifier priid1 is used to identify the priority of the welding task Tn1 represented by the task identifier tin 1. When Y welding task files containing priority identification prid 1 exist in the welding task file queue, wherein Y is a positive integer, the position of the welding task file fn1 in the welding task file queue is the last position of the Y welding task files; the welding task files containing the same priority identification in the welding task file queue are adjacently placed, wherein the welding task files with higher priorities represented by the priority identification are located in the welding task file queue closer to the head of the queue.

In some possible embodiments, the master is further configured to send a task interrupt instruction including a station identifier pro-n1 and a task identifier tin 1 to the welding mechanism;

the welding mechanism is further used for stopping running the welding task file fn1 to interrupt the execution of the welding task Tn1 after receiving the task interrupt instruction, marking a task interrupt point dx1 in the welding task file fn1 and sending a task interrupt instruction response to the master controller, wherein the task interrupt instruction response carries the welding task file fn1 marked with the task interrupt point dx 1;

the master controller is further configured to, after receiving a task interrupt instruction response, read a welding task file fn1 marked with a task interrupt point dx1 carried in the task interrupt instruction response, replace a welding task file fn1 currently cached in a welding task file queue with the read welding task file fn1 marked with the task interrupt point dx1, and mark a working state of the welding task file fn1 marked with the task interrupt point dx1 as an interrupt state in the welding task file queue.

In some possible embodiments, when the master controller detects that the welding task file fn1 is located at the head of the welding task file queue, and no other welding task file with a working state marked as an operating state exists in the welding task file queue, a mapping record matched with the station identifier pro-n1 may be searched in a cached station identifier and coordinate range mapping table, and when the mapping record Pn1 is searched, a coordinate range co-n1 of a vehicle type processing station represented by the station identifier pro-n1 recorded in the mapping record Pn1 is read, and a driving instruction carrying the coordinate range co-n1 is sent to the servo motor group.

The master controller is further configured to, after receiving the response of the execution completion of the driving instruction, read a welding task file fn1 marked with a task break point dx1 from a welding task file queue, send a welding task execution instruction CoTn1-2 to the driving welding mechanism, and mark a working state of the welding task file fn1 marked with the task break point dx1 in the welding task file queue as an operating state, where the welding task execution instruction CoTn1-2 carries the welding task file fn1 marked with the task break point dx 1.

The welding mechanism is used for starting to run the welding task file fn1 from a task interruption point dx1 marked in the welding task file fn1 after receiving a welding task execution instruction CoTn1-2 carrying the welding task file fn1, and further continuing to execute the welding task Tn1 represented by the task mark tin 1 from the task interruption point dx 1.

In other possible embodiments, the master controller is further configured to send a task interrupt instruction including a station identifier pro-n1 and a task identifier tin 1 to the welding mechanism;

the welding mechanism is further used for stopping running the welding task file fn1 to interrupt execution of the welding task Tn1 after receiving the task interrupt instruction, marking a task interrupt point dx1 in the welding task file fn1, and sending a task interrupt instruction response to the master controller, wherein the task interrupt instruction response carries the welding task file fn1 marked with the task interrupt point dx 1;

the main controller is further used for reading the welding task file fn1 carried in the task interrupt instruction response after receiving the task interrupt instruction response, sending a welding quality inspection instruction to the station host Hostn1, and reading a welding quality inspection file carried in the welding quality inspection instruction response after receiving the welding quality inspection instruction response fed back by the station host Hostn1, and obtaining a welding quality evaluation result of an executed part of the welding task Tn1 based on the welding quality inspection file; if the welding quality evaluation result meets the requirement, replacing the welding task file fn1 currently cached in the welding task file queue by using the read welding task file fn1 marked with the task break point dx1, and marking the working state of the welding task file fn1 marked with the task break point dx1 as an interrupt state in the welding task file queue; if the welding quality evaluation result is not in accordance with the requirement, modifying a task break point dx1 marked in the welding task file fn1 read from the task break instruction response into a task break point dx2 according to the welding quality evaluation result, wherein the task break point dx1 is later than the task break point dx2; and replacing the welding task file fn1 currently cached in the welding task file queue by using the welding task file fn1 marked with the task break point dx2, and marking the working state of the welding task file fn1 marked with the task break point dx2 as an interrupt state in the welding task file queue.

In some possible embodiments, the master controller is further configured to, when detecting that the welding task file fn1 is located at the head of the welding task file queue (for example, and no other welding task file in an operating state exists in the welding task file queue currently), search a mapping record matching the station identifier pro-n1 in a cached station identifier and coordinate range mapping table, and when the mapping record Pn1 is found, read a coordinate range co-n1 of a vehicle type processing station represented by the station identifier pro-n1 recorded in the mapping record Pn1, and send a driving instruction carrying the coordinate range co-n1 to the servo motor group;

the servo motor unit is further used for driving the welding mechanism to move on the Y-direction sliding rail and/or move on the X-direction sliding rail after receiving a driving instruction carrying the coordinate range co-n1 so that the welding mechanism moves to the coordinate range co-n1; after the welding mechanism moves to the coordinate range co-n1, feeding back a driving instruction execution completion response to the main controller, wherein the driving instruction execution completion response is used for indicating that the welding mechanism has moved to the coordinate range co-n1;

The master controller is further configured to, after receiving the response of the execution completion of the driving instruction, read a welding task file fn1 marked with a task break point dx2 from a welding task file queue, issue a welding task execution instruction CoTn1-3 to the driving welding mechanism, and mark a working state of the welding task file fn1 marked with the task break point dx2 in the welding task file queue as an operating state, where the welding task execution instruction CoTn1-3 carries the welding task file fn1 marked with the task break point dx 2;

the welding mechanism is further configured to, after receiving a welding task execution instruction CoTn1-3 carrying a welding task file fn1, start running the welding task file fn1 from a task interruption point dx2 marked in the welding task file fn1, and further continue executing a welding task Tn1 represented by a task identifier Tidn1 from the task interruption point dx 2.

It will be appreciated that the master initiates an interrupt flow for a welding task, either because a higher priority welding task was received or because an interrupt was necessary due to other emergency conditions. By marking the task break point, the interrupted welding task can be continued well in the following.

In some possible embodiments, the master is further configured to, before sending a task interrupt instruction including a station identifier pro-n1 to the welding mechanism, receive a welding task execution request qn2 issued by a station host Hostn2, where the welding task execution request qn2 carries a welding task file fn2, where the welding task file fn2 includes the station identifier pro-n2 and a task identifier tin 2, and where the welding task file fn2 includes a further priority identifier priid2, where the priority identifier priid2 is used to identify a priority of a welding task Tn2 represented by the task identifier tin 2; the station identifier pro-N2 is used for representing a vehicle type processing station corresponding to the station host Hostn2 in the N vehicle type processing stations; adding the welding task file fn2 into a welding task file queue, and marking the working state of the welding task file fn2 as a state to be started in the welding task file queue;

when the welding task file queue has X welding task files containing priority identification prid 2, wherein X is a positive integer, the position of the welding task file fn2 in the welding task file queue is the last position of the X welding task files; the welding task files with the same priority mark are adjacently placed in the welding task file queue, wherein the welding task files with higher priority indicated by the priority mark are located in the welding task file queue at positions closer to the head of the queue;

The master controller is further configured to, when it is detected that the welding task file fn2 is at the head of the welding task file queue, and the working state of the task file fn1 in the welding task file queue is an operation state, and the priority indicated by the priority identifier priid2 is at least 2 levels higher than the priority indicated by the priority identifier priid1, execute the step of sending a task interrupt instruction including a station identifier pro-n1 and a task identifier Tidn1 to the welding mechanism, search a mapping record matching with the station identifier pro-n2 in a cached station identifier and coordinate range mapping table, and when the mapping record Pn2 is found, read a coordinate range co-n2 of a processing station indicated by the station identifier pro-n2 recorded in the mapping record Pn2, and send a driving instruction carrying the coordinate range co-n2 to the servo motor group;

the servo motor group is used for driving the welding mechanism to move on the Y-direction sliding rail and/or move on the X-direction sliding rail after receiving a driving instruction carrying the coordinate range co-n2 so that the welding mechanism moves to the coordinate range co-n2; after the welding mechanism moves to the coordinate range co-n2, feeding back a driving instruction execution completion response to the main controller, wherein the driving instruction execution completion response is used for indicating that the welding mechanism has moved to the coordinate range co-n2;

The master controller is further configured to read a welding task file fn2 carrying a station identifier pro-n2 from a welding task file queue after receiving the response of the execution completion of the driving instruction, send a welding task execution instruction CoTn2-1 to the driving welding mechanism, and mark a working state of the welding task file fn2 as an operating state in the welding task file queue, where the welding task execution instruction CoTn2-1 carries the welding task file fn2, and the welding task file fn2 includes the station identifier pro-n2;

the welding mechanism is used for executing the welding task Tn2 described by the welding task file fn2 by running the welding task file fn2 after receiving a welding task execution instruction CoTn2-1 carrying the welding task file fn 2.

A second aspect of embodiments of the present application provides an automotive processing line system, which may include: switching control device for N vehicle model processing stations and the heavy-duty swing mechanism according to any one of claims 1 to 7.

Each processing position in the N vehicle type processing positions respectively comprises a station host, and the station host is used for sending a welding task execution request carrying a welding task file to a switching control device of the heavy-load slewing mechanism.

It can be seen that in the embodiment of the application, the switching control device of the heavy-load slewing mechanism is introduced into the automobile processing production line system, the switching control device can schedule the welding mechanism to execute the relevant welding task according to the welding task initiated by the station host of the automobile processing station, and a plurality of automobile processing stations can share one welding mechanism. Compared with the scheme that independent welding mechanisms with the same functions are respectively arranged on automobile production lines of different automobile types in the prior art, the scheme of the embodiment of the application introduces a high-efficiency automatic sharing mechanism of the welding mechanism among a plurality of automobile type processing stations (the automobile type processing stations are core units of the automobile production line), so that the utilization efficiency of the welding mechanism is improved, the scheme of introducing the sharing mechanism of the plurality of automobile type processing stations of the welding mechanism is beneficial to reducing the occupied area and investment cost of the automobile processing production line, improving the automation efficiency of the automobile processing production line and the like, and realizing high-efficiency production management.

Drawings

For a clearer description of the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of an architecture of an automotive processing line system according to an example of the present application.

Fig. 2 is a schematic structural diagram of a switching control device of a heavy-duty swing mechanism according to an example of the present application.

Fig. 3 is a schematic flow chart of a switching control method of a heavy-duty swing mechanism according to an example of the present application.

Fig. 4-a is a schematic diagram of a mapping table of station identifiers to coordinate ranges according to an example of the present application.

Fig. 4-B is a schematic diagram of a welding task queue with a working state of the welding task file fn1 marked as a state to be started according to an embodiment of the present application.

Fig. 4-C is a schematic diagram of a welding task queue with a working state of the welding task file fn1 marked as an operating state according to an embodiment of the present application.

Fig. 4-D is a schematic diagram of a welding task queue provided by an example of the present application in which welding task file fn1 is deleted.

Fig. 4-E is a schematic diagram of a welding task queue with a working state of the welding task file fn2 marked as a state to be started according to an embodiment of the present application.

Fig. 4-F is a schematic diagram of a welding task queue with a working state of the welding task file fn1 marked as a terminal state according to an embodiment of the present application.

Fig. 5 is a flowchart of another switching control method of a heavy-duty swing mechanism according to an example of the present application.

Fig. 6 is a flowchart of another switching control method of a heavy-duty swing mechanism according to an example of the present application.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution of an embodiment of the present invention will be clearly described below with reference to the accompanying drawings in the embodiment of the present invention, and it is apparent that the described embodiment is a part of the embodiment of the present invention, but not all the embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden, based on some embodiments of the present invention are intended to be within the scope of the present invention. The terms first, second, third and the like in the description, in the claims and in the drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, or article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include additional steps or elements not listed or inherent to such process, method, article, or apparatus.

Referring to fig. 1, an embodiment of the present application provides an automotive processing line system, which may include switching control devices of N vehicle type processing stations and a heavy-duty swing mechanism.

Wherein, the switching control device of heavy load swing mechanism includes: the welding device comprises a sliding rail set, a servo motor set, a welding mechanism and a master controller; the servo motor unit is in communication connection with the master controller, and the welding mechanism is in communication connection with the master controller. The slide rail group includes: an X-direction slide rail and a Y-direction slide rail; the servo motor group comprises an X-direction servo motor and a Y-direction servo motor; the X-direction servo motor can drive the welding mechanism to move on the X-direction sliding rail; the Y-direction servo motor can drive the welding mechanism to move on Y-direction sliding rails, and the sliding rail sets are used for butting N vehicle type processing stations; different vehicle model processing stations can be identified by different station identifications, and N is an integer greater than 1.

Where N may be equal to 2, 3, 4, 5, 6, 7, 8, 10, or other values, for example.

The switching control device of the heavy-load slewing mechanism can schedule the welding mechanism to execute related welding tasks according to the welding tasks initiated by the station host of the vehicle type processing stations, and can switch the welding mechanism among the processing stations of different vehicle types, so that the welding mechanism capable of executing the welding tasks is shared among the processing stations of different vehicle types.

Referring to fig. 2, the switching control device of the heavy-duty swing mechanism according to the embodiment of the present application may include:

The master controller is further configured to, when it is detected that the welding task file fn1 is located at the head of the welding task file queue, for example, and no other welding task files in a working state exist in the welding task file queue, search a mapping record matching with the station identifier pro-n1 in a cached station identifier and coordinate range mapping table, and when the mapping record Pn1 is found, read a coordinate range co-n1 of a vehicle type processing station represented by the station identifier pro-n1 recorded in the mapping record Pn1, and send a driving instruction carrying the coordinate range co-n1 to the servo motor group.

The welding mechanism is used for executing the welding task Tn1 represented by the task identifier Tidn1 by running the welding task file fn1 after receiving a welding task execution instruction CoTn1-1 carrying the welding task file fn 1.

In some possible implementations, the master may be further configured to: after the welding task file fn1 is added into a welding task file queue, marking the working state of the welding task file fn1 as a state to be started in the welding task file queue;

wherein, the master is further configured to: when a welding task file fn1 is read from a welding task file queue, marking the working state of the welding task file fn1 as an operating state in the welding task file queue;

the welding mechanism is further used for sending a welding task execution instruction completion response RCoTn1-1 to the master controller after the execution of the welding task Tn1 represented by the task identifier Tidn1 is completed, wherein the welding task execution instruction completion response RCoTn1-1 is used for indicating the completion of the execution of the welding task Tn 1;

In some possible embodiments, the welding task file further includes a priority identification identifying a priority of the respective welding task. For example, the welding task file further includes a priority identifier priid1, where the priority identifier priid1 is used to identify the priority of the welding task Tn1 represented by the task identifier tin 1. When Y welding task files containing priority identification prid 1 exist in the welding task file queue, wherein Y is a positive integer, the position of the welding task file fn1 in the welding task file queue is the last position of the Y welding task files; the welding task files containing the same priority identification in the welding task file queue are adjacently placed, wherein the welding task files with higher priorities represented by the priority identification are located in the welding task file queue closer to the head of the queue.

In some possible embodiments, when the master controller detects that the welding task file fn1 is located at the head of the welding task file queue, and no welding task file with a working state marked as an operating state currently exists in the welding task file queue, searching a mapping record matched with the station identifier pro-n1 in a cached station identifier and coordinate range mapping table, when the mapping record Pn1 is found, reading a coordinate range co-n1 of a vehicle type processing station represented by the station identifier pro-n1 recorded in the mapping record Pn1, and sending a driving instruction carrying the coordinate range co-n1 to the servo motor group.

In some possible embodiments, the master is further configured to send a task interrupt instruction including a station identifier pro-n1 and a task identifier tin 1 to the welding mechanism.

The welding mechanism is further used for stopping running the welding task file fn1 to interrupt execution of the welding task Tn1 after receiving the task interrupt instruction, marking a task interrupt point dx1 in the welding task file fn1, and sending a task interrupt instruction response to the master controller, wherein the task interrupt instruction response carries the welding task file fn1 marked with the task interrupt point dx 1.

In some possible embodiments, each welding task (e.g., welding task Tn1, welding task Tn2, etc.) may include a continuous plurality of welding elements, the welding elements being the smallest welding units, and the welding quality of each welding element included in the performed portion of welding task Tn1 may be recorded in the welding quality inspection file. And if the welding quality evaluation result is that the welding quality of each welding element included in the executed part of the welding task Tn1 is qualified, the welding quality evaluation result is satisfactory. If the welding quality evaluation result is that the welding quality of at least 1 welding element included in the executed part of the welding task Tn1 is unqualified, the welding quality evaluation result is not qualified, and in this case, a task break point needs to be adjusted, for example, the task break point dx2 corresponds to the earliest 1 welding element with unqualified welding quality included in the executed part of the welding task Tn1, by means of intelligent adjustment of such a task break point, the welding task can be continuously executed from the earliest 1 welding element with unqualified welding quality after the interruption and recovery of the welding task Tn1, which is beneficial to improving the welding quality and the processing efficiency.

In some possible embodiments, the master controller is further configured to, when detecting that the welding task file fn1 is located at the head of the welding task file queue, for example, and no other welding task file in a working state exists in the welding task file queue, search a mapping record matching with the station identifier pro-n1 in the cached station identifier and coordinate range mapping table, and when the mapping record Pn1 is found, read a coordinate range co-n1 of a vehicle type processing station represented by the station identifier pro-n1 recorded in the mapping record Pn1, and send a driving instruction carrying the coordinate range co-n1 to the servo motor group.

The master controller is further configured to, when it is detected that the welding task file fn2 is at the head of the welding task file queue, and the welding task file fn1 in the welding task file queue is in an operating state, and the priority indicated by the priority identifier priid2 is at least 2 higher than the priority indicated by the priority identifier priid1, execute a step of sending a task interrupt instruction including a station identifier pro-n1 and a task identifier tin 1 to the welding mechanism, search a mapping record matching with the station identifier pro-n2 in a cached station identifier and coordinate range mapping table, and when the mapping record Pn2 is found, read a coordinate range co-n2 of a vehicle model processing station indicated by the station identifier pro-n2 recorded in the mapping record Pn2, and send a driving instruction carrying the coordinate range co-n2 to the servo motor group;

Referring to fig. 3, fig. 3 is a schematic flow chart of a switching control method of a heavy-duty swing mechanism according to an embodiment of the present application, where the switching control method of the heavy-duty swing mechanism is applied to an automotive processing line system, the method may include:

301. the station host Hostn1 sends a welding task execution request qn1 carrying a welding task file fn1 to a master controller of a switching control device of the reloading slewing mechanism.

302. The method comprises the steps that a master controller receives a welding task execution request qn1 carrying a welding task file fn1 from a station host Hostn1, the welding task file fn1 is added into a welding task file queue, the welding task file fn1 comprises a station identifier pro-N1 and a task identifier tin 1, and the station host Hostn1 belongs to a vehicle type processing station represented by the station identifier pro-N1 in the N vehicle type processing stations.

In some possible embodiments, the master may further mark the working state of the welding task file fn1 as a state to be started in the welding task file queue after adding the welding task file fn1 to the welding task file queue.

303. When the master controller detects that the welding task file fn1 is located at the head of the welding task file queue, for example, other welding task files in a working state do not exist in the welding task file queue currently, and a mapping record matched with the station identifier pro-n1 is searched in a cached station identifier and coordinate range mapping table. When the mapping record Pn1 is found, the coordinate range co-n1 of the vehicle type processing station represented by the station identifier pro-n1 recorded in the mapping record Pn1 is read, and a driving instruction carrying the coordinate range co-n1 is sent to the servo motor group.

Referring to fig. 4-a, fig. 4-a illustrates a station identifier and coordinate range mapping table in which the coordinate ranges of processing stations of different vehicle types can be found.

304. After receiving a driving instruction carrying a coordinate range co-n1, the servo motor unit drives the welding mechanism to move on the Y-direction sliding rail and/or move on the X-direction sliding rail so that the welding mechanism moves to the coordinate range co-n1; after the welding mechanism moves to the coordinate range co-n1, a driving instruction execution completion response is fed back to the master controller, wherein the driving instruction execution completion response is used for indicating that the welding mechanism has moved to the coordinate range co-n1.

305. After receiving the response of the driving instruction execution completion, the main controller reads a welding task file fn1 from a welding task file queue, and issues a welding task execution instruction CoTn1-1 to the welding mechanism, wherein the welding task execution instruction CoTn1-1 carries the welding task file fn1.

306. After receiving a welding task execution instruction CoTn1-1 carrying the welding task file fn1, the welding mechanism executes the welding task Tn1 represented by the task identification Tidn1 by running the welding task file fn 1.

It will be appreciated that a welding task file is used to describe a welding task, for example welding task file fn1 is used to describe welding task Tn1 represented by task identification tin 1.

307. After the execution of the welding task Tn1 represented by the task identifier tin 1 is completed, the welding mechanism sends a welding task execution instruction completion response RCoTn1-1 to the master controller, wherein the welding task execution instruction completion response RCoTn1-1 is used for indicating the completion of the execution of the welding task Tn1.

308. After receiving the welding task execution instruction completion response RCoTn1-1 from the welding mechanism, the master controller deletes the welding task file fn1 from the welding task file queue, and sends a welding task execution request response Rqn1 to the station host Hostn1, where the task execution request response Rqn1 is used to indicate that the welding task Tn1 is completed.

Referring to fig. 4-B-4-D, fig. 4-B-4-D illustrate several operating states of the welding task file queue, by way of example. In the welding task file queue shown by way of example in fig. 4-B, the working state of the welding task file fn1 is marked as the ready-to-start state. In the welding task file queue shown by way of example in fig. 4-C, the operating state of the welding task file fn1 is marked as an operating state. In the welding task file queue shown by way of example in FIG. 4-D, the welding task file fn1 is deleted.

In some possible embodiments, the welding task file further includes a priority identification identifying a priority of the respective welding task. For example, the welding task file further includes a priority identifier priid1, where the priority identifier priid1 is used to identify the priority of the welding task Tn1 represented by the task identifier tin 1. When Y welding task files containing priority identification prid 1 exist in the welding task file queue, wherein Y is a positive integer, the position of the welding task file fn1 in the welding task file queue is the last position of the Y welding task files; and the welding task files containing the same priority mark in the welding task file queue are adjacently placed, wherein the welding task files with higher priorities represented by the priority mark are positioned closer to the head position of the queue in the welding task file queue.

It can be seen that in the embodiment of the application, the switching control device of the heavy-load slewing mechanism is introduced into the automobile processing production line system, the switching control device can schedule the welding mechanism to execute the relevant welding task according to the welding task initiated by the station host of the automobile processing station, and a plurality of automobile processing stations can share one welding mechanism. Compared with the scheme that independent welding mechanisms with the same functions are respectively arranged on automobile production lines of different automobile types in the prior art, the scheme of the embodiment of the application introduces a high-efficiency automatic sharing mechanism of the welding mechanism among a plurality of automobile type processing stations (the automobile type processing stations are core units of the automobile production line), so that the utilization efficiency of the welding mechanism is improved, the scheme of introducing the sharing mechanism of the plurality of automobile type processing stations of the welding mechanism is beneficial to reducing the occupied area and investment cost of the automobile processing production line, improving the automation efficiency of the automobile processing production line and the like, and realizing high-efficiency production management. .

Referring to fig. 5, fig. 5 is a schematic flow chart of another switching control method of a heavy-duty swing mechanism provided in an embodiment of the present application, where the switching control method of the heavy-duty swing mechanism is applied to an automotive processing line system, the method may include:

501. the station host Hostn1 sends a welding task execution request qn1 carrying a welding task file fn1 to a master controller of a switching control device of the reloading slewing mechanism.

502. The method comprises the steps that a master controller receives a welding task execution request qn1 carrying a welding task file fn1 from a station host Hostn1, the welding task file fn1 is added into a welding task file queue, the welding task file fn1 comprises a station identifier pro-N1 and a task identifier tin 1, and the station host Hostn1 belongs to a vehicle type processing station represented by the station identifier pro-N1 in the N vehicle type processing stations.

503. When the master controller detects that the welding task file fn1 is located at the head of the welding task file queue, for example, other welding task files in a working state do not exist in the welding task file queue currently, and a mapping record matched with the station identifier pro-n1 is searched in a cached station identifier and coordinate range mapping table. When the mapping record Pn1 is found, the coordinate range co-n1 of the vehicle type processing station represented by the station identifier pro-n1 recorded in the mapping record Pn1 is read, and a driving instruction carrying the coordinate range co-n1 is sent to the servo motor group.

504. After receiving a driving instruction carrying a coordinate range co-n1, the servo motor unit drives the welding mechanism to move on the Y-direction sliding rail and/or move on the X-direction sliding rail so that the welding mechanism moves to the coordinate range co-n1; after the welding mechanism moves to the coordinate range co-n1, a driving instruction execution completion response is fed back to the master controller, wherein the driving instruction execution completion response is used for indicating that the welding mechanism has moved to the coordinate range co-n1.

505. After receiving the response of the driving instruction execution completion, the main controller reads a welding task file fn1 from a welding task file queue, and issues a welding task execution instruction CoTn1-1 to the welding mechanism, wherein the welding task execution instruction CoTn1-1 carries the welding task file fn1. And when the welding task file fn1 is read from the welding task file queue, the working state of the welding task file fn1 can be marked as an operation state in the welding task file queue.

506. After receiving a welding task execution instruction CoTn1-1 carrying the welding task file fn1, the welding mechanism executes the welding task Tn1 represented by the task identification Tidn1 by running the welding task file fn1.

507. When a master controller receives a station host Hostn2 and issues a welding task execution request qn2, the welding task execution request qn2 carries a welding task file fn2, wherein the welding task file fn2 comprises a station identifier pro-n2 and a task identifier tin 2, the welding task file fn2 comprises a priority identifier priid2, and the priority identifier priid2 is used for identifying the priority of a welding task Tn2 represented by the task identifier tin 2; the station identifier pro-N2 is used for representing a vehicle type processing station corresponding to the station host Hostn2 in the N vehicle type processing stations; and adding the welding task file fn2 into a welding task file queue, and marking the working state of the welding task file fn2 as a state to be started in the welding task file queue.

When the welding task file queue has X welding task files containing priority identification prid 2, wherein X is a positive integer, the position of the welding task file fn2 in the welding task file queue is the last position of the X welding task files; the welding task files containing the same priority identification in the welding task file queue are adjacently placed, wherein the welding task files with higher priorities represented by the priority identification are located in the welding task file queue closer to the head of the queue. It will be appreciated that the same welding task files are identified by priorities and added to the welding task file queue in chronological order as received.

Referring to fig. 4-E, in the welding task file queue shown by way of example in fig. 4-E, the operating state of the welding task file fn2 is marked as a ready-to-start state.

508. When the welding task file fn2 is detected to be at the head of a welding task file queue, the working state of the welding task file fn1 in the welding task file queue is marked as an operating state, the priority indicated by the priority identification priid2 is higher than the priority indicated by the priority identification priid1 by at least 2 levels, and the master controller sends a task interrupt instruction comprising a station identification pro-n1 and a task identification tin 1 to the welding mechanism.

It will be appreciated that the interrupt mechanism is executed when the priority indicated by the priority identifier priid2 is higher than the priority indicated by the priority identifier priid1 by at least 2 levels (indicating a great difference in importance), and if the priority indicated by the priority identifier priid2 is higher than the priority indicated by the priority identifier priid1 by only 1 level (indicating a small difference in importance), then the welding task Tn1 of the lower priority currently being executed may not be interrupted, but the welding task Tn2 may be executed after the execution of the welding task Tn1 is completed.

509. After receiving the task interrupt instruction, the welding mechanism stops running the welding task file fn1 to interrupt the execution of the welding task Tn1, marks a task interrupt point dx1 in the welding task file fn1, and sends a task interrupt instruction response to the master controller, wherein the task interrupt instruction response carries the welding task file fn1 marked with the task interrupt point dx 1.

510. After receiving the task interrupt instruction response, the master controller reads the welding task file fn1 marked with the task interrupt point dx1 carried in the task interrupt instruction response, replaces the welding task file fn1 currently cached in the welding task file queue by using the read welding task file fn1 marked with the task interrupt point dx1, and marks the working state of the welding task file fn1 marked with the task interrupt point dx1 as an interrupt state in the welding task file queue.

Referring to fig. 4-F, in the welding task file queue shown by way of example in fig. 4-F, the operating state of the welding task file fn1 is marked as an interrupt state.

511. The master controller searches a mapping record matched with the station identifier pro-n2 in a cached station identifier and coordinate range mapping table, and reads out the coordinate range co-n2 of a vehicle type processing station represented by the station identifier pro-n2 recorded in the mapping record Pn2 when the mapping record Pn2 is searched, and sends a driving instruction carrying the coordinate range co-n2 to the servo motor group.

512. After receiving a driving instruction carrying a coordinate range co-n2, the servo motor unit drives the welding mechanism to move on the Y-direction sliding rail and/or move on the X-direction sliding rail so that the welding mechanism moves to the coordinate range co-n2; and after the welding mechanism moves to the coordinate range co-n2, feeding back a driving instruction execution completion response to the main controller, wherein the driving instruction execution completion response is used for indicating that the welding mechanism has moved to the coordinate range co-n2.

513. After receiving the response of the driving instruction execution completion, the main controller reads a welding task file fn2 carrying a station identifier pro-n2 from a welding task file queue, issues a welding task execution instruction CoTn2-1 to the welding mechanism, marks the working state of the welding task file fn2 as an operating state in the welding task file queue, wherein the welding task execution instruction CoTn2-1 carries the welding task file fn2, and the welding task file fn2 contains the station identifier pro-n2.

514. After receiving a welding task execution instruction CoTn2-1 carrying the welding task file fn2, the welding mechanism executes the welding task Tn2 described by the welding task file fn2 by operating the welding task file fn 2.

515. After the execution of the welding task Tn2 represented by the task identifier tin 2 is completed, the welding mechanism sends a welding task execution instruction completion response RCoTn2-1 to the master controller, wherein the welding task execution instruction completion response RCoTn2-1 is used for indicating the completion of the execution of the welding task Tn2.

516. After receiving the welding task execution instruction completion response RCoTn2-1 from the welding mechanism, the master controller deletes the welding task file fn2 from the welding task file queue, and sends a welding task execution request response Rqn to the station host Hostn2, where the welding task execution request response Rqn2 is used to indicate that the execution of the welding task Tn2 is complete.

517. When the master controller detects that the welding task file fn1 is located at the head of the welding task file queue, and a welding task file with a working state marked as an operating state does not exist in the welding task file queue, a mapping record matched with the station mark pro-n1 is searched in a cached station mark and coordinate range mapping table, when the mapping record Pn1 is searched, a coordinate range co-n1 of a vehicle type processing station represented by the station mark pro-n1 recorded in the mapping record Pn1 is read, and a driving instruction carrying the coordinate range co-n1 is sent to the servo motor group.

518. After receiving a driving instruction carrying a coordinate range co-n1, the servo motor group drives the welding mechanism to move on the Y-direction sliding rail and/or move on the X-direction sliding rail so that the welding mechanism moves to the coordinate range co-n1; after the welding mechanism moves to the coordinate range co-n1, a driving instruction execution completion response is fed back to the master controller, wherein the driving instruction execution completion response is used for indicating that the welding mechanism has moved to the coordinate range co-n1.

519. After receiving the response of the execution completion of the driving instruction, the master controller reads a welding task file fn1 marked with a task break point dx1 from a welding task file queue, issues a welding task execution instruction CoTn1-2 to the welding mechanism, marks the working state of the welding task file fn1 marked with the task break point dx1 as an operating state in the welding task file queue, and the welding task execution instruction CoTn1-2 carries the welding task file fn1 marked with the task break point dx 1.

520, after receiving a welding task execution instruction CoTn1-2 carrying a welding task file fn1, the welding mechanism starts to run the welding task file fn1 from a task interruption point dx1 marked in the welding task file fn1, and further continues to execute the welding task Tn1 represented by a task identifier Tidn1 from the task interruption point dx1

521. After the execution of the welding task Tn1 represented by the task identifier tin 1 is completed, the welding mechanism sends a welding task execution instruction completion response RCoTn1-2 to the master controller, wherein the welding task execution instruction completion response RCoTn1-2 is used for indicating the completion of the execution of the welding task Tn 1.

522. After receiving the welding task execution instruction completion response RCoTn1-2 from the welding mechanism, the master controller deletes the welding task file fn1 from the welding task file queue, and sends a welding task execution request response Rqn1 to the station host Hostn1, where the welding task execution request response Rqn1 is used to indicate that the execution of the welding task Tn1 is complete.

It can be seen that an interrupt mechanism is introduced in the embodiment of the application, so that welding tasks with different priorities can be scheduled and executed more flexibly, and more flexible and diversified processing requirements are met.

Referring to fig. 6, fig. 6 is a schematic flow chart of another switching control method of a heavy-duty swing mechanism provided in an embodiment of the present application, where the switching control method of the heavy-duty swing mechanism is applied to an automotive processing line system, the method may include:

601. the station host Hostn1 sends a welding task execution request qn1 carrying a welding task file fn1 to a master controller of a switching control device of the reloading slewing mechanism.

602. The method comprises the steps that a master controller receives a welding task execution request qn1 carrying a welding task file fn1 from a station host Hostn1, the welding task file fn1 is added into a welding task file queue, the welding task file fn1 comprises a station identifier pro-N1 and a task identifier tin 1, and the station host Hostn1 belongs to a vehicle type processing station represented by the station identifier pro-N1 in the N vehicle type processing stations.

603. When the master controller detects that the welding task file fn1 is located at the head of the welding task file queue, for example, other welding task files in a working state do not exist in the welding task file queue currently, and a mapping record matched with the station identifier pro-n1 is searched in a cached station identifier and coordinate range mapping table. When the mapping record Pn1 is found, the coordinate range co-n1 of the vehicle type processing station represented by the station identifier pro-n1 recorded in the mapping record Pn1 is read, and a driving instruction carrying the coordinate range co-n1 is sent to the servo motor group.

604. After receiving a driving instruction carrying a coordinate range co-n1, the servo motor unit drives the welding mechanism to move on the Y-direction sliding rail and/or move on the X-direction sliding rail so that the welding mechanism moves to the coordinate range co-n1; after the welding mechanism moves to the coordinate range co-n1, a driving instruction execution completion response is fed back to the master controller, wherein the driving instruction execution completion response is used for indicating that the welding mechanism has moved to the coordinate range co-n1.

605. After receiving the response of the driving instruction execution completion, the main controller reads a welding task file fn1 from a welding task file queue, and issues a welding task execution instruction CoTn1-1 to the welding mechanism, wherein the welding task execution instruction CoTn1-1 carries the welding task file fn1.

606. After receiving a welding task execution instruction CoTn1-1 carrying the welding task file fn1, the welding mechanism executes the welding task Tn1 represented by the task identification Tidn1 by running the welding task file fn1.

607. When a master controller receives a welding task execution request qn2 issued by a station host Hostn2, wherein the welding task execution request qn2 carries a welding task file fn2, the welding task file fn2 comprises a station identifier pro-n2 and a task identifier tin 2, the welding task file fn2 comprises a priority identifier priid2, and the priority identifier priid2 is used for identifying the priority of a welding task Tn2 represented by the task identifier tin 2; the station identifier pro-N2 is used for representing a vehicle type processing station corresponding to the station host Hostn2 in the N vehicle type processing stations; and adding the welding task file fn2 into a welding task file queue, and marking the working state of the welding task file fn2 as a state to be started in the welding task file queue.

608. When it is detected that the welding task file fn2 is at the head of a welding task file queue, the working state of the welding task file fn1 in the welding task file queue is marked as an operating state, and the priority indicated by the priority identification priid2 is higher than the priority indicated by the priority identification priid1 by at least 2 levels, the master controller sends a task interrupt instruction comprising a station identification pro-n1 and a task identification Tidn1 to the welding mechanism.

It will be appreciated that the interrupt mechanism is executed when the priority indicated by the priority identifier priid2 is higher than the priority indicated by the priority identifier priid1 by at least 2 levels (indicating a great difference in importance), and if the priority indicated by the priority identifier priid2 is higher than the priority indicated by the priority identifier priid1 by only 1 level (indicating a small difference in importance), then the welding task Tn1 of the lower priority currently being executed may not be interrupted, but the welding task Tn2 may be executed after the welding task Tn1 is executed.

609. After receiving the task interrupt instruction, the welding mechanism stops running the welding task file fn1 to interrupt the execution of the welding task Tn1, marks a task interrupt point dx1 in the welding task file fn1, and sends a task interrupt instruction response to the master controller, wherein the task interrupt instruction response carries the welding task file fn1 marked with the task interrupt point dx 1.

610. After receiving the task interruption instruction response, the master controller reads the welding task file fn1 carried in the task interruption instruction response and sends a welding quality inspection instruction to the station host Hostn 1.

611. After receiving a welding quality inspection instruction response fed back by the station host Hostn1, a main controller reads a welding quality inspection file carried by the welding quality inspection instruction response, and obtains a welding quality evaluation result of an executed part of the welding task Tn1 based on the welding quality inspection file; if the welding quality evaluation result meets the requirement, replacing the welding task file fn1 currently cached in the welding task file queue by using the read welding task file fn1 marked with the task break point dx1, and marking the working state of the welding task file fn1 marked with the task break point dx1 as an interrupt state in the welding task file queue; if the welding quality evaluation result is not in accordance with the requirement, modifying a task break point dx1 marked in the welding task file fn1 read from the task break instruction response into a task break point dx2 according to the welding quality evaluation result, wherein the task break point dx1 is later than the task break point dx2; and replacing the welding task file fn1 currently cached in the welding task file queue by using the welding task file fn1 marked with the task break point dx2, and marking the working state of the welding task file fn1 marked with the task break point dx2 as an interrupt state in the welding task file queue. In this embodiment, the welding quality evaluation result is described as an example of unsatisfactory welding quality.

612. The master controller searches a mapping record matched with the station identifier pro-n2 in a cached station identifier and coordinate range mapping table, and reads out the coordinate range co-n2 of a vehicle type processing station represented by the station identifier pro-n2 recorded in the mapping record Pn2 when the mapping record Pn2 is searched, and sends a driving instruction carrying the coordinate range co-n2 to the servo motor group.

613. After receiving a driving instruction carrying a coordinate range co-n2, the servo motor unit drives the welding mechanism to move on the Y-direction sliding rail and/or move on the X-direction sliding rail so that the welding mechanism moves to the coordinate range co-n2; and after the welding mechanism moves to the coordinate range co-n2, feeding back a driving instruction execution completion response to the main controller, wherein the driving instruction execution completion response is used for indicating that the welding mechanism has moved to the coordinate range co-n2.

614. After receiving the response of the driving instruction execution completion, the main controller reads a welding task file fn2 carrying a station identifier pro-n2 from a welding task file queue, issues a welding task execution instruction CoTn2-1 to the welding mechanism, and marks the working state of the welding task file fn2 as an operating state in the welding task file queue, wherein the welding task execution instruction CoTn2-1 carries the welding task file fn2, and the welding task file fn2 contains the station identifier pro-n2.

615. After receiving a welding task execution instruction CoTn2-1 carrying the welding task file fn2, the welding mechanism executes the welding task Tn2 described by the welding task file fn2 by operating the welding task file fn 2.

616. After the execution of the welding task Tn2 represented by the task identifier tin 2 is completed, the welding mechanism sends a welding task execution instruction completion response RCoTn2-1 to the master controller, wherein the welding task execution instruction completion response RCoTn2-1 is used for indicating the completion of the execution of the welding task Tn 2.

617. The master controller deletes the welding task file fn2 from the welding task file queue after receiving the welding task execution instruction completion response RCoTn2-1 from the welding institution.

618. When the master controller detects that the welding task file fn1 is located at the head of the welding task file queue, and a welding task file with a working state marked as an operating state does not exist in the welding task file queue currently, a mapping record matched with the station mark pro-n1 is searched in a cached station mark and coordinate range mapping table, when the mapping record Pn1 is searched, a coordinate range co-n1 of a vehicle type processing station represented by the station mark pro-n1 recorded in the mapping record Pn1 is read, and a driving instruction carrying the coordinate range co-n1 is sent to the servo motor group.

619. After receiving a driving instruction carrying a coordinate range co-n1, the servo motor group drives the welding mechanism to move on the Y-direction sliding rail and/or move on the X-direction sliding rail so that the welding mechanism moves to the coordinate range co-n1; after the welding mechanism moves to the coordinate range co-n1, a driving instruction execution completion response is fed back to the master controller, wherein the driving instruction execution completion response is used for indicating that the welding mechanism has moved to the coordinate range co-n1.

620. After receiving the response of the execution completion of the driving instruction, the master controller reads a welding task file fn1 marked with a task break point dx2 from a welding task file queue, issues a welding task execution instruction CoTn1-3 to the welding mechanism, marks the working state of the welding task file fn1 marked with the task break point dx2 as an operating state in the welding task file queue, and the welding task execution instruction CoTn1-3 carries the welding task file fn1 marked with the task break point dx 2.

621, after receiving a welding task execution instruction CoTn1-3 carrying a welding task file fn1, the welding mechanism starts to run the welding task file fn1 from a task interruption point dx1 marked in the welding task file fn1, and further continues to execute the welding task Tn1 represented by a task identifier Tidn1 from the task interruption point dx 1.

622. After the execution of the welding task Tn1 represented by the task identifier tin 1 is completed, the welding mechanism sends a welding task execution instruction completion response RCoTn1-3 to the master controller, wherein the welding task execution instruction completion response RCoTn1-3 is used for indicating the completion of the execution of the welding task Tn1.

623. The master controller deletes the welding task file fn1 from the welding task file queue after receiving the welding task execution instruction completion response RCoTn1-3 from the welding institution.

It can be seen that an interrupt mechanism and an interrupt point adjustment mechanism are introduced in the embodiment of the application, so that welding tasks with different priorities can be scheduled and executed more flexibly, and more flexible and diversified processing requirements are met.

The present application also provides a computer storage medium storing a computer program for implementing part or all of the steps of any one of the methods provided in the embodiments of the present application when the computer program is executed by hardware.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

For convenience and brevity, the method embodiments may also be referred to by mutual reference, and will not be described in detail. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, such as the division of the units, merely a logical function division, and there may be additional divisions in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (such as a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.

The foregoing is merely some specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. The scope of the application is therefore intended to be covered by the following claims.

Claims

1. A switching control device of a heavy-duty swing mechanism, comprising: the welding device comprises a sliding rail set, a servo motor set, a welding mechanism and a master controller; the servo motor unit is in communication connection with the master controller, and the welding mechanism is in communication connection with the master controller;

the slide rail group includes: an X-direction slide rail and a Y-direction slide rail; the servo motor group comprises an X-direction servo motor and a Y-direction servo motor; the X-direction servo motor can drive the welding mechanism to move on the X-direction sliding rail; the Y-direction servo motor can drive the welding mechanism to move on Y-direction sliding rails, and the sliding rail sets are used for butting N vehicle type processing stations; different vehicle type processing stations can distinguish marks through different station marks, and N is an integer greater than 1;

the master controller is configured to add a welding task file fn1 to a welding task file queue after receiving a welding task execution request qn1 carrying the welding task file fn1 from a station host Hostn1, where the welding task file fn1 includes a station identifier pro-N1 and a task identifier Tidn1, and the station host Hostn1 belongs to a vehicle type processing station represented by the station identifier pro-N1 among the N vehicle type processing stations;

The master controller is further configured to, when detecting that the welding task file fn1 is located at the head of the welding task file queue, search a mapping record matching with the station identifier pro-n1 in a cached station identifier and coordinate range mapping table, and when the mapping record Pn1 is found, read out a coordinate range co-n1 of a vehicle type processing station represented by the station identifier pro-n1 recorded in the mapping record Pn1, and send a driving instruction carrying the coordinate range co-n1 to the servo motor group;

the servo motor unit is used for driving the welding mechanism to move on the Y-direction sliding rail and/or move on the X-direction sliding rail after receiving a driving instruction carrying the coordinate range co-n1 so that the welding mechanism moves to the coordinate range co-n1; after the welding mechanism moves to the coordinate range co-n1, feeding back a driving instruction execution completion response to the main controller, wherein the driving instruction execution completion response is used for indicating that the welding mechanism has moved to the coordinate range co-n1;

the main controller is further used for reading a welding task file fn1 from a welding task file queue after receiving the driving instruction execution completion response, and issuing a welding task execution instruction CoTn1-1 to the driving welding mechanism, wherein the welding task execution instruction CoTn1-1 carries the welding task file fn1;

2. The switching control device according to claim 1, wherein,

the master is also configured to: after the welding task file fn1 is added into a welding task file queue, marking the working state of the welding task file fn1 as a state to be started in the welding task file queue;

3. The switching control device according to claim 2, wherein the master controller is further configured to send a task interrupt instruction including a station identifier pro-n1 and a task identifier Tidn1 to the welding mechanism;

4. The switching control device according to claim 3, wherein when the master controller detects that a welding task file fn1 is located at the head of the welding task file queue, and a welding task file with a working state marked as an operating state does not exist in the welding task file queue, a mapping record matched with the station identifier pro-n1 is searched in a cached station identifier and coordinate range mapping table, and when mapping record Pn1 is searched, a coordinate range co-n1 of a vehicle type processing station represented by the station identifier pro-n1 recorded in the mapping record Pn1 is read out, and a driving instruction carrying the coordinate range co-n1 is sent to the servo motor group;

the master controller is further configured to, after receiving the response of the execution completion of the driving instruction, read a welding task file fn1 marked with a task break point dx1 from a welding task file queue, issue a welding task execution instruction CoTn1-2 to the driving welding mechanism, and mark a working state of the welding task file fn1 marked with the task break point dx1 in the welding task file queue as an operating state, where the welding task execution instruction CoTn1-2 carries the welding task file fn1 marked with the task break point dx 1;

5. The switching control device according to claim 2, wherein the master controller is further configured to send a task interrupt instruction including a station identifier pro-n1 and a task identifier Tidn1 to the welding mechanism;

6. The switching control device according to claim 5, wherein,

7. The switching control device according to any one of claims 3 to 5, wherein,

the master controller is further configured to, before sending a task interrupt instruction including a station identifier pro-n1 to the welding mechanism, receive a welding task execution request qn2 issued by a station host Hostn2, where the welding task execution request qn2 carries a welding task file fn2, where the welding task file fn2 includes the station identifier pro-n2 and a task identifier tin 2, where the welding task file fn2 includes a priority identifier priid2, where the priority identifier priid2 is used to identify a priority of a welding task Tn2 represented by the task identifier tin 2; the station identifier pro-N2 is used for representing a vehicle type processing station corresponding to the station host Hostn2 in the N vehicle type processing stations; adding the welding task file fn2 into a welding task file queue, and marking the working state of the welding task file fn2 as a state to be started in the welding task file queue;

the master controller is further configured to, when it is detected that the welding task file fn2 is at the head of the welding task file queue and the priority indicated by the priority identifier priid2 is at least 2 levels higher than the priority indicated by the priority identifier priid1, execute a step of sending a task interrupt instruction including a station identifier pro-n1 and a task identifier Tidn1 to the welding mechanism, search a mapping record matching with the station identifier pro-n2 in a cached station identifier and coordinate range mapping table, and when the mapping record Pn2 is found, read a coordinate range co-n2 of a vehicle model processing station indicated by the station identifier pro-n2 recorded in the mapping record Pn2, and send a driving instruction carrying the coordinate range co-n2 to the servo motor group;

8. The switching control device according to claim 2, wherein the welding mechanism is further configured to send a welding task execution instruction completion response RCoTn1-1 to the master after completion of execution of the welding task Tn1 represented by the task identifier tin 1, the welding task execution instruction completion response RCoTn1-1 being configured to instruct completion of execution of the welding task Tn 1.

9. The switching control device according to claim 8, wherein the master is further configured to delete the welding task file fn1 from the welding task file queue after receiving the welding task execution instruction completion response RCoTn1-1 from the welding institution, and send a welding task execution request response Rqn1 to the station host Hostn1, the task execution request response Rqn being configured to indicate that the welding task Tn1 is completed.

10. An automotive processing production line system, comprising: switching control device of N vehicle model processing stations and the heavy-duty swing mechanism according to any one of claims 1 to 9;