CN116394233B - Mechanical arm control method, storage medium and electronic equipment - Google Patents
Mechanical arm control method, storage medium and electronic equipment Download PDFInfo
- Publication number
- CN116394233B CN116394233B CN202310039721.2A CN202310039721A CN116394233B CN 116394233 B CN116394233 B CN 116394233B CN 202310039721 A CN202310039721 A CN 202310039721A CN 116394233 B CN116394233 B CN 116394233B
- Authority
- CN
- China
- Prior art keywords
- basket
- taking
- placing
- tank body
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 42
- 210000004027 cell Anatomy 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 8
- 238000009825 accumulation Methods 0.000 claims description 2
- 210000005056 cell body Anatomy 0.000 claims description 2
- 239000000758 substrate Substances 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- XYDVHKCVOMGRSY-UHFFFAOYSA-N 4-(4-benzylphenyl)-1,3-thiazol-2-amine Chemical compound S1C(N)=NC(C=2C=CC(CC=3C=CC=CC=3)=CC=2)=C1 XYDVHKCVOMGRSY-UHFFFAOYSA-N 0.000 description 2
- 101000928034 Homo sapiens Proteasomal ubiquitin receptor ADRM1 Proteins 0.000 description 2
- 102100036915 Proteasomal ubiquitin receptor ADRM1 Human genes 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The embodiment of the disclosure provides a mechanical arm control method, a storage medium and electronic equipment, which are applied to a groove type cleaning machine. The basket taking and placing tasks are generated for the cleaning machine based on the basket taking and placing positions, are distributed to the corresponding mechanical arms based on the operation areas of each mechanical arm, and after task distribution is completed, the mechanical arms are scheduled to execute the corresponding basket taking and placing tasks, so that the flexibility of the mechanical arms is controlled, and the cleaning efficiency is improved.
Description
Technical Field
The application belongs to the technical field of semiconductor processes, and particularly relates to a mechanical arm control method, a storage medium and electronic equipment.
Background
At present, in the field of semiconductor processing, especially in the photovoltaic industry, a groove type wet cleaning method is generally used, and a groove type cleaning machine generally controls the technological process by controlling the movement of a mechanical arm to take and place a flower basket in each groove body.
At present, the control of the mechanical arm is only suitable for one mechanical arm, or the control logic is not flexible enough, and the verification of the movement track of the mechanical arm during the process of adding or changing is tedious and inefficient, and the mechanical arm can not simultaneously support various formula tracks, so that the cleaning efficiency is low.
Disclosure of Invention
In view of the above-described problems, the present invention aims to solve, at least to some extent, one of the technical problems in the related art. To this end, the invention provides a mechanical arm control method, a storage medium and an electronic device.
According to one aspect of the present disclosure, a method of controlling a robot arm is provided, which is applied to a tank cleaning machine including a plurality of tank bodies each having a corresponding process, the method comprising:
generating a basket taking and placing task, wherein the basket taking and placing task at least comprises a basket taking position and a basket placing position;
and distributing the basket taking and placing tasks to the corresponding mechanical arms at least based on the basket taking position, the basket placing position and the operation area of the mechanical arms, wherein the operation area comprises one or more groove bodies.
In some embodiments, the generating a basket task includes:
traversing the plurality of trough bodies in sequence, judging whether the current trough body number is smaller than or equal to the lower trough body number, wherein the plurality of trough bodies are sequentially increased in number according to the sequence from the upper trough body to the lower trough body;
if the current tank body number is smaller than or equal to the blanking tank body number, judging whether the current tank body meets a basket taking condition or not based on parameters corresponding to the current tank body, wherein the parameters at least comprise the number of the basket in the tank body;
if the basket taking condition is met, acquiring corresponding basket taking positions and basket placing positions based on a formula corresponding to the number of the basket in the current tank body, taking the next tank body as the current tank body, and returning to the step of judging whether the number of the current tank body is smaller than or equal to the number of the lower tank body;
if the basket taking condition is not met, a basket placing task is not generated, the next tank body is taken as the current tank body, and the step of judging whether the number of the current tank body is smaller than or equal to the number of the lower tank body is returned;
and if the current tank body number is larger than the blanking tank body number, triggering the mechanical arm to execute the basket taking and placing task.
In some embodiments, the basket extraction conditions include: the basket is arranged in the current tank body, the accumulated time of the basket in the current tank body reaches the preset time, and the current tank body is not forbidden.
In some embodiments, the parameters further comprise: basket parameters, basket accumulation duration parameters, and current tank disable parameters.
In some embodiments, the formula is specifically a sequential position table of the tank body, and the acquiring the corresponding basket taking position and the basket placing position based on the formula corresponding to the number of the basket in the tank body currently includes:
searching and acquiring the position of the current groove body in the position table according to the sequence, wherein the position is used as a basket taking position corresponding to the basket taking and placing task;
traversing the position table backwards from the basket taking position according to the sequence until a groove body corresponding to the current position in the position table meets basket placing conditions, and taking the position as a basket placing position corresponding to the basket taking and placing task;
the groove bodies comprise parallel groove bodies with the same functions, the position table is traversed backwards from the basket taking position according to the sequence, and the position of the parallel groove bodies, corresponding to the basket taking position, of the groove bodies is skipped.
In some embodiments, the basket setting condition comprises: the tank body corresponding to the current position is not forbidden, no basket exists in the tank body corresponding to the current position, the working mode of the tank body corresponding to the current position is an automatic mode, and the parallel tank bodies of the same process are placed in sequence.
In some embodiments, each of the robotic arms sequentially performs basket picking and placing tasks based on their corresponding basket picking and placing task priorities.
In some embodiments, for the basket picking and placing tasks with parallel priorities, the basket picking and placing tasks corresponding to the longer the waiting time period are executed earlier based on basket picking and placing waiting time periods.
In some embodiments, the sequential position table is a two-dimensional table, values in cells are numbers of corresponding tanks, the presence of a plurality of tank numbers in a same column indicates that the plurality of tanks are parallel tanks, and the acquiring the corresponding basket taking and placing positions based on a formula corresponding to the number of the basket in the tank currently includes:
traversing the two-dimensional table according to the sequence of firstly traversing the two-dimensional table column by column and then traversing the two-dimensional table row by row, acquiring the position of the current groove body in the two-dimensional table, and taking the position as a basket taking position;
traversing the two-dimensional table from the next column of the cell at the basket taking position according to the sequence of first row by column and then row by row until the cell body corresponding to the current cell meets the basket placing condition, and taking the position as the basket placing position.
In some embodiments, the assigning the basket picking and placing task to the corresponding robotic arm based at least on the basket picking and placing positions and a working area of the robotic arm includes:
and the basket taking and placing position is positioned in a working area of the first mechanical arm, and then the basket taking and placing task is distributed to the first mechanical arm.
Embodiments of the present application also provide a computer readable storage medium having stored thereon program instructions executable by a processor to implement steps in a method for controlling a robotic arm as described in any of the embodiments above.
The embodiment of the application also provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the steps in the mechanical arm control method according to any embodiment by calling the computer program stored in the memory.
The embodiment of the disclosure provides a mechanical arm control method, a storage medium and electronic equipment, which are applied to a groove type cleaning machine. The basket taking and placing tasks are generated for the cleaning machine based on the basket taking and placing positions, are distributed to the corresponding mechanical arms based on the operation areas of each mechanical arm, and after task distribution is completed, the mechanical arms are scheduled to execute the corresponding basket taking and placing tasks, so that the flexibility of the mechanical arms is controlled, and the cleaning efficiency is improved.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
Fig. 1 is a schematic diagram of a method for controlling a mechanical arm according to some exemplary embodiments of the present application;
fig. 2 is a schematic full flow diagram of a method for controlling a robotic arm according to some exemplary embodiments of the present application;
FIG. 3 is a schematic illustration of a recipe structure and a robotic arm operating range provided by some exemplary embodiments of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to some exemplary embodiments of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Embodiment one:
specifically, referring to fig. 1, a method for controlling a mechanical arm is provided in the present disclosure. For use in a tank washer, typically the tank washer includes a plurality of tanks, each tank having a corresponding process. The method comprises the following specific steps:
step S100: and generating a basket taking and placing task, wherein the basket taking and placing task at least comprises a basket taking position and a basket placing position.
In some embodiments, the washer typically has a plurality of tanks, each tank having a number, and a washer having 30 tanks is described below as an example, it being understood that the disclosed embodiments are not limited to this example.
The number of the slot body can be a number of 10, for example, 0, 1, 2, 3, … and 29 respectively, wherein the number 0 slot is an upper slot, and the number 29 slot is a lower slot, and it can be understood that the number of the slot body can also be a binary number or other coding modes in a convention. Some of the grooves are parallel and have the same function, for example, the groove No. 5 and the groove No. 6 are parallel, and one of the grooves can be selected to execute the corresponding process.
According to the sequence from the feeding trough to the discharging trough, all trough bodies are sequentially traversed to generate corresponding basket taking and placing tasks, and the detailed process is as follows, referring to fig. 2:
starting from the feeding trough, starting from 0, assigning a value of 1 to each trough body every time a plurality of passes, for example, assigning a value of 29 when a pass is made to the discharging trough; comparing the assigned current slot number with the blanking slot number corresponding to the blanking slot, and judging that the current slot number < = blanking slot number is FALSE when the assigned current slot number is larger than the blanking slot number; indicating that all basket picking and placing tasks are generated and distributed, namely triggering a dispatching mechanical arm to execute the basket picking and placing task.
When the judgment of the current slot number < = blanking slot number is TRUE, further judging whether the current slot meets the basket taking condition, specifically, when the following three basket taking conditions are met simultaneously, judging that the current slot basket taking condition is TRUE, and if only one condition is not met, generating 0 basket taking and putting tasks or not generating basket taking and putting tasks, and returning to the judgment step of the current slot number < = blanking slot number, and judging the next slot number given to the current slot number.
Basket taking condition one: a basket is arranged in the current groove;
basket taking condition II: the accumulated time length of the basket in the current groove reaches the preset time length;
basket taking conditions III: the current slot is not disabled;
each groove corresponds to a parameter table, and some parameters are updated in real time to record the current groove conditions, such as the number of the basket, the basket parameters, the accumulated basket duration parameters and the forbidden parameters of the groove body, and whether basket taking conditions are met is judged based on the parameters in the table.
After the "current slot basket condition" is determined to be TRUE, the recipe (record) content of the corresponding number is loaded according to the number of the basket in the current slot, and each record content is shown in fig. 3, and in some embodiments, the recipe is specifically a track table, which is understood that the disclosure is not limited to the data structure of the table.
In some embodiments, the track table may be a two-dimensional table, where a cell position in the track table represents a slot, and the value corresponding to the cell is the slot number (no value is considered to be no corresponding slot). In practical applications, a two-dimensional table may be represented by a two-dimensional array, where the positions of the slots are represented by row numbers i and column numbers j, e.g., (i=1, j=1) for slot No. 0 and (i=2, j=7) for slot No. 9 in fig. 3. If there are a plurality of slots in the same column, this means that the plurality of slots are parallel slots having the same function.
In some embodiments, after loading the track table, if there is a parallel slot, the column may be further marked according to whether the parallel slot is disabled or not, in combination with the parameter table corresponding to the slot, where the mark is used to identify whether the parallel slot of the column is all disabled or not. The positions of the current slots in the track table are searched according to the sequence of column by column and row by row, wherein if all parallel slots in a certain column are forbidden, the column is skipped and the next column is directly searched, so that the searching efficiency can be improved and unnecessary errors can be avoided. For example, when traversing assignment to the current slot being the slot No. 5, searching for a cell with the content of "5" from (i=1, j=1), if all the 2 parallel slots of the slot No. 1 and the slot No. 2 in the column of j=2 are marked as disabled, searching for the cell with the content of "5" directly from the column of j=3 until the cell with the content of "5" is found at the position of (i=1, j=5), and performing a start point mark (like) as a basket taking position of a basket taking task generated subsequently. The above basket fetch condition three determines that the column in which the current slot is located must not be marked as disabled.
After finding the basket taking position, searching for the basket placing position from the next column of the cell where the take point is located, traversing each cell according to the sequence of column by column and row by row, and judging whether the traversed groove corresponding to the current cell meets the basket placing condition. Similarly, when the following four conditions are satisfied simultaneously, the "basket condition" is determined as TRUE, and if one of the conditions is not satisfied, the determination is FALSE, and the traversal is continued, with the next slot being the current slot.
Basket placing condition one: the current cell is not marked as disabled. (some recurs will appear to return to slot 0).
Basket placing conditions II: there is no basket in the slot corresponding to the current cell.
Basket placing conditions III: the operation mode of the slot corresponding to the current cell is an automatic mode, i.e. the case of not being switched to a manual operation mode.
Basket placing conditions are four: the parallel tanks of the same process are placed in turn.
After the judgment of the basket setting condition is TRUE, the basket setting position of the basket taking and setting task is found, end point marking (put) is carried out, and a basket taking and setting task is generated by combining a take and put.
Step S200: and distributing basket taking and placing tasks to the corresponding mechanical arms at least based on the basket taking position, the basket placing position and the operation area of the mechanical arms, wherein the operation area comprises one or more groove bodies.
In some embodiments, after the basket picking and placing task is generated, determining to which operation area of the ARM (ARM) the basket picking and placing task belongs, referring to fig. 3, performing traversing from the ARM1 (ARM 1), when the slots corresponding to the take and put are all in the operation area of a certain ARM, considering that the basket picking and placing task belongs to the ARM, and storing the basket picking and placing task number in the task table of the ARM. Each basket taking task is provided with a priority parameter, and the priority parameter can be indexed through a basket taking groove number.
In some embodiments, after traversing all slot numbers, 0, or 1, or more basket picking and placing task numbers are stored in the task table of each mechanical arm, so as to instruct the mechanical arm to execute basket picking and placing tasks. And traversing from ARM1, sequencing the tasks of each mechanical ARM according to the priority, and distributing the task with the highest priority to the corresponding mechanical ARM. When priority parallelization occurs, sequencing according to the basket taking waiting time, and distributing tasks with longer basket taking waiting time to corresponding mechanical arms for execution. And executing all tasks until the last mechanical arm is traversed.
Embodiment two:
correspondingly, the embodiment of the application also provides electronic equipment which can be a terminal or a server. As shown in fig. 4, fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
The electronic device 400 includes a processor 401 having one or more processing cores, a memory 402 having one or more computer readable storage media, and a computer program stored on the memory 402 and executable on the processor. The processor 401 is electrically connected to the memory 402. It will be appreciated by those skilled in the art that the electronic device structure shown in the figures is not limiting of the electronic device and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
The processor 401 is a control center of the electronic device 400, connects various parts of the entire electronic device 400 using various interfaces and lines, and performs various functions of the electronic device 400 and processes data by running or loading software programs (computer programs) and/or units stored in the memory 402, and calling data stored in the memory 402, thereby performing overall monitoring of the electronic device 400.
In the embodiment of the present application, the processor 401 in the electronic device 400 loads the instructions corresponding to the processes of one or more application programs into the memory 402 according to the following steps, and the processor 401 executes the application programs stored in the memory 402, so as to implement various functions:
step S100: generating a basket taking and placing task, wherein the basket taking and placing task at least comprises a basket taking position and a basket placing position,
step S200: and distributing basket taking and placing tasks to the corresponding mechanical arms at least based on the basket taking position, the basket placing position and the operation area of the mechanical arms, wherein the operation area comprises one or more groove bodies.
The specific implementation of each operation may refer to the foregoing embodiments, and will not be repeated herein.
Optionally, as shown in fig. 4, the electronic device 400 further includes: a robot arm control unit 403, a communication module 404, an input unit 405, and a power supply 406. The processor 401 is electrically connected to the mechanical arm control unit 403, the communication module 404, the input unit 405 and the power supply 406, respectively. Those skilled in the art will appreciate that the electronic device structure shown in fig. 4 is not limiting of the electronic device and may include more or fewer components than shown, or may combine certain components, or may be arranged in different components.
The robot arm control unit 403 may be used to implement control of the robot arm.
The communication module 404 may be used to communicate with other devices.
The input unit 405 may be used to receive input numbers, character information, or user characteristic information (e.g., fingerprint, iris, facial information, etc.), and to generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control.
The power supply 406 is used to power the various components of the electronic device 400. Alternatively, the power supply 406 may be logically connected to the processor 401 through a power management system, so as to implement functions of managing charging, discharging, and power consumption management through the power management system. The power supply 406 may also include one or more of any components, such as a direct current or alternating current power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
Example III
Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor.
To this end, the embodiments of the present application provide a computer readable storage medium in which a plurality of computer programs are stored, the computer programs being capable of being loaded by a processor to perform the steps in the robot arm control method provided in the embodiments of the present application. For example, the computer program may perform the steps of:
step S100: and generating a basket taking and placing task, wherein the basket taking and placing task at least comprises a basket taking position and a basket placing position.
Step S200: and distributing basket taking and placing tasks to the corresponding mechanical arms at least based on the basket taking position, the basket placing position and the operation area of the mechanical arms, wherein the operation area comprises one or more groove bodies.
The specific implementation of each operation above may be referred to the previous embodiments, and will not be described herein.
Wherein the computer-readable storage medium may comprise: read Only Memory (ROM), random access Memory (RAM, random Access Memory), magnetic or optical disk, and the like.
The steps in any of the mechanical arm control methods provided in the embodiments of the present application may be executed by the computer program stored in the storage medium, so that the beneficial effects that any of the mechanical arm control methods provided in the embodiments of the present application may be achieved, which are described in detail in the previous embodiments and are not repeated herein.
The parts of the present invention not described in detail in the specification are known to those skilled in the art.
In the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. It should be noted that, as used herein, the term "and/or"/"is merely an association relationship describing the association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A method of controlling a robotic arm for use with a tank washer, the tank washer including a plurality of tanks, each tank having a corresponding process, the method comprising:
generating a basket taking and placing task, wherein the basket taking and placing task at least comprises a basket taking position and a basket placing position;
distributing the basket picking and placing tasks to the corresponding mechanical arms at least based on the basket picking positions, the basket placing positions and the operation areas of the mechanical arms, wherein the operation areas comprise one or more groove bodies,
the generating basket picking and placing task comprises the following steps: traversing the plurality of trough bodies in sequence, judging whether the current trough body number is smaller than or equal to the lower trough body number, wherein the plurality of trough bodies are sequentially increased in number according to the sequence from the upper trough body to the lower trough body;
if the current tank body number is smaller than or equal to the blanking tank body number, judging whether the current tank body meets a basket taking condition or not based on parameters corresponding to the current tank body, wherein the parameters at least comprise the number of the basket in the tank body;
if the basket taking condition is met, acquiring corresponding basket taking positions and basket placing positions based on a formula corresponding to the number of the basket in the current tank body, taking the next tank body as the current tank body, and returning to the step of judging whether the number of the current tank body is smaller than or equal to the number of the lower tank body;
if the basket taking condition is not met, a basket placing task is not generated, the next tank body is taken as the current tank body, and the step of judging whether the number of the current tank body is smaller than or equal to the number of the lower tank body is returned;
if the current tank body number is larger than the blanking tank body number, triggering the mechanical arm to execute the basket taking and placing task,
the basket taking conditions comprise: the basket is arranged in the current tank body, the accumulated time of the basket in the current tank body reaches the preset time length, and the current tank body is not forbidden,
the parameters further include: basket parameters, basket accumulation duration parameters, and current tank disable parameters.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the formula is specifically a sequential position table of the tank body, and the acquiring of the corresponding basket taking position and basket placing position based on the formula corresponding to the serial number of the basket in the tank body comprises the following steps:
searching and acquiring the position of the current groove body in the position table according to the sequence, wherein the position is used as a basket taking position corresponding to the basket taking and placing task;
traversing the position table backwards from the basket taking position according to the sequence until a groove body corresponding to the current position in the position table meets basket placing conditions, and taking the position as a basket placing position corresponding to the basket taking and placing task;
the groove bodies comprise parallel groove bodies with the same functions, the position table is traversed backwards from the basket taking position according to the sequence, and the position of the parallel groove bodies, corresponding to the basket taking position, of the groove bodies is skipped.
3. The method of claim 2, wherein the basket setting condition comprises: the tank body corresponding to the current position is not forbidden, no basket exists in the tank body corresponding to the current position, the working mode of the tank body corresponding to the current position is an automatic mode, and the parallel tank bodies of the same process are placed in sequence.
4. A method according to claim 3, wherein each robotic arm sequentially performs basket picking and placing tasks based on their corresponding basket picking and placing task priorities.
5. The method of claim 4, wherein for the basket-picking tasks with parallel priorities, the earlier the basket-picking task corresponding to the longer the waiting period is performed based on basket-picking waiting period.
6. The method according to claim 2, wherein the sequential position table is a two-dimensional table, the values in the cells are numbers of corresponding tanks, the presence of a plurality of tank numbers in a same column indicates that the plurality of tanks are parallel tanks, and the acquiring the respective basket picking and placing positions based on the recipe corresponding to the number of the basket in the tank currently includes: traversing the two-dimensional table according to the sequence of firstly traversing the two-dimensional table column by column and then traversing the two-dimensional table row by row, acquiring the position of the current groove body in the two-dimensional table, and taking the position as a basket taking position; traversing the two-dimensional table from the next column of the cell at the basket taking position according to the sequence of first row by column and then row by row until the cell body corresponding to the current cell meets the basket placing condition, and taking the position as the basket placing position.
7. The method of claim 1, wherein the assigning the pick-and-place basket task to the corresponding robotic arm based at least on the pick-and-place basket position and a work area of the robotic arm comprises: and the basket taking and placing position is positioned in a working area of the first mechanical arm, and then the basket taking and placing task is distributed to the first mechanical arm.
8. A computer readable storage medium having stored thereon program instructions executable by a processor to implement the steps of the method according to any of claims 1-7.
9. An electronic device comprising a memory in which a computer program is stored and a processor that performs the steps in the method of any of claims 1-7 by invoking the computer program stored in the memory.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310039721.2A CN116394233B (en) | 2023-01-12 | 2023-01-12 | Mechanical arm control method, storage medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310039721.2A CN116394233B (en) | 2023-01-12 | 2023-01-12 | Mechanical arm control method, storage medium and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116394233A CN116394233A (en) | 2023-07-07 |
| CN116394233B true CN116394233B (en) | 2024-03-19 |
Family
ID=87011197
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310039721.2A Active CN116394233B (en) | 2023-01-12 | 2023-01-12 | Mechanical arm control method, storage medium and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116394233B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1050571A (en) * | 1996-08-05 | 1998-02-20 | Nec Corp | Method and device for controlling production |
| KR19990004767A (en) * | 1997-06-30 | 1999-01-25 | 배순훈 | Manufacturing method of thin film type optical path control device |
| JP2010107403A (en) * | 2008-10-31 | 2010-05-13 | Hitachi High-Technologies Corp | System and method for pretreating examination of specimen |
| JP2014127627A (en) * | 2012-12-27 | 2014-07-07 | Tokyo Electron Ltd | Cleaning method of thin film deposition apparatus, thin film deposition method, thin film deposition apparatus, and program |
| CN103962357A (en) * | 2013-02-05 | 2014-08-06 | 西安永电电气有限责任公司 | DBC (direct bonding copper) substrate cleaning flower basket structure and cleaning method |
| CN112157655A (en) * | 2020-09-21 | 2021-01-01 | 常州科讯精密机械有限公司 | Flower basket free path implementation method, software system, device, server and system |
| CN112185868A (en) * | 2020-09-21 | 2021-01-05 | 常州科讯精密机械有限公司 | Flower basket path time prejudging method, program system, device, server and system |
| CN112659119A (en) * | 2020-12-02 | 2021-04-16 | 广东博智林机器人有限公司 | Control method and device of mechanical arm, electronic equipment and storage medium |
| TW202235230A (en) * | 2021-03-09 | 2022-09-16 | 南亞科技股份有限公司 | Semiconductor apparatus and operating method thereof |
| WO2022206041A1 (en) * | 2021-03-29 | 2022-10-06 | 江苏亚电科技有限公司 | Photovoltaic silicon wafer cleaning apparatus |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6586443B2 (en) * | 2017-10-10 | 2019-10-02 | 東京エレクトロン株式会社 | Method for processing an object |
-
2023
- 2023-01-12 CN CN202310039721.2A patent/CN116394233B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1050571A (en) * | 1996-08-05 | 1998-02-20 | Nec Corp | Method and device for controlling production |
| KR19990004767A (en) * | 1997-06-30 | 1999-01-25 | 배순훈 | Manufacturing method of thin film type optical path control device |
| JP2010107403A (en) * | 2008-10-31 | 2010-05-13 | Hitachi High-Technologies Corp | System and method for pretreating examination of specimen |
| JP2014127627A (en) * | 2012-12-27 | 2014-07-07 | Tokyo Electron Ltd | Cleaning method of thin film deposition apparatus, thin film deposition method, thin film deposition apparatus, and program |
| CN103962357A (en) * | 2013-02-05 | 2014-08-06 | 西安永电电气有限责任公司 | DBC (direct bonding copper) substrate cleaning flower basket structure and cleaning method |
| CN112157655A (en) * | 2020-09-21 | 2021-01-01 | 常州科讯精密机械有限公司 | Flower basket free path implementation method, software system, device, server and system |
| CN112185868A (en) * | 2020-09-21 | 2021-01-05 | 常州科讯精密机械有限公司 | Flower basket path time prejudging method, program system, device, server and system |
| CN112659119A (en) * | 2020-12-02 | 2021-04-16 | 广东博智林机器人有限公司 | Control method and device of mechanical arm, electronic equipment and storage medium |
| TW202235230A (en) * | 2021-03-09 | 2022-09-16 | 南亞科技股份有限公司 | Semiconductor apparatus and operating method thereof |
| WO2022206041A1 (en) * | 2021-03-29 | 2022-10-06 | 江苏亚电科技有限公司 | Photovoltaic silicon wafer cleaning apparatus |
Non-Patent Citations (1)
| Title |
|---|
| 提高LED 清洗机自动化程度的研究;张金凤，郑佳晶，孙敏;《电子工业专用设备》(第223期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116394233A (en) | 2023-07-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109720223B (en) | AGV charging management method, storage device and transportation system | |
| US11308453B2 (en) | Method and system for scheduling pieces of materials based on real-time device status | |
| JP3717967B2 (en) | Apparatus and method for controlling and scheduling process machines | |
| US20220147928A1 (en) | Order processing method, apparatus, device, system, and storage medium | |
| EP0240134B1 (en) | Computerized robot control process and system with scheduling feature | |
| CN113034078A (en) | Goods delivery control method, device, equipment, system, medium and product | |
| AU669988B2 (en) | Method and apparatus for goal processing memory management | |
| CN113044462A (en) | Robot scheduling method, device, system, storage medium and program product | |
| CN113371381B (en) | Shelf scheduling method, device, equipment, system, medium and program product | |
| CN112193953B (en) | Elevator resource scheduling method and device | |
| CN111933517A (en) | Method and device for starting process task in semiconductor process equipment | |
| CN116394233B (en) | Mechanical arm control method, storage medium and electronic equipment | |
| CN112232545A (en) | AGV task scheduling method based on simulated annealing algorithm | |
| CN109242231B (en) | Scheduling method of energy consumption equipment and related equipment | |
| CN113071839A (en) | Robot configuration method and device, control terminal and warehousing system | |
| CN110422526B (en) | Warehousing system and logistics control method | |
| CN112801622A (en) | Method and device for managing state of workstation, workstation and readable storage medium | |
| CN115099666A (en) | Robot scheduling method and device and electronic equipment | |
| CN113895935B (en) | Full-automatic intelligent chemical fiber POY wire ingot feeding equipment control method and control system | |
| KR20240013806A (en) | Method and apparatus for controlling semiconductor processing devices and moving members thereof | |
| CN115471040A (en) | Method and device for scheduling and picking robot, system and medium | |
| CN110994719B (en) | Charging management method and device for automation equipment | |
| CN116053175B (en) | Wafer scheduling method and device and semiconductor device | |
| CN115617531B (en) | Method, device, storage medium and equipment for rapidly detecting discrete resources | |
| Li et al. | A mixed integer linear programming approach for multi-degree cyclic multi-hoist scheduling problems without overlapping |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |