TW202322006A - Flexible workstation and message passing method thereof - Google Patents

Abstract

A flexible workstation and a message passing method thereof are disclosed. The flexible workstation subscribes a topic corresponding to a combinational application. A management equipment publishes a message to a subscriber of the topic. The flexible workstation executes a behavior based on the message when receiving the message. The flexible workstation subscribes another topic corresponding to another combinational application when being changed to another combinational application. The disclosure can quickly change the application of the workstation, reduce a cost for changing, and shorten a setup time for going online.

Description

Convertible Workstation and Messaging Method Thereof

The present invention relates to workstations, and in particular to convertible workstations and a method for transmitting information therefrom.

An automated production line is usually equipped with multiple workstations, which are used to implement different applications.

However, the existing workstations cannot be quickly modified for different applications due to lack of standardization and modularization. This makes the current automated production line have to purchase dedicated workstations for the required applications, which increases the cost of production line setup.

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

Moreover, most of the current automated production lines adopt a master-slave (demand/response) message transmission method, which makes it necessary to greatly modify the software settings of the management equipment every time a workstation is added, deleted or changed. Modification, such as changing the sender of various control commands of the management device. The above disadvantages make it necessary to spend a lot of time taking the workstation offline or online every time the workstation is replaced (application is changed).

Therefore, the above-mentioned problems exist in the existing workstation and its message transmission method, and a more effective solution is urgently needed to be proposed.

The main purpose of the present invention is to provide a convertible workstation and its message transmission method, which can standardize and modularize the workstation, and can quickly set the received message type according to the application of the workstation.

In one embodiment, a convertible workstation includes a first functional station, a second functional station, a robot station and a control device. The first functional station includes a first functional device. The second function station includes a second function device. The robot station is used to operate the first function device of the first function station to realize a first combined application when connecting the first function station through a cable, and is used to operate the second function when connecting the second function station through a cable The second functional device of the station implements a second combined application. The control device is connected to the robot station through a cable, and the control device is set to subscribe to a first topic corresponding to the first composite application when the robot station is connected to the first function station, so as to receive information published to all subscribers of the first topic A first message, and based on the first message, control the robot station or the first function station to realize the first combined application. The control device is set to subscribe to a second topic corresponding to the second combined application when the robot station is connected to the second function station, to receive a second message issued to all subscribers of the second topic, and based on the second message Control the robot station or the second function station to realize the second combined application.

In one embodiment, a message transfer method of a convertible workstation includes: a) setting a convertible workstation to subscribe to a first topic, wherein the first topic is a function station and a robot station corresponding to the convertible workstation The first combined application; b) publishing a first message of the first topic to all subscribers of the first topic through a management device; c) performing an action based on the first message when the convertible workstation receives the first message; and , d) subscribing to a second topic based on the second composite application when the convertible workstation is changed to a second composite application.

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

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

The present invention proposes a modularized convertible workstation and a message transmission method of the convertible workstation.

The convertible workstation of the present invention includes a modular robot station and a function station. The present invention can select the combination of robot station and function station that can achieve this combination application according to the application required by the automated production line (that is, the combination application described later), and quickly assemble the selected robot station and function station for this combination Convertible workstation for applications.

In addition, the present invention proposes a message transfer method applied to the aforementioned convertible workstations in order to enable the convertible workstations to be quickly offline/online from the automated production line when changing the combined application.

Please refer to FIG. 1 , which is a structural diagram of a messaging network according to an embodiment of the present invention. In the present invention, the automated production line may include a management node 10 and multiple nodes (two nodes 11 and 12 are taken as an example in FIG. 1 ). Multiple nodes 11, 12 are respectively responsible for different applications of the automated production line.

Taking the automated production line of circuit boards as an example, multiple nodes can respectively perform loading of empty boards, printing solder paste, solder paste inspection, small component mounting, large component mounting, component inspection, soldering, soldering inspection, receiving board, Different applications such as testing and cutting boards.

Moreover, the management node 10 is connected to all nodes 11-12 through a network 13, and the network 13 can be, for example, an area network, an industrial Ethernet network, a Wi-Fi network, other wired/wireless networks or any combination thereof , without limitation.

Next, the publish/subscribe mechanism of the present invention will be described.

In the present invention, each node will only receive messages belonging to the subscribed topic, but will not receive messages not belonging to the subscribed topic. The foregoing information may be, for example, a control signal, a data signal, or a response signal, etc., without limitation.

For example, the node 12 can subscribe to the first topic, so that when other nodes publish the first message of the first topic, the first message will be sent to all subscribers of the first topic (including the node 12). Moreover, when other nodes publish the second message of the second topic, the node 12 will not receive the second message because it has not subscribed to the second topic.

In the present invention, if new applications need to be added in the automated production line and new nodes must be added, the new nodes only need to register with the management node 10 and subscribe to one or more topics required to achieve the new application, which can be quickly completed The communication setting of the new node does not need to change the settings of other nodes (such as nodes 11 and 12).

For example, a new node can subscribe to the first topic, which makes when other nodes publish the first message of the first topic, the first message will be sent to all subscribers of the first topic (including new nodes), without It is necessary to change the setting of other nodes 10-12.

Through the above publishing/subscribing mechanism, the present invention can quickly complete the setting of network communication when a node goes online/offline without interfering with the operation of other nodes.

Please refer to FIG. 1 and FIG. 2 at the same time. FIG. 2 is a structure diagram of an automated production line according to an embodiment of the present invention. The management node 10 in FIG. 1 can be, for example, a management device 20 , and each node 11 - 12 can be, for example, a convertible workstation 21 . The network 23 is the same as or similar to the network 13 and will not be repeated here.

The automated production line may include a management device 20 connected through a network 23 and a plurality of convertible workstations 21, and the plurality of convertible workstations 21 are respectively used to implement different combined applications. Moreover, information can be transmitted between the management device 20 and each convertible workstation 21 through the aforementioned publish/subscribe mechanism.

In one embodiment, the automated production line may include a user computer 22 connected to the network 23 , such as a general-purpose computer such as a personal computer, a tablet computer, or a notebook computer. The user computer 22 is used to provide a flow editing interface 220 . The process editing interface 220 can be, for example, a graphical user interface (GUI), and provides the creation/editing function of the automation process.

Specifically, the user can operate the process editing interface 220 to quickly create a corresponding process based on the combined application of the specified convertible workstation 21 , and publish the process to the convertible workstation 21 for execution.

Compared with directly writing program codes, the present invention greatly reduces the threshold, cost and time of development/maintenance of automation control programs through the process editing interface 220 .

In one embodiment, the user computer 22 can execute the robot operating system 410 as shown in FIG. process.

Please refer to FIG. 1 to FIG. 3 at the same time. FIG. 3 is a structure diagram of a convertible workstation according to an embodiment of the present invention.

The convertible workstation 21 of this embodiment may include one or more robot stations (one robot station 31 is taken as an example in FIG. 3 ) and one or more function stations (three function stations 32 - 34 are taken as an example in FIG. 3 ). The robot station 31 and the function stations 32-34 can be connected in series through the unique integrated cables 350-352 of the present invention to realize the sharing and transmission of network, electric power, air pressure and other resources, replacing the traditional need to use many different cables In order to achieve the purpose of transmission, the number of cables is greatly reduced, and the time for disassembly and assembly is also greatly reduced.

Each robot station 31 may include a control box 310 , a robot arm 311 and a distribution box 312 that are electrically connected. The robot station 31 is used to operate the connected function stations 32-34 to realize corresponding combined applications.

The control box 310 is used to control the robot station 31 . Specifically, the control box 310 can receive power and network signals (such as control signals) through the distribution box 312 , and control the attitude of the robot arm 311 based on the network signals.

The robotic arm 311 can move in multiple degrees of freedom and is used to perform processing on the functional stations 32-34. For example, the functional equipment 321 of the functional station 32 (such as tools such as tin guns, clamps, and screw locking machines) is operated to perform actions such as soldering, inserting, and screw locking. The robotic arm 311 may be a four-axis robotic arm, a six-axis robotic arm, etc., without limitation.

It is worth mentioning that the type of the robot arm 311 to be used can be determined based on the requirements of the functional device 321 to be operated (eg, the requirements for degrees of freedom).

Each functional station 32 - 34 (the functional station 32 is taken as an example in FIG. 3 ) may include a control box 320 , a functional device 321 and a distribution box 322 electrically connected.

The control box 320 is used to control the functional stations 32 . Specifically, the control box 320 can receive power and network signals (such as control signals) through the distribution box 322 , and control the functional devices 321 based on the network signals.

The functional device 321 is used to provide different application tools for use by the robot arm 311 of the robot station 31 , such as laser soldering tools, plug-in tools, screw locking tools, labeling tools, dispensing tools or fixtures.

In this way, the robot arm 311 of the robot station 31 can realize different combined applications by matching different functional stations 32-34, such as laser welding applications, automatic plug-in applications, automatic screw locking applications, automatic glue dispensing applications, and automatic labeling applications Or automatic gripping applications, etc.

It is worth mentioning that each distribution box 312, 322 is a standardized electric control box, and is used to integrate multiple connection ports of the workstation into a single integrated external socket. Through the above simplification, the robot station 31 and the function station 32- 34 can be quickly loaded and unloaded through a single integrated cable 350-352. Because the present invention simplifies the number of cables, the refitting speed can be greatly improved.

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

In addition, the distribution box 312 of the robot station 31 and the distribution boxes of the function stations 32-34 can be connected in series through the integrated cables 350-352. The aforementioned integrated cables 350-352 may include network cables.

Thus, when the control device 30 is connected to the network through the network interface 302, the robot station 31 and all the function stations 32-34 connected to the control device 30 can also be connected to the network. The control device 30 is connected to the network 23 for external communication, and is used to control the convertible workstation 21 , such as sending a control signal to control the robot arm 311 and/or the functional device 321 . Furthermore, the control device 30 is used as the aforementioned node 11 or 12 to realize the message transmission method of the convertible workstation of the present invention.

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

The processor 300 is, for example, a single-chip system, a microprocessor or a central processing unit, and is used to execute calculations and programs and control the device 30 .

The storage 301 is, for example, RAM, ROM, EEPROM, flash memory, other memories or any combination thereof, and is used to store data.

The network interface 302, such as an Ethernet card, is used to connect the network 13, 23 and other workstations (such as the robot station 31 and the function stations 32-34).

Please refer to FIG. 1 to FIG. 4 together. FIG. 4 is a structural diagram of a processor according to an embodiment of the present invention.

In this embodiment, the storage 301 of the control device 30 may include a non-transitory computer-readable recording medium, the aforementioned non-transitory computer-readable recording medium stores a computer program, and the aforementioned computer program records a computer-executable program code, when the processor 300 executes the aforementioned program code, various functions of the present invention can be realized.

Specifically, the aforementioned computer program may include an operating system 400 (such as Windows, Linux, Unix, etc.), a robot operating system 410 (such as Robot OS) and a node application 420 . In the software architecture, the processor 300 can run the operating system 400 at the system layer 40 to provide software and hardware resource management and allocation, and can run the robot operating system 410 at the middle layer 41 . As middleware, the robot operating system 410 can provide various auxiliary tools to assist development and management, such as the process editing interface 220, node application 420, application programming interface (API) or other software tools executed in the application layer 42. The aforementioned node application 420 is used to realize the distributed communication as shown in FIG. 1 .

In this way, the present invention can realize rapid development and maintenance of automation functions through the robot operation system 410 .

Please refer to FIG. 6 , which is a schematic diagram of a convertible workstation according to an embodiment of the present invention. For the robot station, as an option, this embodiment provides the four-axis robot station 610 and the six-axis robot station 611 as examples for illustration.

For the functional stations, as an option, this embodiment provides the screw locking functional station 620 and the glue dispensing functional station 621 as examples for illustration.

This embodiment also provides a control device 600 , and the control device 600 is installed with the aforementioned robot operating system 410 .

When it is necessary to realize the automatic screw locking application (combined application) with a lower degree of freedom requirement, the user can install the control device 600 on the four-axis robot station 610, and connect the four-axis robot station 610 and the screw locking function station through an integrated cable 620. Thereby, a convertible workstation 6 for automatic screw locking applications can be obtained.

When changing to an automatic dispensing application (combined application) that requires a higher degree of freedom, the user can replace the four-axis robot station 610 with a six-axis robot station 611 with more degrees of freedom, and lock the screw function station 620 is replaced by dispensing function station 621. Thereby, the convertible workstation 6 can be changed to realize automatic glue dispensing application.

Please refer to FIG. 7 , which is a schematic diagram of an automated production line according to an embodiment of the present invention. In this embodiment, the automated production line 7 may include conveying equipment 71, 78, a plurality of convertible workstations 72-77, and a network switch 70 electrically connected to the above equipment.

The network switch 70 provides a network communication environment, so that the management device (not shown in the figure) can set the workflow for implementing the specified application for each delivery device 71, 78 and each convertible workstation 72-77.

Taking the automatic assembly of computer products as an example, the conveying device 71 is set to provide the casing. The convertible workstation 72 is configured to place a plurality of computer components within the enclosure. The convertible workstation 73 is configured to lock some computer components to the casing. The convertible workstation 74 is configured to glue some computer components to the case. The convertible workstation 75 is configured to flip the computer product over to the inspection surface. The convertible workstation 76 is configured to take pictures of the inspection surface to check for installation defects through computer vision. The convertible workstation 77 withdraws defective computer products from the production line based on the inspection result of the convertible workstation 76 . The conveying equipment 78 is configured to transport flawless computer products to the next production line or packaging area.

Please refer to FIG. 10 , which is a flowchart of a message transmission method according to an embodiment of the present invention. The message transmission method of each embodiment of the present invention can be realized through the automatic production line and the convertible workstation of any embodiment.

The message transmission method of this embodiment includes the following steps.

Step S10: Set the convertible workstation to subscribe to the topic (the first topic). The aforementioned subject is the combination application (first combination application) realized by the current function station (the first function station) and the robot station (the first robot station) corresponding to the convertible workstation.

Step S11: Publish a message to all subscribers of the corresponding topic through the management device, for example, publish a message of the first topic (first message) to all subscribers of the first topic, and a message of the second topic (second message) to the second topic All subscribers of the second topic.

Step S12: The convertible workstation judges whether the message is received. Specifically, since the convertible workstation only subscribes to the first topic, it will only receive messages of the first topic.

If the convertible workstation receives any message, execute step S13: the convertible workstation performs an action based on the received message.

Step S14: Determine whether the convertible workstation changes the subscription.

If the convertible workstation needs to change the subscribed topic due to changing the composite application (for example, changing to a second composite application), execute step S10 to subscribe to a new topic (such as the second topic) based on the changed composite application.

If the convertible workstation does not receive any message in step S12 or the convertible workstation does not change the subscription in step S14, execute step S15: the management device and the convertible workstation determine whether to end the execution, such as whether to complete all the work, or whether to receive a stop signal etc.

If it is determined to end the execution, the message transmission method is ended; otherwise, step S11 is executed again.

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

Please refer to FIG. 8 , which is a schematic diagram of message transmission according to an embodiment of the present invention. FIG. 8 is used to illustrate a specific embodiment of the message transmission method of the convertible workstation of the present invention.

The issuer (such as the management device) executes process control to respectively execute different processes, such as the picking process 800, the moving process 801, the screw locking process 802, and so on.

In addition, the publisher can first create corresponding topics for different processes, such as picking topics 810, moving topics 811, locking screws 812, and so on.

In addition, subscribers (transformable workstations 820-821) can subscribe to different topics based on the combined application they are responsible for. For example, convertible workstation 820 subscribes to pick topic 810 and mobile topic 811, and convertible workstation 821 subscribes to mobile topic 811 and lock screw topic 812.

When the publisher executes the pick-up process 800 , it can send a control message 83 to the pick-up topic 810 , so that the convertible workstation 820 subscribed to the topic receives the message 83 and performs a pick-up action based on the message 83 .

When the publisher executes the move process 801 , it can send a control message 84 to the move topic 811 , so that the convertible workstations 820 and 821 subscribed to the topic receive the message 84 and execute the move action based on the message 84 .

When the publisher executes the screw locking process 802 , it can send a control message 85 to the screw locking topic 812 , so that the convertible workstation 821 subscribed to this topic receives the message 85 and executes the screw locking action based on the message 85 .

In this way, the convertible workstations 820, 821 can quickly set up communication connections by subscribing/unsubscribing.

Please refer to FIG. 10 to FIG. 11 at the same time. FIG. 11 is a flow chart of a change combination application according to an embodiment of the present invention.

Step S20: Change the combined application by replacing the current robot station and/or function station with a different type of robot station and/or function station, for example, execute the steps in FIG. 15 .

Step S21: Perform subscription and message delivery based on the combined application of the changed robot station and/or function station, for example, execute the steps in FIG. 10 .

Please refer to FIG. 10 to FIG. 12 at the same time. FIG. 12 is a sequence diagram of registration and subscription according to an embodiment of the present invention. In this embodiment, the publisher 1000 and the subscriber 1002 can be any of the aforementioned nodes 11 , 12 (including any convertible workstation mentioned in the present invention), and the management node 1001 can be the aforementioned management node 10 .

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

Next, the issuer 1000 can send a registration request to the management node 1001 (step S303 ), and complete the registration after receiving a successful registration result from the management node 1001 (step S304 ). Thereby, the management node 1001 can identify the issuer 1000 .

After completing the registration, the publisher 1000 can send a request to create a topic to the management node 1001 (step S305 ), and complete the establishment of one or more topics after receiving a successful processing result from the management node 1001 (step S306 ). In this way, the publisher 1000 can publish messages on established topics.

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

After completing the registration, the subscriber 1002 can send a subscription request to the management node 1001 (step S309 ), and complete the subscription of one or more topics after receiving a successful processing result from the management node 1001 (step S310 ). In this way, the subscriber 1002 can start to receive all the messages of the subscribed topic through the network.

Thereafter, when the publisher 1000 can publish a message (S311), the management node 1001 will deliver the message to all subscribers 1002 of the topic according to the topic to which the message belongs (step S312).

Please refer to FIG. 10 to FIG. 13 at the same time. FIG. 13 is a flow chart of action execution according to an embodiment of the present invention. In this embodiment, the convertible workstation can trigger different actions according to different received messages. Specifically, the method of this embodiment further includes the following steps.

Step S40: The convertible workstation is set to set multiple actions for multiple messages.

Step S41: The convertible workstation determines whether any subscribed messages are received.

If the convertible workstation does not receive any message, execute step S41 again to continue detection.

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

For example, the movement information may correspond to a movement action, and may include the coordinate value of the robot arm. When the convertible workstation receives the moving message, it can control the mechanical arm to move to the specified coordinate value (for example, to pose a posture that allows the end to move to the coordinate value) to cooperate with the functional station.

In another example, the tin supply message may correspond to a tin supply action, and may include a tin supply amount and a tin supply location. When the convertible workstation receives the tin supply message, it can control the mechanical arm to move to the designated tin supply position, and control the functional station to squeeze out the tin supply amount of tin material.

Please refer to FIG. 10 to FIG. 14 at the same time. FIG. 14 is a flow chart of changing a workstation according to an embodiment of the present invention. The convertible workstation can transform the combined application through this embodiment, and go online quickly after changing the combined application. Specifically, the method of this embodiment further includes the following steps.

Step S50: Control the convertible workstation to go offline from the network, so as to stop receiving the message of the original composite application (the first composite application).

Step S51: Replace the functional station (the first functional station, which may have the first functional device) or the robot station (the first robot station, which may have the first mechanical arm) of the convertible workstation with another functional station (the second functional station , may have a second functional device of a different type from the first functional device) or another robotic station (a second robotic station, which may have a second robotic arm of a different type than the first robotic arm). In this way, the replaced convertible workstation can be converted from implementing the original combined application (the first combined application) to implementing the new combined application (the second combined application).

Step S52: Setting the replaced convertible workstation to connect to the network.

Step S53: controlling the replaced convertible workstation to register with the management node. Moreover, after the registration is completed, the replaced convertible workstation can further subscribe to the management node for the second topic corresponding to the second combined application as mentioned above, so as to receive all messages of the second topic through the network.

Please refer to FIG. 1 to FIG. 5 at the same time. FIG. 5 is a schematic diagram of an integrated external socket according to an embodiment of the present invention.

In this embodiment, the robot station 31 includes a plurality of connection ports, such as a power connection port 500 (220V AC), a power connection port 501 (24V DC), a connection port 502 (Switch, such as a network signal connection port), The connection port 503 (Air, such as an air pressure connection port).

The distribution box 312 can integrate multiple connection ports into an integrated external socket 51, and the integrated external socket 51 can include a power socket 510 (such as a 220V AC power socket), a network socket 511 (such as an Ethernet socket) and an air pressure socket 512.

Moreover, the function station 32 includes a plurality of connection ports, such as a power connection port 520 (220V AC), a power connection port 521 (24V DC), a network power connection port 522 (PoE Switch, such as power supply for Ethernet), air pressure The connection port 523 (Air, such as an air pressure connection port) and the power connection port 524 (48V DC).

The distribution box 312 can integrate multiple connection ports into an integrated external socket 54, and the integrated external socket 54 can include a power socket 540 (such as a 220V AC power socket), a network socket 541 (such as an Ethernet socket) and an air pressure socket 542.

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

Please refer to FIG. 10 to FIG. 15 at the same time. FIG. 15 is a flowchart of a standardized connection according to an embodiment of the present invention. The method of this embodiment further includes the following steps for refitting the convertible workstation.

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

Step S61: Provide resources to the robot station 31 or the function station 32 through the integrated cable 350, such as providing air pressure transmission, network transmission and/or power transmission.

Step S62: Set the control device 30 based on the combined application of the robot station 31 and the function station 32, such as setting operation parameters or other initialization settings.

Thereby, the present invention can quickly refit the convertible workstation.

The present invention also proposes a process editing interface based on the robot operating system, through which the user can quickly edit the process to be executed by the convertible workstation.

Please refer to FIG. 10 to FIG. 16 at the same time. FIG. 16 is a flow chart of process editing and publishing in an embodiment of the present invention. The method of this embodiment further includes the following steps.

Step S70: providing a process editing interface 220 on the user computer 22 (which may be installed with a robot operating system).

In one embodiment, the process editing interface 220 provides an action list of multiple actions.

Step S71 : Accept user operations on the user computer 22 through the process editing interface 220 to edit the process. The foregoing process includes the execution order and execution conditions of multiple actions.

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

Step S80 : Create a process on the user computer 22 . The foregoing process may define a start point and an end point.

Step S81 : Accept the user's drag operation through the process editing interface 220 on the user computer 22 to add multiple actions between the start point and the end point.

Step S82: Accept the user's setting operation on the user computer 22 through the process editing interface 220 to set the execution order and execution conditions of multiple actions.

Step S83: Export the edited process to the user computer 22.

In one embodiment, through the robot operating system, the user computer 22 can convert the edited process into computer-executable program code, and then export it.

Step S72: Transmitting the edited workflow to the convertible workstation 21 via the network 23 on the user computer 22 to set the convertible workstation 21 to execute the workflow.

In one embodiment, the convertible workstation 21 controls the robot station 31 and the function station 32 to execute the process through the robot operation system.

Therefore, the present invention provides users with a fast and convenient editing process.

Please refer to FIG. 9 , which is a schematic diagram of a process editing interface according to an embodiment of the present invention. The process editing interface can include a process editing area (as shown on the left in Figure 9) and an action list (as shown in Figure 9 on the right).

The process editing area is used to edit the process.

Next, the data structure of the process is described. In this example, the process includes a start point 900 (as a process entry address), an interruption point 905 (used to interrupt the process when an exception or error occurs) and an end point 906 (as a process end address ). Moreover, multiple actions may be included between the start point 900 and the end point 906 , the multiple actions are set with execution order and execution conditions, and are executed between the start point 900 and the end point 906 based on the execution order and execution conditions.

The user can drag any list action 920-926 of the action list to between the start point 900 and the end point 906 of the process (drag operation), as the process action 901-904, such as dragging list actions 920, 925, 926 and 922 , as process actions 901-904 respectively.

Next, the user can set the execution conditions or sequence of the process actions 901-904 (setting operation), such as setting conditions 910-912 (when the action is successfully executed, continue to execute the next action), setting conditions 913-916 (action When the execution fails, the process is interrupted).

After editing the process, the user can publish the process to the convertible robot to execute the corresponding combined application.

The above descriptions are only preferred specific examples of the present invention, and are not intended to limit the patent scope of the present invention. Therefore, all equivalent changes made by using the content of the present invention are all included in the scope of the present invention in the same way. Chen Ming.

10: Management node 11-12: Node 12: node 13: Network 20: Manage Devices 21: Convertible Workstation 22: User computer 220: Process editing interface 23: Network 30: Control equipment 300: Processor 301: storage 302: Network interface 31: Robot station 310: control box 311: Mechanical arm 312: Wiring box 32: Function station 320: control box 321: Functional equipment 322: Wiring box 33: Function station 34: Function station 350: Integrated cable 351: Integrated cable 352: Integrated cable 353:Network cable 40: System layer 41: middle layer 42: Application layer 410: node application 420:Robot Operating System 430: operating system 500-503: port 51: Integrated external socket 510-512: socket 520-523: port 54: Integrated external socket 540-542: socket 6: Convertible workstation 600: control equipment 610: Four-axis robot station 611: Six-axis robot station 620: lock screw function station 621: Dispensing function station 7:Automatic production line 70:Network switch 71, 78: conveying equipment 72-77: Convertible Workstation 800-802: Process 810-812: Subject 820-821: Convertible workstations 83-85: Message 900: start point 901-904: Process actions 905: break point 906: end point 910-916: Conditions 920-926: list actions 1000:Publisher 1001: Manager 1002: Subscriber S10-S15: Message transmission steps S20-S21: Apply Change Steps S300-S312: Registration/subscription steps S40-S42: action steps S50-S53: Workstation change steps S60-S62: Standardized connection steps S70-S72: Process release steps S80-S83: Process editing steps

FIG. 1 is a structural diagram of a messaging network according to an embodiment of the present invention.

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

FIG. 3 is a structural diagram of a convertible workstation according to an embodiment of the present invention.

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

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

FIG. 6 is a schematic diagram of a convertible workstation according to an embodiment of the present invention.

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

FIG. 8 is a schematic diagram of message transmission according to an embodiment of the present invention.

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

FIG. 10 is a flowchart of a message transmission method according to an embodiment of the present invention.

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

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

Fig. 13 is a flow chart of action execution according to an embodiment of the present invention.

FIG. 14 is a flow chart of changing workstations according to an embodiment of the present invention.

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

Fig. 16 is a flow chart of process editing and publishing according to an embodiment of the present invention.

S10-S15: Message transmission steps

Claims (20)

A convertible workstation comprising: A first functional station, including a first functional device; A second function station, including a second function device; A robot station, used to operate the first functional device of the first function station to realize a first combined application when connected to the first function station through a cable, and used to connect to the second function station through a cable , operating the second functional device of the second functional station to implement a second combined application; and A control device, connected to the robot station through a cable, the control device is set to subscribe to a first topic corresponding to the first combined application when the robot station is connected to the first function station, to receive and publish to the first function station a first message of all subscribers of a topic, and based on the first message, controlling the robot station or the first function station to realize the first combined application; Wherein, the control device is set to subscribe to a second theme corresponding to the second combined application when the robot station is connected to the second function station, so as to receive a second theme published to all subscribers of the second theme. message, and control the robot station or the second function station based on the second message to implement the second combined application. The convertible workstation as described in claim 1, wherein the robot station includes: A mechanical arm for multi-degree-of-freedom movement; a distribution box for connecting the control equipment with cables and connecting the first functional station or the second functional station with cables, the distribution box is used for receiving power and network signals; and A control box, connected to the mechanical arm and the distribution box, the control box is set to control the mechanical arm to move to the coordinate value based on the coordinate value of the received message to communicate with the first functional station or the second The functional stations work together. The convertible workstation as described in claim 1, wherein each of the first functional station, the second functional station and the robot station includes a distribution box, and the distribution box is used to integrate multiple connection ports into an integrated external socket; Wherein, the integrated external socket of the robot station is connected to the integrated external socket of the first functional station or the integrated external socket of the second functional station through an integrated cable. The convertible workstation as described in claim 3, wherein the integrated external socket includes a power socket, a network socket and an air pressure socket; Wherein, the integrated cable includes a power cable, a network cable and an air pressure cable, and a power plug, a network plug and an air pressure plug are arranged at both ends of the integrated cable. The convertible workstation as described in claim 1, wherein the control device is configured to control the convertible workstation to be offline from a network, and when the robot station is connected to the second function station, the converted workstation after replacement is set Connect to the network, register the replaced convertible workstation with a management node, and subscribe to the second topic corresponding to the second combined application. The convertible workstation as described in claim 1, wherein the first functional device is different from the second functional device, and the first functional device and the second functional device include laser soldering tools, plug-in tools, screw locking tools, stickers marking tools, dispensing tools or fixtures; Wherein, the first combined application or the second combined application is a laser welding application, an automatic plug-in application, an automatic screw locking application, an automatic glue dispensing application, an automatic labeling application or an automatic clamping application. The convertible workstation as claimed in claim 1, wherein the control device includes: a network interface for connecting the network and the robot station; and A processor is used for controlling the robot station, the first function station or the second function station based on the first message or the second message. The convertible workstation as described in Claim 7, wherein the control device further includes: A storage device; used to store a robot operating system; Wherein, the processor is set to obtain a process, and execute the robot operation system to control the robot station, the first function station or the second function station to execute the process, wherein the process includes the execution sequence and execution conditions. The convertible workstation as described in claim 1, further comprising: A robot operating system is used to install on a user computer, and after being executed, controls the user computer to display a flow editing interface, and accepts operations through the flow editing interface to edit a flow. The convertible workstation as described in claim 9, wherein the process includes: a start point, as the entry address of the process; a break point, used to interrupt the process when an exception or an error occurs; an end point, as the end address of the process; and Multiple actions are set between the start point and the end point, and the multiple actions are selected from an action list provided in the process editing interface. A method of messaging for a convertible workstation comprising: a) Setting a convertible workstation to subscribe to a first topic, wherein the first topic is a first combined application corresponding to a functional station and a robot station of the convertible workstation; b) publish a first message of the first topic to all subscribers of the first topic through a management device; c) when the convertible workstation receives the first message, perform an action based on the first message; and d) subscribing to a second topic based on the second composite application when the convertible workstation is changed to a second composite application. The message transmission method of the convertible workstation as described in claim 11, wherein the step a) includes: a1) Set the convertible workstation to connect to a network; a2) register the convertible workstation with a management node in the network; and a3) After the registration is completed, control the convertible workstation to subscribe to the management node for the first topic to receive all messages of the first topic through the network. The message transmission method of the convertible workstation as described in claim 11, wherein the step c) includes: c1) setting multiple actions for multiple messages, wherein the multiple messages include the first message; and c2) When receiving the first message, control the robot station and the function station to execute the action corresponding to the first message. The message transmission method of the convertible workstation as described in claim 13, wherein the message includes a coordinate value of a robot arm of the robot station; The step c2) includes: controlling the mechanical arm to move to the coordinate value to cooperate with the function station. The message transmission method of the convertible workstation as described in claim 11, wherein the step d) includes: d1) control the convertible workstation offline from a network; d2) replacing the functional station or the robot station with another functional station or another robot station to change the convertible workstation from the first combination application to the second combination application; d3) Set the converted convertible workstation to connect to the network after replacement; d4) registering the replaced convertible workstation with a management node; and d5) controlling the convertible workstation to subscribe to the management node to the second topic corresponding to the second composite application, so as to receive all messages of the second topic through the network. The message transmission method of the convertible workstation as described in claim 15, wherein the robot station includes a robot arm with multiple degrees of freedom; The functional station includes laser soldering tools, plug-in tools, screw locking tools, labeling tools, dispensing tools or fixtures; The first combined application is a laser welding application, an automatic plug-in application, an automatic screw locking application, an automatic glue dispensing application, an automatic labeling application or an automatic clamping application. The message transmission method of the convertible workstation as described in claim 11, wherein the robot station includes a distribution box, and the distribution box is used to integrate multiple connection ports of the robot station into an integrated external socket; Wherein the functional station includes a distribution box, which is used to integrate multiple connection ports of the functional station into an integrated external socket; Include before this step a): e) Connect the integrated external socket of the robot station and the integrated external socket of the function station through an integrated cable to serve as the convertible workstation. The message transmission method of the convertible workstation as described in claim 17, further comprising: f) Provide at least one of air pressure transmission, network transmission and power transmission to the robot station or the functional station through the integrated cable. The message transmission method of the convertible workstation as described in claim 11, further comprising: g1) Provide a process editing interface on a user computer, and accept operations through the process editing interface to edit a process, wherein the process includes the execution order and execution conditions of multiple actions; g2) transmit the process to the convertible workstation via a network to configure the convertible workstation to execute the process; Among them, editing the process includes: g11) Create the process, wherein the process definition has a start point and an end point; g12) Provide an action list of the plurality of actions in the process editing interface; g13) Accept a drag operation through the process editing interface to add the multiple actions between the start point and the end point; and g14) Accept a setting operation through the process editing interface to set the execution order and the execution conditions of the multiple actions of the process. The message transmission method of the convertible workstation as described in claim 19, wherein the convertible workstation includes a control device, and the control device includes a robot operating system; Wherein, the step g2) includes: g21) Transmitting the process to the control device to control the robot station and the function station to execute the process through the robot operating system.

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