Multi-task teaching control method and system

A control method and multi-task technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of poor versatility and difficulty in adapting to process changes, and achieve the effect of independent work and controllability at the same time, reducing complexity

Active Publication Date: 2018-01-19
成都乐创自动化技术股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The control system of non-standard equipment generally adopts PLC or general-purpose card for custom development, which is poor in versatility and difficult to adapt to process changes for specific workplaces.

Method used

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  • Multi-task teaching control method and system
  • Multi-task teaching control method and system
  • Multi-task teaching control method and system

Examples

Experimental program
Comparison scheme
Effect test

example 1

[0038] Example 1: Independent double workbench, a non-standard equipment developed by a customer. There is a processing head on the upper and lower sides of the equipment, and the upper and lower processing heads are each controlled by 3 axes. To process a full-page workpiece, the processing head is first processed. Then the workpiece is turned over and processed by the processing head below. Under normal working conditions, two workpieces are being processed at the same time. For this kind of equipment, we define the upper 3 axes as workbench 1: X1\Y1\Z1, and the lower 3 axes as workbench 2: X2Y2Z2. The upper and lower processing are taught independently, the upper processing teaching is switched to workbench 1 for teaching, and the lower processing teaching is switched to workbench 2 for teaching. The specific control process is as follows:

[0039] S11: Configure workbenches 1 and 2, configure axis 1, 2, and 3 as the X, Y, and Z axes of workbench 1, and configure axis 4, 5, ...

example 2

[0049] Example 2, multi-table processing, such as image 3 As shown, the processing equipment includes A station, B station, C station and D station, and 2 processing heads. The specific control process is as follows:

[0050] S21: Configure workbenches 1, 2, 3, 4, configure axis 1, 2, and 3 as the X, Y, and Z axes of workbench 1, and configure axis 1, 5, and 3 as X, Y, and Y of workbench 2. For the Z axis, the 4, 2, and 6 axes are arranged as the X, Y, and Z axes of the table 3, and the 4, 5, and 6 axes are arranged as the X, Y, and Z axes of the table 4.

[0051] S22: Switch to the teaching interface and create a teaching file to be executed on command channel 1. At this time, the software creates a teaching file in command channel 1. At this time, the teaching file is not associated with the workbench. At this time, command channel 1 is set as the current operation command channel.

[0052] S23: Teaching the processing program of station A. Switch to workbench 1 in the teaching...

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Abstract

The embodiment of the invention relates to the field of industrial teaching robot control, and particularly discloses a multi-task teaching control method and system. The multi-task teaching control method comprises the steps that a machining area is arranged to be a plurality of working tables, machining shafts of the working tables are configured, machining heads of the working tables are configured, and the machining tasks of the working tables are sequentially taught and teaching files of the working tables are preserved. The problem of the control stability of multi-station non-standard machining equipment is solved, the complexity of the control method is reduced, and the effects that the working tables work independently and are controllable simultaneously are achieved.

Description

Technical field [0001] The invention relates to the field of industrial teaching robot control, in particular to a multi-task teaching control method and system. Background technique [0002] The invention relates to the application field of industrial teaching robot control, in particular to the processing and teaching application of desktop glue dispensing and plastic dropping equipment. In view of the various non-standard devices appearing on the market, most of these devices are not as intuitive as our traditionally defined devices based on XYZ coordinate systems. The control system of non-standard equipment generally adopts PLC or general-purpose card for custom development. For specific working occasions, it is poor in generality and difficult to adapt to technological changes. [0003] At present, the basic ideas of the "undo" and "redo" algorithms in industrial control are the same. In order to ensure the correctness and reliability of the functions, it is necessary to sav...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 苏诗捷
Owner 成都乐创自动化技术股份有限公司
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