Method for achieving multithread processing through single-thread mechanical arm and mechanical arm

Abstract

The invention provides a method for achieving multithread processing through a single-thread mechanical arm and the mechanical arm. An interrupt signal of a logic controller is received in the processthat the mechanical arm executes a main program, and the mechanical arm interrupts the main program based on the interrupt signal and executes an interrupt program; and after the interrupt program isexecuted, the mechanical arm sends a termination signal to the logic controller, and the logic controller terminates sending of the interrupt signal based on the termination signal. The mechanical arm and the logic controller interact, a mechanical arm independent control program is avoided, one part of task processing is placed on the logic controller, control and output of the signals can be achieved more easily during industrial manufacturing, and it is avoided that multiple task modules are mounted to occupy more internal storage of the mechanical arm; and the problem that a single-task module mechanical arm cannot record and update variable data through an external sensor is solved, and therefore the single-task module mechanical arm completes multithread tasks of non-fixed frequencyin the moving process.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and in particular relates to a method for realizing multi-thread processing by a single-thread manipulator and the manipulator. Background technique [0002] At present, most of the single-task modular manipulators (that is, single-threaded manipulators) on the market are used for palletizing, handling, assembly and disassembly, etc., and the working conditions involved are basically sequential execution (that is, step-by-step execution through program instructions), There is no major technical bottleneck. However, using the robotic arm for autonomous grinding, autonomous welding and other working conditions involving real-time point acquisition and real-time calculation requires ordering the robotic arm to execute its own program while attaching another multi-task module to assist in the completion of multi-thread processing functions (single task can only be completed path planning), curr...

AI Technical Summary

Problems solved by technology

However, using the robotic arm for autonomous grinding, autonomous welding and other working conditions involving real-time point acquisition and real-time calculation requires ordering the robotic arm to execute its own program while attaching another multi-task module to assist in the completion of multi-thread processing functions (single task can only be completed path planning), currently the above functions cannot be realized only through the single task module

[0003] At present, the programming of single-task module manipulators in the industry has great limitations. Multiple threads cannot be used at the same time, resulting in the inability to return corresponding data in real time, that is, single-threaded manipulators cannot jump out of the main program to run other program modules in real time during operation.

[0004] refer to figure 1 , the existing multi-thread processing method of the manipulator is realized by installing a multi-tasking module. For example, the existing manipulator has only one single thread, that is, thread one. In order to realize multi-thread work, a new thread two, thread Three and four threads, so that four threads can work at the same time. Installing a multi-tasking module not only requires additional costs, but also takes up the running memory of the robot arm processor itself, resulting in slower processing speed of the robot arm control system.

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