Truss logistics control method and device for large five-axis gantry production line, terminal and medium

Abstract

The invention belongs to the field of trusses, and particularly discloses a truss logistics control method and device for a large five-axis gantry production line, a terminal and a medium. Executing a macro program to realize an automatic loading process and an automatic unloading process; in the automatic loading process and the automatic unloading process, a movement control subprogram is executed to control the truss trolley to move to a source position or a target position, the real-time position of the truss trolley is detected through a laser range finder in the moving process, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley; in the automatic loading process and the automatic unloading process, releasing and locking of the X-axis safety positioning pin, releasing and locking of the Z-axis safety positioning pin and opening and closing of the truss mechanical arm are achieved by executing M instruction codes. The positioning accuracy of the truss trolley is improved, the logistics operation efficiency is improved, and safety accidents caused by misoperation of the mechanical arm are avoided.

Description

Technical Field

[0001] The present invention belongs to the field of trusses, and in particular relates to a truss logistics control method, device, terminal and medium for a large five-axis gantry production line. Background Art

[0002] The large five-axis gantry production line is composed of multiple machine tools of various types, including large five-axis gantry machining center machines, loading and unloading stations, material storage stations, auxiliary stations, etc., forming a CNC machining production line; the blank parts and finished parts of the production line are transported arbitrarily between various stations through the truss logistics transportation system.

[0003] At present, the positioning of the truss trolley mainly relies on mechanical limit switches. When the trolley reaches the preset position, the limit switch is triggered to stop the movement. However, the accuracy of the mechanical limit switch is limited, and it is easy to wear and loosen after long-term use, resulting in positioning deviation. At the same time, the traditional positioning method does not have a real-time position feedback mechanism. Once the trolley starts to move, its position cannot be known in time and accurately, resulting in the movement of the trolley only relying on experience and preset programs during the movement, and it cannot be adjusted according to the actual situation. Moreover, the traditional mobile control method usually adopts a fixed speed control mode. During the movement of the trolley, the speed remains unchanged and cannot be adjusted according to the actual position of the trolley. For example, when the trolley approaches the target position, if it still maintains a high speed, it is easy to rush through the target position due to inertia, resulting in inaccurate positioning. In addition, there is a lack of effective means for the control of the truss manipulator arm, and it is impossible to achieve safe and efficient opening and closing operations.

[0004] In summary, in the current production line, the positioning and movement control of the truss trolley is not precise enough, which leads to deviations during loading and unloading, affecting production efficiency and product quality. Moreover, the truss robot arm cannot achieve safe and efficient opening and closing operations. Summary of the invention

[0005] To solve the above problems, the present invention provides a truss logistics control method, device, terminal and medium for a large five-axis gantry production line, which improves the accuracy of truss trolley positioning, improves the efficiency of logistics operations, and avoids safety accidents caused by improper operation of the robotic arm.

[0006] In a first aspect, the technical solution of the present invention provides a truss logistics control method for a large five-axis gantry production line, wherein a laser rangefinder is arranged on the truss support frame, and the laser rangefinder is electrically connected to a numerical control system, and the method comprises the following steps: Write macro programs and M command codes through the CNC system; Execute macro programs to realize automatic loading and unloading processes; During the automatic loading and unloading process, the movement control subroutine is executed to control the truss trolley to move to the source or target position. During the movement, the real-time position of the truss trolley is detected by a laser rangefinder, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley; During the automatic loading and unloading process, the X-axis safety positioning pin is released and locked, the Z-axis safety positioning pin is released and locked, and the truss robot arm is opened and closed by executing the M instruction code.

[0007] In an optional implementation, executing a macro program to implement the automatic loading process specifically includes: Step 1, check whether the truss trolley is empty and has no pallet. If not, an alarm is issued. If yes, proceed to the next step; Step 2, release the X-axis safety positioning pin; Step 3, execute the movement control subroutine to control the truss trolley to move to the original position; Step 4: After the truss trolley reaches the starting position, lock the X-axis safety positioning pin; Step 5, check whether the chassis on the machine tool side is in place, if not, continue to wait until the chassis on the machine tool side is in place, if yes, proceed to the next step; Step 6, check whether there is a pallet at the workstation, if not, issue an alarm, if yes, proceed to the next step; Step 7, release the Z-axis safety positioning pin, lower the mobile frame to the truss robot arm open position, then open the truss robot arm, lower the mobile frame to the lower limit clamping position, and then close the truss robot arm to clamp the pallet; Step 8, check whether the truss robot arm has clamped the pallet, if not, issue an alarm, if yes, proceed to the next step; Step 9. Lift the mobile frame to the upper limit position and then lock the Z-axis safety positioning pin.

[0008] In an optional implementation, executing a macro program to implement an automatic uninstallation process specifically includes: Step 1, detect whether there is a pallet on the truss trolley, if not, issue an alarm, otherwise, proceed to the next step; Step 2, release the X-axis safety positioning pin; Step 3, execute the movement control subroutine to control the truss trolley to move to the target position; Step 4: After the truss trolley reaches the target position, lock the X-axis safety positioning pin; Step 5, check whether the chassis on the machine tool side is in place, if not, continue to wait until the chassis on the machine tool side is in place, if yes, proceed to the next step; Step 6, check whether there is a pallet at the workstation, if yes, issue an alarm, if no, proceed to the next step; Step 7, release the Z-axis safety positioning pin, lower the mobile frame to the lower limit, and then open the truss robot arm; Step 8, check again whether the truss trolley has a pallet, if so, issue an alarm, otherwise, proceed to the next step; Step 9. Lift the mobile frame to the upper limit, then close the truss robot arm and lock the Z-axis safety positioning pin.

[0009] In an optional embodiment, executing a movement control subroutine to control the truss trolley to move to a source or target position specifically includes: Get the current position, source or target position of the car; Calculate the absolute value of the difference between the current position of the car and the source position, or between the current position of the car and the target position; Check whether the absolute value of the difference is 0. If so, do not move the truss trolley, exit the movement control subroutine, and continue to execute the subsequent steps of the automatic loading process or the automatic unloading process. If not, divide the moving distance into segments based on the pre-configured distance division rule according to the absolute value of the difference; Start the X-axis variable frequency motor to drive the truss trolley to move, and use the laser rangefinder to detect the real-time position of the truss trolley during the movement; The current distance segment is determined according to the real-time position of the truss trolley, and the running speed of the X-axis variable frequency motor is controlled according to the determination result.

[0010] In an optional implementation, the operating speed of the X-axis variable frequency motor is controlled according to the judgment result, specifically including: When the truss trolley reaches the last distance segment, the X-axis variable frequency motor is controlled to decelerate.

[0011] In an optional embodiment, after obtaining the source or target position, the following steps are further included: Determine the size relationship between the current position of the car and the source position, or between the current position of the car and the target position, and determine the running direction of the X-axis variable frequency motor based on the judgment result.

[0012] In an optional implementation, obtaining the source or target position specifically includes: Get the source or target station number of the truss trolley, and get the position value corresponding to the source or target station number according to the mapping relationship between the station number and the position coordinate.

[0013] In a second aspect, the technical solution of the present invention provides a truss logistics control device for a large five-axis gantry production line, the device is configured in a numerical control system, the numerical control system is electrically connected to a laser rangefinder arranged on a truss support frame, and the device comprises: Automatic loading execution module, used to execute macro program to realize automatic loading process; Automatic uninstallation execution module, used to execute macro program to realize automatic uninstallation process; A mobile control module is used to execute a mobile control subroutine to control the truss trolley to move to a source or target position during the automatic loading process and the automatic unloading process. During the movement, the real-time position of the truss trolley is detected by a laser rangefinder, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley; The instruction execution module is used to realize the release and locking of the X-axis safety positioning pin, the release and locking of the Z-axis safety positioning pin, and the opening and closing of the truss robot arm by executing the M instruction code during the automatic loading process and the automatic unloading process.

[0014] In a third aspect, the technical solution of the present invention provides a terminal, including: Memory for storing the truss logistics control program for the large five-axis gantry production line; The processor is used to implement the following steps when executing the truss logistics control program of the large five-axis gantry production line: Execute macro programs to realize automatic loading and unloading processes; During the automatic loading and unloading process, the movement control subroutine is executed to control the truss trolley to move to the source or target position. During the movement, the real-time position of the truss trolley is detected by a laser rangefinder, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley; During the automatic loading and unloading process, the X-axis safety positioning pin is released and locked, the Z-axis safety positioning pin is released and locked, and the truss robot arm is opened and closed by executing the M instruction code.

[0015] In a fourth aspect, the technical solution of the present invention provides a computer-readable storage medium, on which a truss logistics control program for a large five-axis gantry production line is stored, and when the truss logistics control program for the large five-axis gantry production line is executed by a processor, the following steps are implemented: Execute macro programs to realize automatic loading and unloading processes; During the automatic loading and unloading process, the movement control subroutine is executed to control the truss trolley to move to the source or target position. During the movement, the real-time position of the truss trolley is detected by a laser rangefinder, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley; During the automatic loading and unloading process, the X-axis safety positioning pin is released and locked, the Z-axis safety positioning pin is released and locked, and the truss robot arm is opened and closed by executing the M instruction code.

[0016] The truss logistics control method, device, terminal and medium of a large five-axis gantry production line provided by the present invention have the following beneficial effects compared with the prior art: by electrically connecting the laser rangefinder with the numerical control system, the real-time detection of the position of the truss trolley is realized, and then in the mobile control subroutine, according to the position information fed back by the laser rangefinder, the truss trolley is accurately controlled to move to the source or target position, thereby improving the accuracy of the positioning of the truss trolley, and at the same time, the running speed of the truss trolley is controlled according to the position, thereby preventing the truss trolley from rushing through the source or target position due to inertia, thereby further improving the positioning accuracy of the truss trolley. At the same time, the macro program is written using the numerical control system to realize the automatic loading and unloading process, thereby improving the efficiency of the logistics operation. In addition, the M instruction code is executed to realize the release and locking of the X-axis safety positioning pin and the release and locking of the Z-axis safety positioning pin, thereby ensuring the safety of the truss trolley during operation, and the opening and closing operations of the truss mechanical arm can also be effectively controlled, thereby avoiding safety accidents caused by improper operation of the mechanical arm. The entire control method organically combines the CNC system, laser rangefinder and various actuators to achieve collaborative work between equipment, so that each link can work closely together during the automatic loading and unloading process, thereby improving the overall operating efficiency of the production line. BRIEF DESCRIPTION OF THE DRAWINGS In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0017] Figure 1 This is a schematic diagram of the structure of the truss logistics transportation system.

[0018] Figure 2 It is a schematic diagram of the truss trolley structure in the truss logistics transportation system.

[0019] Figure 3 A schematic flow chart of a truss logistics control method for a large five-axis gantry production line provided in an embodiment of the present invention.

[0020] Figure 4 Schematic diagram of the automatic loading process flow for executing macro programs.

[0021] Figure 5 Schematic diagram of the process flow for executing macro programs to achieve automatic uninstallation.

[0022] Figure 6 Schematic diagram of the flow chart for executing the movement control subroutine and controlling the truss trolley to move to the target position.

[0023] Figure 7 A schematic block diagram of the structure of a truss logistics control device for a large-scale five-axis gantry production line provided in an embodiment of the present invention.

[0024] Figure 8 A schematic diagram of the structure of a terminal provided by an embodiment of the present invention.

[0025] Explanation of main figure marks: 1-truss trolley, 2-Z-axis lifting servo motor, 3-truss X-axis running frequency conversion motor, 4-laser rangefinder, 5-limit buffer, 6-safety positioning pin, 7-Z-axis lead screw, 8-left side robotic arm. DETAILED DESCRIPTION

[0026] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0028] The truss logistics control method of this embodiment is applied to a large five-axis gantry production line. The large five-axis gantry production line consists of multiple machine tools of various types, including a large five-axis gantry machining center machine tool, loading and unloading stations, material storage stations, auxiliary stations, etc., forming a CNC machining production line; the part blanks and finished parts of the production line are arbitrarily transferred between various stations through the truss logistics transportation system.

[0029] Figure 1 This is a schematic diagram of the truss logistics transportation system structure. Figure 2 The schematic diagram of the truss trolley structure in the truss logistics transportation system, where number 1 is the truss trolley, which drives the pallet and workpiece to move; number 2 is the Z-axis lifting servo motor, with a total of 2 sets in the front and rear; number 3 is the truss X-axis running frequency conversion motor, with the front and rear wheels coaxial; number 4 is the laser rangefinder, which controls the X-axis movement; number 5 is the limit buffer, with a total of four in the front, back, left and right; number 6 is the safety positioning pin, with one set each in the X and Z directions; number 7 is the Z-axis lead screw, which lifts the mechanical arm up and down; number 8 is the left mechanical arm, which can be opened or closed with the right mechanical arm to achieve the fixation and release of the pallet. Figure 1 and 2As shown in the figure, the material transportation system is a truss rail conveying system, which consists of a truss support frame, a guide rail, a truss trolley and other parts. The horizontal movement (X direction) of the truss trolley adopts a track structure, which is driven by a variable frequency motor-gear rack. The guide wheels on both sides share a set of drive devices to realize the horizontal movement of the truss. X safety positioning pins are set at each workstation to facilitate material transportation after the truss is positioned.

[0030] A frame that can move up and down (in the Z direction) is installed inside the truss trolley. The frame is driven by two sets of servo motors and lead screws and is equipped with four linear guide rails with four sliders on each side. A Z safety locating pin is set at the uppermost position to ensure the safety of the truss trolley during material transportation.

[0031] The truss rail conveyor system is controlled by a Siemens 840Dsl CNC system, with electrical and mechanical limits, and double-layer protection. There are safety hydraulic dampers at both ends of the X (horizontal) movement direction. The Z axis (vertical) of the truss manipulator is equipped with anti-fall protection devices such as electrical brakes and mechanical bumpers to prevent moving parts from running out of the specified area and ensure the safety and reliability of the overall system.

[0032] Four claw arms are installed on the mobile frame. There are mounting holes at the ends of the claw arms, through which the exchange pallet can be grabbed. The claw arm is a lever structure, connected to the mobile frame through a rotating shaft. Each claw is installed with a hydraulic cylinder drive on the upper end, which can automatically open and close to complete the automatic grabbing of the pallet. Combined with the X-axis and Z-axis movement, the exchange pallet can be automatically moved to the required position. The claw arm can only be opened when the machine tool or the cache exchange station is grabbing or putting down. The truss track conveying system is arranged on all machine tools, operating stations, and the rear side, which is conducive to the transportation of truss materials.

[0033] This embodiment provides a truss logistics control method for a large five-axis gantry production line, which completes the directional positioning control problem of the variable frequency motor of the truss X-axis to realize the accurate positioning function of the truss; completes the positioning control of the Z-axis of the truss car to realize the up and down movement of the truss car; completes the control action of each safety pin of the truss and the clamping mechanical arm to realize the picking and placing action of the logistics pallet. This embodiment realizes the control of the entire truss logistics system through a numerical control system, which is consistent with the operating system of the numerical control machine tool, and is convenient for data exchange, transmission and control actions. At the same time, the X-axis position of the truss car is measured in real time through a laser rangefinder, and the rotation of the ordinary variable frequency motor is controlled. The truss car is used to rotate on the rails to realize the X-axis movement and positioning stop action of the truss logistics car. In addition, this embodiment writes a macro program through the numerical control system to realize the logical control of various actions in the exchange process of the entire truss logistics system, and flexibly realizes the logistics exchange of the truss system.

[0034] Figure 3A schematic flow chart of a truss logistics control method for a large five-axis gantry production line provided by an embodiment of the present invention, wherein: Figure 1 The execution subject may be a truss logistics control device for a large five-axis gantry production line. The truss logistics control method for a large five-axis gantry production line provided in an embodiment of the present invention is executed by a computer device, and accordingly, the truss logistics control device for a large five-axis gantry production line runs in the computer device. According to different requirements, the order of the steps in the flowchart can be changed, and some can be omitted.

[0035] like Figure 3 As shown, the method includes the following steps.

[0036] S1, write macro program and M instruction code through CNC system.

[0037] The macro program of this embodiment is used to realize the automatic loading process and the automatic unloading process, and then realize the logical control of various actions in the entire truss logistics system exchange process, and flexibly realize the truss system logistics exchange.

[0038] The M instruction code of this embodiment realizes the release and locking of the X-axis safety positioning pin, the release and locking of the Z-axis safety positioning pin, and the opening and closing of the truss robotic arm, ensuring the safety of the truss trolley during operation. The opening and closing operations of the truss robotic arm can also be effectively controlled to avoid safety accidents caused by improper operation of the robotic arm.

[0039] S2, executes the macro program to realize the automatic loading process and the automatic unloading process.

[0040] Specifically, when truss loading and unloading is required, the macro program is executed to control automatic loading or automatic unloading. During the process, the logical control of various actions in the entire truss logistics system exchange process is realized, and the truss system logistics exchange is flexibly realized.

[0041] S3, during the automatic loading process and the automatic unloading process, execute the movement control subroutine to control the truss trolley to move to the source or target position. During the movement, the real-time position of the truss trolley is detected by the laser rangefinder, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley.

[0042] In this embodiment, a laser rangefinder is arranged on the truss support frame, and the laser rangefinder is electrically connected to the numerical control system. Specifically, the laser rangefinder is configured under the Siemens hardware system, connected via the PROFINET bus, and after the communication is normal, the laser rangefinder will send the position to the numerical control system in real time.

[0043] In this embodiment, a movement control subroutine is configured in the macro program, and the subroutine is executed to realize the movement control of the truss trolley. Specifically, taking the arrival at the source position as an example, after the CNC system receives the source position information P1, it analyzes the truss position information P0 according to the truss instruction information, compares the size relationship between P0 and P1 to determine the movement direction, and starts the variable frequency motor to move the difference |P0-P1|. Before reaching the P1 position, the frequency converter decelerates and runs until it reaches the target position P1, and the frequency converter stops running.

[0044] S4, during the automatic loading and unloading process, the X-axis safety positioning pin is released and locked, the Z-axis safety positioning pin is released and locked, and the truss robot arm is opened and closed by executing the M instruction code.

[0045] In this embodiment, it is necessary to control the status of the X-axis safety locating pin, the Z-axis safety locating pin, and the truss robotic arm during the loading and unloading process. This embodiment implements the status control of these components through the M instruction code to ensure the safety of the truss trolley during operation. The opening and closing operations of the truss robotic arm can also be effectively controlled to avoid safety accidents caused by improper operation of the robotic arm.

[0046] In an optional implementation, the running speed of the variable frequency motor, the position acquisition of the truss trolley, and the start and stop of the truss can also be achieved through M instruction codes.

[0047] Figure 4 The following is a flow chart of the automatic loading process for executing macro programs: Figure 4 As shown, the automatic loading process includes the following steps.

[0048] Step 1, check whether the truss trolley is empty and has no pallet. If not, issue an alarm. If yes, proceed to the next step.

[0049] Step 2: Release the X-axis safety positioning pin.

[0050] Step 3, execute the movement control subroutine to control the truss trolley to move to the original position.

[0051] Step 4: After the truss trolley reaches the starting position, lock the X-axis safety positioning pin.

[0052] Step 5, check whether the chassis on the machine tool side is in place, if not, continue to wait until the chassis on the machine tool side is in place, if yes, proceed to the next step.

[0053] Step 6, check whether there is a pallet at the workstation, if not, issue an alarm, if yes, proceed to the next step.

[0054] Step 7, release the Z-axis safety positioning pin, lower the mobile frame to the open position of the truss robot arm, then open the truss robot arm, lower the mobile frame to the lower limit clamping position, and then close the truss robot arm to clamp the pallet.

[0055] Step 8, check whether the truss robot arm has clamped the pallet, if not, issue an alarm, if yes, proceed to the next step.

[0056] Step 9. Lift the mobile frame to the upper limit position and then lock the Z-axis safety positioning pin.

[0057] During the automatic loading process of this embodiment, the truss system checks whether the truss trolley is currently empty and has no pallet based on the source position P1, and directly alarms if there is a pallet; after checking that there is no pallet, the truss X-axis positioning pin is released; the truss trolley will move from the current stop position P0 to the source target position P1; after the truss is in place, the truss positioning pin is inserted and locked; check whether the chassis on the machine tool side is in place; check whether there is a pallet to be taken at the workstation; if there is a pallet to be taken, release the Z-axis truss safety pin; after the robot arm descends to the open position, open the robot arm, and then descend to the lower limit clamping position; after reaching the clamping position, the robot arm automatically closes to clamp the pallet; after clamping, check whether the robot arm has clamped the pallet; after detecting that the pallet has been clamped, the robot arm rises to the uppermost upper limit; at the same time, the Z-axis truss safety positioning pin is locked, completing the automatic loading process of the pallet.

[0058] Figure 5 The following is a flow chart of the automatic uninstallation process for executing macro programs: Figure 5 As shown, the automatic uninstallation process includes the following steps.

[0059] Step 1, detect whether there is a pallet on the truss trolley, if not, issue an alarm, otherwise, proceed to the next step; Step 2: Release the X-axis safety positioning pin.

[0060] Step 3, execute the movement control subroutine to control the truss trolley to move to the target position.

[0061] Step 4: After the truss trolley reaches the target position, lock the X-axis safety positioning pin.

[0062] Step 5, check whether the chassis on the machine tool side is in place, if not, continue to wait until the chassis on the machine tool side is in place, if yes, proceed to the next step.

[0063] Step 6, check whether there is a pallet at the workstation, if so, issue an alarm, if not, proceed to the next step.

[0064] Step 7, release the Z-axis safety positioning pin, lower the mobile frame to the lower limit, and then open the truss robot arm.

[0065] Step 8, check again whether the truss trolley has a pallet, if so, issue an alarm, otherwise, proceed to the next step.

[0066] Step 9. Lift the mobile frame to the upper limit, then close the truss robot arm and lock the Z-axis safety positioning pin.

[0067] After loading is completed, confirm that the X-axis positioning pin is released, the truss trolley carries the pallet and workpiece from position P1 to the target position P2, and performs the automatic unloading process. The automatic unloading process of this embodiment first confirms whether there is a pallet on the truss trolley; if there is a pallet to be transported, confirm that the X-axis positioning pin is released; the truss trolley carries the pallet and workpiece from position P1 to the target position P2; the trolley X-axis truss positioning pin is inserted and locked; check whether the target machine tool chassis is in place; check whether there is a pallet at the target workstation; the truss trolley Z-axis truss safety pin is retracted and released; the truss moves downward to the lower limit position, and the robotic arm drives the pallet / workpiece to descend to the lowest position; the robotic arm opens and releases the pallet / workpiece; check whether there is a pallet; the robotic arm automatically closes after rising to a safe position, and the robotic arm rises to the upper limit in the Z direction; the Z-axis truss safety pin is locked, completing the automatic unloading process of the pallet; this truss exchange process ends.

[0068] Figure 6 To execute the movement control subroutine, control the truss trolley to move to the target position, as shown in the following figure: Figure 6 As shown, executing the movement control subroutine implements the following process steps.

[0069] Step 1: Get the current position and source / target position of the car.

[0070] In this embodiment, the source / target position can be obtained by a host computer or user input, the current position is the trolley stop position, the source position refers to the position where the truss trolley loads the workpiece, and the target position refers to the position where the truss trolley unloads the workpiece; the source / target position can be obtained through the workstation number. Specifically, the workstation coordinate position is stored in the internal memory, and the source / target position corresponding to the workstation number is obtained according to the mapping relationship between the workstation number and the position coordinate.

[0071] In this embodiment, after obtaining the current position of the vehicle and the source / target position, the size relationship between the current position and the source / target position is determined, and the running direction of the X-axis variable frequency motor is determined according to the determination result.

[0072] Step 2: Calculate the absolute value of the difference between the current position and the source / target position.

[0073] Step 3, check whether the absolute value of the difference is 0. If so, do not move the truss trolley, exit the movement control subroutine, and continue to execute the subsequent steps of the automatic loading process or the automatic unloading process. If not, segment the moving distance based on the absolute value of the difference and the pre-configured distance division rule.

[0074] Specifically, if the current position of the truss trolley is the source / target position, the movement control subroutine is exited and the subsequent steps of loading or unloading are continued, specifically, the X-axis safety positioning pin is locked. If it is not the same position, but has a certain distance difference, the distance segmentation is performed to perform the subsequent speed control of the variable frequency motor based on the distance segmentation.

[0075] It should be noted that the distance division rules are pre-configured. For example, if the distance is long, the total distance is divided into four sections. If the distance is short, the total distance is divided into three sections, and each section corresponds to a variable frequency motor speed. Specifically, the variable frequency motor has four gear speeds, namely fast, medium, low, and slow. When divided into four sections, the farthest distance segment is configured as fast, and the closest distance segment is configured as slow according to the principle of distance from the source / target position from far to near. When divided into three sections, the farthest distance segment is configured as medium speed, and the closest distance segment is configured as slow according to the principle of distance from the target position from far to near. In short, when the truss trolley reaches the last distance segment, the X-axis variable frequency motor is controlled to decelerate. Specifically, the last distance runs at a slow speed.

[0076] In an optional implementation, the moving distance is segmented according to the absolute value of the difference based on a preconfigured distance division rule, which specifically includes the following steps.

[0077] Step 301, determine whether the absolute value of the difference is greater than a first threshold, if yes, execute step S302, otherwise execute step S303; Step 302, constructing a first distance segment mapping table, dividing the moving distance into four segments based on the first distance division ratio, configuring an X-axis variable frequency motor speed level for each distance segment, and filling the configuration relationship into the first distance segment mapping table; Step 303, determine whether the absolute value of the difference is greater than a second threshold, if yes, execute step 304, otherwise execute step S305; Step 304, constructing a second distance segment mapping table, dividing the moving distance into three segments based on the second distance division ratio, configuring an X-axis variable frequency motor speed level for each distance segment, and filling the configuration relationship into the second distance segment mapping table; Step 305, determine whether the absolute value of the difference is greater than a third threshold, if yes, execute step 306, otherwise execute step 307; Step 306, constructing a third distance segment mapping table, dividing the moving distance into two segments based on the third distance division ratio, configuring an X-axis variable frequency motor speed level for each distance segment, and filling the configuration relationship into the third distance segment mapping table; Step 307, construct a fourth distance segment mapping table, configure the moving distance as a distance segment, configure the X-axis variable frequency motor speed level for the distance segment, and fill the configuration relationship into the fourth distance segment mapping table; wherein the first threshold is greater than the second threshold, and the second threshold is greater than the third threshold; Among them, in the distance division process of step 302, step 304 and step 306, the principle of higher priority is followed as the closer to the source / target position is, except for the distance farthest from the source / target position, the other distance segments are obtained by multiplying the total moving distance by the corresponding ratio and then rounding up, and the distance farthest from the source / target position is the distance obtained by subtracting the other distance segments from the total moving distance.

[0078] In this embodiment, by setting multiple thresholds, the moving distance is divided into different numbers of segments according to the absolute value of the difference, such as four segments, three segments, two segments or one segment, and different X-axis variable frequency motor speed levels are configured for each segment, so that the truss trolley can run at a suitable speed in different moving stages, avoiding the influence of too fast or too slow speed on the positioning accuracy, thereby improving the control accuracy of the entire system. For example, using a faster speed when the distance to the target position is far away can improve the operating efficiency; reducing the speed when approaching the target position can ensure accurate docking. Moreover, different working conditions may require different moving strategies. This method can automatically adjust the segmentation and speed configuration according to the difference in moving distance. When the absolute value of the difference is large, more segments and more flexible speed levels are used to meet the needs of long-distance movement; when the absolute value of the difference is small, the number of segments is reduced, the control logic is simplified, and it is suitable for short-distance fine-tuning. The system can operate stably in a variety of scenarios, improving the versatility and reliability of the system. In addition, this embodiment assigns priority according to the distance from the source / target position, gives priority to determining the distance segment that is closer to the target position, and adopts a reasonable calculation method (such as, except for the farthest distance segment, other segments are obtained by multiplying the total moving distance by the corresponding ratio and rounding up), which can optimize the operating efficiency of the system while ensuring the control accuracy. At the same time, by constructing different distance segment mapping tables, the relationship between the moving distance segment and the corresponding X-axis variable frequency motor speed level configuration is clearly recorded and managed, and the structured design improves the convenience of system maintenance and expansion. When it is necessary to adjust the speed configuration or add a new distance segment strategy, it is only necessary to modify the corresponding mapping table content without making large-scale changes to the control logic of the entire system, reducing the difficulty and cost of system maintenance and providing convenience for the functional expansion of the system.

[0079] Step 4, start the X-axis variable frequency motor to drive the truss trolley to move, and use the laser rangefinder to detect the real-time position of the truss trolley during the movement.

[0080] The laser rangefinder is connected to the CNC system via the PROFINET bus. The CNC system receives the position information sent by the laser rangefinder in real time to determine which distance segment the truss trolley is in.

[0081] Step 5, determine the current distance segment according to the real-time position of the truss trolley, and control the running speed of the X-axis variable frequency motor according to the determination result.

[0082] Specifically, the distance segments configured in step 3 and the corresponding speed of the variable frequency motor are combined with the real-time position of the truss trolley to control the running speed of the variable frequency motor.

[0083] An embodiment of a truss logistics control method for a large five-axis gantry production line is described in detail above. Based on the truss logistics control method for a large five-axis gantry production line described in the above embodiment, an embodiment of the present invention also provides a truss logistics control device for a large five-axis gantry production line corresponding to the method.

[0084] Figure 7 A schematic block diagram of the structure of a truss logistics control device for a large five-axis gantry production line provided in an embodiment of the present invention. In this embodiment, the truss logistics control device for a large five-axis gantry production line can be divided into multiple functional modules according to the functions it performs, such as Figure 7 The functional modules may include: an automatic loading execution module, an automatic unloading execution module, a mobile control module, and an instruction execution module. The module referred to in the present invention refers to a series of computer program segments that can be executed by at least one processor and can complete fixed functions, which are stored in a memory.

[0085] The automatic loading execution module is used to execute the macro program to realize the automatic loading process.

[0086] The automatic uninstallation execution module is used to execute the macro program to realize the automatic uninstallation process.

[0087] The mobile control module is used to execute the mobile control subroutine to control the truss trolley to move to the source or target position during the automatic loading and unloading processes. During the movement, the real-time position of the truss trolley is detected by a laser rangefinder, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley.

[0088] The instruction execution module is used to realize the release and locking of the X-axis safety positioning pin, the release and locking of the Z-axis safety positioning pin, and the opening and closing of the truss robot arm by executing the M instruction code during the automatic loading process and the automatic unloading process.

[0089] The truss logistics control device of the large five-axis gantry production line of this embodiment is used to implement the truss logistics control method of the large five-axis gantry production line mentioned above. Therefore, the specific implementation method of the device can be seen in the embodiment part of the truss logistics control method of the large five-axis gantry production line in the previous text. Therefore, its specific implementation method can refer to the description of the corresponding embodiments of each part, which will not be introduced in detail here.

[0090] In addition, since the truss logistics control device of the large five-axis gantry production line of this embodiment is used to implement the aforementioned truss logistics control method of the large five-axis gantry production line, its function corresponds to that of the above method and will not be repeated here.

[0091] Figure 8 A schematic diagram of the structure of a terminal provided by an embodiment of the present invention includes: a processor, a memory and a communication unit. The processor is used to implement the following steps when implementing the truss logistics control program of a large five-axis gantry production line stored in the memory: Execute macro programs to realize automatic loading and unloading processes; During the automatic loading and unloading process, the movement control subroutine is executed to control the truss trolley to move to the source or target position. During the movement, the real-time position of the truss trolley is detected by a laser rangefinder, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley; During the automatic loading and unloading process, the X-axis safety positioning pin is released and locked, the Z-axis safety positioning pin is released and locked, and the truss robot arm is opened and closed by executing the M instruction code.

[0092] The present invention also provides a computer storage medium, wherein the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM).

[0093] The computer storage medium stores a truss logistics control program for a large five-axis gantry production line. When the truss logistics control program for the large five-axis gantry production line is executed by a processor, the following steps are implemented: Execute macro programs to realize automatic loading and unloading processes; During the automatic loading and unloading process, the movement control subroutine is executed to control the truss trolley to move to the source or target position. During the movement, the real-time position of the truss trolley is detected by a laser rangefinder, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley; During the automatic loading and unloading process, the X-axis safety positioning pin is released and locked, the Z-axis safety positioning pin is released and locked, and the truss robot arm is opened and closed by executing the M instruction code.

[0094] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A truss logistics control method for a large five-axis gantry production line, characterized in that: A laser rangefinder is arranged on the truss support frame, and the laser rangefinder is electrically connected to the numerical control system. The method comprises the following steps: Write macro programs and M command codes through the CNC system; Execute macro programs to realize automatic loading and unloading processes; During the automatic loading and unloading process, the movement control subroutine is executed to control the truss trolley to move to the source or target position. During the movement, the real-time position of the truss trolley is detected by a laser rangefinder, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley; During the automatic loading and unloading process, the X-axis safety positioning pin is released and locked, the Z-axis safety positioning pin is released and locked, and the truss robot arm is opened and closed by executing the M instruction code.

2. The truss logistics control method for a large five-axis gantry production line according to claim 1 is characterized in that: Execute the macro program to realize the automatic loading process, including: Step 1, check whether the truss trolley is empty and has no pallet. If not, an alarm is issued. If yes, proceed to the next step; Step 2, release the X-axis safety positioning pin; Step 3, execute the movement control subroutine to control the truss trolley to move to the original position; Step 4: After the truss trolley reaches the starting position, lock the X-axis safety positioning pin; Step 5, check whether the chassis on the machine tool side is in place, if not, continue to wait until the chassis on the machine tool side is in place, if yes, proceed to the next step; Step 6, check whether there is a pallet at the workstation, if not, issue an alarm, if yes, proceed to the next step; Step 7, release the Z-axis safety positioning pin, lower the mobile frame to the truss robot arm open position, then open the truss robot arm, lower the mobile frame to the lower limit clamping position, and then close the truss robot arm to clamp the pallet; Step 8, check whether the truss robot arm has clamped the pallet, if not, issue an alarm, if yes, proceed to the next step; Step 9. Lift the mobile frame to the upper limit position and then lock the Z-axis safety positioning pin.

3. The truss logistics control method for a large five-axis gantry production line according to claim 2 is characterized in that: Execute the macro program to realize the automatic uninstallation process, including: Step 1, detect whether there is a pallet on the truss trolley, if not, issue an alarm, otherwise, proceed to the next step; Step 2, release the X-axis safety positioning pin; Step 3, execute the movement control subroutine to control the truss trolley to move to the target position; Step 4: After the truss trolley reaches the target position, lock the X-axis safety positioning pin; Step 5, check whether the chassis on the machine tool side is in place, if not, continue to wait until the chassis on the machine tool side is in place, if yes, proceed to the next step; Step 6, check whether there is a pallet at the workstation, if yes, issue an alarm, if no, proceed to the next step; Step 7, release the Z-axis safety positioning pin, lower the mobile frame to the lower limit, and then open the truss robot arm; Step 8, check again whether the truss trolley has a pallet, if so, issue an alarm, otherwise, proceed to the next step; Step 9. Lift the mobile frame to the upper limit, then close the truss robot arm and lock the Z-axis safety positioning pin.

4. The truss logistics control method for a large five-axis gantry production line according to claim 2 or 3, characterized in that: Execute the movement control subroutine to control the truss trolley to move to the source or target position, including: Get the current position, source or target position of the car; Calculate the absolute value of the difference between the current position of the car and the source position, or between the current position of the car and the target position; Check whether the absolute value of the difference is 0. If so, do not move the truss trolley, exit the movement control subroutine, and continue to execute the subsequent steps of the automatic loading process or the automatic unloading process. If not, divide the moving distance into segments based on the pre-configured distance division rule according to the absolute value of the difference; Start the X-axis variable frequency motor to drive the truss trolley to move, and use the laser rangefinder to detect the real-time position of the truss trolley during the movement; The current distance segment is determined according to the real-time position of the truss trolley, and the running speed of the X-axis variable frequency motor is controlled according to the determination result.

5. The truss logistics control method for a large five-axis gantry production line according to claim 4 is characterized in that: The running speed of the X-axis variable frequency motor is controlled according to the judgment result, including: When the truss trolley reaches the last distance segment, the X-axis variable frequency motor is controlled to decelerate.

6. The truss logistics control method for a large five-axis gantry production line according to claim 4 is characterized in that: After obtaining the current position, source or target position of the car, the following steps are also included: Determine the size relationship between the current position of the car and the source position, or between the current position of the car and the target position, and determine the running direction of the X-axis variable frequency motor based on the judgment result.

7. The truss logistics control method for a large five-axis gantry production line according to claim 4 is characterized in that: Get the source or target location, including: Get the source or target station number of the truss trolley, and get the position value corresponding to the source or target station number according to the mapping relationship between the station number and the position coordinate.

8. A truss logistics control device for a large five-axis gantry production line, characterized in that: The device is configured in a numerical control system, the numerical control system is electrically connected to a laser rangefinder arranged on a truss support frame, and the device comprises: Automatic loading execution module, used to execute macro program to realize automatic loading process; Automatic uninstallation execution module, used to execute macro program to realize automatic uninstallation process; A mobile control module is used to execute a mobile control subroutine to control the truss trolley to move to a source or target position during the automatic loading process and the automatic unloading process. During the movement, the real-time position of the truss trolley is detected by a laser rangefinder, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley; The instruction execution module is used to realize the release and locking of the X-axis safety positioning pin, the release and locking of the Z-axis safety positioning pin, and the opening and closing of the truss robot arm by executing the M instruction code during the automatic loading process and the automatic unloading process.

9. A terminal, characterized in that: include: Memory for storing the truss logistics control program for the large five-axis gantry production line; The processor is used to implement the following steps when executing the truss logistics control program of the large five-axis gantry production line: Execute macro programs to realize automatic loading and unloading processes; During the automatic loading and unloading process, the movement control subroutine is executed to control the truss trolley to move to the target position. During the movement, the real-time position of the truss trolley is detected by a laser rangefinder, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley; During the automatic loading and unloading process, the X-axis safety positioning pin is released and locked, the Z-axis safety positioning pin is released and locked, and the truss robot arm is opened and closed by executing the M instruction code.

10. A computer-readable storage medium, characterized in that: The readable storage medium stores a truss logistics control program for a large five-axis gantry production line. When the truss logistics control program for the large five-axis gantry production line is executed by the processor, the following steps are implemented: Execute macro programs to realize automatic loading and unloading processes; During the automatic loading and unloading process, the movement control subroutine is executed to control the truss trolley to move to the target position. During the movement, the real-time position of the truss trolley is detected by a laser rangefinder, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley; During the automatic loading and unloading process, the X-axis safety positioning pin is released and locked, the Z-axis safety positioning pin is released and locked, and the truss robot arm is opened and closed by executing the M instruction code.

Images