Method, device, and computer-readable storage medium for controlling synchronization of multiple robots

Abstract

The present application discloses a method, device and computer-readable storage medium for controlling the synchronization of multiple robots. The method includes: after the control device detects that multiple robots all meet preset conditions, at least simultaneously send a first trigger instruction to first target robots among the multiple robots where there are workpieces at corresponding material-taking positions, so that the robotic arms of the first target robots grab the workpieces at their respective corresponding material-taking positions to their respective corresponding material-releasing positions, and finally return to their respective corresponding initial positions. The method of the present application can improve the efficiency of multiple robots working simultaneously.

Description

Technical Field

[0001] This application belongs to the technical field of equipment control, and particularly relates to a method, device, and computer-readable storage medium for controlling the synchronization of multiple robots. Background Art

[0002] Currently, the loading and unloading logic of multiple stamping machines on the production line is as follows: Multiple stamping machines are arranged side by side at appropriate intervals in sequence. Multiple operators sit facing the stamping machines, ensuring that there is one operator in front of each stamping machine. The operation steps of the operator include: First step, when there is no workpiece under the stamping machine in front of him / her, the operator uses a tool clamp in his / her left hand to pick up the material from the left material picking area and place it at the stamping position under the stamping machine. Subsequently, the operator manually controls the stamping machine to press down using his / her foot, causing the first deformation of the workpiece. Then, the operator uses his / her right hand to hold the clamp, pick up the deformed workpiece, and place it in the right material placing area on his / her right. This workpiece then waits for the next operator to pick it up and place it under the next stamping machine, and then waits for the stamping machine to press down to cause the second deformation; Second step, when there is a workpiece under the stamping machine in front of him / her, the operator first uses his / her right hand to hold the clamp to pick up the workpiece, transfer it to the subsequent operator, and then continue the above first step. The workpiece is transferred according to the above logic and in the order from left to right until the last stamping machine completes the pressing, and finally a finished product is formed.

[0003] Currently, due to the participation of humans in the above processing method, first, the efficiency is low; second, it is difficult to ensure the personal safety of the operators; third, it is easy for the operators to suffer from occupational diseases in high-temperature and sweltering environments. Summary of the Invention

[0004] This application provides a method, device, and computer-readable storage medium for controlling the synchronization of multiple robots, which can improve the efficiency of multiple robots working simultaneously.

[0005] In the first aspect of the embodiments of the present application, a method for controlling the synchronization of multiple robots is provided. The multiple robots are sequentially arranged at intervals along a production line, and the feeding position corresponding to any one of the robots and the material taking position of the adjacent and downstream robot are on the same device. The method includes: after the control device detects that all the multiple robots meet the preset conditions, at least simultaneously sending a first trigger instruction to the first target robots among the multiple robots where there are workpieces at the corresponding material taking positions, so that the robotic arms of the first target robots grab the workpieces at their respective corresponding material taking positions to their respective corresponding feeding positions and finally return to their respective corresponding initial positions; wherein, among the multiple robots, the robot whose corresponding feeding position is on a punching machine is defined as the first robot. After the robotic arm of the first robot places the grabbed workpiece at the corresponding feeding position, the punching machine corresponding to the first robot punches the workpiece, and after the punching machine completes punching the workpiece and the robotic arm of the first robot returns to the corresponding initial position, the control device determines that the first robot meets the preset conditions.

[0006] In the second aspect of the embodiments of the present application, a control device is provided. The control device includes a processor, a memory, and a communication circuit. The processor is respectively coupled to the memory and the communication circuit. Program data is stored in the memory, and the processor realizes the steps in any one of the above methods by executing the program data in the memory.

[0007] In the third aspect of the embodiments of the present application, a loading and unloading system is provided. The loading and unloading system includes a control device and multiple robots communicatively connected to the control device. The multiple robots are sequentially arranged at intervals along a production line, and the feeding position corresponding to any one of the robots and the material taking position of the adjacent and downstream robot are on the same device. The control device is configured to: after detecting that all the multiple robots meet the preset conditions, at least simultaneously send a first trigger instruction to the first target robots among the multiple robots where there are workpieces at the corresponding material taking positions, so that the robotic arms of the first target robots grab the workpieces at their respective corresponding material taking positions to their respective corresponding feeding positions and finally return to their respective corresponding initial positions; wherein, the robot whose corresponding feeding position is on a punching machine is defined as the first robot. After the robotic arm of the first robot places the grabbed workpiece at the corresponding feeding position, the punching machine corresponding to the first robot punches the workpiece, and after the punching machine completes punching the workpiece and the robotic arm of the first robot returns to the corresponding initial position, the control device determines that the first robot meets the preset conditions.

[0008] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program that can be executed by a processor to implement the steps in any of the above methods.

[0009] The beneficial effects are as follows: In the present application, the control device can control multiple robots to pick up materials simultaneously, so that the timing of multiple robots starting from a stationary state is always consistent, achieving simultaneous picking of workpieces, avoiding deviations caused by time accumulation, improving the efficiency of multiple robots working synchronously, and at the same time being able to avoid interference and collision between multiple robots, improving safety performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings, where:

[0011] Figure 1 is a flowchart of an implementation manner of the method for controlling multiple robots to be synchronous in the present application;

[0012] Figure 2 is a schematic diagram of the relative positions of multiple robots and a stamping machine in the present application;

[0013] Figure 3 is a flowchart of the working process of the control device in the present application;

[0014] Figure 4 is a schematic structural diagram of an implementation manner of the control device in the present application;

[0015] Figure 5 is a schematic structural diagram of an implementation manner of the computer-readable storage medium in the present application;

[0016] Figure 6 is a schematic structural diagram of an implementation manner of the loading and unloading system in the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of them. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0018] Refer to Figure 1 , Figure 1FIG. 0 is a schematic flowchart of an implementation of the method for controlling multiple robots to synchronize in this application. The method includes:

[0019] S110: After the control device detects that multiple robots all meet the preset conditions, at least simultaneously send a first trigger instruction to the first target robots among the multiple robots where there are workpieces at the corresponding material-taking positions, so that the robotic arms of the first target robots grab the workpieces at their respective corresponding material-taking positions to their respective corresponding material-releasing positions, and finally return to their respective corresponding initial positions.

[0020] Combined with Figure 2 , in this implementation, multiple robots are sequentially arranged at intervals along the production line, and the material-releasing position corresponding to any robot and the material-taking position of the adjacent and downstream robot are on the same device (for example, they can be on the same transfer table or on the same stamping machine). That is to say, in Figure 2 , the material-releasing position of robot Q and the material-taking position of robot H are on the same device, and the material-releasing position of robot H and the material-taking position of robot Q' are on the same device. Among them, in Figure 2 , the lowercase letters p, h, p' are respectively the schematic diagrams of the robotic arms of the corresponding robots Q, H, Q'. P is the action path of the robot for material-taking + material-releasing, and R is the action path of the robot for returning to the initial position after material-releasing. Among them, P and R can essentially be the same path or different paths, and this application does not make any restrictions.

[0021] Meanwhile, on the production line, a transfer table is placed between two stamping machines. The multiple robots include a first robot and a second robot. The material-releasing position of the first robot is on the stamping machine, and the material-releasing position of the second robot is on the transfer table. It can be understood that there is a second robot between two first robots.

[0022] In this implementation, the material-releasing position of the second robot coincides with the material-taking position of the adjacent and downstream first robot. That is to say, after the second robot places the workpiece on the transfer table, the subsequent adjacent and downstream first robot takes away the workpiece on the transfer table.

[0023] The feeding position of the first robot and the picking position of the adjacent second robot downstream can completely coincide or not, but both are on the stamping machine corresponding to the first robot. For example, after the first robot places the workpiece on the bearing platform of the corresponding stamping machine, the stamping machine stamps the workpiece. After stamping is completed, the workpiece remains on the bearing platform. Subsequently, the second robot picks up the workpiece on the bearing platform, or after the first robot places the workpiece on the bearing platform of the corresponding stamping machine, the stamping machine stamps the workpiece. After stamping is completed, although the workpiece remains on the stamping machine, it has been lifted a certain height by the stamping head of the stamping machine or moved to other positions in the stamping machine by the stamping head of the stamping machine. At this time, the subsequent second robot needs to pick up the workpiece in the stamping machine (at this time, the workpiece is not necessarily on the bearing platform of the stamping machine).

[0024] For the convenience of description, hereinafter, it is described that the feeding position corresponding to any robot coincides with the picking position of the adjacent robot downstream.

[0025] Among them, the control device is used to control the movement of multiple robots. It can be a robot control cabinet or other devices that can control robots, such as a computer, etc., which is not limited here. In an application scenario, the control device is a PLC (Programmable Logic Controller).

[0026] In this embodiment, when the control device detects that the robotic arm of the first robot returns to the corresponding initial position and the stamping machine corresponding to the first robot completes stamping the workpiece, it is determined that the first robot meets the preset conditions; when the control device detects that the robotic arm of the second robot returns to the corresponding initial position, it is determined that the second robot meets the preset conditions.

[0027] When it is detected that all robots meet the corresponding preset conditions, a first trigger instruction is sent to the first target robot at the same time, so that the first target robot grabs the workpiece from the corresponding picking position, then places the grabbed workpiece at the corresponding feeding position, and finally the robotic arm returns to the corresponding initial position. The first target robot refers to the robot with a workpiece at the picking position.

[0028] Among them, if the first target robot is also the first robot, after the first robot places the workpiece at the corresponding feeding position, the first robot or the control device sends a stamping instruction to the corresponding stamping machine, so that the stamping machine stamps the workpiece.

[0029] In this embodiment, the initial positions corresponding to the robotic arms of the robots coincide with the respective material taking positions of the robots. Specifically, setting the initial position to coincide with the material taking position can increase the acceleration of the robotic arm of the robot moving from the material taking position to the material placing position and reduce the movement time of the robot. However, the present application is not limited thereto. In other embodiments, the initial position corresponding to the robotic arm of the robot may also be the material placing position corresponding to the robot, or any position between the material taking position and the material placing position. However, for the sake of convenience of description, hereinafter, it will be described with the initial position corresponding to the robotic arm of the robot coinciding with the respective material taking positions of the robots.

[0030] For the first robot, its movement process is as follows: after receiving the first trigger instruction sent by the control device, it takes the material from the corresponding material taking position, then transports the workpiece to the corresponding punching machine, and then returns to the initial position. During the process of returning to the initial position, the first robot or the control device sends a punching instruction to the punching machine, so that the punching machine presses down to punch the workpiece. Finally, the first robot waits for the control device to send the first trigger instruction again, and so on in a cycle.

[0031] For the second robot, its movement process is as follows: after receiving the first trigger instruction sent by the control device, it takes the material from the corresponding material taking position, then places the workpiece on the corresponding transfer table, and finally returns to the corresponding initial position and waits for the control device to send the first trigger instruction again, and so on in a cycle.

[0032] That is to say, when multiple robots all meet the preset conditions, the control device triggers to enter a cycle beat. When multiple robots all meet the preset conditions again, the control device triggers to enter the next cycle beat.

[0033] In this embodiment, step S110 specifically includes:

[0034] S111: After the control device detects that multiple robots all meet the preset conditions, it determines whether there are workpieces at the respective material taking positions corresponding to the current multiple robots.

[0035] Specifically, after detecting that all robots meet the preset conditions, it is determined whether there are workpieces at the material taking positions corresponding to each robot respectively.

[0036] S112: In response to the existence of workpieces at the material taking positions corresponding to the robots, a first trigger instruction is sent to the robots, so that the robotic arms of the robots start from the corresponding initial positions, grab the workpieces at the corresponding material taking positions to the corresponding material placing positions, and finally return to the corresponding initial positions.

[0037] Specifically, taking the robot H as an example: If the control device detects that there is a workpiece at the material taking position of the robot H, it determines that the robot H is the first target robot and sends a first trigger instruction to the first target robot, causing the robotic arm of the robot H to pick up the material, place the material, and finally return to the initial position.

[0038] S113: In response to the absence of a workpiece at the material taking position corresponding to the robot, determine whether there is a workpiece at the material taking position corresponding to another adjacent robot located upstream.

[0039] If the judgment result is negative, execute step S114; otherwise, execute step S115.

[0040] Specifically, if the control device detects that there is no workpiece at the material taking position of the robot H, it determines whether there is a workpiece at the material taking position of the robot Q that is adjacent to the robot H and located upstream of the robot H. If not, execute step S114; otherwise, execute step S115.

[0041] S114: Do not send any trigger instruction to the robot, so that the robotic arm of the robot remains stationary.

[0042] Specifically, if there is no workpiece at the material taking position of the robot Q, it is determined that the robot H can remain stationary without picking up and placing the material.

[0043] S115: Send a second trigger instruction to the robot, so that the robotic arm of the robot leaves the corresponding initial position and returns to the corresponding initial position again after the robotic arm of the adjacent robot located upstream places the workpiece at the corresponding material placing position.

[0044] Specifically, if there is a workpiece at the material taking position of the robot Q, it means that the robot Q needs to transport the workpiece at the material taking position to the corresponding material placing position. As can be seen from the above, the material placing position of the robot Q and the material taking position of the robot H are on the same device. In order to avoid interference between the robot Q and the robot H during material placement, the control device determines that the robot H is the second target robot and sends a second trigger instruction to the robot H to control the robot H to avoid the robot Q. Specifically, after receiving the second trigger instruction, the robot H first leaves the corresponding initial position (without grasping the workpiece at this time), and then after the robotic arm of the robot Q places the material, the robotic arm of the robot H returns to the corresponding initial position again, that is, the material taking position of the robot H.

[0045] That is to say, for each robot, it performs one of the following three actions under the control of the control device:

[0046] The first is to pick up the material first, then place the material, and finally return to the initial position. The condition for performing this action is that there is a workpiece at the material taking position corresponding to the robot;

[0047] The second is to stay in place. The condition for performing this action is that there are no workpieces at the picking position of this robot and at the picking positions of another robot adjacent to this robot and upstream of this robot.

[0048] The third is an avoidance action. The condition for performing this action is that there is no workpiece at the picking position of this robot, but there is a workpiece at the picking position of another robot adjacent to this robot and upstream of this robot.

[0049] It should be noted that in other embodiments, without considering the interference and collision between adjacent two robots, for each robot, it can perform one of the following two actions under the control of the control device:

[0050] The first is to pick up the workpiece first, then place the workpiece, and finally return to the initial position. The condition for performing this action is that there is a workpiece at the picking position corresponding to this robot.

[0051] The second is to stay in place. The condition for performing this action is that there is no workpiece at the picking position of this robot.

[0052] Or in other embodiments, the control device can also directly send a first trigger instruction to all robots simultaneously after multiple robots all meet the preset conditions, regardless of whether there is a workpiece at the picking position of the robot. In this way, each robot will pick up the workpiece, place the workpiece, and finally return to the initial position. At this time, for a robot whose picking position has no workpiece, when it picks up the workpiece, it will not grab the workpiece, but only perform the action of grabbing the workpiece.

[0053] In this embodiment, in response to a robot malfunction, the control device determines that the robot meets the preset conditions.

[0054] Specifically, when a certain robot among multiple robots malfunctions, in order not to affect the normal operation of other robots, the control device will also determine that the malfunctioning robot meets the preset conditions. For the malfunctioning robot, the control device will not control it to pick up and place the workpiece.

[0055] It should be noted that in other embodiments, when a robot malfunctions, the control device can also first suspend the process of controlling multiple robots, and then execute the above control process after the robot's malfunction is resolved.

[0056] In this embodiment, respectively according to another robot adjacent to and upstream of each robot, determine whether there is a workpiece at the picking position corresponding to each robot based on the action performed by the other robot under the control of the control device in the most recent control.

[0057] For example, for any robot H, if in the previous cycle beat, the adjacent upstream robot Q remains stationary or performs an avoidance action under the control of the control device, it is determined that there is no workpiece at the material taking position of the current robot H. However, if in the previous cycle beat, the adjacent upstream robot Q performs material taking and material placing under the control of the control device, it is determined that there is a workpiece at the material taking position of the current robot H.

[0058] Of course, in other embodiments, sensors can also be installed at the material taking positions of each robot to detect whether there is a workpiece at the corresponding position.

[0059] It should be noted that in the above embodiments, the solution is described in combination with the existence of a transfer table between two stamping machines. However, the present application is not limited thereto. In other embodiments, there may be no transfer table between two stamping machines, that is, all robots are the first robots. At this time, the logical processing process of the control device in the above embodiments still applies.

[0060] For better understanding, the following combines Figure 2 and Figure 3 to elaborate on the solution of the present application in detail:

[0061] After the control device detects that multiple robots all meet the preset conditions, it triggers multiple robots to operate simultaneously at the same moment.

[0062] Meanwhile, for any robot A, if there is a workpiece at its corresponding material taking position currently, the control device sends a first trigger instruction to it, enabling the robot A to take and place materials, and finally return to the corresponding initial position. After the robot A completes the action and the corresponding stamping machine completes stamping, the signal Flag is set to 1.

[0063] However, if there is no workpiece at the material taking position corresponding to the current robot A, and there is also no workpiece at the material taking position corresponding to the adjacent previous robot B, no trigger instruction is sent to the robot A, enabling the robot A to remain stationary, and at the same time, the signal Bypass is set to 1.

[0064] However, if there is no workpiece at the material taking position corresponding to the current robot A, but there is a workpiece at the material taking position corresponding to the adjacent previous robot B, a second trigger instruction is sent to the robot A to make it avoid, and after the robot A avoids and returns to the initial position, the signal Flag is set to 1.

[0065] Meanwhile, for the robot A, after it completes one of the above three situations, or after it fails, the control device sets the signal PerWork corresponding to the robot A to 1.

[0066] After the control device sets all the PerWork corresponding to the robots to 1, the control device determines that all the robots meet the preset conditions, and then triggers the entry into the next cycle beat.

[0067] In the solution of this embodiment, the control device can control multiple robots to pick up materials simultaneously, so that the timing of multiple robots starting from rest is always consistent, achieving simultaneous picking of workpieces, avoiding deviations caused by time accumulation, improving the efficiency of multiple robots working synchronously, and at the same time being able to avoid interference and collisions between multiple robots, improving safety performance.

[0068] It can be understood that when the lengths of the pick-up + placement paths of multiple robots are the same, the solution of this application can also achieve simultaneous placement of multiple robots, and further achieve simultaneous pick-up and placement of multiple robots, so that the movement paths and speeds of each robot can be coordinated.

[0069] Refer to Figure 4 , Figure 4 FIG. is a schematic structural diagram of an embodiment of the control device of this application. The control device 200 includes a processor 210, a memory 220, and a communication circuit 230. The processor 210 is respectively coupled to the memory 220 and the communication circuit 230. Program data is stored in the memory 220. The processor 210 executes the program data in the memory 220 to implement the steps in the method of any of the above embodiments. For detailed steps, refer to the above embodiments and will not be elaborated here.

[0070] Among them, the control device 200 can be any device that can control robots, such as a computer, a robot control cabinet, a PLC controller, etc., and is not limited here.

[0071] Refer to Figure 5 , Figure 5 FIG. is a schematic structural diagram of an embodiment of the computer-readable storage medium of this application. The computer-readable storage medium 300 stores a computer program 310, and the computer program 310 can be executed by a processor to implement the steps in any of the above methods.

[0072] Among them, the computer-readable storage medium 300 can specifically be a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc, etc., which can store the computer program 310, or it can also be a server that stores the computer program 310. The server can send the stored computer program 310 to other devices for running, or it can also run the stored computer program 310 by itself.

[0073] Refer to Figure 6 ,Figure 6 It is a schematic structural diagram of an embodiment of the loading and unloading system of the present application. The loading and unloading system 400 includes a control device 410 and multiple robots 420.

[0074] The control device 410 is connected to multiple robots 420 simultaneously to control the operation of the multiple robots 420. Among them, the process of the control device 410 controlling the operation of the multiple robots 420 can refer to the above-related content and will not be elaborated here.

[0075] The above are only the embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A method for controlling the synchronization of multiple robots, characterized in that, A plurality of the robots are sequentially arranged at intervals along a production line, and the feeding position corresponding to any one of the robots and the material taking position of the adjacent and downstream robot are on the same device. The method includes: After the control device detects that a plurality of the robots all meet a preset condition, at least simultaneously send a first trigger instruction to a first target robot among the plurality of robots where there is a workpiece at the corresponding material taking position, so that the robotic arms of the first target robot grab the workpieces at their respective corresponding material taking positions to their respective corresponding feeding positions, and finally return to their respective corresponding initial positions; Among them, the robot whose corresponding feeding position is on a punching machine among the plurality of robots is defined as a first robot. After the robotic arm of the first robot places the grabbed workpiece at the corresponding feeding position, the punching machine corresponding to the first robot punches the workpiece, and after the punching machine completes punching the workpiece and the robotic arm of the first robot returns to the corresponding initial position, the control device determines that the first robot meets the preset condition; The step of the control device sending at least simultaneously a first trigger instruction to a first target robot among the plurality of robots where there is a workpiece at the corresponding material taking position after detecting that a plurality of the robots all meet the preset condition includes: After the control device detects that a plurality of the robots all meet the preset condition, determine whether there is a workpiece at the respective corresponding material taking positions of the current plurality of robots; In response to the existence of a first target robot among the plurality of robots where there is a workpiece at the corresponding material taking position, simultaneously send the first trigger instruction to the first target robot; Meanwhile, the method further includes: In response to a second target robot among the plurality of robots where there is no workpiece at the corresponding material taking position but there is a workpiece at the material taking position of another adjacent and upstream robot, simultaneously send a second trigger instruction to the second target robot, so that the robotic arm of the second target robot leaves the corresponding initial position, and after the robotic arm of another adjacent and upstream robot places the workpiece at the corresponding feeding position, returns to the corresponding initial position again.

2. The method according to claim 1, wherein The initial positions corresponding to the robotic arms of the plurality of robots coincide with the respective corresponding material taking positions of the plurality of robots.

3. The method according to claim 1, wherein The step of determining whether there is a workpiece at the respective corresponding material taking positions of the current plurality of robots includes: Respectively determine whether there is a workpiece at the respective corresponding material taking positions of each robot according to the actions performed by another adjacent and upstream robot of each robot under the control of the control device in the most recent control.

4. The method according to claim 1, wherein Among the plurality of robots, there is a second robot between two adjacent first robots, and the feeding position corresponding to the second robot is on a turntable. The method further includes: In response to the robotic arm of the second robot returning to the corresponding initial position, it is determined that the second robot meets the preset condition.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: In response to the robot malfunctioning, the control device determines that the robot meets the preset condition.

6. A control device, characterized in that, The control device includes a processor, a memory, and a communication circuit. The processor is respectively coupled to the memory and the communication circuit. Program data is stored in the memory. The processor implements the steps in the method according to any one of claims 1-5 by executing the program data in the memory.

7. A loading and unloading system, characterized in that, The loading and unloading system includes a control device and multiple robots communicatively connected to the control device. The multiple robots are arranged at intervals along the production line in sequence. And for any robot, the corresponding material placement position and the material pickup position of the adjacent and downstream robot are on the same device. The control device is configured to: after detecting that all the multiple robots meet the preset condition, at least simultaneously send a first trigger instruction to a first target robot among the multiple robots where there is a workpiece at the corresponding material pickup position, so that the robotic arm of the first target robot grabs the workpiece at the corresponding material pickup position to the corresponding material placement position and finally returns to the corresponding initial position; where the robot with the corresponding material placement position on the stamping machine is defined as the first robot. After the robotic arm of the first robot places the grabbed workpiece at the corresponding material placement position, the stamping machine corresponding to the first robot stamps the workpiece. And after the stamping machine finishes stamping the workpiece and the robotic arm of the first robot returns to the corresponding initial position, the control device determines that the first robot meets the preset condition; Wherein, the control device is specifically configured to: after detecting that all the multiple robots meet the preset condition, determine whether there is a workpiece at the corresponding material pickup position of each of the current multiple robots; in response to there being a first target robot among the multiple robots where there is a workpiece at the corresponding material pickup position, simultaneously send the first trigger instruction to the first target robot; Meanwhile, the control device is further configured to: in response to there being a second target robot among the multiple robots where there is no workpiece at the corresponding material pickup position but there is a workpiece at the corresponding material pickup position of another robot adjacent and upstream, simultaneously send a second trigger instruction to the second target robot, so that the robotic arm of the second target robot leaves the corresponding initial position and returns to the corresponding initial position again after the robotic arm of the adjacent and upstream robot places the workpiece at the corresponding material placement position.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and the computer program can be executed by a processor to implement the steps in the method according to any one of claims 1-5.

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