Instrument management system and method
By introducing sensing devices and encoding circuits into the equipment storage cabinet, and combining them with the main control module to control the robotic arm components, the problems of incorrect picking, incorrect placement, and overlapping placement of robotic arm components when changing equipment are solved, realizing intelligent and automated equipment management.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-10-26
- Publication Date
- 2026-03-20
AI Technical Summary
In existing technologies, when changing different types or models of tools, robotic arm components may encounter problems such as incorrect selection, incorrect placement, and overlapping placement, and they cannot automatically identify the tools, resulting in low efficiency in tool management.
The system combines a storage cabinet for the equipment with a main control module, sensing devices, and coding circuits. By using the misalignment of the sensing devices and coding recognition, the system achieves a precise correspondence between the equipment and the support position. The robotic arm assembly automatically picks up and places the equipment under the control of the main control module.
It effectively avoids the problems of mistaking, misplacing, and overlapping of equipment, realizes intelligent and automated equipment management, and improves the accuracy and efficiency of equipment storage and retrieval.
Smart Images
Figure CN115683182B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of production management and control, in particular to a system and method for managing and controlling instruments used in a production process. BACKGROUND
[0002] With the continuous popularity of automatic production equipment, mechanical arm assemblies, as key components in the automatic production process, are widely used. The mechanical arm assembly described herein refers to at least one mechanical arm with activity in at least one dimension, such as the currently very popular multi-axis mechanical arm assembly. Generally, the actuating end of the mechanical arm assembly (the end with the largest range of motion, i.e. the end performing the operation) needs to be provided with instruments for performing specific processing operations, such as various clamps, suction cups, nozzles, dispensing nozzles, welding mechanisms, etc.
[0003] In practical applications, different types or models of products (machined products) require different types or models of instruments to be installed on the actuating end of the mechanical arm assembly. This requires effective management and control of commonly used instruments to avoid misoperation during picking and placing. At present, although a dedicated instrument storage cabinet (or storage library) is provided, the management and control of instruments is still mainly based on human identification of instruments combined with human picking and placing registration, and there is still a problem of picking and placing the wrong instruments. SUMMARY
[0004] The present application provides an instrument management and control system and method, aiming to improve the quality and efficiency of instrument management and control of the instrument storage cabinet through intelligent sensing. The present application is implemented through the following technical solutions:
[0005] An instrument management and control system, comprising an instrument storage cabinet and at least two managed instruments; characterized in that the instrument storage cabinet has instrument carrying positions corresponding one-to-one to the managed instruments; each instrument carrying position is provided with a sensing device, and the sensing devices located at different instrument carrying positions are arranged staggered with each other; each managed instrument is provided with a sensed member, and the sensed members located at different managed instruments are arranged staggered with each other; the sensing device corresponding to the instrument carrying position can and only can sense the sensed member of the corresponding managed instrument carried on the corresponding instrument carrying position; the instrument management and control system further comprises a master control module for receiving and processing the sensing signals of the sensing devices.
[0006] Specifically, the sensing device is a reflective photoelectric switch, and the sensed member is a light reflecting member; the light reflecting member of the corresponding managed instrument carried on the corresponding instrument carrying position is located and only located on the light path of the reflective photoelectric switch on the corresponding instrument carrying position.
[0007] Specifically, the sensing device is a magnetic sensing device, and the sensed member is a magnetic member; the magnetic field of the magnetic member of the corresponding controlled device covers the magnetic sensing device on the corresponding appliance carrying position and only covers the magnetic sensing device on the corresponding appliance carrying position.
[0008] Specifically, the sensing device is a touch switch, and the sensed member is a touch member; the touch member of the corresponding controlled device touches the touch switch on the corresponding appliance carrying position.
[0009] Specifically, each appliance carrying position corresponds to an appliance carrying plate, at least two sensing device mounting positions are arranged on each appliance carrying plate along a length direction, a width direction or a circumferential direction, and the sensing devices on different appliance carrying positions are mounted on different sensing device mounting positions; at least two sensed member mounting positions are arranged on each controlled appliance along a length direction, a width direction or a circumferential direction, and the sensed members on different controlled appliances are mounted on different sensed member mounting positions.
[0010] Specifically, the appliance storage cabinet further comprises a cabinet body and a telescopic driving mechanism, each appliance carrying plate is driven by the telescopic driving mechanism and is extended or retracted from the side of the cabinet body; the telescopic driving mechanism is electrically connected with the main control module.
[0011] Based on the technical scheme described above, the present application provides an appliance control method, characterized in that it comprises:
[0012] When the controlled appliance is stored in the appliance carrying position of the appliance storage cabinet, it is detected whether the sensing device on the corresponding appliance carrying position has a sensing signal, and if yes, it is determined that the storage operation is correct, otherwise, it is determined that the storage operation is incorrect;
[0013] Or: when the controlled appliance is taken away from the appliance carrying position of the appliance storage cabinet, it is detected whether the sensing device on the corresponding appliance carrying position has a sensing signal, otherwise, it is determined that the taking-out operation is correct, and if yes, it is determined that the taking-out operation is incorrect.
[0014] The above technical scheme has the beneficial effects that: the controlled appliance and the appliance carrying position are correspondingly grouped, the sensing device and the sensed member are set for each group of controlled appliance and appliance carrying position to match the position, and the sensing devices and the sensed members of different groups are set in different positions; the corresponding appliance carrying position and the controlled appliance of each group form a specific sensing position, when the controlled appliance is placed in a non-corresponding appliance carrying position, the sensing device cannot normally sense, the main control module combines the taking and placing operations of the appliance to process the corresponding information, including display, warning, and even further control, etc., effectively avoiding the problem of taking and placing wrong appliances.
[0015] On the basis of the above technical solutions, in order to further solve the problem that the mechanical arm assembly cannot automatically identify and misplace and overlap when automatically taking and placing the appliance, as a preferred technical solution, the appliance management and control system and method provided by the application further includes the following preferred technical means:
[0016] Preferably, the appliance management and control system further includes a mechanical arm assembly electrically connected to the main control module, the actuating end of the mechanical arm assembly and the managed and controlled appliance are provided with docking mechanisms that fit each other, and the mechanical arm assembly is controlled by the main control module to automatically take and place the managed and controlled appliance from the appliance carrying position through the docking mechanism.
[0017] Preferably, the docking mechanism provided on the actuating end of the mechanical arm assembly is provided with a first electrical connection interface connected to the main control module; the docking mechanism of each managed and controlled appliance is respectively provided with a second electrical connection interface matched with the first electrical connection interface; and each managed and controlled appliance has a coding circuit, the coding information of each coding circuit is different, and the coding information is read by the main control module through the second electrical connection interface and the first electrical connection interface.
[0018] Based on the above-mentioned preferred technical solutions, the application provides an appliance management and control method, characterized by comprising:
[0019] The main control module sends an appliance storage instruction to the mechanical arm assembly and reads the coding information of the managed and controlled appliance currently fitted on the actuating end of the mechanical arm assembly, determines the corresponding appliance carrying position of the managed and controlled appliance currently fitted in the appliance storage cabinet according to the coding information, judges whether the sensing device on the corresponding appliance carrying position has a sensing signal, and if yes, gives up the appliance storage operation, otherwise, the mechanical arm assembly separates and stores the managed and controlled appliance currently fitted in the corresponding appliance carrying position.
[0020] And / or: the main control module sends an appliance taking-out instruction to the mechanical arm assembly, the appliance taking-out instruction contains the identification information of the managed and controlled appliance to be taken out, determines the corresponding appliance carrying position of the managed and controlled appliance to be taken out in the appliance storage cabinet according to the appliance taking-out instruction, judges whether the sensing device on the corresponding appliance carrying position has a sensing signal, and if yes, the actuating end of the mechanical arm assembly is docked and fitted with the managed and controlled appliance of the corresponding appliance carrying position, otherwise, gives up the appliance taking-out operation.
[0021] Further, when the main control module gives up the appliance storage operation or the appliance taking-out operation, it gives warning information.
[0022] Based on the above-mentioned preferred technical solutions, the application provides another appliance management and control method, characterized by comprising:
[0023] S1, the mechanical arm assembly receives the instrument replacement instruction of the master module, and the instrument replacement instruction includes identification information of a controlled instrument to be taken out;
[0024] S2, the master module reads the coding information of the controlled instrument currently assembled on the actuating end of the mechanical arm assembly, determines the corresponding instrument carrying position of the controlled instrument currently assembled in the instrument storage cabinet according to the coding information, judges whether the sensing device on the corresponding instrument carrying position has a sensing signal, and if yes, the instrument replacement operation is abandoned, otherwise the mechanical arm assembly separates the controlled instrument currently assembled and stores it in the corresponding instrument carrying position, and enters step S3;
[0025] S3, the master module determines the corresponding instrument carrying position of the controlled instrument to be taken out in the instrument storage cabinet according to the instrument replacement instruction; the master module judges whether the sensing device on the corresponding instrument carrying position has a sensing signal, and if yes, the actuating end of the mechanical arm assembly is docked and assembled with the controlled instrument of the corresponding instrument carrying position, otherwise the instrument replacement operation is abandoned.
[0026] Further, when the master module abandons the instrument replacement operation, warning information is given.
[0027] The beneficial effects of the above preferred technical solutions are that the mechanical arm assembly is introduced, which can automatically take and place the controlled instrument in the instrument storage cabinet under the control of the master module. The key is that each controlled instrument has a readable coding circuit, and the coding information of each coding circuit is different. When the mechanical arm assembly is docked and assembled with the controlled instrument, the master module can identify the identity of the controlled instrument, and according to the identity, the corresponding instrument carrying position of the controlled instrument can be determined. In this way, the problem of automatic identification, misplacement, and overlapping placement of the mechanical arm assembly when automatically taking and placing the instrument is solved, and the effects of preventing mistakes and preventing collisions are achieved. BRIEF DESCRIPTION OF DRAWINGS
[0028] Figure 1 The figure is a perspective view of the instrument control system provided by the embodiment of the application.
[0029] Figure 2 The figure is a perspective view of the instrument control system provided by the embodiment of the application. Figure 1 The figure is an enlarged view of part A in the figure.
[0030] Figure 3 The figure is a perspective view of the controlled instrument in the instrument control system provided by the embodiment of the application.
[0031] Figure 4 The figure is an enlarged view of the actuating end of the mechanical arm assembly in the instrument control system provided by the embodiment of the application.
[0032] Figure 5 The sensing device in the instrument management system provided by the embodiment of the application adopts the circuit schematic diagram of a reflective photoelectric switch.
[0033] Figure 6 The circuit schematic diagram for identifying the managed and controlled instrument by the coding circuit in the instrument management system provided by the embodiment of the application. DETAILED DESCRIPTION
[0034] The specific embodiments of the application are further described below with reference to the drawings. In order to facilitate the description, the positions are defined in the application in combination with the drawings. The definitions of these positions are only for the purpose of clearly describing the relative positional relationship and are not used to limit the actual positions of the products or devices in the production, use, sale and other processes. In addition, the terms "first", "second" are only for the purpose of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Furthermore, in the embodiments of the application, unless otherwise explicitly specified and limited, the terms "mounting", "setting", "connecting", "fixing" and the like should be understood in a broad sense. For example, it can be fixed connection, or detachable connection, or integrated; it can be directly connected or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the application can be understood according to the specific circumstances.
[0035] The specific embodiments of the application are further described below with reference to the drawings.
[0036] In combination with Figure 1 And Figure 2 As shown in the figure, the instrument management system provided by the embodiment includes a master control module, an instrument storage cabinet 10 and at least two managed and controlled instruments 20. The master control module is mainly used for signal and data acquisition and processing and control instruction generation. The master control module can be a PLC controller or a host computer installed with control software. The master control module can be configured with a display screen, an indicator light, an alarm and the like information prompting unit.
[0037] The instrument storage cabinet 10 includes a cabinet body 11, a plurality of instrument bearing plates 12 and a telescopic driving mechanism 13. Each instrument bearing plate 12 provides an instrument bearing position. The telescopic driving mechanism 13 is electrically connected to the master control module. Each instrument bearing plate 11 is driven by the telescopic driving mechanism 13 and is extended or retracted from the side of the cabinet body 11. Of course, only one whole bearing plate can be provided. The whole bearing plate is divided into a plurality of instrument bearing positions by regional division. Each instrument bearing position corresponds to each managed and controlled instrument 20. That is, each managed and controlled instrument 20 has a dedicated instrument bearing position. The corresponding managed and controlled instrument 20 and the corresponding instrument bearing position 101 form a group.
[0038] The controlled appliance 20 in the embodiment is a long strip-shaped tool clamp, and the corresponding appliance carrying plate 12 and appliance carrying position are also long strip-shaped. A sensing device 122 is arranged on each appliance carrying position, and the sensing devices on different appliance carrying positions are arranged in a staggered manner. Specifically, at least a plurality of sensing device mounting positions 121 are arranged on each appliance carrying plate 12 along the long direction, but only one sensing device 122 is mounted on each appliance carrying plate 12, and the sensing devices 122 on different appliance carrying positions are mounted on different sensing device mounting positions. For example, Figure 2 The sensing device 122 on the first appliance carrying plate 12 is mounted on the third sensing device mounting position 121, and the sensing device 122 on the second appliance carrying plate 12 is mounted on the first sensing device mounting position 121.
[0039] The sensing device 122 on the first appliance carrying plate 12 is mounted on the third sensing device mounting position 121, and the sensing device 122 on the second appliance carrying plate 12 is mounted on the first sensing device mounting position 121. Figure 2 and Figure 3 As shown in FIGS. 1 and 2, the position at which the sensing member 202 on the first controlled appliance 20 is mounted satisfies that when the first controlled appliance 20 is carried on the first appliance carrying position, the sensing device 122 on the first appliance carrying position can sense the sensing member 202 on the first controlled appliance 20. In addition, the master control module receives and processes the sensing signals of the sensing devices.
[0040] For the sensing device 122 and the sensing member 202, there are multiple ways to choose, for example:
[0041] (1) The sensing device is a reflective photoelectric switch, and the sensing member is a light reflecting member; the light reflecting member of the corresponding controlled appliance carried on the corresponding appliance carrying position is located and only located on the light path of the reflective photoelectric switch on the corresponding appliance carrying position. See Figure 5 Among them, B1-B5 are reflective photoelectric switches, and the sensing signals of each are connected to the master control module.
[0042] (2) The sensing device is a magnetic sensing device, and the sensing member is a magnetic device; the magnetic field of the magnetic device of the corresponding controlled appliance carried on the corresponding appliance carrying position covers and only covers the magnetic sensing device on the corresponding appliance carrying position.
[0043] (3) The sensing device is a touch switch, and the sensing member is a touch member; the touch member of the corresponding controlled appliance carried on the corresponding appliance carrying position touches the touch switch on the corresponding appliance carrying position.
[0044] The controlled appliance 20 in the embodiment is a long strip-shaped tool clamp, and the corresponding appliance carrying plate 12 and appliance carrying position are also long strip-shaped. It can be understood that the controlled appliance 20 can also be of other shapes, and at this time, the shapes of the appliance carrying plate 12 and the appliance carrying position can be changed accordingly; and each appliance carrying plate can be provided with at least two sensing device mounting positions in the longitudinal direction, the width direction or the circumferential direction, and the sensing devices located on different appliance carrying positions are mounted on different sensing device mounting positions; correspondingly, each controlled appliance 20 can be provided with at least two sensed member mounting positions in the longitudinal direction, the width direction or the circumferential direction, and the sensed members located on different controlled appliances are mounted on different sensed member mounting positions.
[0045] Based on the technical solution described above, the embodiment provides an appliance control method, which includes control of an appliance storage process and control of an appliance taking-out process. The control of the appliance storage process includes detecting whether the sensing device on the corresponding appliance carrying position has a sensing signal when the controlled appliance is stored on the appliance carrying position of the appliance storage cabinet, and determining that the storage operation is correct if yes, or determining that the storage operation is incorrect if no. In addition, the control of the appliance taking-out process includes detecting whether the sensing device on the corresponding appliance carrying position has a sensing signal when the controlled appliance is taken away from the appliance carrying position of the appliance storage cabinet, and determining that the taking-out operation is correct if no, or determining that the taking-out operation is incorrect if yes.
[0046] In the above technical solution, the controlled appliance and the appliance carrying position are correspondingly grouped, the sensing device and the sensed member are set to match the position of each group of controlled appliance and appliance carrying position, and the sensing devices and the sensed members of different groups are set to be misaligned; so that each corresponding appliance carrying position and controlled appliance forms a specific sensing position, when the controlled appliance is placed in a non-corresponding appliance carrying position, the sensing device cannot normally sense, and the master control module combines the taking and placing operations of the appliance to perform corresponding information processing, for example, displaying the corresponding sensing signal through the display screen and the indicator light, and the operator can confirm the correctness of the operation according to his own operation, effectively avoiding the problem of taking and placing the wrong appliance.
[0047] In addition, in the prior art, the mechanical arm assembly has the function of automatically taking and placing the tool clamp, but it cannot intelligently identify and accurately take and place, and the embodiment provides a more preferred solution, so that the master control module can further intelligently control the mechanical arm assembly, as follows:
[0048] Continuing to refer to Figure 1 The appliance control system provided in the embodiment further includes a mechanical arm assembly 30 electrically connected to the master control module, and an appliance docking mechanism 35 is arranged on the actuating end 31 of the mechanical arm assembly. In combination with Figure 4 In combination with Figure 3As shown, the controlled appliance 20 is provided with a mechanical arm docking mechanism 25, and the appliance docking mechanism 35 and the mechanical arm docking mechanism 25 match each other and can be docked and assembled. The mechanical arm assembly 30 is controlled by the master control module and automatically picks and places the controlled appliance 20 from the appliance carrying position described above through the docking mechanism.
[0049] Referring to Figure 4 , the appliance docking mechanism 35 is provided with a first electrical connection interface 351 connected with the master control module; and the mechanical arm docking mechanism 25 of each controlled appliance 20 is respectively provided with a 251 matched with the first electrical connection interface 351.
[0050] In addition, referring to Figure 6 , each controlled appliance 20 has a coding circuit, so that the coding information of each coding circuit is different, and the coding information is read by the master control module through the second electrical connection interface 251 and the first electrical connection interface 351, so as to distinguish and identify the identity of each controlled appliance 20. In the embodiment, the coding circuit adopts a BCD code coding circuit. In addition, each controlled appliance 25 is respectively provided with a junction box 26, and Figure 3 , the coding circuit is arranged in the junction box 26.
[0051] Based on the preferred technical scheme described above, the application provides an appliance control method, which includes control of an appliance storage process and control of an appliance taking-out process.
[0052] The control of the appliance storage process includes: the master control module sends an appliance storage instruction to the mechanical arm assembly, reads the coding information of the controlled appliance currently assembled at the actuating end of the mechanical arm assembly, determines the corresponding appliance carrying position of the controlled appliance currently assembled in the appliance storage cabinet according to the coding information, judges whether the sensing device on the corresponding appliance carrying position has a sensing signal, and if yes, gives up the appliance storage operation and gives a warning information, otherwise, the mechanical arm assembly separates the controlled appliance currently assembled and stores it in the corresponding appliance carrying position.
[0053] The control of the appliance taking-out process includes: the master control module sends an appliance taking-out instruction to the mechanical arm assembly, and the appliance taking-out instruction contains the identification information of the controlled appliance to be taken out; determines the corresponding appliance carrying position of the controlled appliance to be taken out in the appliance storage cabinet according to the appliance taking-out instruction; judges whether the sensing device on the corresponding appliance carrying position has a sensing signal, and if yes, the actuating end of the mechanical arm assembly is docked and assembled with the controlled appliance of the corresponding appliance carrying position, otherwise, gives up the appliance taking-out operation and gives a warning information.
[0054] In addition, based on the preferred technical solution described above, the application provides another instrument management method for performing management and control of an instrument replacement process, comprising:
[0055] S1, the mechanical arm assembly receives an instrument replacement instruction of the master control module, and the instrument replacement instruction contains identification information of a controlled instrument to be taken out;
[0056] S2, the master control module reads the coding information of the controlled instrument currently assembled at the actuating end of the mechanical arm assembly, determines the corresponding instrument carrying position of the controlled instrument currently assembled in the instrument storage cabinet according to the coding information, judges whether the sensing device on the corresponding instrument carrying position has a sensing signal, and if yes, the instrument replacement operation is abandoned and warning information is given, otherwise the mechanical arm assembly separates the controlled instrument currently assembled and stores it in the corresponding instrument carrying position, and then enters step S3;
[0057] S3, the master control module determines the corresponding instrument carrying position of the controlled instrument to be taken out in the instrument storage cabinet according to the instrument replacement instruction; the master control module judges whether the sensing device on the corresponding instrument carrying position has a sensing signal, and if yes, the actuating end of the mechanical arm assembly is docked and assembled with the controlled instrument at the corresponding instrument carrying position, otherwise the instrument replacement operation is abandoned and warning information is given.
[0058] As for the instrument replacement process, an example is as follows:
[0059] 1.1, the mechanical arm assembly receives the instruction of the master control module, obtains the product number to be produced, and according to the product number, the tool clamp to be used is D1;
[0060] 2.1, the master control module reads the coding information of the controlled instrument currently assembled at the actuating end of the mechanical arm assembly through the mechanical arm assembly, determines that the controlled instrument currently assembled is D2 according to the coding information, and determines the corresponding instrument carrying position of the controlled instrument D2 in the instrument storage cabinet;
[0061] 3.1, the master control module judges whether the sensing device on the corresponding instrument carrying position of the controlled instrument D2 has a sensing signal, and if yes, it represents that the instrument carrying position is occupied, at this time the instrument replacement operation is abandoned and warning information is given, otherwise the mechanical arm assembly separates the controlled instrument currently assembled and stores it in the corresponding instrument carrying position;
[0062] 4.1 The master module judges whether the sensing device on the corresponding tool carrier position of the tool clamp D1 has a sensing signal. If there is no signal, it means that the desired tool clamp D1 is not on the tool carrier position. At this time, the tool changing operation is abandoned and a warning message is given. If there is a signal, it means that the desired tool clamp D1 is on the tool carrier position. Then the actuating end of the mechanical arm assembly is connected to the tool clamp D1 for assembly. The mechanical arm assembly automatically changes the tool clamp and completes.
[0063] The above preferred technical solutions have the beneficial effects that each controlled tool has a readable encoding circuit, and the encoding information of each encoding circuit is different. When the mechanical arm assembly is connected to the controlled tool for assembly, the master module can identify the identity of the controlled tool and determine its corresponding tool carrier position according to its identity. In this way, the problem of automatic recognition, misplacement, overlapping placement, etc. of the mechanical arm assembly when automatically taking and placing tools is solved, and the effects of preventing mistakes and collisions are achieved. The taking and placing of tool clamps form a closed-loop control.
[0064] The above examples are only for full disclosure and not to limit the present application. Any equivalent technical features that can be obtained without creative labor based on the creative spirit of the present application should be considered as the scope disclosed by the present application.
Claims
1. An appliance control system, comprising an appliance storage cabinet and at least two controlled appliances; characterized in that, The appliance storage cabinet has appliance carrying positions that correspond one-to-one with the controlled appliances; each appliance carrying position is equipped with a sensing device, and the sensing devices located in different appliance carrying positions are staggered with each other; Each controlled device is equipped with a sensing element, and the sensing elements on different controlled devices are staggered. The sensing element on the corresponding device bearing position can only sense the sensing element of the corresponding controlled device bearing the corresponding device bearing position. The device control system also includes a main control module and a robotic arm assembly electrically connected to the main control module. The main control module receives and processes the sensing signals of the sensing elements. The actuating end of the robotic arm assembly is controlled by the main control module to automatically pick up and place the controlled device from the device bearing position. The actuating end of the robotic arm assembly is provided with a first electrical connection interface connected to the main control module. Each controlled device is provided with a second electrical connection interface that matches the first electrical connection interface. Each controlled device has an encoding circuit, and the encoding information of each encoding circuit is different. The encoding information is read by the main control module through the second electrical connection interface and the first electrical connection interface.
2. The instrument control system according to claim 1, characterized in that, The sensing device is a reflective photoelectric switch, and the sensed element is a light reflector; the light reflector of the corresponding controlled device, which is carried on the corresponding device carrier position, is located on the light path of the reflective photoelectric switch on the corresponding device carrier position.
3. The instrument control system according to claim 1, characterized in that, The sensing device is a magnetic induction device, and the sensed object is a magnetic device; the magnetic field of the magnetic device of the corresponding controlled object, which is carried on the corresponding device bearing position, covers and only covers the magnetic induction device on the corresponding device bearing position.
4. The appliance control system according to claim 1, characterized in that, The sensing device is a touch switch, and the sensed component is a touch component; the touch component of the corresponding controlled device, which is carried on the corresponding device support position, actuates the touch switch on the corresponding device support position.
5. The appliance control system according to claim 1, characterized in that, Each of the aforementioned device carrier positions corresponds to a device carrier plate. Each device carrier plate is provided with at least two sensor mounting positions along the length, width, or circumference. Sensors located on different device carrier positions are mounted on different sensor mounting positions. Each controlled device is provided with at least two sensed device mounting positions along the length, width, or circumference. Sensed devices located on different controlled devices are mounted on different sensed device mounting positions.
6. The appliance control system according to any one of claims 1 to 5, characterized in that, The robotic arm assembly and the controlled device are provided with a docking mechanism for mutual assembly. The robotic arm assembly is controlled by the main control module and automatically picks up and places the controlled device from the device bearing position through the docking mechanism.
7. The appliance control system according to claim 6, characterized in that, The first electrical connection interface is disposed on the docking mechanism of the actuating end of the robotic arm assembly; the second electrical connection interface is disposed on the docking mechanism of each of the controlled devices.
8. A method for controlling equipment, characterized in that, Based on the appliance control system according to any one of claims 1-5, the appliance control method includes: When the controlled device is stored in the device carrier position of the device storage cabinet, the sensor on the corresponding device carrier position is checked to see if there is a sensing signal. If there is, the storage operation is determined to be correct; otherwise, the storage operation is determined to be incorrect. And or: When the controlled appliance is removed from the appliance carrier position of the appliance storage cabinet, the sensor on the corresponding appliance carrier position is checked for a sensing signal. If the signal is not detected, the removal operation is determined to be correct; otherwise, the removal operation is determined to be incorrect.
9. A method for controlling equipment, characterized in that, Based on the appliance control system of claim 7, the appliance control method includes: The main control module sends a device storage command to the robotic arm assembly and reads the encoding information of the currently assembled controlled device at the actuator end of the robotic arm assembly. Based on the encoding information, it determines the corresponding device carrier position of the currently assembled controlled device in the device storage cabinet. The main control module determines whether there is a sensing signal on the sensing device at the corresponding device carrier position. If there is, it abandons the device storage operation; otherwise, the robotic arm assembly separates the currently assembled controlled device and stores it in the corresponding device carrier position. And or: The main control module sends a device retrieval command to the robotic arm assembly, the device retrieval command containing the identification information of the controlled device to be retrieved; the corresponding device carrier position of the controlled device to be retrieved in the device storage cabinet is determined according to the device retrieval command; the main control module determines whether there is a sensing signal on the sensing device at the corresponding device carrier position, if so, the actuating end of the robotic arm assembly docks and assembles with the controlled device at the corresponding device carrier position, otherwise the device retrieval operation is abandoned.
10. A method for controlling equipment, characterized in that, Based on the appliance control system of claim 7, the appliance control method includes: S1. The robotic arm assembly receives the tool replacement instruction from the main control module, the tool replacement instruction including the identification information of the controlled tool to be removed; S2. The main control module reads the coding information of the controlled device currently assembled at the actuator end of the robotic arm assembly, and determines the corresponding device carrier position in the device storage cabinet based on the coding information. The main control module determines whether there is a sensing signal on the sensing device at the corresponding device carrier position. If there is, the device replacement operation is abandoned; otherwise, the robotic arm assembly separates the currently assembled controlled device and stores it in the corresponding device carrier position, and proceeds to step S3. S3. The main control module determines the corresponding device carrier position in the device storage cabinet for the controlled device to be retrieved according to the device replacement instruction. The main control module determines whether there is a sensing signal on the sensing device at the corresponding device carrier position. If so, the actuating end of the robotic arm assembly docks and assembles with the controlled device at the corresponding device carrier position. Otherwise, the device replacement operation is abandoned.
Citation Information
Patent Citations
Material storage rack suitable for flexible production line and production system
CN114751210A