Convertible workstation and information transmission method thereof

Abstract

The present invention provides a convertible workstation and an information transmission method therefor. The convertible workstation subscribes to a topic corresponding to a composite application. A management device publishes a message to subscribers of the topic. Upon receiving the message, the convertible workstation executes an action based on the message. When the convertible workstation is changed to another composite application, it subscribes to another topic based on the composite application. The present invention allows for rapid application changes in the workstation, reduces change costs, and shortens setup time before going online.

Description

Technical Field

[0001] The present invention relates to a workstation, and in particular to a convertible workstation and an information transmission method thereof. Background Art

[0002] Automated production lines are usually equipped with multiple workstations, each used to implement different applications.

[0003] However, existing workstations lack standardization and modularity and cannot be quickly modified for different applications. This means that current automated production lines must purchase dedicated workstations for the required applications, increasing production line setup costs.

[0004] Furthermore, when applications change, these dedicated workstations must be directly retired and new ones purchased, resulting in waste.

[0005] Furthermore, current automated production lines often utilize a master-slave (demand / response) information transmission method. This means that every time a workstation is added, deleted, or changed, significant modifications must be made to the management device's software settings, such as changing the recipients of various control commands. These drawbacks mean that each workstation change (or application change) requires significant time to bring the workstation offline and online.

[0006] Therefore, the existing workstations and their information transmission methods have the above-mentioned problems, and a more effective solution is urgently needed. Summary of the Invention

[0007] The main purpose of the present invention is to provide a convertible workstation and an information transmission method thereof, which can standardize and modularize the workstation and quickly set the type of information received according to the application of the workstation.

[0008] In one embodiment, a convertible workstation includes a first functional station, a second functional station, a robot station, and a control device. The first functional station includes a first functional device. The second functional station includes a second functional device. The robot station is used to operate the first functional device of the first functional station to implement a first combination application when connected to the first functional station via a cable, and is used to operate the second functional device of the second functional station to implement a second combination application when connected to the second functional station via a cable. The control device is connected to the robot station via a cable, and the control device is configured to subscribe to a first topic corresponding to the first combination application when the robot station is connected to the first functional station, to receive a first message published to all subscribers of the first topic, and to control the robot station or the first functional station based on the first message to implement the first combination application. The control device is configured to subscribe to a second topic corresponding to the second combination application when the robot station is connected to the second functional station, to receive a second message published to all subscribers of the second topic, and to control the robot station or the second functional station based on the second message to implement the second combination application.

[0009] In one embodiment, a method for transmitting information of a convertible workstation includes: a) setting a convertible workstation to subscribe to a first topic, wherein the first topic is a first combination application corresponding to a functional station and a robot station of the convertible workstation; b) publishing a first message of the first topic to all subscribers of the first topic through a management device; c) when the convertible workstation receives the first message, performing an action based on the first message; and d) when the convertible workstation is changed to a second combination application, subscribing to a second topic based on the second combination application.

[0010] The present invention can quickly change the application of the workstation, reduce the cost of change, and shorten the setting time before going online. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 FIG. 4 is an architecture diagram of an information transmission network according to an embodiment of the present invention.

[0012] Figure 2 This is an architectural diagram of an automated production line according to an embodiment of the present invention.

[0013] Figure 3 FIG. 4 is an architectural diagram of a convertible workstation according to an embodiment of the present invention.

[0014] Figure 4 FIG. 4 is an architectural diagram of a processor according to an embodiment of the present invention.

[0015] Figure 5 FIG. 1 is a schematic diagram of an integrated external socket according to an embodiment of the present invention.

[0016] Figure 6 FIG. 1 is a schematic diagram of a convertible workstation according to an embodiment of the present invention.

[0017] Figure 7 Schematic diagram of an automated production line according to an embodiment of the present invention.

[0018] Figure 8 FIG. 1 is a schematic diagram of information transmission according to an embodiment of the present invention.

[0019] Figure 9 Schematic diagram of a process editing interface according to an embodiment of the present invention.

[0020] Figure 10 Flowchart of an information transmission method according to an embodiment of the present invention.

[0021] Figure 11 This is a flow chart of a modified combined application according to an embodiment of the present invention.

[0022] Figure 12 FIG. 4 is a sequence diagram of registration and subscription according to an embodiment of the present invention.

[0023] Figure 13 A flowchart illustrating the execution of actions according to an embodiment of the present invention.

[0024] Figure 14 This is a flow chart of workstation modification according to an embodiment of the present invention.

[0025] Figure 15 FIG. 1 is a flow chart of a standardized connection according to an embodiment of the present invention.

[0026] Figure 16 This is a flowchart of the process editing and publishing according to one embodiment of the present invention.

[0027] Description of reference numerals:

[0028] 10: Management Node

[0029] 11-12: Node

[0030] 12: Node

[0031] 13: Network

[0032] 20: Manage devices

[0033] 21: Convertible Workstation

[0034] 22: User computer

[0035] 220: Process editing interface

[0036] 23: Network

[0037] 30: Control device

[0038] 300: Processor

[0039] 301: Memory

[0040] 302: Network interface

[0041] 31: Robot Station

[0042] 310: Control box

[0043] 311: Robotic Arm

[0044] 312: Distribution Box

[0045] 32: Function Station

[0046] 320: Control box

[0047] 321: Functional Equipment

[0048] 322: Distribution Box

[0049] 33: Function Station

[0050] 34: Function Station

[0051] 350: Integrated cable

[0052] 351: Integrated cable

[0053] 352: Integrated cable

[0054] 353: Network cable

[0055] 40: System layer

[0056] 41: Middle layer

[0057] 42: Application layer

[0058] 410: Node application

[0059] 420: Robotic Operating System

[0060] 430: Operating System

[0061] 500-503: Connection end

[0062] 51: Integrated external socket

[0063] 510-512: socket

[0064] 520-523: Connection end

[0065] 54: Integrated external socket

[0066] 540-542: socket

[0067] 6: Convertible Workstation

[0068] 600: Control equipment

[0069] 610: Four-axis robot station

[0070] 611: Six-axis robot station

[0071] 620: Screw locking function station

[0072] 621: Dispensing Station

[0073] 7: Automated production line

[0074] 70: Network switch

[0075] 71, 78: Conveying equipment

[0076] 72-77: Convertible Workstations

[0077] 800-802: Process

[0078] 810-812: Theme

[0079] 820-821: Convertible Workstation

[0080] 83-85: Information

[0081] 900: Starting point

[0082] 901-904: Process Actions

[0083] 905: Interruption point

[0084] 906: End point

[0085] 910-916: Conditions

[0086] 920-926: List Actions

[0087] 1000: Publisher

[0088] 1001: Manager

[0089] 1002: Subscriber

[0090] S10-S15: Information transmission steps

[0091] S20-S21: Apply the change steps

[0092] S300-S312: Registration / Subscription Steps

[0093] S40-S42: Action steps

[0094] S50-S53: Workstation change steps

[0095] S60-S62: Standardized connection steps

[0096] S70-S72: Process Release Steps

[0097] S80-S83: Process editing steps DETAILED DESCRIPTION

[0098] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0099] The present invention provides a modular convertible workstation and an information transmission method thereof.

[0100] The convertible workstation of the present invention comprises modular robotic stations and functional stations. Based on the desired application of the automated production line (i.e., the combined application described below), the present invention allows for the selection of a combination of robotic stations and functional stations that can achieve that combined application, and the rapid assembly of the selected robotic stations and functional stations into a convertible workstation for that combined application.

[0101] Furthermore, when changing the combination of applications, in order to enable the convertible workstation to be quickly taken offline or online from the automated production line, the present invention proposes an information transmission method applied to the aforementioned convertible workstation.

[0102] See also Figure 1 , is a diagram of the architecture of an information transmission network according to an embodiment of the present invention. In the present invention, the automated production line may include a management node 10 and a plurality of nodes ( Figure 1 Taking two nodes 11 and 12 as an example, multiple nodes 11 and 12 are responsible for different applications of the automated production line.

[0103] Taking the automated production line of circuit boards as an example, multiple nodes can perform different applications such as loading blank boards, printing solder paste, solder paste inspection, small component mounting, large component mounting, component inspection, soldering, soldering inspection, board collection, testing, and board cutting.

[0104] Furthermore, the management node 10 and all nodes 11 - 12 are connected via a network 13 , which may be, for example, a local area network, an industrial Ethernet network, a Wi-Fi network, other wired / wireless networks, or any combination thereof, without limitation.

[0105] Next, the publish / subscribe mechanism of the present invention is described.

[0106] In the present invention, each node only receives information belonging to the subscribed topic, and does not receive information not belonging to the subscribed topic. The aforementioned information can be, for example, a control signal, a data signal, or a response signal, etc., without limitation.

[0107] For example, node 12 can subscribe to a first topic, so that when other nodes publish a first message on the first topic, the first message will be sent to all subscribers of the first topic (including node 12). Moreover, when other nodes publish a second message on a second topic, node 12 will not receive the second message because it has not subscribed to the second topic.

[0108] In the present invention, if a new application needs to be added to the automated production line and a new node must be added, the new node only needs to register with the management node 10 and subscribe to one or more topics required to implement the new application. The communication settings of the new node can be quickly completed without changing the settings of other nodes (such as nodes 11 and 12).

[0109] For example, the new node can subscribe to the first topic, so that when other nodes publish the first information of the first topic, the first information will be sent to all subscribers of the first topic (including the new node) without changing the settings of other nodes 10-12.

[0110] The present invention uses the publish / subscribe mechanism to quickly complete the setting of network communication when a node goes online or offline without interfering with the operation of other nodes.

[0111] Please also see Figure 1 and Figure 2 , Figure 2 This is an architectural diagram of an automated production line according to an embodiment of the present invention. Figure 1 The management node 10 may be, for example, a management device 20, and each node 11-12 may be, for example, a convertible workstation 21. The network 23 is the same as or similar to the network 13 and will not be described in detail herein.

[0112] The automated production line may include a management device 20 and multiple convertible workstations 21 connected via a network 23. Each of the multiple convertible workstations 21 is used to implement different combinations of applications. Furthermore, information can be transmitted between the management device 20 and each of the convertible workstations 21 using the aforementioned publish / subscribe mechanism.

[0113] In one embodiment, the automated production line may include a user computer 22 connected to a network 23, such as a general-purpose computer such as a personal computer, tablet computer, or laptop computer. User computer 22 is configured to provide a process editing interface 220. Process editing interface 220 may be, for example, a graphical user interface (GUI) and provides functionality for creating and editing automated processes.

[0114] Specifically, the user can operate the process editing interface 220 to quickly create a corresponding process based on the specified combined application of the convertible workstation 21 and publish the process to the convertible workstation 21 for execution.

[0115] Compared to directly writing program codes, the present invention greatly reduces the threshold, cost and time of developing / maintaining the automation control program through the process editing interface 220.

[0116] In one embodiment, the user computer 22 may execute the following Figure 4 The robot operating system 410 shown generates and displays the aforementioned process editing interface 220 through the robot operating system 410 , and accepts user operations to edit the process through the process editing interface 220 .

[0117] Please also see Figures 1 to 3 , Figure 3 FIG. 4 is an architectural diagram of a convertible workstation according to an embodiment of the present invention.

[0118] The convertible workstation 21 of this embodiment may include one or more robot stations ( Figure 3 Take a robot station 31 as an example) and one or more functional stations ( Figure 3 Taking three functional stations 32-34 as an example), the robot station 31 and functional stations 32-34 can be connected in series via the unique integrated cables 350-352 of the present invention to achieve sharing and transmission of network, power, air pressure and other resources. This replaces the traditional method of using many different cables to achieve transmission purposes, greatly reducing the number of cables and greatly reducing the time for disassembly and installation.

[0119] Each robot station 31 may include an electrically connected control box 310, a robot arm 311, and a wiring box 312. The robot station 31 is used to operate the connected functional stations 32-34 to realize corresponding combined applications.

[0120] The control box 310 is used to control the robot station 31. Specifically, the control box 310 can receive power and network signals (such as control signals) through the wiring box 312, and control the posture of the robot arm 311 based on the network signals.

[0121] Robotic arm 311 can move with multiple degrees of freedom and is used to perform processing on functional stations 32-34. For example, it can operate functional equipment 321 (e.g., soldering guns, fixtures, screwdrivers, etc.) at functional station 32 to perform tasks such as soldering, inserting components, and screwing. Robotic arm 311 can be a four-axis or six-axis robot, without limitation.

[0122] It is worth mentioning that the type of the robotic arm 311 used can be determined based on the requirements of the functional device 321 to be operated (such as the requirements for the degree of freedom).

[0123] Each functional station 32-34 ( Figure 3 Taking the functional station 32 as an example, it may include a control box 320, functional equipment 321 and a distribution box 322 that are electrically connected.

[0124] The control box 320 is used to control the functional station 32. Specifically, the control box 320 can receive power and network signals (such as control signals) through the wiring box 322, and control the functional device 321 based on the network signals.

[0125] The functional device 321 is used to provide different application tools for the robot arm 311 of the robot station 31 to use, such as laser soldering tools, plug-in tools, screw locking tools, labeling tools, dispensing tools or clamps.

[0126] In this way, the robotic arm 311 of the robot station 31 can realize different combination applications by matching different functional stations 32-34, such as laser welding application, automatic plug-in application, automatic screw locking application, automatic dispensing application, automatic labeling application or automatic clamping application.

[0127] It's worth noting that each wiring box 312, 322 is a standardized electrical control box that integrates the multiple connectors of the workstation into a single, integrated external socket. This simplification allows the robotic station 31 and functional stations 32-34 of the present invention to be quickly assembled and disassembled via a single, integrated cable 350-352. By reducing the number of cables, the present invention significantly speeds up reconfiguration.

[0128] In one embodiment, the convertible workstation 21 may include a control device 30 . The control device 30 may be disposed at the robot station 31 and may be connected to the robot station 31 via a network cable 353 .

[0129] In addition, the wiring box 312 of the robot station 31 and the wiring boxes of the functional stations 32-34 can be connected in series via integrated cables 350-352. The integrated cables 350-352 can include network cables.

[0130] Thus, when the control device 30 is connected to the network via the network interface 302, the robot station 31 and all functional stations 32-34 connected to the control device 30 can also be connected to the network. The control device 30 is connected to the network 23, enabling external communication and controlling the convertible workstation 21, such as sending control signals to control the robotic arm 311 and / or functional device 321. Furthermore, the control device 30 functions as the aforementioned node 11 or 12 to implement the convertible workstation information transmission method of the present invention.

[0131] In one embodiment, the control device 30 may include a processor 300 , a memory 301 , and a network interface 302 that are electrically connected.

[0132] The processor 300 , such as a single-chip system, a microprocessor, or a central processing unit, is used to execute operations and programs and control the device 30 .

[0133] The memory 301 , such as RAM, ROM, EEPROM, flash memory, other memories or any combination thereof, is used to store data.

[0134] The network interface 302, such as an Ethernet card, is used to connect the networks 13, 23 and other workstations (such as the robot station 31 and the functional stations 32-34).

[0135] Please also refer to Figures 1 to 4 , Figure 4 FIG. 4 is an architectural diagram of a processor according to an embodiment of the present invention.

[0136] In this embodiment, the memory 301 of the control device 30 may include a non-transitory computer-readable recording medium, wherein the non-transitory computer-readable recording medium stores a computer program, and the computer program records a computer-executable program code. When the processor 300 executes the program code, various functions of the present invention can be implemented.

[0137] Specifically, the aforementioned computer program may include an operating system 400 (such as Windows, Linux, Unix, etc.), a robot operating system 410 (such as Robot OS) and a node application 420. In the software architecture, the processor 300 can run the operating system 400 in the system layer 40 to provide software and hardware resource management and allocation, and can run the robot operating system 410 in the middle layer 41. As middleware, the robot operating system 410 can provide various auxiliary tools to assist in development and management, such as the process editing interface 220, node application 420, application program interface (API) or other software tools executed in the application layer 42. The aforementioned node application 420 is used to implement such as Figure 1 decentralized communications.

[0138] Thus, the present invention can realize rapid development and maintenance of automation functions through the robotic operation system 410.

[0139] See also Figure 6 , which is a schematic diagram of a convertible workstation according to an embodiment of the present invention. Regarding the robot station, as an option, this embodiment provides a four-axis robot station 610 and a six-axis robot station 611 as examples for illustration.

[0140] As for the function station, as an option, this embodiment provides a screw locking function station 620 and a glue dispensing function station 621 as examples for illustration.

[0141] This embodiment further provides a control device 600 , in which the aforementioned robot operation system 410 is installed.

[0142] When implementing an automatic screw-locking application (combined application) requiring a lower degree of freedom, the user can install the control device 600 on the four-axis robot station 610 and connect the four-axis robot station 610 to the screw-locking function station 620 via an integrated cable. This provides a convertible workstation 6 for implementing automatic screw-locking applications.

[0143] To implement an automated dispensing application (combined application) requiring a higher degree of freedom, the user can replace the four-axis robotic station 610 with a six-axis robotic station 611 with more degrees of freedom, and replace the screw locking station 620 with a dispensing station 621. Thus, the convertible workstation 6 can be modified to implement an automated dispensing application.

[0144] See also Figure 7 , is a schematic diagram of an automated production line according to an embodiment of the present invention. In this embodiment, the automated production line 7 may include conveying devices 71, 78, a plurality of convertible workstations 72-77, and a network switch 70 electrically connecting the above devices.

[0145] The network switch 70 provides a network communication environment, so that a management device (not shown) can set each conveying device 71, 78 and each convertible workstation 72-77 to implement a workflow of a specified application.

[0146] Taking the automatic assembly of computer products as an example, conveyor equipment 71 is configured to provide a casing. Convertible workstation 72 is configured to place multiple computer components in the casing. Convertible workstation 73 is configured to lock some computer components in the casing. Convertible workstation 74 is configured to glue some computer components to the casing. Convertible workstation 75 is configured to flip the computer product over to the inspection surface. Convertible workstation 76 is configured to take a picture of the inspection surface to check for installation defects through computer vision. Convertible workstation 77 removes defective computer products from the production line based on the inspection results of convertible workstation 76. Conveyor equipment 78 is configured to transport defect-free computer products to the next production line or packaging area.

[0147] See also Figure 10 , which is a flow chart of an information transmission method according to an embodiment of the present invention. The information transmission method according to each embodiment of the present invention can be implemented by the automated production line and the convertible workstation according to any embodiment.

[0148] The information transmission method of this embodiment includes the following steps.

[0149] Step S10: Set the convertible workstation to subscribe to a topic (first topic). The topic corresponds to the combined application (first combined application) implemented by the current function station (first function station) and robot station (first robot station) of the convertible workstation.

[0150] Step S11: publishing information to all subscribers of the corresponding topic through the management device, for example, publishing information of the first topic (first information) to all subscribers of the first topic, and information of the second topic (second information) to all subscribers of the second topic.

[0151] Step S12: The convertible workstation determines whether the information is received. Specifically, since the convertible workstation only subscribes to the first topic, it will only receive information on the first topic.

[0152] If the convertible workstation receives any information, step S13 is executed: the convertible workstation performs an action based on the received information.

[0153] Step S14: Determine whether the convertible workstation changes its subscription.

[0154] If the convertible workstation needs to change the subscribed topic due to a change in the composite application (eg, change to a second composite application), step S10 is executed to subscribe to a new topic (eg, the second topic) based on the changed composite application.

[0155] If the convertible workstation does not receive any information in step S12 or the convertible workstation does not change the subscription in step S14, step S15 is executed: the management device and the convertible workstation determine whether to end the execution, such as whether all tasks are completed or whether a stop signal is received.

[0156] If it is determined to terminate the execution, the information transmission method is terminated; otherwise, step S11 is executed again.

[0157] The present invention can quickly change the application of the workstation, reduce the cost of change, and shorten the setting time before going online.

[0158] See also Figure 8 , which is a schematic diagram of information transmission according to an embodiment of the present invention. Figure 8 It is a specific embodiment used to illustrate the information transmission method of the convertible workstation of the present invention.

[0159] The publisher (eg, a management device) performs process control to respectively execute different processes, such as the picking process 800 , the moving process 801 , the screw locking process 802 , and the like.

[0160] Furthermore, the publisher may first create corresponding topics for different processes, such as a picking topic 810 , a moving topic 811 , a screw-locking topic 812 , and the like.

[0161] Furthermore, subscribers (convertible workstations 820 - 821 ) may subscribe to different topics based on the combination of applications they are responsible for. For example, convertible workstation 820 subscribes to the pickup topic 810 and the movement topic 811 , and convertible workstation 821 subscribes to the movement topic 811 and the screw locking topic 812 .

[0162] When the publisher executes the picking process 800 , it may send a control message 83 to the picking topic 810 , so that the convertible workstation 820 that subscribes to this topic receives the message 83 and performs a picking action based on the message 83 .

[0163] When the publisher executes the move process 801 , it may send a control message 84 to the move topic 811 , so that the convertible workstations 820 and 821 that subscribe to this topic receive the message 84 and execute the move action based on the message 84 .

[0164] When the publisher executes the screw tightening process 802 , it can send a control message 85 to the screw tightening topic 812 , so that the convertible workstation 821 that subscribes to this topic receives the message 85 and executes the screw tightening action based on the message 85 .

[0165] Thereby, the convertible workstations 820 and 821 can quickly set up a communication connection by subscribing / unsubscribing.

[0166] Please also see Figures 10 and 11 , Figure 11 This is a flow chart of a modified combined application according to an embodiment of the present invention.

[0167] Step S20: Changing the combined application by replacing the current robot station and / or functional station with a different type of robot station and / or functional station, for example, executing Figure 15 steps.

[0168] Step S21: Execute subscription and information transmission based on the combined application of the changed robot station and / or function station, for example, Figure 10 steps.

[0169] Please also see Figures 10 to 12 , Figure 12 FIG2 is a sequence diagram of registration and subscription according to an embodiment of the present invention. In this embodiment, the publisher 1000 and the subscriber 1002 can be any of the aforementioned nodes 11 and 12 (including any convertible workstation mentioned in the present invention), and the management node 1001 can be the aforementioned management node 10.

[0170] First, the publisher 1000, the management node 1001, and the subscriber 1002 are connected to the same network (steps S300-S302).

[0171] Next, the publisher 1000 may send a registration request to the management node 1001 (step S303 ), and complete the registration after receiving a successful registration response from the management node 1001 (step S304 ).

[0172] After completing the registration, the publisher 1000 can send a topic creation request to the management node 1001 (step S305), and complete the creation of one or more topics after receiving a successful response from the management node 1001 (step S306). In this way, the publisher 1000 can publish information on the established topics.

[0173] On the other hand, the subscriber 1002 may send a registration request to the management node 1001 (step S307 ), and complete the registration after receiving a registration success response from the management node 1001 (step S308 ).

[0174] After completing registration, subscriber 1002 can send a subscription request to management node 1001 (step S309) and complete the subscription to one or more topics after receiving a successful response from management node 1001 (step S310). In this way, subscriber 1002 can start receiving all information of the subscribed topics through the network.

[0175] Thereafter, when the publisher 1000 is able to publish information ( S311 ), the management node 1001 will transmit the information to all subscribers 1002 of the topic according to the topic to which the information belongs (step S312 ).

[0176] Please also see Figures 10 to 13 , Figure 13 This is a flow chart of an action execution of an embodiment of the present invention. In this embodiment, the convertible workstation can trigger different actions based on different received information. Specifically, the method of this embodiment further includes the following steps.

[0177] Step S40: The convertible workstation is configured to respectively set a plurality of actions for a plurality of information.

[0178] Step S41: The convertible workstation determines whether any subscribed information has been received.

[0179] If the convertible workstation does not receive any information, step S41 is executed again to continue the detection.

[0180] If the convertible workstation receives the information, step S42 is executed: the convertible workstation controls the robot station and the function station to execute the action corresponding to the information.

[0181] For example, movement information can correspond to a movement action and include coordinate values ​​for a robotic arm. Upon receiving the movement information, the convertible workstation can control the robotic arm to move to a specified coordinate value (e.g., by posing the end effector to move to that coordinate value) to collaborate with the functional station.

[0182] In another example, the soldering information may correspond to a soldering action and may include a soldering amount and a soldering position. Upon receiving the soldering information, the convertible workstation may control the robotic arm to move to the designated soldering position and control the functional station to extrude the solder material of the desired amount.

[0183] Please also see Figures 10 to 14 , Figure 14 This is a flowchart of a workstation modification according to an embodiment of the present invention. A convertible workstation can be used to transform a combination of applications through this embodiment and quickly go online after the combination of applications is transformed. Specifically, the method of this embodiment further includes the following steps.

[0184] Step S50: Control the convertible workstation to go offline from the network to stop receiving information of the original combined application (the first combined application).

[0185] Step S51: Replace a functional station (a first functional station, which may have a first functional device) or a robotic station (a first robotic station, which may have a first robotic arm) of a convertible workstation with another functional station (a second functional station, which may have a second functional device of a different type from the first functional device) or another robotic station (a second robotic station, which may have a second robotic arm of a different type from the first robotic arm). This allows the replaced convertible workstation to switch from implementing the original combined application (the first combined application) to implementing a new combined application (the second combined application).

[0186] Step S52: Set the replaced convertible workstation to connect to the network.

[0187] Step S53: Control the replaced convertible workstation to register with the management node. After registration is completed, the replaced convertible workstation can further subscribe to the second topic corresponding to the second combined application from the management node as described above to receive all information of the second topic through the network.

[0188] Please also see Figures 1 to 5 , Figure 5 FIG. 1 is a schematic diagram of an integrated external socket according to an embodiment of the present invention.

[0189] In this embodiment, the robot station 31 includes multiple connection terminals, such as a power connection terminal 500 (220V AC), a power connection terminal 501 (24V DC), a connection terminal 502 (Switch, such as a network signal connection terminal), and a connection terminal 503 (Air, such as an air pressure connection terminal).

[0190] The distribution box 312 can integrate multiple connection terminals into an integrated external socket 51 . The integrated external socket 51 can include a power socket 510 (eg, a 220V AC power socket), a network socket 511 (eg, an Ethernet socket), and a gas pressure socket 512 .

[0191] In addition, the functional station 32 includes multiple connection terminals, such as a power connection terminal 520 (220V AC), a power connection terminal 521 (24V DC), a network power connection terminal 522 (PoE Switch, such as Power over Ethernet), an air pressure connection terminal 523 (Air, such as an air pressure connection terminal) and a power connection terminal 524 (48V DC).

[0192] The distribution box 312 can integrate multiple connection terminals into an integrated external socket 54 . The integrated external socket 54 can include a power socket 540 (eg, a 220V AC power socket), a network socket 541 (eg, an Ethernet socket), and a gas pressure socket 542 .

[0193] The integrated cable 350 includes a cable body (e.g., a power cable, a network cable, or a pneumatic cable) and multiple plugs (e.g., power plugs, network plugs, and pneumatic plugs at both ends). The plugs are used to connect to the integrated external sockets 51 and 54, allowing the robot station 31 and the functional station 32 to share / transmit power, signals, and pneumatic pressure.

[0194] Please also see Figures 10 to 15 , Figure 15 The method of this embodiment further comprises the following steps for refitting a convertible workstation.

[0195] Step S60 : Connecting the integrated external socket 51 of the robot station 31 and the integrated external socket 54 of the function station 32 via the integrated cable 350 to form the convertible workstation 21 .

[0196] Step S61 : Providing resources to the robot station 31 or the functional station 32 via the integrated cable 350 , such as providing air pressure transmission, network transmission, and / or power transmission.

[0197] Step S62 : Setting the control device 30 based on the combined application of the robot station 31 and the functional station 32 , such as setting operating parameters or other initialization settings.

[0198] Thereby, the present invention can quickly remodel the convertible workstation.

[0199] The present invention also provides a process editing interface based on the robot operation system, through which the user can quickly edit the process to be executed by the convertible workstation.

[0200] Please also see Figures 10 to 16 , Figure 16 This is a flowchart of the process editing and publishing of an embodiment of the present invention. The method of this embodiment also includes the following steps.

[0201] Step S70 : providing a process editing interface 220 on the user computer 22 (which may have a robotic operating system installed).

[0202] In one embodiment, the process editing interface 220 provides an action list of multiple actions.

[0203] Step S71: The user computer 22 receives user operations to edit the process through the process editing interface 220. The aforementioned process includes the execution order and execution conditions of multiple actions.

[0204] In one embodiment, step S71 may include the following steps S80 - S83 .

[0205] Step S80: Create a process on the user computer 22. The process may be defined with a start point and an end point.

[0206] Step S81 : The user computer 22 receives a drag operation from the user through the process editing interface 220 to add multiple actions between the start point and the end point.

[0207] Step S82 : The user computer 22 receives the user's setting operation through the process editing interface 220 to set the execution order and execution conditions of the multiple actions.

[0208] Step S83: Exporting the edited process to the user computer 22.

[0209] In one embodiment, through the robotic operating system, the user computer 22 can convert the edited process into computer executable program code and then export it.

[0210] Step S72 : The user computer 22 transmits the edited process to the convertible workstation 21 via the network 23 to set the convertible workstation 21 to execute the process.

[0211] In one embodiment, the convertible workstation 21 controls the robot station 31 and the function station 32 to execute processes through the robotic operation system.

[0212] In this way, the present invention allows users to edit processes quickly and conveniently.

[0213] See also Figure 9 , is a schematic diagram of a process editing interface according to an embodiment of the present invention. The process editing interface may include a process editing area (such as Figure 9 left) and action list (such as Figure 9 right).

[0214] The process editing area is used to edit the process.

[0215] Next, the data structure of a process is described. In this example, the process includes a start point 900 (serving as the process entry point), a break point 905 (used to interrupt the process when an exception or error occurs), and an end point 906 (serving as the process end point). Furthermore, multiple actions can be included between start point 900 and end point 906. These actions are assigned an execution order and execution conditions, and are executed between start point 900 and end point 906 based on the execution order and execution conditions.

[0216] The user can drag any list action 920-926 in the action list between the start point 900 and the end point 906 of the process (drag operation) to serve as process actions 901-904. For example, the user can drag list actions 920, 925, 926 and 922 to serve as process actions 901-904 respectively.

[0217] Next, the user can set the execution conditions or sequence of process actions 901-904 (setting operation), for example, setting conditions 910-912 (when the action is successfully executed, continue to execute the next action), and setting conditions 913-916 (when the action fails, interrupt the process).

[0218] After the process editing is completed, the user can publish the process to the convertible robot to execute the corresponding combined application.

[0219] The above description is only a preferred embodiment of the present invention, and does not limit the claims of the present invention. Therefore, all equivalent changes made by applying the contents of the present invention are similarly included in the scope of the present invention and are hereby stated.

Claims

1. A convertible workstation comprising: a first functional station, comprising a first functional device; a second function station, comprising a second function device; a robotic station, configured to operate the first functional device of the first functional station to implement a first combined application when connected to the first functional station via a cable, and to operate the second functional device of the second functional station to implement a second combined application when connected to the second functional station via a cable; and a control device connected to the robotic station via a cable, the control device being configured to, when the robotic station is connected to the first functional station, subscribe to a first topic corresponding to the first combined application, receive a first message published to all subscribers of the first topic, and control the robotic station or the first functional station to implement the first combined application based on the first message; In which, the control device is configured to subscribe to a second topic corresponding to the second combined application when the robot station is connected to the second functional station, to receive a second message published to all subscribers of the second topic, and to control the robot station or the second functional station based on the second information to implement the second combined application.

2. The convertible workstation of claim 1 , wherein the robotic station comprises: a robotic arm for multi-degree-of-freedom movement; a wiring box, configured to connect the control device via a cable and to connect the first functional station or the second functional station via a cable, the wiring box being configured to receive power and network signals; and A control box is connected to the robot arm and the wiring box. The control box is configured to control the robot arm to move to a coordinate value based on the received information so as to cooperate with the first functional station or the second functional station.

3. The convertible workstation of claim 1 , wherein each of the first functional station, the second functional station, and the robot station comprises a wiring box configured to integrate a plurality of connection terminals into an integrated external socket; in, The integrated external socket of the robot station is connected to the integrated external socket of the first functional station or the integrated external socket of the second functional station through an integrated cable.

4. The convertible workstation as claimed in claim 3, wherein the integrated external socket comprises a power socket, a network socket and a gas pressure socket; in, The integrated cable includes a power cable, a network cable and a pneumatic cable. Both ends of the integrated cable are provided with a power plug, a network plug and a pneumatic plug.

5. A convertible workstation as described in claim 1, wherein the control device is configured to control the convertible workstation to be offline from a network, and when the robot station is connected to the second functional station, the replaced convertible workstation is configured to be connected to the network, register the replaced convertible workstation with a management node, and subscribe to the second topic corresponding to the second combined application.

6. The convertible workstation of claim 1 , wherein the first functional device is different from the second functional device, and the first functional device and the second functional device comprise a laser soldering tool, an insert tool, a screw locking tool, a labeling tool, a glue dispensing tool, or a fixture; in, The first combined application or the second combined application is a laser welding application, an automatic plug-in application, an automatic screw locking application, an automatic glue dispensing application, an automatic labeling application, or an automatic clamping application.

7. The convertible workstation of claim 1 , wherein the control device comprises: a network interface for connecting to a network and the robot station; and A processor is used to control the robot station, the first functional station or the second functional station based on the first information or the second information.

8. The convertible workstation of claim 7, wherein the control device further comprises: a memory; Used to store a robot operating system; The processor is configured to obtain a process and execute the robot operation system to control the robot station, the first functional station or the second functional station to execute the process, wherein the process includes an execution sequence and execution conditions of a plurality of actions.

9. The convertible workstation of claim 1 , further comprising: A robot operating system is installed on a user computer and controls the user computer to display a process editing interface after being executed, and accepts operations to edit a process through the process editing interface.

10. The convertible workstation of claim 9, wherein the process comprises: A starting point, which serves as the entry point of the process; A breakpoint, used to interrupt the process when an exception or an error occurs; An end point, which serves as the end address of the process; and A plurality of actions are set between the start point and the end point, and the plurality of actions are selected from an action list provided in the process editing interface.

11. A method for transmitting information of a convertible workstation, comprising: a) setting a convertible workstation to subscribe to a first topic, wherein the first topic corresponds to a first combined application of a functional station and a robot station of the convertible workstation; b) publishing, through a management device, a first message of the first topic to all subscribers of the first topic; c) executing an action based on the first information when the convertible workstation receives the first information; and d) When the convertible workstation is changed into a second combined application, subscribing to a second topic based on the second combined application.

12. The information transfer method of a convertible workstation as claimed in claim 11, wherein step a) comprises: a1) setting up the convertible workstation to connect to a network; a2) registering the convertible workstation with a management node in the network; and a3) After registration is completed, controlling the convertible workstation to subscribe to the first topic from the management node to receive all information of the first topic through the network.

13. The information transfer method of a convertible workstation as claimed in claim 11, wherein step c) comprises: c1) setting a plurality of actions for each of a plurality of information, wherein the plurality of information includes the first information; and c2) upon receiving the first information, controlling the robot station and the functional station to execute the action corresponding to the first information.

14. The information transmission method of the convertible workstation as claimed in claim 13, wherein the information comprises a coordinate value of a robot arm of the robot station; Step c2) comprises: The robot arm is controlled to move to the coordinate value to cooperate with the function station.

15. The information transfer method of a convertible workstation as claimed in claim 11, wherein step d) comprises: d1) controlling the convertible workstation to go offline from a network; d2) replacing the functional station or the robotic station with another functional station or another robotic station to change the convertible workstation from the first combination application to the second combination application; d3) configuring the replaced convertible workstation to connect to the network; d4) registering the replaced convertible workstation with a management node; and d5) controlling the convertible workstation to subscribe to the second topic corresponding to the second combined application from the management node, so as to receive all information of the second topic through the network.

16. The information transmission method of a convertible workstation as claimed in claim 15, wherein the robot station comprises a multi-degree-of-freedom robotic arm; The functional station includes laser soldering tools, plug-in tools, screw locking tools, labeling tools, dispensing tools or fixtures; The first combined application is a laser welding application, an automatic plug-in application, an automatic screw locking application, an automatic glue dispensing application, an automatic labeling application, or an automatic clamping application.

17. The information transmission method of a convertible workstation as claimed in claim 11, wherein the robot station comprises a wiring box, the wiring box being used to integrate a plurality of connection terminals of the robot station into an integrated external socket; The functional station includes a wiring box, which is used to integrate multiple connection terminals of the functional station into an integrated external socket; Before step a), the method comprises: e) connecting the integrated external socket of the robot station and the integrated external socket of the functional station via an integrated cable to form the convertible workstation.

18. The information transmission method of the convertible workstation according to claim 17, further comprising: f) providing at least one of air pressure transmission, network transmission and power transmission to the robot station or the functional station through the integrated cable.

19. The information transmission method of the convertible workstation according to claim 11, further comprising: g1) providing a process editing interface on a user computer and accepting operations to edit a process through the process editing interface, wherein the process includes the execution order and execution conditions of multiple actions; g2) transmitting the process to the convertible workstation via a network to configure the convertible workstation to execute the process; Among them, editing this process includes: g11) creating the process, wherein the process definition has a start point and an end point; g12) providing an action list of the plurality of actions in the process editing interface; g13) accepting a drag operation through the process editing interface to add the multiple actions between the start point and the end point; and g14) Accepting a setting operation through the process editing interface to set the execution order and the execution conditions of the multiple actions in the process.

20. The information transmission method of a convertible workstation as claimed in claim 19, wherein the convertible workstation comprises a control device, and the control device comprises a robotic operation system; in, Step g2) comprises: g21) transmitting the process to the control device so as to control the robot station and the function station to execute the process through the robot operation system.

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