Method for protecting a programmable multi-axis device and related device

Abstract

The embodiment of the application discloses a kind of programmable multi-axis equipment protection method and related equipment, the programmable multi-axis equipment protection method is modeled to programmable multi-axis equipment first, obtains digital model, further the rotation axis in digital model is divided into reference axis, displacement rotation axis and intrusion rotation axis, the position of displacement rotation axis and intrusion rotation axis in the working process is further obtained with reference axis space relationship, further it can be determined that reference axis, displacement rotation axis and intrusion rotation axis three mutually interfere or the situation of collision, based on this, the programmable range of programmable multi-axis equipment can be determined. So that user can program programmable multi-axis equipment within programmable range, can give full play to the programmable effect of programmable multi-axis equipment, while it can reduce the probability that mechanical equipment executes action and surrounding environment or other equipment occurs adverse contact due to human error operation in the use process of programmable multi-axis equipment, improve the safety of programmable multi-axis equipment use.

Description

Technical Field

[0001] This application relates to the field of multi-axis equipment technology, and in particular to a protection method and related equipment for a programmable multi-axis equipment. Background Technology

[0002] Multi-axis motion control equipment is widely used in product inspection and transportation because it can drive products in multiple dimensions. However, traditional programmable multi-axis systems are prone to human error, causing adverse contact between the machine and the surrounding environment or other equipment during operation. Previous multi-axis devices were rarely freely programmable; such equipment typically used specialized programming software, and the paths were not arbitrarily changed during manufacturing or final operation. Therefore, minimizing the possibility of adverse contact between the axes and their components and other parts during the design phase, and ensuring that commissioning engineers pay attention to this issue during programming, can reduce the risk of adverse contact.

[0003] To reduce the delivery cost of multi-axis devices, most multi-axis operating equipment now offers a visual path programming interface, significantly lowering the technical barrier to path programming and allowing more people to edit, modify, and optimize the path. However, because the operational barrier is lowered, collisions between components or with other environmental elements are more likely during editing and modification. Furthermore, to ensure optimal device performance, higher requirements are placed on the device's operational freedom, thus greatly increasing the possibility of undesirable contact with other axes within the axis's operating range.

[0004] To address the potential for errors mentioned above, the current solution is to use sensors to limit the shaft's operating range under certain conditions, thereby preventing poor contact between the shaft and its components. However, this approach has the following drawbacks:

[0005] 1. Adding sensors will significantly increase the cost of the device.

[0006] 2. After adding the sensor, the controller also needs to complete complex logic to use this signal to complete the safety protection function.

[0007] 3. If the structure of the device changes after the upgrade and optimization, the logic within the controller also needs to be adjusted, which is not conducive to the rapid upgrade and optimization of the device.

[0008] 4. As the usage scenarios become more complex, the operating path of the device also becomes more and more complicated. At certain special angles or positions, sensors cannot be used to prevent adverse contact. Therefore, the method of installing sensors will gradually become ineffective. Summary of the Invention

[0009] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0010] Therefore, a first aspect of the present invention provides a protection method for a programmable multi-axis device.

[0011] A second aspect of the present invention provides a computer-readable storage medium.

[0012] A third aspect of the present invention provides a control device.

[0013] A fourth aspect of the present invention provides a programmable multi-axis device.

[0014] In view of this, a protection method for a programmable multi-axis device is proposed according to a first aspect of the embodiments of this application, comprising:

[0015] Model the programmable multi-axis device to obtain a digital model;

[0016] A reference axis is determined among the multiple axes of rotation of the digital model;

[0017] The other shafts among the multiple rotating shafts, excluding the reference shaft, are divided into displacement shafts and intrusion shafts;

[0018] Spatial movement information is obtained based on the displacement axis.

[0019] Based on the intrusive rotating axis, obtain projection change information;

[0020] Based on the spatial movement information and the projection change information, the programmable range of the programmable multi-axis device is determined.

[0021] In one feasible implementation, the projection of the displacement axis onto the reference axis is a first projection, and the first projection does not change when the displacement axis is in operation.

[0022] In one feasible implementation, the projection of the intrusion shaft onto the reference axis is a second projection, which changes when the displacement shaft is in operation.

[0023] In one feasible implementation, the step of acquiring spatial movement information based on the displacement axis includes:

[0024] In response to the work instructions, the state of the digital model is determined based on the next operation instructions of the displacement axis;

[0025] The spatial movement information is defined as the state of the digital model in response to the work instruction and the motion trajectory of the displacement axis.

[0026] In one feasible implementation, the step of obtaining projection change information based on the intrusive rotating axis includes:

[0027] In response to the work instructions, the state of the digital model is determined based on the next operating instructions from the intruding shaft;

[0028] The projection change information includes the state of the digital model in response to the work instruction, the movement trajectory of the intrusion axis, and the transformation process of the projection of the intrusion axis onto the reference axis.

[0029] In one feasible implementation, the step of determining the programmable range of the programmable multi-axis device based on the spatial movement information and the projection change information includes:

[0030] Based on the spatial movement information and the projection change information, determine the first limit collision position and / or the first limit interference position of the displacement axis and the intrusion axis.

[0031] The programmable range of the programmable multi-axis device is determined based on the first limit collision position and / or the first limit interference position.

[0032] In one feasible implementation, the step of determining the first limiting collision position and / or the first limiting interference position of the displacement axis and the intrusion axis based on the spatial movement information and the projection change information includes:

[0033] A spatial coordinate system is constructed using the aforementioned reference axis as a reference.

[0034] Based on the motion trajectory of the displacement axis, the movement trajectory of the intrusion axis, and the transformation process of the projection of the intrusion axis onto the reference axis, the coordinate system interaction state is determined.

[0035] Based on the coordinate system interaction state, the first limit collision position and / or the first limit interference position are determined.

[0036] In one feasible implementation, the programmable multi-axis device further includes non-rotating axis components, and the protection method for the programmable multi-axis device further includes:

[0037] Based on the aforementioned non-rotating components, a prohibited area is determined;

[0038] Based on the prohibited area, the spatial movement information, and the projection change information, the programmable range of the programmable multi-axis device is determined.

[0039] In one feasible implementation, the step of determining the programmable range of the programmable multi-axis device based on the prohibited area, the spatial movement information, and the projection change information includes:

[0040] Based on the spatial movement information and the projection change information, determine the second limit collision position and / or the second limit interference position of the displacement axis, the intrusion axis, the reference axis, and the non-axis component;

[0041] The programmable range of the programmable multi-axis device is determined based on the second limit collision position and / or the second pole interference position.

[0042] In one feasible implementation, the step of determining the prohibited area based on the non-rotating component includes:

[0043] The non-rotating shaft components in the digital model are enlarged by a first threshold, and the space occupied by the enlarged non-rotating shaft components is used as a prohibited area.

[0044] In one feasible implementation, the programmable multi-axis device is used to transport products and / or intermediate products to be tested;

[0045] The reference shaft is a transport shaft used to carry products and / or intermediate products to be tested;

[0046] The displacement shaft is a shaft used to move the product and / or the intermediate product to be tested along the height or width direction.

[0047] The invasive shaft is a shaft used to drive the product and / or the intermediate product to be tested to rotate.

[0048] In one feasible implementation, the displacement axis is perpendicular to the reference axis.

[0049] In one feasible implementation, the protection method for a programmable multi-axis device further includes:

[0050] Based on the programmable range, determine the programming warning range;

[0051] Set a programming prohibition range to modify the programmable range.

[0052] In one feasible implementation, the rotation center is selected based on the digital model;

[0053] Based on the rotation center, determine the programming coordinate system;

[0054] The programmable multi-axis device is programmed based on the programming coordinate system.

[0055] In one feasible implementation, the protection method for a programmable multi-axis device further includes:

[0056] In response to the calibration command, the positions of different displacement shafts are adjusted so that the different displacement shafts are at their extreme close and extreme far positions;

[0057] The position coordinates of the transfer axis are calibrated based on the positions of the extreme approach and extreme distance.

[0058] In one possible implementation, the calibration command is issued after the programmable multi-axis device has been assembled or has undergone maintenance.

[0059] A computer-readable storage medium is provided according to a second aspect of the embodiments of this application.

[0060] The computer-readable storage medium stores a computer program that implements the protection method for programmable multi-axis devices as described in any of the above technical solutions.

[0061] A control device is provided according to a third aspect of the embodiments of this application, comprising:

[0062] Memory, which stores computer programs;

[0063] The processor executes the computer program;

[0064] When the processor executes the computer program, it implements the protection method for the programmable multi-axis device as described in any of the above technical solutions.

[0065] A programmable multi-axis device is provided according to a fourth aspect of the embodiments of this application, comprising:

[0066] The computer-readable storage medium or the control device described in the above technical solutions.

[0067] In one feasible implementation, the programmable multi-axis device further includes:

[0068] X-axis drive module;

[0069] The Y-axis drive module is connected to the X-axis drive module.

[0070] Z-axis drive module, the Y-axis drive module is connected to the Z-axis drive module;

[0071] A first rotating shaft module is connected to the X-axis drive module and is used to drive the X-axis drive module to rotate.

[0072] In one feasible implementation, the programmable multi-axis device further includes:

[0073] A platform, which is mounted on the X-axis drive module;

[0074] The second rotating shaft module is used to drive the platform to rotate.

[0075] Compared with the prior art, the present invention has at least the following beneficial effects:

[0076] The protection method for programmable multi-axis equipment provided in this application first models the programmable multi-axis equipment to obtain a digital model. Then, the axes in the digital model are further divided into a reference axis, a displacement axis, and an intrusion axis. Next, the spatial relationship between the displacement axis and the intrusion axis and the reference axis during operation is obtained. This allows for the determination of interference or collision between the reference axis, displacement axis, and intrusion axis. Based on this, the programmable range of the programmable multi-axis equipment can be determined, enabling users to program the equipment within this range. This fully utilizes the programmable capabilities of the multi-axis equipment and reduces the probability of adverse contact between the equipment and the surrounding environment or other equipment due to human error during operation. This improves the safety of the programmable multi-axis equipment, extends its service life, reduces the failure rate, and enhances the user experience. Attached Figure Description

[0077] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0078] Figure 1 A schematic flowchart illustrating the steps of a protection method for a programmable multi-axis device according to an embodiment of this application;

[0079] Figure 2 A schematic diagram illustrating an execution state of a protection method for a programmable multi-axis device according to an embodiment of this application;

[0080] Figure 3 A schematic diagram illustrating another execution state of a protection method for a programmable multi-axis device according to an embodiment of this application;

[0081] Figure 4 A schematic diagram illustrating another execution state of a protection method for a programmable multi-axis device according to an embodiment of this application;

[0082] Figure 5 A schematic diagram illustrating another execution state of a protection method for a programmable multi-axis device according to an embodiment of this application;

[0083] Figure 6 A structural block diagram of a computer-readable storage medium according to an embodiment of this application;

[0084] Figure 7A structural block diagram of a control device according to an embodiment of this application;

[0085] Figure 8 A schematic structural diagram of a programmable multi-axis device according to an embodiment of this application;

[0086] Figure 9 A schematic structural diagram of a first rotating axis module, a stage, and a second rotating axis module of a programmable multi-axis device according to an embodiment of this application.

[0087] in, Figures 2 to 5 , Figure 8 and Figure 9 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0088] 110 Reference axis, 120 Moving axis, 130 Non-rotating axis component, 140 Prohibited area, 150 Programming prohibited range, 410 X-axis drive module, 420 Y-axis drive module, 430 Z-axis drive module, 440 First rotating axis module, 450 Stage, 460 Second rotating axis module. Detailed Implementation

[0089] To better understand the above technical solutions, the technical solutions of the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0090] like Figure 1 As shown, a protection method for a programmable multi-axis device is proposed according to a first aspect of an embodiment of this application, comprising:

[0091] Step 101: Model the programmable multi-axis device to obtain a digital model. This can be understood as follows: by exporting component models of the programmable multi-axis device using mechanical design software, and establishing mathematical transformation models of the rotating axes and axis components of the programmable multi-axis device, a digital model of the programmable multi-axis device can be obtained.

[0092] Step 102: Determine the reference axis among the multiple axes of the digital model. It is understood that a programmable multi-axis device has multiple axes. In selecting the reference axis, a non-primary programmed axis of the programmable multi-axis device can be chosen as the reference axis, or the axis with the fewest programmable options among the multiple axes can be selected as the reference axis. Taking a programmable multi-axis device used for transporting or inspecting products as an example, the X-axis of the programmable multi-axis device can serve only as a transport axis and not as the main programmed motion axis of the device. Furthermore, changes in the X-axis will not cause undesirable contact with other components. Therefore, the X-axis can be selected as the reference axis. There is no need to detect changes in the position and projection of the reference axis. The planar projection of other axes onto the reference axis can be used to detect and predict the running trajectory. In other words, the interference and undesirable contact caused by changes in the reference axis are not detected.

[0093] Step 103: Divide the multiple axes other than the reference axis into displacement axes and intrusion axes. It is understood that, if the other axes are not programmed properly, interference or collision may occur. Therefore, the axes can be classified based on their motion type or relationship with the reference axis. Furthermore, they can be divided into displacement axes and intrusion axes.

[0094] Step 104: Obtain spatial movement information based on the displacement axis. It's understandable that, compared to a displacement axis, the projection of a component onto a reference axis does not change shape during movement; it only undergoes spatial displacement. In this case, simply import the component's model file into the software, monitor and predict the spatial position of the digital model, and you can obtain the spatial movement information.

[0095] Step 105: Obtain projection change information based on the intrusion axis. It is understandable that with an intrusion axis, rotation occurs during movement, causing a shape change in the projection of the component onto the reference axis plane. In this case, it is necessary not only to monitor the spatial position but also to transform the projection shape based on the digital model to obtain projection change information.

[0096] Step 106: Determine the programmable range of the programmable multi-axis device based on spatial movement information and projection change information. It can be understood that after acquiring spatial movement information and projection change information, the actual positions of each axis and the commanded positions for the axes can be converted into changes and movements of the model. Collision or interference detection of the model enables safety monitoring and prediction of the multi-axis device. Furthermore, based on the collision or interference state, the programmable range of the programmable multi-axis device can be clearly defined. This programmable range serves as a guide, allowing users to program the multi-axis device within its programmable range. This fully utilizes the programmable capabilities of the multi-axis device and reduces the probability of adverse contact between the device and the surrounding environment or other equipment due to human error during operation. This improves the safety of the programmable multi-axis device, extends its service life, reduces the failure rate, and enhances the user experience.

[0097] The protection method for programmable multi-axis equipment provided in this application first models the programmable multi-axis equipment to obtain a digital model. Then, the axes in the digital model are further divided into a reference axis, a displacement axis, and an intrusion axis. Next, the spatial relationship between the displacement axis and the intrusion axis and the reference axis during operation is obtained. This allows for the determination of interference or collision between the reference axis, displacement axis, and intrusion axis. Based on this, the programmable range of the programmable multi-axis equipment can be determined, enabling users to program the equipment within this range. This fully utilizes the programmable capabilities of the multi-axis equipment and reduces the probability of adverse contact between the equipment and the surrounding environment or other equipment due to human error during operation. This improves the safety of the programmable multi-axis equipment, extends its service life, reduces the failure rate, and enhances the user experience.

[0098] In one feasible implementation, the projection of the displacement axis onto the reference axis is a first projection, which does not change when the displacement axis is in operation.

[0099] This technical solution further provides a method for determining the displacement axis. The projection of the displacement axis onto the reference axis will not change during the movement. Therefore, the displacement axis will not intrude into the reference axis during operation. For example, the displacement axis can be an axis that is orthogonally intersecting the reference axis. When the reference axis is the X-axis, the displacement axis can be the Y-axis or the Z-axis.

[0100] In one feasible implementation, the projection of the intrusion shaft onto the reference axis is a second projection, which changes when the displacement shaft is in operation.

[0101] In this technical solution, a step of determining the intrusion axis is further provided. The projection of the intrusion axis on the reference axis will change during operation. Therefore, the intrusion axis may intrude into the reference axis during operation. For example, if the reference axis is the X-axis, the intrusion axis can be an axis that can be selected relative to the X-axis, or it can be a axis that can drive the X-axis to rotate.

[0102] In one feasible implementation, the step of acquiring spatial movement information based on the displacement axis includes: in response to the work instruction, determining the state of the digital model based on the next operation instruction of the displacement axis; and using the state of the digital model after responding to the work instruction and the motion trajectory of the displacement axis as spatial movement information.

[0103] This technical solution further provides specific steps for determining spatial movement information. A spatial coordinate system can be constructed based on a digital model. The inspector issues work instructions, and the displacement axis moves under the action of the work instructions. By acquiring the axis coordinate parameters of the displacement axis in real time, the movement trajectory of the displacement axis can be monitored. The state of the digital model can be predicted by calculating the next operation instruction. This setup facilitates the acquisition of spatial movement information.

[0104] In one feasible implementation, the step of obtaining projection change information based on the intrusion axis includes: in response to the work instruction, determining the state of the digitized model based on the next operation instruction of the intrusion axis; and using the state of the digitized model after responding to the work instruction, the movement trajectory of the intrusion axis, and the transformation process of the projection of the intrusion axis on the reference axis as projection change information.

[0105] This technical solution further provides steps for determining projection change information. A spatial coordinate system can be constructed based on a digital model. The inspector then issues a work instruction to intrude onto the rotating axis, which moves under the influence of the instruction. By acquiring the axis coordinate parameters of the intruding rotating axis in real time, its movement trajectory can be monitored. The state of the digital model can be predicted by calculating the next operating instruction. This setup facilitates the acquisition of spatial movement information. Simultaneously, it is also necessary to acquire the projection change state of the intruding rotating axis on the reference axis during its movement. Taking the intruding axis as an axis that can rotate relative to the reference axis as an example, the rotation axis is an approximately rectangular prism that rotates around the Z-axis, with the center of rotation being the center point of the rotation axis. Therefore, for the rotation axis, its projection on the reference axis is a rectangle with continuously changing length.

[0106] In one feasible implementation, the step of determining the programmable range of a programmable multi-axis device based on spatial movement information and projection change information includes: determining the first limit collision position and / or the first limit interference position of the displacement axis and the intrusion axis based on the spatial movement information and projection change information; and determining the programmable range of the programmable multi-axis device based on the first limit collision position and / or the first limit interference position.

[0107] In this technical solution, specific steps for determining the programmable range of a programmable multi-axis device are further provided. After determining the spatial movement information and projection change information, the first limit collision position and / or the first limit interference position between different components can be obtained. It can be understood that the first limit collision position and / or the first limit interference position refers to the position where the collision or interference just occurred. The programmable range can be determined based on these positions.

[0108] In one feasible implementation, the step of determining the first limit collision position and / or the first limit interference position of the displacement axis and the intrusion axis based on spatial movement information and projection change information includes: constructing a spatial coordinate system with a reference axis as the reference; determining the coordinate system interaction state based on the motion trajectory of the displacement axis, the movement trajectory of the intrusion axis, and the transformation process of the projection of the intrusion axis onto the reference axis; and determining the first limit collision position and / or the first limit interference position based on the coordinate system interaction state.

[0109] In this technical solution, under the premise of constructing a spatial coordinate system, the step of determining the first limit collision position and / or the first limit interference position may include calculating the projection of each axis and component on the reference axis plane by using the coordinate parameters of the reference axis, displacement axis and intrusion axis and the motion characteristics of the axis (linear motion or rotation), and calculating whether there is boundary intersection or inclusion by using the projected coordinates of each component. If intersection or inclusion occurs, it can be considered that a collision or interference has occurred. This setting can improve the efficiency of determining interference or collision.

[0110] In one feasible implementation, the programmable multi-axis device further includes non-rotating axis components, and the protection method for the programmable multi-axis device further includes: determining a prohibited area based on the non-rotating axis components; and determining the programmable range of the programmable multi-axis device based on the prohibited area, spatial movement information, and projection change information.

[0111] This technical solution further considers that programmable multi-axis equipment also includes non-rotating shaft components, which intrude into the movement space of multiple rotating shafts. For example, when the programmable multi-axis equipment is used for transporting products, the loading and unloading mechanism or crossbeam of the programmable multi-axis equipment can be a non-rotating shaft component. The loading and unloading mechanism must intrude into the movement space of the shafts. In order to improve the mechanical strength of the equipment, the crossbeam will also intrude into the movement space of the rotating shafts.

[0112] In this technical solution, since the non-rotating components do not have a rotating shaft, they are stationary and can be quickly added to prevent them from making poor contact with the shaft components. Moreover, these preventable regions can be modified in the software according to the input IO changes, which can improve the speed of adding preventable regions.

[0113] like Figure 2 The diagram shows a schematic of a digital model in operation. In the diagram, there is no contact between the reference axis 110, the displacement axis 120, and the non-rotation component 130. This is a safe state.

[0114] like Figure 3 As shown, a schematic diagram of one operating state of the digital model is presented, in which a collision occurs between the displacement axis 120 and the non-rotation component 130.

[0115] In one feasible implementation, the step of determining the programmable range of a programmable multi-axis device based on prohibited areas, spatial movement information, and projection change information includes: determining the second limit collision positions and / or second limit interference positions of the displacement axis, intrusion axis, reference axis, and non-axis components based on spatial movement information and projection change information; and determining the programmable range of the programmable multi-axis device based on the second limit collision positions and / or second limit interference positions.

[0116] In this technical solution, when there are non-rotating shaft components that intrude into the rotating shaft's movement space, the interference and collision states between the shifting shaft, the intruding shaft, the reference shaft, and the non-rotating shaft components can be determined. Furthermore, the second limit collision position and / or the second limit interference position can be identified. Based on the second limit collision position and / or the second limit interference position, the programmable range can be determined, which can further reduce the probability of collision or interference between the rotating shaft and non-rotating shaft components, and further improve the operational safety of the equipment.

[0117] In one feasible implementation, the step of determining the prohibited area based on the non-rotating component includes: enlarging the non-rotating component in the digital model by a first threshold, and using the space occupied by the enlarged non-rotating component as the prohibited area.

[0118] This technical solution further provides a method for determining the prohibited area, which can be determined by magnifying the non-rotating shaft component. This setting makes the determination of the programmable range safer.

[0119] Understandably, the first threshold can be set based on actual needs. The larger the value of the first threshold, the safer the programmable range, but the programmable range will decrease. The value of the first threshold should be greater than 1.

[0120] like Figure 4 The diagram shows a schematic of one operating state of the digital model, in which a prohibited area 140 is set, and the displacement axis 120 interferes with the prohibited area 140.

[0121] In one feasible implementation, the programmable multi-axis device is used to transport products and / or intermediate products to be tested; the reference axis is a transport axis for transporting products and / or intermediate products to be tested; the displacement axis is a rotating axis for moving products and / or intermediate products to be tested along the height or width direction; and the intrusion axis is a rotating axis for rotating products and / or intermediate products to be tested.

[0122] This technical solution further provides methods for determining the reference axis, displacement axis, and intrusion axis. The reference axis is a transport axis used to carry the product and / or the intermediate product to be tested, and the reference axis has the fewest programmable methods. The displacement axis is a rotating axis used to move the product and / or the intermediate product to be tested along the height or width direction, so that the projection of its components on the plane of the reference axis does not change shape when the displacement axis moves. The intrusion axis is a rotating axis used to rotate the product and / or the intermediate product to be tested, so that the intrusion axis will rotate when it moves, which will cause the projection of the components on the plane of the reference axis to change shape.

[0123] In one feasible implementation, the displacement axis is perpendicular to the reference axis. This arrangement facilitates the rapid determination of the displacement axis; when the reference axis is the X-axis, the displacement axis can be either the Y-axis or the Z-axis.

[0124] In one feasible implementation, the protection method for a programmable multi-axis device further includes: determining a programming warning range based on the programmable range.

[0125] After determining the programmable range, the programming warning range can be further defined. Based on this, programmer permissions can be set to prohibit programmers from programming within the programming warning range, which can better protect the programmable multi-axis equipment.

[0126] In one feasible implementation, the protection method for a programmable multi-axis device further includes: setting a programming prohibition range to modify the programmable range.

[0127] In this technical solution, the programmable multi-axis device can also be explicitly programmed with a direct intervention method, which allows for flexible control of the protection range and gives the protection of the programmable multi-axis device a high degree of freedom.

[0128] like Figure 5As shown, a programming restriction range of 150 is set. During the user's programming process, the programmer cannot control other rotating axes to enter the programming restriction range of 150 without authorization.

[0129] In one feasible implementation, a rotation center is selected based on a digital model; a programming coordinate system is determined based on the rotation center; and the programmable multi-axis device is programmed based on the programming coordinate system.

[0130] In this technical solution, the rotation center can be determined based on the digital model, and the programming coordinate system can be further determined based on the rotation center for unified programming. This can further reduce the difficulty of programming and make the operation control of the components under the same coordinate system, thereby improving the control accuracy.

[0131] In one feasible implementation, the protection method for a programmable multi-axis device further includes: in response to a calibration command, adjusting the positions of different displacement axes so that the different displacement axes are at positions of extreme proximity and extreme distance; and calibrating the position coordinates of the displacement axes based on the positions of extreme proximity and extreme distance.

[0132] In this technical solution, considering that the assembly process and machining process of each device cannot guarantee that the space of each component is consistent under the same path parameters, the relationship between axes can be calibrated by issuing calibration commands. By controlling different transfer axes to be at their extreme close and extreme far positions, and calibrating the position coordinates of different transfer axes, different transfer axes and reference axes can be accurately positioned in the same coordinate system, which can make the control of programmable multi-axis equipment more precise.

[0133] Taking a multi-axis programming device with the X-axis as the reference axis and the Y-axis and Z-axis as the movement axes as an example, the calibration process may include the following steps:

[0134] After the mechanical design is completed, the point coordinates of the outer contour of the shaft component can be quickly exported using mechanical design software. These outer contour coordinates can then be imported into the software platform to generate spatial models of each component. Specifying the rotation center of the model allows for the establishment of a mathematical transformation model of the model.

[0135] Adjust the Y-axis and Z-axis to control the lower end of the upper part and the upper end of the lower part to just touch, and calculate the relative spatial position of the Z-axis;

[0136] Adjust the Y and Z axes to better align the right end of the upper component with the left end of the lower component on the touchscreen, and calculate the relative spatial position along the Y axis. The upper component mainly refers to the Z-axis and its components, moving up and down along the Z-axis and primarily located in the upper part of the machine. The lower component is the component that traverses the rotating shaft and rotates along the X-axis.

[0137] After the models of each axis are established and the relative positions of each axis are calibrated, the actual position status of the device can be reflected in real time. By setting the programming warning range, dynamic safety protection can be provided for the programmable multi-axis equipment.

[0138] In one feasible implementation, the calibration command is issued after the programmable multi-axis device has been assembled or after maintenance.

[0139] like Figure 6 As shown, according to a second aspect of the embodiments of this application, a computer-readable storage medium 301 is provided, which stores a computer program 302 to implement a protection method for a programmable multi-axis device as described in any of the above technical solutions.

[0140] The computer-readable storage medium 301 provided in this application embodiment implements the protection method for programmable multi-axis devices as described in any of the above technical solutions. Therefore, the computer-readable storage medium 301 possesses all the beneficial effects of the protection method for programmable multi-axis devices described in the above technical solutions.

[0141] The computer-readable storage medium 301 provided in this application embodiment first models the programmable multi-axis device to obtain a digital model. Further, the axes in the digital model are divided into a reference axis, a displacement axis, and an intrusion axis. Then, the spatial relationship between the displacement axis and the intrusion axis and the reference axis during operation is obtained. This allows for the determination of interference or collision between the reference axis, displacement axis, and intrusion axis. Based on this, the programmable range of the programmable multi-axis device can be determined, enabling users to program the device within this range. This fully utilizes the programmable effect of the multi-axis device and reduces the probability of adverse contact between the device and the surrounding environment or other equipment due to human error during operation. This improves the safety of the programmable multi-axis device, extends its service life, reduces the failure rate, and enhances the user experience.

[0142] Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This software product can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, or portable hard drive), and includes several instructions to cause a computer device (such as a personal computer, server, or network device) to execute the methods described in the various implementation scenarios of this application.

[0143] like Figure 7As shown, a control device is proposed according to a third aspect of the embodiments of this application, comprising: a memory 401 storing a computer program; and a processor 402 executing the computer program; wherein, when executing the computer program, the processor 402 implements a protection method for a programmable multi-axis device as described in any of the above technical solutions.

[0144] The control device provided in this application embodiment implements the protection method for programmable multi-axis equipment as described in any of the above technical solutions, and therefore possesses all the beneficial effects of the protection method for programmable multi-axis equipment described in the above technical solutions.

[0145] The control device provided in this application first models the programmable multi-axis equipment to obtain a digital model. Then, it further divides the axes in the digital model into a reference axis, a displacement axis, and an intrusion axis. Next, it obtains the positional and spatial relationships between the displacement axis and the intrusion axis and the reference axis during operation. This allows it to determine the interference or collision between the reference axis, displacement axis, and intrusion axis, thereby determining the programmable range of the programmable multi-axis equipment. This enables users to program the equipment within the programmable range, fully utilizing its programmable capabilities. Simultaneously, it reduces the probability of adverse contact between the equipment and the surrounding environment or other equipment due to human error during operation, improving the safety of the programmable multi-axis equipment, extending its service life, reducing the failure rate, and enhancing the user experience.

[0146] In some examples, the control device may also include a user interface, a network interface, a camera, radio frequency (RF) circuitry, sensors, audio circuitry, a Wi-Fi module, and so on. The user interface may include a display screen, input units such as a keyboard, and optional user interfaces may include USB ports, card reader ports, etc. The network interface may optionally include standard wired interfaces, wireless interfaces (such as Wi-Fi interfaces), etc.

[0147] In an exemplary embodiment, the control device may further include an input / output interface and a display device, wherein the various functional units can communicate with each other via a bus. The memory stores a computer program, and a processor is used to execute the program stored in the memory and perform the methods described in the above embodiments.

[0148] The aforementioned storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the physical device described above, supporting the operation of information processing programs and other software and / or programs. The network communication module is used to enable communication between the various components within the storage medium, as well as communication with other hardware and software in the information processing physical device.

[0149] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platform, or it can be implemented by hardware.

[0150] like Figure 8 and Figure 9 As shown, a programmable multi-axis device is proposed according to a fourth aspect of the embodiments of this application, including: a computer-readable storage medium as described above or a control device as described above.

[0151] The programmable multi-axis device provided in this application includes a computer-readable storage medium or a control device as described above. Therefore, the programmable multi-axis device has the technical effects of the computer-readable storage medium or control device described above, which will not be elaborated here.

[0152] In one feasible implementation, the programmable multi-axis device further includes: an X-axis drive module 410; a Y-axis drive module 420, with the X-axis drive module 410 connected to the Y-axis drive module 420; a Z-axis drive module 430, with the Y-axis drive module 420 connected to the Z-axis drive module 430; and a first rotating shaft module 440, with the first rotating shaft module 440 connected to the X-axis drive module 410, for driving the X-axis drive module 410 to rotate.

[0153] In this technical solution, the programmable multi-axis device may further include an X-axis drive module 410, a Y-axis drive module 420, a Z-axis drive module 430, and a first rotating axis module 440. Based on this, the programmable multi-axis device can drive the product to move in three directions and rotate the product around the X-axis, which facilitates product inspection. By including a computer-readable storage medium as described in the above technical solution or a control device as described in the above technical solution, the programmable range of each drive module can be clearly defined, making the operation of the programmable multi-axis device safer.

[0154] like Figure 9 As shown, in one feasible embodiment, the programmable multi-axis device further includes: a stage 450, which is disposed on the X-axis drive module 410; and a second rotating axis module 460, which is used to drive the stage 450 to rotate.

[0155] In this technical solution, the programmable multi-axis equipment may also include a stage 450 and a second rotating axis module 460. The stage 450 can fix the product, and the second rotating axis module 460 can drive the product to rotate, making the programmable multi-axis equipment more versatile in moving the product and facilitating inspection of the product from multiple angles.

[0156] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0157] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0158] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0159] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method of protecting a programmable multi-axis device, characterized by, The method comprises the following steps: modeling a programmable multi-axis device to obtain a digital model; determining a reference axis among multiple rotation axes of the digital model; dividing rotation axes other than the reference axis into displacement rotation axes and intrusion rotation axes; obtaining spatial movement information based on the displacement rotation axes; obtaining projection change information based on the intrusion rotation axes; determining a programmable range of the programmable multi-axis device based on the spatial movement information and the projection change information; wherein the reference axis is a transportation axis for carrying products and / or intermediate products to be detected, the displacement rotation axis is a rotation axis for moving the products and / or intermediate products to be detected along the height or width direction, and the intrusion rotation axis is a rotation axis for rotating the products and / or intermediate products to be detected; wherein the step of determining the programmable range of the programmable multi-axis device based on the spatial movement information and the projection change information comprises: determining first limit collision positions and / or first limit interference positions of the displacement rotation axes and the intrusion rotation axes based on the spatial movement information and the projection change information; determining the programmable range of the programmable multi-axis device based on the first limit collision positions and / or the first limit interference positions; wherein the step of determining the first limit collision positions and / or the first limit interference positions of the displacement rotation axes and the intrusion rotation axes based on the spatial movement information and the projection change information comprises: constructing a spatial coordinate system with the reference axis as the reference; determining a coordinate system interaction state based on the movement trajectory of the displacement rotation axes, the movement trajectory of the intrusion axes, and the transformation process of the projection of the intrusion rotation axes on the reference axis; determining the first limit collision positions and / or the first limit interference positions based on the coordinate system interaction state.

2. The protection method of the programmable multi-axis device according to claim 1, wherein the projection of the displacement rotation axis on the reference axis is a first projection, and the first projection does not change in the working state of the displacement rotation axis.

3. The protection method of the programmable multi-axis device according to claim 2, wherein the projection of the intrusion rotation axis on the reference axis is a second projection, and the second projection changes in the working state of the displacement rotation axis.

4. The method of claim 1, wherein, The step of obtaining the spatial movement information based on the displacement rotation axes comprises: determining the state of the digital model based on the next running instruction of the displacement rotation axis in response to the job instruction; taking the state of the digital model after responding to the job instruction and the movement trajectory of the displacement rotation axis as the spatial movement information.

5. The method of protection of a programmable multi-axis device according to claim 4, characterized in that, The step of obtaining the projection change information based on the intrusion rotation axes comprises: determining the state of the digital model based on the next running instruction of the intrusion rotation axis in response to the job instruction; taking the state of the digital model after responding to the job instruction, the movement trajectory of the intrusion axes, and the transformation process of the projection of the intrusion rotation axes on the reference axis as the projection change information.

6. The method of protection of a programmable multi-axis device according to any one of claims 1 to 5, characterized in that, The programmable multi-axis device further comprises a non-rotation axis component, and the protection method of the programmable multi-axis device further comprises: determining a prohibited area based on the non-rotation axis component; determine a programmable range of the programmable multi-axis device based on the forbidden area, the spatial movement information and the projection change information.

7. The method of protection of a programmable multi-axis device according to claim 6, characterized in that, The step of determining the programmable range of the programmable multi-axis device based on the forbidden area, the spatial movement information and the projection change information comprises: determine second limit collision positions and / or second limit interference positions of the displacement rotary shaft, the intrusion rotary shaft, the reference shaft and the non-rotary shaft component based on the spatial movement information and the projection change information; determine a programmable range of the programmable multi-axis device based on the second limit collision positions and / or the second limit interference positions.

8. The method of protection of a programmable multi-axis device according to claim 7, characterized in that, The step of determining the forbidden area based on the non-rotary shaft component comprises: enlarge the non-rotary shaft component in the digitalized model by a first threshold value, and take the space occupied by the enlarged non-rotary shaft component as the forbidden area.

9. The protection method of the programmable multi-axis device according to any one of claims 1 to 5, wherein the programmable multi-axis device is used for carrying products and / or intermediate products to be detected; the reference shaft is a transportation shaft used for carrying products and / or intermediate products to be detected; the displacement rotary shaft is a rotary shaft used for moving products and / or intermediate products to be detected along the height or width direction; the intrusion rotary shaft is a rotary shaft used for rotating products and / or intermediate products to be detected.

10. The protection method of the programmable multi-axis device according to claim 9, wherein the displacement rotary shaft is perpendicular to the reference shaft.

11. The method of protection of a programmable multi-axis apparatus according to any one of claims 1 to 5, characterized in that, Further comprising: determine a programming warning range based on the programmable range; set a programming forbidden range to correct the programmable range.

12. The protection method of the programmable multi-axis device according to any one of claims 1 to 5, wherein select a rotation center based on the digitalized model; determine a programming coordinate system based on the rotation center; program the programmable multi-axis device based on the programming coordinate system.

13. The method of protection of a programmable multi-axis device according to claim 12, characterized in that, Further comprising: adjust the positions of different displacement rotary shafts so that different displacement rotary shafts are in limit approaching and limit moving away positions in response to a calibration instruction; calibrate the position coordinates of the displacement rotary shafts based on the limit approaching and limit moving away positions.

14. The method of protection of a programmable multi-axis device according to claim 13, characterized in that, The calibration instruction is issued after the programmable multi-axis device is completed or after maintenance.

15. A computer readable storage medium, wherein the computer readable storage medium stores a computer program to implement the protection method of the programmable multi-axis device according to any one of claims 1 to 14.

16. A control device characterized by comprising: comprising: a memory storing a computer program; a processor executing the computer program; wherein the processor, when executing the computer program, implements the protection method of the programmable multi-axis device according to any one of claims 1 to 15.

17. A programmable multi-axis apparatus, characterized by comprising: the computer readable storage medium according to claim 15 or the control device according to claim 16.

18. The programmable multi-axis apparatus of claim 17, wherein, Further comprising: an X-axis driving module; a Y-axis driving module, the X-axis driving module being connected to the Y-axis driving module; a Z-axis driving module, the Y-axis driving module being connected to the Z-axis driving module; A first rotating shaft module is connected to the X-axis driving module and used to drive the X-axis driving module to turn over.

19. The programmable multi-axis apparatus of claim 18, wherein, Also comprising: A carrier is arranged on the X-axis driving module; A second rotating shaft module is used to drive the carrier to rotate.

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