Circulation automatic line and control method thereof, and readable storage medium

Abstract

The present invention provides a circulating automatic line and its control method and readable storage medium. The control method of the circulating automatic line includes: the transportation line of the circulating automatic line is driven by a motor; the forward distance data of each carried object on the transportation line relative to the origin is calculated in real time according to the counting data of the motor; the historical detection data group corresponding to the current carried object in the current station is obtained, and if the historical detection data group includes unqualified data, the current station is controlled to stop operating the current carried object; the step of obtaining the historical detection data group corresponding to the current carried object in the current station includes identifying the historical detection data group corresponding to the transported object according to the forward distance data corresponding to the current transported object. The circulating automatic line implements the control method of the circulating automatic line mentioned above. The control method of the circulating automatic line is implemented when the readable storage medium is read. The present invention solves the waste of material costs and reduces unnecessary equipment losses and reduces the cost of the automatic line.

Description

Technical Field

[0001] The present invention relates to the technical field of automated production control, and in particular to a circulating automatic line and a control method and a readable storage medium thereof. Background Art

[0002] The existing automatic line includes a transport line and multiple stations arranged along the transport line. The transport line can drive the carrier and the products thereon to flow between multiple stations including a loading station, multiple processing stations and an unloading station to complete various processing or inspections of the products to be processed.

[0003] Generally, products after multiple steps of processing are inspected at an inspection station before unloading to determine whether they are qualified or defective. Taking the automated production of print heads for thermal printers as an example, it requires multiple processes such as loading, gluing, placing components, screwing, patching, visual inspection and unloading. Visual inspection is used before unloading to determine whether they are qualified or defective.

[0004] The existing technology only performs inspection and judgment after all the processing and assembly processes of the product are completed and before cutting. However, for products involving multiple processing steps, each processing step has the probability of causing defects. If the previous process has already caused defects and the subsequent process is continued, it will lead to waste of material costs and unnecessary equipment loss.

[0005] On the other hand, the automatic line has a large number of workstations, and the existing automatic lines are equipped with code scanning or camera recognition equipment at each workstation to identify the fixtures and workpieces in place, which greatly increases the cost of the automatic line. Summary of the invention

[0006] The first object of the present invention is to provide a control method for a circulating automatic line which can solve the problem of material cost waste, reduce unnecessary equipment damage and reduce the cost of the automatic line.

[0007] The second object of the present invention is to provide a circulating automatic line that solves the waste of material costs, reduces unnecessary loss of equipment and reduces costs.

[0008] The third object of the present invention is to provide a readable storage medium for implementing the control method of the above-mentioned circulating automatic line.

[0009] The first object of the present invention provides a control method for a circulating automatic line, wherein the transport line of the circulating automatic line is driven by a motor; the control method comprises calculating in real time the advance distance data of each carried object on the transport line relative to the origin according to the counting data of the motor; determining that the current carried object has arrived at the current workstation according to the advance distance data of the current carried object, the preset workstation distance data corresponding to the current workstation and the arrival sensing signal of the current workstation, the workstation distance data comprising the actual distance data of the current workstation relative to the origin, the upper deviation range value based on the actual distance data and the lower deviation range value based on the actual distance data; according to the The forward distance data corresponding to the current transported object identifies the historical detection data group corresponding to the transported object; if the historical detection data group includes unqualified data, the current workstation and all workstations downstream of the current workstation are controlled to stop operating the current transported object: a mark is added to the distance data group of the current transported object, and when the current transported object reaches any of all workstations downstream of the current workstation, the mark is obtained while identifying the current transported object according to the distance data, and the downstream workstation is controlled to stop operating the current transported object according to the mark, and all downstream workstations include processing stations and detection stations but do not include unloading stations.

[0010] It can be seen from the above scheme that after a jig arrives at a workstation, the system of the circulating automatic line first reads the historical detection data group corresponding to the jig. If it is found that the jig has obtained unqualified data in the previous detection, it can be known that the workpiece placed on the current jig is a defective product and there is no need to continue processing. Therefore, the current workstation is controlled to stop processing. Among them, the present invention also combines the circle count of the motor of the transportation line to identify which jig has arrived at each workstation, and then identifies its corresponding historical detection data. Since the forward distance of each jig on the circulating automatic line relative to the origin is different and unique, each forward distance data can correspond to a unique jig relationship, and can be reset and recalculated after the cycle, which is very suitable for use as a means of identifying each jig on the line. Only the data of the transportation line motor can be used to realize jig identification, and there is no need to set up a scanning or camera identification device at each workstation, which greatly reduces the cost of the automatic line. On the other hand, since the judgment calculation is implemented on multiple workstations on the automatic line, the present invention also takes into account the system data processing capacity. Under this setting, when the workpiece of the current fixture is judged to be unqualified at the current station, the system marks the current fixture according to the forward distance data. In this way, when the current fixture reaches the downstream station, the system only needs to identify the current fixture according to the forward distance data to control the equipment of the station to stop processing or detection. Due to the addition of the mark, when the downstream processing station identifies the current transported object, it can determine whether to stop the operation according to whether it contains the mark based on the distance data group, without the need to read the historical detection data group again according to the distance data group, and without the need to traverse the multiple detection data in the historical detection data group again to determine whether it contains unqualified data, and then determine whether to stop the operation. Therefore, this control method can reduce steps, does not need to traverse the historical detection data group, reduce the system data processing volume, optimize the program architecture, and reduce the system computing load. On the other hand, the present invention also takes into account the situation that the forward distance data may be inaccurate, which may make the transported object in place unable to match the actual station data of the current station. Under this setting, when judging whether the current fixture has reached the current station, the arrival of a fixture is first determined based on the in-place sensing signal of the current station, and then the actual forward distance data of the current fixture is determined to be within the above numerical range. If so, the current fixture is identified and determined to have reached the current station. In this way, the problem of motor counting error can be well solved, ensuring the feasibility of identifying the current fixture at the current station.

[0011] A further solution is that the historical inspection data set includes inspection data of all inspection stations upstream of the current station.

[0012] As can be seen from the above, since the present invention is mainly aimed at the processing and production of fine components such as thermal films of print heads, problems caused by each processing step will affect the normal use of the print head. Therefore, the historical inspection data includes the inspection data of all inspection stations upstream of the current station. As long as any process fails, the workpiece will no longer be processed, thereby reducing the waste of processing auxiliary materials and reducing the output of defective products.

[0013] A further solution includes at least one of the following: at least one detection data is generated based on the detection result of visual detection; at least one detection data is generated based on the detection result of power-on detection; at least one detection data is generated based on the feedback data of the operating equipment of the processing station. The feedback data of the operating equipment of at least one processing station includes the rotation data of the electric screw driver.

[0014] As can be seen from the above, commonly, visual inspection can be performed by adding visual equipment to the workstation, or some workstations that originally need to be operated by a visual system can also use the original visual equipment for inspection; in addition, it is also possible to determine whether the processing is qualified through the inspection results of the power-on detection; in addition to specific inspections such as power-on detection, if visual inspection is added to each of the remaining workstations, the cost of the automatic line will be greatly increased. Better yet, the present invention considers using the feedback data of the operating equipment of the workstation to determine whether it is qualified. For example, if there is a screw driving process in the processing, the torque and speed of the motor of the electric screw driver can be compared with the normal range value. If it is not within the normal range value, it means that the screw is empty, the thread is slipped, or the screw is misplaced, resulting in unqualified conditions.

[0015] A further solution is that after the step of calculating the forward distance data of each carried object on the transport line relative to the origin in real time according to the counting data of the motor, if the forward distance data reaches a preset value, the forward distance data is reset to zero and the historical detection data group corresponding to the forward distance data is cleared.

[0016] From the above, it can be seen that after the jig rotates once on the circulating automatic line, the workpiece placed on it is processed, and the next workpiece will be loaded to start a new processing flow. Under this setting, by judging whether the forward distance data of a jig has reached the preset value, it can be known whether the jig has completed the cycle on the automatic line and returned to the origin. If so, the forward distance data can be reset and recalculated, and the historical detection data group can be cleared, and each new detection data corresponding to each processing detection result of the next workpiece can be re-obtained at each subsequent workstation. This setting method is also based on the fact that the forward distance of each jig on the circulating automatic line relative to the origin is different and unique. Only the data of the transport line motor can be used to realize the automatic data re-renewal of the same jig when loading a new workpiece and re-circulating the process. There is no need to set up a code scanning or camera recognition device at the origin, which further reduces the cost of the automatic line.

[0017] A further solution is that after the step of calculating the forward distance data of each carried object on the transport line relative to the origin in real time according to the counting data of the motor, it also includes generating a distance data group corresponding to the carried object according to multiple forward distance data corresponding to the carried object obtained in real time; and associating the distance data group corresponding to the carried object with the historical detection data group.

[0018] As can be seen from the above, since the forward distance data corresponding to a certain transported object increases in real time and is updated at a high frequency, although each forward distance data is unique at any time, if the value of the forward distance data is used to correspond to the transported object, the corresponding relationship between the value and the transported object needs to be updated again after each update of the forward distance data, and this operation needs to be processed for all transported objects on the circular automatic line in each frame, which requires a large amount of calculation. For this reason, in the control of the present invention, a distance data group is generated for multiple forward distance data of each transported object. In this way, the distance data group needs to be updated and regenerated after each frame, and the corresponding relationship between the distance data group itself and the transported object does not change, and there is no need to update the association relationship, thereby reducing the amount of system calculation and alleviating the system burden.

[0019] The second object of the present invention is to provide a circulating automatic line comprising a processor, which is used to implement the control method of the circulating automatic line when executing a computer program stored in a memory.

[0020] The third object of the present invention is to provide a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the control method of the above-mentioned circulating automatic line is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural diagram of the transport line and the fixture in the embodiment of the control method of the circulating automatic line of the present invention.

[0022] Figure 2 It is a schematic diagram of the advancement distance data of the fixture in the embodiment of the control method of the circulating automatic line of the present invention.

[0023] Figure 3 It is a schematic diagram of multiple workstations in an embodiment of the control method of a circulating automatic line of the present invention.

[0024] Figure 4 It is a flowchart of an embodiment of a control method for a circulating automatic line of the present invention. DETAILED DESCRIPTION

[0025] Control method embodiment of circulating automatic line

[0026] See also Figure 1The circulating automatic line includes a transport line 9 and a motor 91 for driving the transport line 9, and also includes a plurality of jigs 8 equidistantly arranged on the transport line 9. The jigs 8 and the workpieces thereon are the objects to be transported of the present invention. The current jig 8 mentioned below is the current object to be transported of the present invention. The jig 8 is used to place and position the workpiece and cooperate with the operating equipment of the workstation to complete the processing of the workpiece.

[0027] Transport line 9 is set up as follows Figure 1 The plurality of workstations 11 to 19 and those not shown with reference numerals are arranged equidistantly, and the circulating automatic line includes operating equipment respectively arranged corresponding to each workstation.

[0028] See also Figure 2 The transport line 9 is a circular transport line connected end to end. Since the transport line 9 is driven by the motor 91, each fixture 8 is set at a fixed position on the transport line 9 and flows with the transport line 9. Figure 1 The first station 11 is shown as the origin 10. When a fixture 8 moves from the first station 11 to the second station 12, the system of the circulating automatic line converts the count data of the number of rotations of the output shaft of the motor 91 into the advance distance data d2 of the fixture 8 at the second station 12 relative to the origin 10. When the fixture 8 continues to move forward and reaches the fourth station 14, the system can convert the count data of the number of rotations of the output shaft of the motor 91 into the advance distance data d4 of the fixture 8 at the fourth station 14 relative to the origin 10.

[0029] First, when the transport line 9 is in operation, the advancing distance data corresponding to each fixture 8 thereon increases with time until it returns to the origin 10 .

[0030] Second, as the transportation line 9 circulates, the advancement distance data corresponding to each fixture 8 is changing, but the advancement distance between each fixture 8 and the origin 10 is always different, and the value of the advancement distance data of each fixture 8 is unique and different from each other. The present invention uses the advancement distance data as a means of identifying each fixture 8 on the line.

[0031] Furthermore, as the advancement distance of a certain fixture 8 continues to increase, the advancement distance data corresponding to the certain fixture 8 also continues to increase. Therefore, under real-time acquisition, the system will obtain multiple advancement distance data corresponding to the certain fixture 8.

[0032] After the system acquires multiple advance distance data corresponding to a certain jig 8 in real time, the system generates a distance data group corresponding to the jig 8 based on the multiple advance distance data acquired in real time. The system identifies the corresponding jig 8 based on the distance data group.

[0033] Specifically, the system and the fixture 8 save a plurality of forward distance data obtained from the origin 10 to the origin 10 as a distance data set, and update and regenerate the distance data set each time a new forward distance data is obtained.

[0034] After generating a distance data set of a fixture 8, the system also associates the distance data set corresponding to the fixture 8 with the historical detection data set. In this way, the system can identify the corresponding fixture 8 through a distance data set and obtain the historical detection data corresponding to the fixture 8.

[0035] See also Figure 2 and Figure 3 The multiple workstations on the transport line 9 include processing workstations and testing workstations, and also include multifunctional workstations, which serve as both processing workstations and testing workstations. Figure 3 The first station 11, the second station 12, the third station 13, the fourth station 14, the fifth station 15, the sixth station 16, the seventh station 17, the eighth station 18 and the ninth station 19 are arranged in a straight line from the origin 10 and arranged from upstream to downstream. The processing stations are shown in squares in the figure, see the first station 11, the third station 13, the sixth station 16 and the seventh station 17; the inspection stations are shown in circles in the figure, see the second station 12, the fourth station 14, the seventh station 17 and the ninth station 19; the multifunctional stations are shown in squares with circles inside, see the fifth station 15. In addition, the distance data group of any fixture 8 is correspondingly associated with the historical inspection data group of the fixture 8.

[0036] Furthermore, the second station 12, the fourth station 14 and the ninth station 19 are all visual inspection stations, and the operating equipment thereon includes a CCD camera; the fifth station 15 is a screw driving station, and the operating equipment thereon includes an electric screw driving machine, and the electric screwdriver of the automatic screw driving machine is driven to rotate by a screwdriver motor; the seventh station 17 is a power-on inspection station.

[0037] In addition, the circulating automatic line also includes a plurality of sensors respectively arranged on a plurality of workstations, and also includes a plurality of sensed objects respectively arranged on a plurality of jigs 8. Each sensor can sense or identify the signal of each sensed object, thereby sensing or identifying the jig arriving at each workstation.

[0038] In fact, since the jigs are arranged at equal distances and the workstations are arranged at equal distances, when one of the jigs reaches a certain workstation, the other jigs also reach the corresponding other workstations. Therefore, in other embodiments, only one sensor can be set at one of the workstations, and no sensor can be set at the other workstations, and the sensed object can be set on all jigs; or, the sensed object can be set on only one jig, and sensors can be set on all workstations.

[0039] The system of the circulating automatic line is a PLC control system, and the system includes a processor, and the processor is used to implement the control method of the circulating automatic line of the present invention when executing the computer program stored in the memory. The so-called processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0040] The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0041] The control method of the circulating automatic line is implemented based on the circulating automatic line of this embodiment.

[0042] See also Figure 4 Combined with Figures 1 to 3 , the control method of the cycle automatic line includes:

[0043] First, the system executes step S1 to calculate in real time the advance distance data of each fixture 8 on the transport line 9 relative to the origin 10 according to the count data of the number of rotations of the output shaft of the motor 91 of the transport line 9. Of course, the system then generates a distance data group corresponding to the fixture 8 based on the multiple advance distance data corresponding to the fixture 8 obtained in real time. The system executes this step for all fixtures 8, that is, generates distance data groups corresponding to all fixtures 8.

[0044] Then, the system executes step S2 to identify the current jig 8 that has arrived at the current station. Since each station can be regarded as the current station and the identification of the current jig that has arrived at the station is performed, in fact, the system identifies each jig 8 that has arrived at each station in this step.

[0045] When identifying the fixture 8 that has arrived at a certain station, the distance data group corresponding to the current fixture 8 and the arrival sensing signal of the current station are combined to determine that the current fixture 8 has arrived at the current station. Assuming that the current station is the eighth station 18, since the distance from each station to the origin is certain, as long as the station distance data is entered into the system in advance, the system can determine that the current fixture 8 has arrived at the eighth station 18 by comparing the distance data group or forward distance data of the current fixture 8 with the pre-stored station distance data.

[0046] However, when the motor 91 counts incorrectly, the distance data group or the forward distance data of the current fixture 8 will match the pre-stored station distance data of the eighth station 18, but in fact the current fixture 8 may not have reached the eighth station 18 or may have exceeded the eighth station 18, which will cause the operating device of the eighth station 18 to work incorrectly. Therefore, in this embodiment, the detection result of the sensor installed on the eighth station 18 is also combined. Only when the distance data group or the forward distance data of the current fixture 8 matches the pre-stored station distance data of the eighth station 18 and the arrival sensing signal from the sensor of the eighth station 18 is obtained, the system can confirm that the current fixture 18 has reached the eighth station 18.

[0047] Furthermore, in order to solve the problem of motor 91 counting errors, the workstation distance data of the current workstation can also be set to a reasonable numerical range, which includes the actual distance data of the current workstation relative to the origin, the upper deviation range value based on the actual distance data, and the lower deviation range value based on the actual distance data.

[0048] For example, the actual distance data from the eighth station 18 to the origin 10 is 7500mm, the distance from the ninth station 19 to the origin 10 is 8500mm, and the distance from the tenth station to the origin 10 is 9500, then the station distance data of the ninth station 19 is designed to be 8460mm to 8540mm, that is, the station distance data of the ninth station 19 includes, in addition to its actual distance data 8500mm, an upper deviation range value of 8500mm to 8540mm based on the actual distance data 8500mm, and a lower deviation range value of 8460mm to 8500mm based on the actual distance data.

[0049] Since the ninth station 19 is provided with a sensor, when the current fixture 8 actually arrives at the ninth station 19, the system will definitely obtain the arrival sensing signal of the ninth station 19. Conversely, when the system obtains the arrival sensing signal of the ninth station 19, a fixture 8 must have actually arrived at the ninth station 19. Next, the system needs to identify which fixture 8 has arrived at the ninth station 19.

[0050] Assume that the latest advance distance data of the jig 8 arriving at the ninth station 19 is 8520 mm, which is within the station distance data of the ninth station 19 of 8460 mm to 8540 mm. Therefore, it is possible to identify which jig 8 is arriving at the ninth station 19.

[0051] In this way, when judging whether the current fixture has reached the current station, the actual arrival of a fixture is first determined based on the in-place sensing signal of the current station, and then the actual forward distance data of the current fixture is determined to be within the above numerical range. If so, the current fixture is identified to have reached the current station. In this way, the problem of motor counting error or even deviation can be well solved, ensuring the feasibility of identifying the fixture at the station.

[0052] Assume that the latest advance distance data of the fixture 8 arriving at the ninth station 19 is 8600 mm, which does not match any of the station distance data 8460 mm to 8540 mm of the ninth station 19. This indicates that the counting error of the motor 91 exceeds the acceptable range and needs to be stopped for adjustment.

[0053] Of course, the above values ​​are only for illustrative purposes. The upper deviation range and lower deviation range of the station distance data of a station should be within reasonable ranges depending on the actual situation of the automatic line. Theoretically, without affecting the operation of the automatic line, the larger the value range formed by the upper deviation range and lower deviation range of the station distance data of a station, the better the tolerance to the calculation error of the motor 91. However, the station distance data between any two adjacent stations should not have numerical overlap.

[0054] Of course, in other embodiments, it is possible to first determine that a certain object has arrived at the current workstation based on the arrival sensing signal, and then determine which fixture has arrived based on the distance data set or the forward distance data.

[0055] Then the system executes step S3 to identify the historical detection data set corresponding to the transported object according to the distance data set corresponding to the current fixture 8 reaching the current station. In step S3, the historical detection data set includes the detection data of all detection stations upstream of the current station.

[0056] Assuming that the current station is the eighth station 18, the detection data of the four detection stations are included, namely, the second station 12, the fourth station 14, the fifth station 15 and the seventh station 17. The detection data of the second station 12 and the fourth station 14 are generated according to the detection results of the visual detection; the detection data of the fifth station 15 is generated according to the feedback data of its operating equipment, and further, the feedback data includes the rotation data of the electric screw driver including the torque and the number of rotations; the detection data of the seventh station 17 is generated according to the detection results of the power-on detection.

[0057] The test data includes qualified data represented by "YES" and unqualified data represented by "NO". Assume that the data table of the historical test data group corresponding to the current fixture 8 at the eighth station 18 is as follows:

[0058]

[0059] Data table of historical test data group corresponding to current fixture 8

[0060] From the historical inspection data group corresponding to the current fixture 8 shown in the above table, it can be seen that the workpiece on the current fixture 8 passed the visual inspection at the second station 12 and the fourth station 14 and the screw inspection at the fifth station 15, but failed the power-on inspection at the seventh station 17.

[0061] Then the system executes step S4 to determine whether the historical inspection data set contains unqualified data. If yes, step S5 is executed to control the current station and the downstream station to stop operating the workpiece on the current fixture 8. If no, step S6 is executed to control the current station to operate the current fixture 8.

[0062] In step S5, specifically, after determining in step S4 that the historical inspection data group contains unqualified data, the system adds a mark to the distance data group of the current fixture 8. Subsequently, when the current fixture 8 reaches any of all downstream stations, the system obtains the mark while identifying the current fixture 8 according to the distance data group, and controls the downstream processing station to stop operating the workpiece on the current fixture 8 according to the mark. All downstream stations include downstream processing stations, inspection stations, and multi-functional stations, but all downstream stations do not include the last unloading station.

[0063] In other embodiments, after the system determines that the historical detection data group includes unqualified data, it only controls the current station to stop operating. Subsequently, each time the current fixture arrives at a station, it determines whether to operate or stop operating after executing steps S2 to S4. Under this control, it is also possible to determine whether the downstream processing station needs to stop operating. However, under this control mode, when the current fixture 8 arrives at each downstream station, it is necessary to read the historical detection data group again according to the distance data group, and there is no need to traverse multiple detection data of the historical detection data group to determine whether it contains unqualified data, and then determine whether to stop operating. Since each station is in operation, under this control, the system will traverse the historical detection data groups of multiple fixtures 8 at the same time.

[0064] Back to the present embodiment, in the present embodiment, due to the addition of a mark, when the system identifies the fixture 8 at any of all downstream stations, it can determine whether to stop the operation based on whether the distance data group contains the mark, without the need to read the historical detection data group again based on the distance data group, and then traverse the historical detection data group to determine whether it contains unqualified data, and then determine whether to stop the operation. Therefore, this control method can reduce steps, does not need to traverse the historical detection data group, reduces the system data processing volume, optimizes the program architecture, and reduces the system computing load.

[0065] In this embodiment, as shown above, the historical inspection data group of the current fixture 8 at the eighth station 18 contains unqualified data corresponding to the seventh station 17, so the judgment result of step S4 is yes, and step S5 is executed, the eighth station 18 and all downstream processing stations stop processing the current fixture 8, and all inspection stations downstream of the eighth station 18 stop inspecting the workpiece of the fixture 8. It should be noted that controlling the current station and the downstream stations to stop the operation of the workpiece on the current fixture 8 does not include stopping the unloading station from grabbing and unloading the current fixture 8.

[0066] Furthermore, in this embodiment, when the workpiece of the current fixture 8 is judged to be unqualified at the current workstation, the system marks the current fixture 8 according to the forward distance data. In this way, when the current fixture 8 reaches the downstream workstation, the system only needs to identify the current fixture 8 according to the forward distance data or the distance data group to control the equipment at the workstation to stop processing or detection.

[0067] Then, after the step S1 of calculating the forward distance data of each carried object on the transport line relative to the origin in real time according to the counting data of the motor, if the continuously accumulated forward distance data reaches the preset value, the forward distance data is reset to zero and the historical detection data group corresponding to the forward distance data is cleared. Since the jig 8 rotates one circle on the circulating automatic line, the workpiece placed on it is processed, and the next workpiece will be loaded to start a new processing flow. Under this setting, the preset value is consistent with the total length of the transport line 9. By judging whether the forward distance data of a jig reaches the preset value, it can be known whether the jig 8 has completed the cycle on the automatic line and returned to the origin 10. If so, the forward distance data can be reset to zero and recalculated, and the historical detection data group is cleared, and each new detection data corresponding to each processing detection result of the next workpiece is re-obtained at each subsequent station. Of course, in other embodiments, the position sensing signal of the sensor set at the origin 10 can also be combined with the forward distance data to identify which jig 8 has returned to the origin, and its corresponding forward distance data is reset to zero and its corresponding historical detection data is cleared.

[0068] The present invention can identify defective products as early as possible to stop all subsequent processes, thereby solving the problems of material cost waste and reducing unnecessary equipment loss.

[0069] Furthermore, the present invention can realize the jig identification by only using the data of the conveyor line motor, and there is no need to set up identification equipment for scanning or taking pictures at each workstation, which greatly reduces the cost of the automatic line.

[0070] Furthermore, compared with setting up numerous CCD cameras to perform visual inspection after each processing is completed, the present invention also makes use of the feedback data of the operating equipment of the processing station as much as possible as the basis for judging whether the processing is qualified or unqualified, which can reduce the number of CCD cameras set up and further reduce the cost of the automatic line.

[0071] In other embodiments, a multifunctional station such as an installation station or a mounting station, an operating device of the multifunctional station such as a manipulator of the installation station or the mounting station, a Hall sensor is arranged on the main body of the manipulator, a magnet is arranged on the gripping part of the manipulator, and only when the gripping part is in the position of gripping the workpiece, the magnet can enter the sensing range of the Hall sensor, and when the gripping part is open or too contracted due to gripping, the magnet cannot be sensed by the Hall sensor. Therefore, the magnetic flux data from the Hall sensor can be used as feedback data, and if the magnetic flux does not reach the preset magnetic flux value, the system generates unqualified data accordingly and adds it to the historical detection data.

[0072] In other embodiments, the carried objects include only workpieces.

[0073] Readable storage medium embodiment

[0074] The computer-readable storage medium of the present invention can be any form of storage medium that can be read by a processor of a computer device, including but not limited to non-volatile memory, volatile memory, ferroelectric memory, etc. A computer program is stored on the computer-readable storage medium. When the processor of the computer device reads and executes the computer program stored in the memory, the steps of the above-mentioned thermal printer battery SOC estimation method can be implemented.

[0075] The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer readable media do not include electric carrier signals and telecommunication signals.

[0076] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. The control method of the circulating automatic line is characterized by: The transport line of the circulating automatic line is driven by a motor; The control method comprises: Calculate the advance distance data of each carried object on the transport line relative to the origin in real time according to the counting data of the motor; Determine that the current object being carried has arrived at the current station according to the forward distance data of the current object, the preset station distance data corresponding to the current station, and the arrival sensing signal of the current station, wherein the station distance data includes the actual distance data of the current station relative to the origin, the upper deviation range value based on the actual distance data, and the lower deviation range value based on the actual distance data; Identifying a historical detection data group corresponding to the transported object according to the forward distance data corresponding to the current transported object; If the historical inspection data group includes unqualified data, the current workstation and all workstations downstream of the current workstation are controlled to stop operating the current object being carried: a mark is added to the forward distance data of the current object being carried, and when the current object being carried reaches any workstation downstream of the current workstation, the mark is obtained while identifying the current object according to the distance data, and any workstation is controlled to stop operating the current object according to the mark. All downstream workstations include processing stations and inspection stations but do not include unloading stations.

2. The control method of the circulating automatic line according to claim 1, characterized in that: The historical inspection data group includes inspection data of all inspection stations upstream of the current station.

3. The control method of the circulating automatic line according to claim 2 is characterized in that: Include at least one of the following: At least one of the detection data is generated based on the detection result of the visual detection; At least one of the detection data is generated according to the detection result of the power-on detection; At least one of the detection data is generated according to feedback data of the operating equipment of the processing station, and the feedback data of the operating equipment of at least one processing station includes rotation data of the electric screw driver.

4. The control method of the circulating automatic line according to claim 2 is characterized in that: After the step of calculating the advance distance data of each carried object on the transport line relative to the origin in real time according to the counting data of the motor, the method further includes: If the forward distance data reaches a preset value, the forward distance data is reset to zero and the historical detection data group corresponding to the forward distance data is cleared.

5. The control method of the circulating automatic line according to any one of claims 2 to 4, characterized in that: After the step of calculating the advance distance data of each carried object on the transport line relative to the origin in real time according to the counting data of the motor, the method further includes: Generating a distance data group corresponding to the carried object according to the plurality of forward distance data corresponding to the carried object acquired in real time; The distance data group corresponding to the transported object is associated with the historical detection data group.

6. Circular automatic line, including a processor, characterized in that: The processor is used to implement the control method of the circulating automatic line as described in any one of claims 1 to 5 when executing the computer program stored in the memory.

7. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the circulating automatic line according to any one of claims 1 to 5 is implemented.

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