Production line control method and device, production line and computer equipment

Abstract

The invention relates to a production line control method and device, a production line, computer equipment, a computer readable storage medium and a computer program product, and the method comprises the steps: obtaining the working state of a robot and the working states of more than two machine tools, determining the working demands of the robot according to the state of a workpiece and the working state of each machine tool, and based on the working state of the robot and the working requirement of the robot, the robot is controlled to complete workpiece machining on the production line. The production line comprises a robot and more than two machine tools which are used for collaborative production. Analysis is conducted by combining the workpiece state and the working states of the multiple machine tools, the situation of the production line is accurately detected, the working requirements of the robot are obtained, corresponding workpiece machining is completed, all the requirements on the production line can be planned and executed as a whole, the idle time of the machine tools and the robot is shortened, and the production efficiency of the production line is improved.

Description

Technical Field

[0001] The present application relates to the field of industrial production technology, and in particular to a production line control method, device, production line, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] With the development of industrial products, the degree of automation is constantly improving, and machine tool automation has also developed to a certain extent in industrial production. Through the coordinated control and collaborative work of various mechanical equipment and the coordinated processing of workpieces, the process of each link is completed, and unmanned factories that can automatically meet industrial production needs are gradually realized.

[0003] In machine tool automation, usually one robot corresponds to one machine tool, replacing the manual loading and unloading operation mode. However, with the change of production mode, the automated production of one robot corresponding to one machine tool is no longer sufficient to meet the demand. Therefore, how to match one robot with multiple machine tools and coordinate the robot and machine tools to improve production efficiency is an urgent problem to be solved. Summary of the invention

[0004] Based on this, it is necessary to provide a production line control method, device, production line, computer equipment, computer-readable storage medium and computer program product that can improve production efficiency in response to the above technical problems.

[0005] In a first aspect, the present application provides a production line control method, the method comprising:

[0006] Obtaining the working status of a robot and the working status of two or more machine tools; the production line includes a robot and two or more machine tools for collaborative production;

[0007] Determining the working requirements of the robot according to the workpiece status and the working status of each of the machine tools;

[0008] Based on the working state of the robot and the working requirements of the robot, the robot is controlled to complete workpiece processing on the production line.

[0009] In one embodiment, determining the working requirements of the robot according to the workpiece status and the working status of each of the machine tools includes:

[0010] Determining a machinable machine tool and a machinable workpiece according to the state of the workpiece and the working state of each of the machine tools;

[0011] Based on the processing requirements of the workpiece, the machinable machine tool and the machinable workpiece, the working requirements of the robot are determined.

[0012] In one embodiment, the determining the working requirements of the robot based on the processing requirements of the workpiece, the processable machine tool and the processable workpiece includes:

[0013] If the machinable workpiece is empty, determining that the machining requirement of the robot is empty;

[0014] If the machinable workpiece exists and the machinable machine tool is empty, determining the work requirement of the robot from the machinable workpieces based on the machining requirement of the workpiece;

[0015] If both the machinable workpiece and the machinable machine tool exist, the working requirements of the robot are determined according to the machining requirements of the workpiece, the machinable workpiece and the machinable machine tool.

[0016] In one embodiment, the processing requirements of the workpiece include more than two processing steps to be performed sequentially, and different machine tools are used to complete different processing steps. The determining the working requirements of the robot according to the processing requirements of the workpiece, the machinable workpiece and the machinable machine tool includes:

[0017] Sorting the machinable machine tools according to the execution order of each machining process to obtain a sequence of machinable machine tools;

[0018] The working requirement of the robot is determined according to the machinable workpiece and the sequence of machinable machine tools.

[0019] In one embodiment, the determining the working requirements of the robot from the machinable workpieces based on the processing requirements of the workpieces includes:

[0020] Determining whether there is a processed workpiece among the machinable workpieces based on the machining requirements of the workpiece;

[0021] If so, it is determined that the working requirement of the robot is a material unloading requirement based on the processed workpiece.

[0022] In one embodiment, controlling the robot to complete workpiece processing on the production line based on the working state of the robot and the working requirements of the robot includes:

[0023] Determining a target machine tool and a target workpiece based on the working requirements of the robot;

[0024] According to the working state of the robot, the robot is controlled to acquire the target workpiece and move to the target machine tool to complete the processing of the target workpiece.

[0025] In one embodiment, after determining the target machine tool and the target workpiece based on the working requirements of the robot, the method further includes:

[0026] According to the type of the target machine tool, the robot is controlled to switch to a target picking device; the target picking device is used to obtain the target workpiece.

[0027] In one embodiment, controlling the robot to switch to a target pickup device according to the type of the target machine tool includes:

[0028] Controlling the robot to move to a pickup device switching area; the production line includes the pickup device switching area;

[0029] According to the type of the target machine tool, the robot is controlled to determine the target picking device and install it.

[0030] In a second aspect, the present application further provides a production line control device, the device comprising:

[0031] A detection module is used to obtain the working status of the robot and the working status of more than two machine tools; the production line includes a robot and more than two machine tools for collaborative production;

[0032] A calculation module, used for determining the working requirements of the robot according to the workpiece status and the working status of each of the machine tools;

[0033] A control module is used to control the robot to complete workpiece processing on the production line based on the working state of the robot and the working requirements of the robot.

[0034] On the third aspect, the present application also provides a production line, which includes a robot, two or more machine tools and a controller, wherein the robot is used to move between the machine tools and transport workpieces, and the controller connects the robot and the machine tools to execute the production line control method as described in the above embodiments.

[0035] In one of the embodiments, the production line further includes a pickup device switching area, and the pickup device switching area includes a plurality of pickup devices.

[0036] In a fourth aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0037] Obtaining the working status of a robot and the working status of two or more machine tools; the production line includes a robot and two or more machine tools for collaborative production;

[0038] Determining the working requirements of the robot according to the workpiece status and the working status of each of the machine tools;

[0039] Based on the working state of the robot and the working requirements of the robot, the robot is controlled to complete workpiece processing on the production line.

[0040] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0041] Obtaining the working status of a robot and the working status of two or more machine tools; the production line includes a robot and two or more machine tools for collaborative production;

[0042] Determining the working requirements of the robot according to the workpiece status and the working status of each of the machine tools;

[0043] Based on the working state of the robot and the working requirements of the robot, the robot is controlled to complete workpiece processing on the production line.

[0044] In a sixth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0045] Obtaining the working status of a robot and the working status of two or more machine tools; the production line includes a robot and two or more machine tools for collaborative production;

[0046] Determining the working requirements of the robot according to the workpiece status and the working status of each of the machine tools;

[0047] Based on the working state of the robot and the working requirements of the robot, the robot is controlled to complete workpiece processing on the production line.

[0048] The above-mentioned production line control method, device, production line, computer equipment, computer-readable storage medium and computer program product include obtaining the working status of the robot and the working status of more than two machine tools, determining the working requirements of the robot according to the workpiece status and the working status of each machine tool, and controlling the robot to complete the workpiece processing on the production line based on the robot working status and the robot's work requirements. Among them, the production line includes robots and more than two machine tools for collaborative production. By combining the workpiece status and the working status of multiple machine tools for analysis, the situation of the production line is accurately detected, and the robot's work requirements are obtained to complete the corresponding workpiece processing. It is possible to coordinate and execute various requirements on the production line, reduce the idle time of machine tools and robots, and improve the production efficiency of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 A schematic diagram of the structure of a production line in one embodiment;

[0051] Figure 2 A schematic diagram of a flow chart of a production line control method in one embodiment;

[0052] Figure 3 It is a flowchart of steps for determining the work requirement of the robot according to the workpiece status and the working status of each machine tool in one embodiment;

[0053] Figure 4 A schematic flow chart of another embodiment of the present invention for determining the working requirement steps of the robot according to the workpiece status and the working status of each machine tool;

[0054] Figure 5 A flowchart of steps for determining the work requirement of the robot according to the processing requirement of the workpiece, the machinable workpiece and the machinable machine tool if both the machinable workpiece and the machinable machine tool exist in one embodiment;

[0055] Figure 6 A flowchart of the steps of determining the work requirement of the robot from the machinable workpieces based on the machining requirements of the workpieces in one embodiment if the machinable workpieces exist and the machinable machine tool is empty;

[0056] Figure 7 A schematic diagram of a flow chart of controlling a robot to complete workpiece processing steps on a production line based on the robot's working state and the robot's working requirements in one embodiment;

[0057] Figure 8 A schematic diagram of the structure of a production line in another embodiment;

[0058] Fig. 9 is a structural block diagram of a production line control device in one embodiment;

[0059] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0061] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0062] It can be understood that the “connection” in the following embodiments should be understood as “electrical connection”, “communication connection”, etc. if the connected circuits, modules, units, etc. have electrical signals or data transmission between each other.

[0063] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, the term "and / or" used in this specification includes any and all combinations of the relevant listed items.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0065] In the widely used one-to-one production line, one robot is set up for each machine tool, and a PLC (Programmable Logic Controller) cabinet is used to control the robot and machine tool. Since the signals of the machine tool and the robot must be controlled by the PLC cabinet, and the programming and debugging of the PLC is relatively complicated, the inherent programming logic of the ladder in its programming process has limitations in the production line. Therefore, when the PLC cabinet is used for multiple robots or multiple machine tools, it will be difficult to program and debug, and the execution of actions will be slow and cumbersome, resulting in a certain loss of production efficiency.

[0066] The production line control method provided in the embodiments of the present application can be applied to a production line to improve the production efficiency of the production line. Figure 1 As shown, the production line includes a robot, two or more machine tools and a controller (not shown in the figure). The robot is used to move between the machine tools and transport workpieces. The controller connects the robot and the machine tools and is used to execute the production line control method as described in the embodiments of the present application.

[0067] Among them, the production line can process the workpiece, and the workpiece is transported to different machine tools by robots. The machine tools process the workpiece until the unprocessed workpiece (rough material) is processed into a processed workpiece (finished part) and unloaded, completing the workpiece processing.

[0068] Furthermore, in the process of processing the workpiece from the rough material to the finished workpiece, it is necessary to use machine tools for processing according to the processing procedures in the processing requirements. Among them, each machine tool is capable of processing the workpiece in one processing procedure. When the number of processing procedures in the processing requirement of the workpiece is one, multiple machine tools are used to complete the processing of the processing procedure on the workpiece. The workpieces between the machine tools do not affect each other, and there is no need to sort the machine tools. When the number of processing procedures in the processing requirement of the workpiece is multiple, multiple machine tools can implement each processing procedure as evenly as possible. Since the processing procedures in the processing requirement of the workpiece are sorted, there are order restrictions between the machine tools used to implement different processing procedures. Figure 1 As shown in the figure, machine tools 1, 2 and 3 respectively perform different processing steps in the processing requirements of the workpiece, and the processing steps have certain order restrictions. Therefore, a rough workpiece needs to be processed by machine tools 1, 2 and 3 in order to be processed into a finished workpiece. The robot can move to each machine tool within the range of the dotted box (moving line area) and place the workpiece it carries on the corresponding machine tool.

[0069] Specifically, the controller is connected to the robot and each machine tool, and is able to obtain the working status of the robot, the working status of each machine tool, and the workpiece status of the workpiece on the production line. The workpiece status is obtained based on the position information of the workpiece. When the workpiece is located in different areas of the production line, the controller can judge the degree of processing of the workpiece based on the position of the workpiece and determine the processing requirements of the workpiece. For example, the production line also includes a raw material loading area and a finished product unloading area. The workpiece located in the raw material loading area is a workpiece that has not yet started processing, and the workpiece located in the finished product unloading area is a workpiece that has been unloaded and processed. The controller analyzes the status of the production line based on the data obtained, coordinates the work of each machine tool, and controls the robot to carry the workpiece accordingly, so as to achieve coordinated and efficient operation of the production line.

[0070] In an exemplary embodiment, Figure 2As shown, a production line control method is provided, which is described by taking the method applied to a controller as an example, and includes the following steps 202 to 206.

[0071] Step 202, obtaining the working status of the robot and the working status of more than two machine tools.

[0072] The production line includes a collaborative production robot and two or more machine tools. The production line can process the workpiece, and the robot moves the workpiece to different machine tools, and the machine tools process the workpiece until the unprocessed workpiece is processed into a processed workpiece, thus completing the workpiece processing.

[0073] Specifically, the controller is connected to the robot and each machine tool, and can interact with the robot and each machine tool to obtain the working status of the robot and the working status of each machine tool. In this case, the controller can directly control the robot and each machine tool.

[0074] In another case, optionally, the controller can also obtain the robot working status and the machine tool working status of more than two machine tools through the PLC cabinet. At this time, the PLC cabinet is divided into multiple working modules, each of which is used to control a single device. For example, the first working module is used to interact with the robot to complete the control of the robot and can obtain the robot working status, and the second working module is used to interact with a machine tool to complete the control of the machine tool and can obtain the machine tool working status of the machine tool. Because the working modules are split to control a single device, the working modules are not restricted by the ladder-like programming logic of the control PLC, and can coordinate the controller to control the production line in a one-to-many working mode while simplifying programming.

[0075] Step 204, determining the working requirements of the robot according to the workpiece status and the working status of each machine tool.

[0076] The controller can also obtain the workpiece status. As mentioned above, the workpiece status is obtained based on the position information of the workpiece. When the workpiece is located in different areas of the production line, the controller can judge the degree of processing of the workpiece based on the position of the workpiece and determine the processing requirements of the workpiece. Optionally, the workpiece status can also include the qualified status of the workpiece, that is, the controller can scan the workpiece placed in a designated area (such as a buffer area, a raw material loading area, and a finished product unloading area, etc.), or the workpiece clamped, grasped or sucked by the robot, and analyze the parameters such as the shape, structure and material weight of the workpiece through equipment such as cameras, sensors and scanning devices, and obtain a qualified state or an unqualified state based on the analysis. When the workpiece is obtained to be in an unqualified state, the robot is controlled to move the workpiece out of the production line or place it in a waste area.

[0077] Optionally, the controller may also obtain the workpiece status through a PLC cabinet. A working module for detecting the position information of the workpiece is provided in the PLC cabinet and interacts with the controller to transmit the workpiece status to the controller.

[0078] For example, the production line also includes a raw material loading area and a finished product unloading area. The workpieces located in the raw material loading area are workpieces that have not yet started processing, and the workpieces located in the finished product unloading area are workpieces that have been unloaded and processed. Furthermore, each machine tool is also provided with a buffer zone, where the workpieces processed by the corresponding machine tool can be placed. Figure 1 In the embodiment, if a workpiece is placed in the buffer zone of machine tool 1, the workpiece status of the workpiece is that the workpiece has been processed by machine tool 1; if a workpiece is placed in the buffer zone of machine tool 2, the workpiece status of the workpiece is that the workpiece has been processed by machine tool 2; if a workpiece is placed in the buffer zone of machine tool 3, the workpiece status of the workpiece is that the workpiece has been processed by machine tool 3, that is, the workpiece has been processed.

[0079] Specifically, after the controller obtains the workpiece status, it combines it with the working status of each machine tool for analysis to determine what other processing the workpiece needs to undergo and accordingly transports the workpiece to the corresponding machine tool, thereby determining the need for corresponding control of the robot, that is, determining the robot's working requirements.

[0080] Step 206 , based on the working state of the robot and the working requirements of the robot, control the robot to complete workpiece processing on the production line.

[0081] The robot working state refers to the working state of the robot, such as whether the various parts of the robot can be used normally, whether the devices installed on the robot meet the requirements of the production line, etc. The robot working state can be obtained by the controller directly connected to the robot, or by the controller through the PLC cabinet. The PLC cabinet is equipped with a working module that interacts with the robot, which has been recorded above and will not be repeated here.

[0082] Specifically, after determining the working requirements of the robot, the controller also needs to control the robot in combination with the working status of the robot. For example, when the working status of the robot indicates that everything is normal, the robot is controlled in combination with the working requirements of the robot determined in the previous step to control the robot to move in the moving line area and move the workpiece accordingly so that the workpiece can be processed.

[0083] The above-mentioned production line control method includes obtaining the working status of the robot and the working status of more than two machine tools, determining the working requirements of the robot according to the workpiece status and the working status of each machine tool, and controlling the robot to complete the workpiece processing on the production line based on the robot working status and the robot's work requirements. The production line includes robots and more than two machine tools for collaborative production. By combining the workpiece status and the working status of multiple machine tools for analysis, the situation of the production line is accurately detected, and the robot's work requirements are obtained to complete the corresponding workpiece processing. It is possible to coordinate and execute various requirements on the production line, reduce the idle time of machine tools and robots, and improve the production efficiency of the production line.

[0084] In an exemplary embodiment, Figure 3 As shown, step 204 includes steps 302 to 304 .

[0085] Step 302, determining a machinable machine tool and a machinable workpiece according to the workpiece status and the working status of each machine tool.

[0086] Specifically, the workpiece status includes the status of the workpiece in different processing processes, including the workpiece that has not started processing, the workpiece that has completed processing by the machine tool 1, the workpiece that has been processed, and the workpiece that has been unloaded. The working status of each machine tool includes the status of the machine tool in different processing processes, including an idle state, a running state, and an abnormal state. The controller screens the workpieces and machine tools on the production line according to the workpiece status and the working status of each machine tool to obtain a processable machine tool and a processable workpiece.

[0087] Exemplarily, the controller screens the workpieces and machine tools according to the set screening conditions. Among them, the unloaded processed workpieces have been processed on the production line and placed in the finished product unloading area. The processing requirements on the production line are completed and no processing is required. However, the workpieces located in the raw material loading area and the buffer areas of each machine tool still have processing requirements. Therefore, when the workpiece status of the existing workpiece is not a processed workpiece that has been unloaded, it is considered that there is a machinable workpiece. When the working state of the machine tool is in the running state, the machine tool is processing the workpiece, and the machine tool is in a busy state at this time. When the working state of the machine tool is in an abnormal state, it indicates that the machine tool may be faulty or under maintenance and cannot process the workpiece. Therefore, when the working state of the existing machine tool is in the idle state, it is considered that there is a machinable machine tool, and the serial number or identification of the machinable machine tool is determined.

[0088] Step 304 , based on the processing requirements of the workpiece, the processable machine tools and the processable workpieces, the working requirements of the robot are determined.

[0089] The processing requirements of the workpiece include the processing procedures required to be performed on the workpiece from an unprocessed workpiece to a processed workpiece, including but not limited to the handling of the workpiece by a robot and the different processing procedures performed on the workpiece by different machine tools.

[0090] Specifically, the controller screens and matches the machinable machine tools and machinable workpieces in combination with the processing requirements of the workpiece, and determines the processing procedures that the robot can perform in the current machinable machine tools and machinable workpieces as the robot's work requirements. When the processing requirements of the workpiece are one process, and each machine tool performs the same processing on the workpiece, then the robot's work requirements can be determined by matching the machinable workpieces and machinable machine tools, so as to control the robot to transport the machinable workpiece to the machinable machine tool.

[0091] To better illustrate the process of determining the work requirements of the robot, in an exemplary embodiment, Figure 4 As shown, step 304 includes steps 402 to 406 .

[0092] Step 402: If the number of machinable workpieces is empty, determine that the robot's machining requirements are empty.

[0093] Specifically, if the number of workpieces that can be processed is empty, it indicates that there is no workpiece that needs to be processed. At this time, no matter whether there is a machine tool that can process, there is no workpiece that can be processed. In the case that there is no workpiece that can be processed, the production line does not need to run, and the controller can determine that the processing demand of the robot is empty.

[0094] Step 404: if a machinable workpiece exists and the machinable machine tool is empty, determine the work requirements of the robot from the machinable workpieces based on the machining requirements of the workpiece.

[0095] Specifically, if a machinable workpiece exists, it is necessary to analyze the machinable machine tool. If the machinable machine tool is empty, the machining process related to the machine tool cannot be performed. Therefore, the robot's work requirements that the controller can determine at this time should be the machining process that is not related to the machine tool in the machining requirements of the workpiece, such as the process of transporting the workpiece. The controller determines the robot's work requirements from the machinable workpieces based on the machining requirements of the workpiece. When there is a machining process in the machining process of the machinable workpiece that matches the machining requirements of the workpiece, the corresponding work requirements can be determined for the robot.

[0096] Step 406 : If both a machinable workpiece and a machinable machine tool exist, determine the robot's work requirements according to the machining requirements of the workpiece, the machinable workpiece, and the machinable machine tool.

[0097] Specifically, if both machinable workpieces and machinable machine tools exist, that is, there are workpieces that need to be processed and there are also machine tools that are idle, the controller can combine and screen the machinable workpieces and machinable machine tools according to the processing requirements of the workpieces, select the processing procedures for which both machinable workpieces and machinable machine tools exist, and execute the processing procedures as the robot's work requirements.

[0098] Optionally, when each machine tool in the production line is used to perform the same processing requirements, that is, the processing requirements of the workpiece include a processing procedure, the controller can first take the machinable machine tool as the basis, and then select a matching number of workpieces for the machinable machine tool from the machinable workpieces, and calculate the path planning of the robot that transports each workpiece to each machinable machine tool, and use the path planning and the process of transporting the workpiece as the determined work requirements of the robot.

[0099] For ease of understanding, in one embodiment, the processing requirements of the workpiece include more than two processing steps to be performed in sequence, and different machine tools are used to complete different processing steps. Figure 5 As shown, step 406 includes steps 502 to 504 .

[0100] Step 502: Sort the processable machine tools according to the execution order of each processing step to obtain a processable machine tool sequence.

[0101] Wherein, the processing procedures of the workpiece include more than two processing procedures to be performed sequentially, then the workpiece needs to be processed on each machine tool in sequence according to the order of the processing procedures, and the robot correspondingly completes the action of carrying the workpiece in each processing procedure. Specifically, when the controller obtains the processing procedures, it can arrange the machine tools according to the execution order of the processing procedures. In this embodiment, the controller arranges the processable machine tools according to the execution order of the processing procedures to obtain a processable machine tool sequence.

[0102] Step 504 , determining the robot's work requirements according to the machinable workpieces and the machinable machine tool sequence.

[0103] Specifically, the controller analyzes the machinable workpieces and the machining requirements of each machinable workpiece based on the machinable machine tool sequence, and determines the machining procedures that have not been executed (that is, there is still a demand) for each machinable workpiece. The controller matches the machining procedures that have not been executed for each machinable workpiece with the machinable machine tool sequence, and determines the work requirements of the robot based on the matching structure. When there is no matching machinable workpiece and machinable machine tool sequence, it is determined that the robot's work requirements are empty.

[0104] For example, Figure 1As shown, the workpiece needs to enter machine tool 1, machine tool 2 and machine tool 3 for processing in sequence according to the processing requirements. In the first case, when the workpiece state of the machinable workpiece is the workpiece processed by machine tool 1, and the machinable machine tool sequence includes machine tool 1 and machine tool 3 arranged in sequence, the processing procedure that the machinable workpiece has not yet executed should be entering machine tool 2 for processing, and the machinable machine tool sequence does not include machine tool 2. At this time, the machinable workpiece and the machinable machine tool sequence do not match, and it is determined that the robot's work requirement is empty.

[0105] In the second case, when the workpiece state of the machinable workpiece is a workpiece that has been processed by machine tool 2, and the machinable machine tool sequence includes machine tool 1 and machine tool 3 arranged in sequence, the processing step that has not yet been executed for the machinable workpiece should be to enter machine tool 3 for processing, and the machinable machine tool sequence includes machine tool 3. Then the machinable workpiece and the machinable machine tool sequence match, and it is determined that the robot's work requirement is to move the workpiece to machine tool 3.

[0106] In this embodiment, by conducting a combined analysis of machinable workpieces and machinable machine tools, the work requirements that the robot can currently perform are determined, which can improve the utilization efficiency of the robot, improve the machining efficiency of the workpieces, and improve the overall production efficiency of the production line.

[0107] In an exemplary embodiment, Figure 6 As shown, step 404 includes steps 602 to 604 .

[0108] Step 602 : determining whether there is a machined workpiece among the machinable workpieces based on the machining requirements of the workpiece.

[0109] Specifically, when all machining processes related to the machine tool are completed and the workpiece has not yet been placed in the finished product unloading area, the workpiece is a finished workpiece. At this time, the finished workpiece still needs to be moved by the robot to the finished product unloading area to be considered to have fully completed the processing requirements of the workpiece. The controller can compare the processing requirements of the workpiece with the workpiece status of the machinable workpiece to determine whether there is a finished workpiece among the machinable workpieces.

[0110] If there is no processed workpiece among the machinable workpieces, since the machinable machine tool is empty at this time, there is no processing demand that can be executed, and the controller analyzes that the robot's work demand is also empty.

[0111] If there is a machined workpiece among the machinable workpieces, step 604 is executed to determine that the work requirement of the robot is a material unloading requirement based on the machined workpiece.

[0112] Specifically, since the processed workpiece still needs to be transported by the robot to the finished product unloading area in order to fully complete the processing requirements of the workpiece, the controller determines that the robot's work requirements are unloading requirements, and plans a path based on the position information of the processed workpiece and the position information of the finished product unloading area, and controls the robot according to the planned path to complete the unloading requirements.

[0113] In this embodiment, when there are machinable workpieces and the machinable machine tool is empty, the machinable workpieces are further analyzed, and when there are finished workpieces, the controller can determine that the robot's work demand is a material unloading demand. By analyzing the processing requirements of the machinable workpieces, the robot's work requirements are accurately obtained, the robot's work utilization rate is improved, and the engineering waste of the production line is reduced.

[0114] In an exemplary embodiment, Figure 7 As shown, step 206 includes steps 702 to 704 .

[0115] Step 702: Determine a target machine tool and a target workpiece based on the working requirements of the robot.

[0116] After determining the work requirements of the robot, the controller analyzes the work requirements and determines the target machine tool and the target workpiece. The target machine tool is the machine tool involved in the work requirements, and the target workpiece is the workpiece involved in the work requirements. In some cases, the work requirements may only include the target workpiece. For example, when the controller determines that the work requirements of the robot are blanking requirements, the blanking requirements only include the target workpiece but not the target machine tool.

[0117] Step 704 , according to the working state of the robot, control the robot to obtain the target workpiece, and move it to the target machine tool to complete the processing of the target workpiece.

[0118] The robot working state refers to the working state of the robot, such as whether the various parts of the robot can be used normally, whether the devices assembled on the robot meet the requirements of the production line, etc. Specifically, the controller analyzes the working state of the robot in combination with the working state of the robot. When the robot working state indicates that everything is normal, the controller can control the robot to obtain the target workpiece so that the robot can move the target workpiece. After obtaining the target workpiece, the robot moves in the moving line area, moves to the target machine tool, and places the target workpiece on the target machine tool so that the target machine tool can complete the processing of the target workpiece.

[0119] Furthermore, when the robot's working requirement is a material unloading requirement and does not include the target machine tool, the controller controls the robot to obtain the target workpiece according to the robot's working state and move it to the finished product unloading area to complete all processing requirements of the target workpiece.

[0120] For example, the robot may obtain the target workpiece by clamping, or by negative pressure suction, depending on the structural setting of the robot, which is not limited in this embodiment.

[0121] Optionally, the controller analyzes the robot working state first in combination with the robot working state. When the robot working state characterization is abnormal, the robot and / or the controller may generate abnormal information to prompt the monitoring personnel, or may replace the components assembled by the robot. In an exemplary embodiment, after step 702, the production line control method further includes step 802: according to the type of the target machine tool, controlling the robot to switch to the target pickup device.

[0122] Among them, the target pickup device is used to obtain the target workpiece and is one of the structural settings of the robot. Due to the differences in processing content of different machine tools, the acquisition and placement of workpieces require the use of corresponding pickup devices. For example, different machine tools are matched with different pickup devices. The robot has a pickup device, which can be replaced until it is replaced with a target pickup device that matches the target machine tool.

[0123] Specifically, the robot working state includes whether the components assembled on the robot meet the requirements of the production line. When the robot working state is abnormal because the components assembled on the robot do not meet the requirements of the production line, the components assembled on the robot can be replaced. That is, the controller determines the target pickup device that matches the target machine tool according to the type of the target machine tool, and controls the robot to switch the pickup device until it switches to the target pickup device.

[0124] Exemplarily, in this embodiment, the robot can be equipped with multiple object-picking devices at the same time, and can switch between the various object-picking devices for use.

[0125] In an exemplary embodiment, the robot can only be equipped with one picking device at a time, and step 802 includes steps 902 to 904.

[0126] Step 902, control the robot to move to the pickup device switching area.

[0127] The production line includes a pickup device switching area. The pickup device switching area is set on one side of the robot's moving line area, and the robot can replace the pickup device equipped with the robot by using the pickup device in the pickup device switching area. Specifically, when the pickup device equipped with the robot needs to be replaced, the controller controls the robot to move to the pickup device switching area.

[0128] Step 904: According to the type of the target machine tool, the robot is controlled to determine the target picking device and install it.

[0129] Specifically, the controller determines the target pickup device according to the type of the target machine tool, and controls the robot to select the target pickup device in the interval device switching area, removes the pickup device on the robot, and replaces it with the target pickup device for installation.

[0130] In this embodiment, it is possible to cope with different machine tools and control the robot to assemble a corresponding target picking device to facilitate the acquisition of the workpiece and complete the robot's work requirements, thereby improving the robot's flexibility and the coordination of the production line.

[0131] Based on the same technical concept, the present application also provides a production line, such as Figure 1 As shown, the production line includes a robot, two or more machine tools and a controller (not shown in the figure). The robot is used to move between the machine tools and transport workpieces. The controller connects the robot and the machine tools and is used to execute the production line control method described in the above embodiments.

[0132] Among them, the production line can process the workpiece, and the workpiece is transported to different machine tools by robots. The machine tools process the workpiece until the unprocessed workpiece (rough material) is processed into a processed workpiece (finished part) and unloaded, completing the workpiece processing.

[0133] Furthermore, in the process of processing the workpiece from the rough material to the finished workpiece, it is necessary to use machine tools for processing according to the processing procedures in the processing requirements. Among them, each machine tool is capable of processing the workpiece in one processing procedure. When the number of processing procedures in the processing requirement of the workpiece is one, multiple machine tools are used to complete the processing of the processing procedure on the workpiece. The workpieces between the machine tools do not affect each other, and there is no need to sort the machine tools. When the number of processing procedures in the processing requirement of the workpiece is multiple, multiple machine tools can implement each processing procedure as evenly as possible. Since the processing procedures in the processing requirement of the workpiece are sorted, there are order restrictions between the machine tools used to implement different processing procedures. Figure 1 As shown in the figure, machine tools 1, 2 and 3 respectively perform different processing steps in the processing requirements of the workpiece, and the processing steps have certain order restrictions. Therefore, a rough workpiece needs to be processed by machine tools 1, 2 and 3 in order to be processed into a finished workpiece. The robot can move to each machine tool within the range of the dotted box (moving line area) and place the workpiece it carries on the corresponding machine tool.

[0134] Furthermore, each machine tool is also provided with a buffer zone, where workpieces processed by the corresponding machine tool can be placed. Figure 1In the embodiment, if a workpiece is placed in the buffer zone of machine tool 1, the workpiece status of the workpiece is that the workpiece has been processed by machine tool 1; if a workpiece is placed in the buffer zone of machine tool 2, the workpiece status of the workpiece is that the workpiece has been processed by machine tool 2; if a workpiece is placed in the buffer zone of machine tool 3, the workpiece status of the workpiece is that the workpiece has been processed by machine tool 3, that is, the workpiece has been processed.

[0135] Specifically, the controller is connected to the robot and each machine tool, and is able to obtain the working status of the robot, the working status of each machine tool, and the workpiece status of the workpiece on the production line. The workpiece status is obtained based on the position information of the workpiece. When the workpiece is located in different areas of the production line, the controller can judge the degree of processing of the workpiece based on the position of the workpiece and determine the processing requirements of the workpiece. For example, the production line also includes a raw material loading area and a finished product unloading area. The workpiece located in the raw material loading area is a workpiece that has not yet started processing, and the workpiece located in the finished product unloading area is a workpiece that has been unloaded and processed. The controller analyzes the status of the production line based on the data obtained, coordinates the work of each machine tool, and controls the robot to carry the workpiece accordingly, so as to achieve coordinated and efficient operation of the production line.

[0136] In one embodiment, the production line further includes a pickup device switching area, which includes a plurality of pickup devices. The pickup device switching area is arranged on one side of the robot's moving line area, and the robot can replace the pickup device assembled by the robot by using the pickup device in the pickup device switching area. Specifically, when the pickup device assembled by the robot needs to be replaced, the controller controls the robot to move to the pickup device switching area to switch the pickup device.

[0137] For example, Figure 8 As shown, the pick-up device is a fixture, and the pick-up device switching area is a fixture switching area, which is set between machine tool 1 and machine tool 2. Similarly, a raw material loading area and a finished product unloading area are also set on one side of the robot's moving line area, where unprocessed workpieces and processed workpieces are placed respectively.

[0138] In order to better understand the above scheme, combined with Figure 8 The production line shown is explained in detail below in conjunction with a specific embodiment.

[0139] In one embodiment, a production line such as Figure 8 As shown, the unprocessed workpiece is first sent to the rough material loading area. At this time, the central control system (controller) detects the workpiece status of the workpiece. After the central control system confirms the working status of the robot, it deploys the robot to the rough material loading area and monitors whether the signal of machine tool 1 meets the loading conditions normally, that is, whether machine tool 1 is a processable machine tool.

[0140] If machine tool 1 is a processable machine tool, the central control system and the PLC cabinet are responsible for the working modules of machine tool 1 and the robot, and execute the loading and unloading actions of machine tool 1 (the robot clamps the raw material (unprocessed workpiece) and moves to the front of machine tool 1, waiting for the PLC signal feedback of unit 1. Machine tool 1 opens the door, if there is no workpiece in machine tool 1, the raw material is placed in the tooling; if there is a workpiece after opening the door, the robot puts the raw material back into the raw material loading area, and then the robot takes out the workpiece in machine tool 1, puts it in the buffer area of ​​machine tool 1, and then clamps the raw material and puts it into machine tool 1. After the action is completed, the robot returns to a safe position). After the loading and unloading units of machine tool 1 complete the action, wait for subsequent instructions from the central control system to be dispatched.

[0141] If the loading and unloading conditions of machine tool 2 are met (i.e., machine tool No. 2 is in good condition and idle state), the central control system sends a command to dispatch the robot to switch the No. 2 fixture corresponding to machine tool 2, and moves the robot to the fixture switching area to switch to No. 2 fixture. After the switch is completed, the central control system interacts with the PLC cabinet and executes the loading and unloading unit actions of machine tool 2 (the action logic is the same as that of machine tool No. 1). After the loading and unloading unit actions of machine tool 2 are completed, it waits for the subsequent command dispatch of the central control system.

[0142] If the loading conditions of machine tool 2 are not met (i.e., machine tool No. 2 is in abnormal state or in operation), the loading and unloading status of machine tool 3 is judged. If the loading conditions are met, the central control system provides instructions to dispatch the robot to switch the No. 3 fixture (similar to the switching of the No. 2 fixture mentioned above). After the switching is completed, the central control system interacts with the PLC cabinet and executes the loading and unloading unit actions of machine tool 3 (the action logic is the same as that of machine tool No. 1). If the loading and unloading conditions of neither machine tool 2 nor machine tool 3 are met, the unloading of finished parts (processed workpieces) is judged (i.e., whether there are finished parts in the buffer in front of machine tools No. 1, 2, and 3). If there are, the unloading action of the finished parts is executed (the robot moves to the buffer, clamps the finished parts in the buffer, and moves to the finished product unloading area for unloading), and the unloading of the machine tool workpiece matching the fixture is executed first (i.e., the robot is currently in fixture No. 3 and prioritizes the unloading of the finished parts in front of machine tool 3). If the execution conditions are not met, the judgment detection of the next action unit will be performed or the action will be interspersed.

[0143] In this embodiment, bus control logic is adopted, while the traditional streamlined control mode is one level after another, and it is impossible to skip levels or return. It is easy to combine with the machine tool processing process, which often has processing anomalies of different sizes, such as broken knives causing damage to workpieces, which will cause subsequent processing operations to be blocked. However, in the bus control logic, the various action logics inside the PLC do not need to be connected in a step-by-step manner, and can be skipped, which has little interference with subsequent processing operations, which is conducive to ensuring the utilization efficiency of the robot and the production efficiency of the production line.

[0144] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0145] Based on the same inventive concept, the embodiment of the present application also provides a production line control device for implementing the production line control method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more production line control device embodiments provided below can refer to the limitations of the production line control method above, and will not be repeated here.

[0146] In an exemplary embodiment, Fig. 9 As shown, a production line control device is provided, including: a detection module, a calculation module 640 and a control module 960, wherein:

[0147] The detection module 920 is used to obtain the working status of the robot and the working status of two or more machine tools; the production line includes a robot and two or more machine tools for collaborative production;

[0148] A calculation module 640 is used to determine the working requirements of the robot according to the workpiece status and the working status of each machine tool;

[0149] The control module 960 is used to control the robot to complete workpiece processing on the production line based on the robot's working status and the robot's working requirements.

[0150] In one embodiment, the operation module 640 is also used to determine the machinable machine tools and machinable workpieces according to the workpiece status and the working status of each machine tool, and determine the working requirements of the robot based on the processing requirements of the workpiece, the machinable machine tools and the machinable workpieces.

[0151] In one embodiment, the operation module 640 is also used to determine that the processing requirements of the robot are empty if the machinable workpiece is empty; if the machinable workpiece exists and the machinable machine tool is empty, determine the working requirements of the robot from the machinable workpiece based on the processing requirements of the workpiece; if both the machinable workpiece and the machinable machine tool exist, determine the working requirements of the robot according to the processing requirements of the workpiece, the machinable workpiece and the machinable machine tool.

[0152] In one embodiment, the processing requirements of the workpiece include more than two processing steps to be performed in sequence, and different machine tools are used to complete different processing steps. The operation module 640 is also used to sort the processable machine tools according to the execution order of each processing step, obtain a processable machine tool sequence, and determine the work requirements of the robot according to the processable workpiece and the processable machine tool sequence.

[0153] In one embodiment, the operation module 640 is further used to determine whether there is a processed workpiece among the machinable workpieces based on the processing requirements of the workpieces, and if so, determine that the working requirement of the robot is a material unloading requirement based on the processed workpieces.

[0154] In one embodiment, the control module 960 is further used to determine the target machine tool and the target workpiece based on the working requirements of the robot, and to control the robot to obtain the target workpiece according to the working state of the robot, and move to the target machine tool to complete the processing of the target workpiece.

[0155] In one embodiment, the control module 960 is further used to control the robot to switch to a target pickup device according to the type of the target machine tool; the target pickup device is used to obtain the target workpiece.

[0156] In one embodiment, the control module 960 is also used to control the robot to move to the pickup device switching area; the production line includes a pickup device switching area, and according to the type of the target machine tool, the robot is controlled to determine the target pickup device and install it.

[0157] Each module in the above production line control device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0158] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Fig.10As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a production line control method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0159] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0160] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0161] Obtaining the working status of a robot and the working status of two or more machine tools; the production line includes a robot and two or more machine tools for collaborative production;

[0162] Determine the robot's work requirements based on the workpiece status and the working status of each machine tool;

[0163] Based on the robot's working status and work requirements, the robot is controlled to complete workpiece processing on the production line.

[0164] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0165] According to the workpiece status and the working status of each machine tool, the machinable machine tools and machinable workpieces are determined. Based on the processing requirements of the workpiece, the machinable machine tools and the machinable workpieces, the working requirements of the robot are determined.

[0166] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0167] If the machinable workpiece is empty, the robot's processing requirements are determined to be empty; if the machinable workpiece exists and the machinable machine tool is empty, the robot's work requirements are determined from the machinable workpieces based on the workpiece's processing requirements; if both the machinable workpiece and the machinable machine tool exist, the robot's work requirements are determined based on the workpiece's processing requirements, the machinable workpiece and the machinable machine tool.

[0168] In one embodiment, the processing requirements of the workpiece include two or more processing steps to be performed in sequence, and different machine tools are used to complete different processing steps. When the processor executes the computer program, the following steps are also implemented:

[0169] The machinable machine tools are sorted according to the execution order of each machining process to obtain a machinable machine tool sequence, and the robot's work requirements are determined according to the machinable workpieces and the machinable machine tool sequence.

[0170] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0171] Based on the processing requirements of the workpieces, it is determined whether there is a processed workpiece among the machinable workpieces. If so, based on the processed workpieces, it is determined that the working requirement of the robot is a material unloading requirement.

[0172] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0173] Based on the robot's work requirements, the target machine tool and target workpiece are determined. According to the robot's working status, the robot is controlled to obtain the target workpiece and move to the target machine tool to complete the processing of the target workpiece.

[0174] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0175] According to the type of the target machine tool, the robot is controlled to switch to the target picking device; the target picking device is used to obtain the target workpiece.

[0176] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0177] The robot is controlled to move to the pickup device switching area; the production line includes a pickup device switching area, and according to the type of the target machine tool, the robot is controlled to determine the target pickup device and install it.

[0178] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0179] Obtaining the working status of a robot and the working status of two or more machine tools; the production line includes a robot and two or more machine tools for collaborative production;

[0180] Determine the robot's work requirements based on the workpiece status and the working status of each machine tool;

[0181] Based on the robot's working status and the robot's working requirements, the robot is controlled to complete workpiece processing on the production line.

[0182] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0183] According to the workpiece status and the working status of each machine tool, the machinable machine tools and machinable workpieces are determined. Based on the processing requirements of the workpiece, the machinable machine tools and the machinable workpieces, the working requirements of the robot are determined.

[0184] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0185] If the machinable workpiece is empty, the robot's processing requirements are determined to be empty; if the machinable workpiece exists and the machinable machine tool is empty, the robot's work requirements are determined from the machinable workpieces based on the workpiece's processing requirements; if both the machinable workpiece and the machinable machine tool exist, the robot's work requirements are determined based on the workpiece's processing requirements, the machinable workpiece and the machinable machine tool.

[0186] In one embodiment, the processing requirements of the workpiece include two or more processing steps to be performed in sequence, and different machine tools are used to complete different processing steps. When the computer program is executed by the processor, the following steps are also implemented:

[0187] The machinable machine tools are sorted according to the execution order of each machining process to obtain a machinable machine tool sequence, and the robot's work requirements are determined according to the machinable workpieces and the machinable machine tool sequence.

[0188] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0189] Based on the processing requirements of the workpieces, it is determined whether there is a processed workpiece among the machinable workpieces. If so, based on the processed workpieces, it is determined that the working requirement of the robot is a material unloading requirement.

[0190] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0191] Based on the robot's work requirements, the target machine tool and target workpiece are determined. According to the robot's working status, the robot is controlled to obtain the target workpiece and move to the target machine tool to complete the processing of the target workpiece.

[0192] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0193] According to the type of the target machine tool, the robot is controlled to switch to the target picking device; the target picking device is used to obtain the target workpiece.

[0194] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0195] The robot is controlled to move to the pickup device switching area; the production line includes a pickup device switching area, and according to the type of the target machine tool, the robot is controlled to determine the target pickup device and install it.

[0196] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0197] Obtaining the working status of a robot and the working status of two or more machine tools; the production line includes a robot and two or more machine tools for collaborative production;

[0198] Determine the robot's work requirements based on the workpiece status and the working status of each machine tool;

[0199] Based on the robot's working status and the robot's working requirements, the robot is controlled to complete workpiece processing on the production line.

[0200] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0201] According to the workpiece status and the working status of each machine tool, the machinable machine tools and machinable workpieces are determined. Based on the processing requirements of the workpiece, the machinable machine tools and the machinable workpieces, the working requirements of the robot are determined.

[0202] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0203] If the machinable workpiece is empty, the robot's processing requirements are determined to be empty; if the machinable workpiece exists and the machinable machine tool is empty, the robot's work requirements are determined from the machinable workpieces based on the workpiece's processing requirements; if both the machinable workpiece and the machinable machine tool exist, the robot's work requirements are determined based on the workpiece's processing requirements, the machinable workpiece and the machinable machine tool.

[0204] In one embodiment, the processing requirements of the workpiece include two or more processing steps to be performed in sequence, and different machine tools are used to complete different processing steps. When the computer program is executed by the processor, the following steps are also implemented:

[0205] The machinable machine tools are sorted according to the execution order of each machining process to obtain a machinable machine tool sequence, and the robot's work requirements are determined according to the machinable workpieces and the machinable machine tool sequence.

[0206] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0207] Based on the processing requirements of the workpieces, it is determined whether there is a processed workpiece among the machinable workpieces. If so, based on the processed workpieces, it is determined that the working requirement of the robot is a material unloading requirement.

[0208] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0209] Based on the robot's work requirements, the target machine tool and target workpiece are determined. According to the robot's working status, the robot is controlled to obtain the target workpiece and move to the target machine tool to complete the processing of the target workpiece.

[0210] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0211] According to the type of the target machine tool, the robot is controlled to switch to the target picking device; the target picking device is used to obtain the target workpiece.

[0212] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0213] The robot is controlled to move to the pickup device switching area; the production line includes a pickup device switching area, and according to the type of the target machine tool, the robot is controlled to determine the target pickup device and install it.

[0214] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0215] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0216] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A production line control method, characterized in that: The method comprises: Obtaining the working status of a robot and the working status of two or more machine tools; the production line includes a robot and two or more machine tools for collaborative production; Determining the working requirements of the robot according to the workpiece status and the working status of each of the machine tools; Based on the working state of the robot and the working requirements of the robot, the robot is controlled to complete workpiece processing on the production line.

2. The method according to claim 1, characterized in that Determining the working requirements of the robot according to the workpiece status and the working status of each of the machine tools includes: Determining a machinable machine tool and a machinable workpiece according to the state of the workpiece and the working state of each of the machine tools; Based on the processing requirements of the workpiece, the machinable machine tool and the machinable workpiece, the working requirements of the robot are determined.

3. The method according to claim 2, characterized in that The step of determining the working requirements of the robot based on the processing requirements of the workpiece, the processable machine tool and the processable workpiece comprises: If the machinable workpiece is empty, determining that the machining requirement of the robot is empty; If the machinable workpiece exists and the machinable machine tool is empty, determining the work requirement of the robot from the machinable workpieces based on the machining requirement of the workpiece; If both the machinable workpiece and the machinable machine tool exist, the working requirements of the robot are determined according to the machining requirements of the workpiece, the machinable workpiece and the machinable machine tool.

4. The method according to claim 3, characterized in that The processing requirements of the workpiece include more than two processing steps to be performed in sequence, and different machine tools are used to complete different processing steps. The determining of the working requirements of the robot according to the processing requirements of the workpiece, the machinable workpiece and the machinable machine tool includes: Sorting the machinable machine tools according to the execution order of each machining process to obtain a sequence of machinable machine tools; The working requirement of the robot is determined according to the machinable workpiece and the sequence of machinable machine tools.

5. The method according to claim 3, characterized in that: The step of determining the working requirements of the robot from the machinable workpieces based on the machining requirements of the workpieces includes: Determining whether there is a processed workpiece among the machinable workpieces based on the machining requirements of the workpiece; If so, it is determined that the working requirement of the robot is a material unloading requirement based on the processed workpiece.

6. The method according to claim 1, characterized in that The controlling the robot to complete workpiece processing on the production line based on the working state of the robot and the working requirements of the robot includes: Determining a target machine tool and a target workpiece based on the working requirements of the robot; According to the working state of the robot, the robot is controlled to acquire the target workpiece and move to the target machine tool to complete the processing of the target workpiece.

7. The method according to claim 6, characterized in that After determining the target machine tool and the target workpiece based on the working requirements of the robot, the method further includes: According to the type of the target machine tool, the robot is controlled to switch to a target picking device; the target picking device is used to obtain the target workpiece.

8. The method according to claim 7, characterized in that According to the type of the target machine tool, controlling the robot to switch to the target picking device includes: Controlling the robot to move to a pickup device switching area; the production line includes the pickup device switching area; According to the type of the target machine tool, the robot is controlled to determine the target picking device and install it.

9. A production line control device, characterized in that: The device comprises: A detection module is used to obtain the working status of the robot and the working status of more than two machine tools; the production line includes a robot and more than two machine tools for collaborative production; A calculation module, used for determining the working requirements of the robot according to the workpiece status and the working status of each of the machine tools; A control module is used to control the robot to complete workpiece processing on the production line based on the working state of the robot and the working requirements of the robot.

10. A production line, characterized in that: The production line includes a robot, two or more machine tools and a controller. The robot is used to move between the machine tools and transport workpieces. The controller connects the robot and the machine tools and is used to execute the production line control method as described in any one of claims 1-8.

11. The production line according to claim 10, characterized in that: The production line also includes a pickup device switching area, and the pickup device switching area includes a plurality of pickup devices.

12. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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