Automatic feeding and discharging manipulator control method and system for pad printing machine

Abstract

The automatic feeding and discharging manipulator control method for the pad printing machine comprises the following steps that feeding point three-dimensional coordinates and material changing point three-dimensional coordinates are obtained, a machine tool is provided with multiple layers of trays, and zero point three-dimensional coordinates are set for the trays; generating a first middle position coordinate and a second middle position coordinate based on the feeding point three-dimensional coordinate, the material changing point three-dimensional coordinate and the zero point three-dimensional coordinate; the first manipulator is controlled to conduct machine tool machining according to the generated first middle position coordinates; a second manipulator is controlled to move out the machined workpiece at the material changing point according to the generated second middle position coordinates; whether the middle stroke is larger than a preset threshold value or not is judged according to the moving distance, and therefore the first moving speed or the second moving speed is selected to complete the middle stroke; according to the automatic feeding and discharging manipulator control method and system for the pad printing machine, efficient, high-precision and automatic production is achieved by integrating advanced coordinate acquisition, generation, manipulator control, speed optimization and fault processing technologies.

Description

Technical Field

[0001] The invention relates to a control method and system of an automatic loading and unloading manipulator for a pad printing machine. Background Art

[0002] In automated production lines, the design and control of the automatic loading and unloading robot system for pad printing machines is crucial, as it can effectively improve production efficiency and ensure operational safety. The following is a background introduction to the technology:

[0003] Pad printer is a kind of precision processing equipment commonly used in printing and coating process, usually used to transfer patterns or texts on flat or curved surfaces. In a high-efficiency production environment, in order to minimize the intervention of operators and improve production efficiency, automatic loading and unloading manipulator systems are widely introduced.

[0004] Traditionally, the operation of pad printing machines relies on manual or semi-automatic loading and unloading, which is not only inefficient, but also has operational errors and safety risks. Therefore, the automatic loading and unloading robot system came into being. Through precise control and planning, the automatic loading and unloading process is realized, which greatly improves production efficiency and product quality stability.

[0005] Traditional control methods have the problem of insufficient precision in the process of coordinate acquisition and generation, which may cause position deviation or error accumulation during the movement of the robot. This situation will affect the precise processing of the workpiece, especially in pad printing applications that require high-precision operation.

[0006] In addition, the robot's moving speed and path planning are not optimized enough, resulting in a long loading and unloading process. In particular, when the coordinates of the material change point and the material change far point are different, additional adjustment time and operation steps may be required, reducing the overall efficiency of the production line. Summary of the invention

[0007] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a method and system for controlling an automatic loading and unloading robot for a pad printing machine, which achieves efficient, high-precision and automated production by integrating advanced coordinate acquisition, generation, robot control, speed optimization and fault handling technologies.

[0008] The technical solution adopted by the present invention to solve its technical problem is:

[0009] A control method for an automatic loading and unloading manipulator for a pad printing machine comprises the following steps:

[0010] Obtain the three-dimensional coordinates of the material loading point and the material changing point, wherein the machine tool is set with a multi-layer material tray, and set the zero point three-dimensional coordinates for the material tray;

[0011] Generate first intermediate position coordinates and second intermediate position coordinates based on the three-dimensional coordinates of the material loading point, the three-dimensional coordinates of the material changing point and the three-dimensional coordinates of the zero point;

[0012] Controlling the first manipulator to move the workpiece to be processed located at the loading point to the material changing point for machine tool processing according to the generated first intermediate position coordinates;

[0013] Control the second manipulator to move the processed workpiece at the material change point out of the material change point when the workpiece to be processed reaches the material change far point according to the generated second intermediate position coordinates, wherein the X-axis coordinate of the material change far point is different from that of the material change point, but the Y-axis and Z-axis coordinates are the same;

[0014] In the process of controlling the movement of the first manipulator, judging whether the intermediate stroke is greater than a predetermined threshold value according to the moving distance, thereby selecting the first moving speed or the second moving speed to complete the intermediate stroke;

[0015] During the control process, detect whether the control method is interrupted unexpectedly, and perform fault processing according to the cause of the interruption, including continuing the execution or terminating the process with an alarm.

[0016] As a preferred method, the three-dimensional coordinates of the loading point and the material changing point are obtained, wherein the machine tool is set with a multi-layer material tray, and the method of setting the zero point three-dimensional coordinates for the material tray is:

[0017] First, determine the specific location and layout of the multi-layer trays on the machine tool, including the height of each layer of trays, the distance between layers, and the size and location of the tray surface;

[0018] Set the zero-point coordinate at the center of each tray. This zero-point coordinate is the reference point of the entire coordinate system and is used to determine the relative positions of other positions.

[0019] Determine the specific location where the material needs to be loaded, use measuring tools to measure and record the three-dimensional coordinates of the loading point, which includes X, Y, and Z axis coordinates to accurately indicate the location of the loading point;

[0020] Determine the specific location where the material change operation is required, that is, the location where the processed workpiece needs to be placed. Also use the measuring tool to measure and record the three-dimensional coordinates of the material change point, including the X, Y, and Z axis coordinates.

[0021] Preferably, based on the three-dimensional coordinates of the material loading point, the three-dimensional coordinates of the material changing point and the three-dimensional coordinates of the zero point, the method for generating the first intermediate position coordinates is:

[0022] Determine the zero point three-dimensional coordinates of each tray, obtain the specific three-dimensional coordinates of the loading point, and obtain the three-dimensional coordinates of the material change point;

[0023] Determine a position between the loading point and the material changing point where the material changing point is ready as the first relative coordinate;

[0024] The zero-point stereoscopic coordinate is used as a reference and combined with the first relative coordinate to calculate the absolute coordinate of the first intermediate position.

[0025] Preferably, based on the three-dimensional coordinates of the material loading point, the three-dimensional coordinates of the material changing point and the three-dimensional coordinates of the zero point, the method for generating the coordinates of the second intermediate position is:

[0026] Determine a position near the material change point for removing the processed workpiece and preparing to receive a new workpiece to be processed as a second relative coordinate;

[0027] The zero-point stereoscopic coordinate is used as a reference and combined with the second relative coordinate to calculate the absolute coordinate of the second intermediate position.

[0028] Preferably, the method of controlling the first manipulator to move the workpiece to be processed located at the loading point to the material change point for machine tool processing according to the generated first intermediate position coordinates is:

[0029] According to the first intermediate position coordinates pre-generated in the system, the initial position of the workpiece to be processed at the loading point and the target position at the material changing point are obtained;

[0030] Control the first manipulator to move to the loading point, ready to contact and clamp the workpiece to be processed;

[0031] The robot uses a clamp to securely hold the workpiece to be machined at its end;

[0032] According to the generated first intermediate position coordinates, the first manipulator is controlled to move to the first intermediate position of the workpiece to be processed located at the loading point;

[0033] After the robot reaches the first intermediate position, it waits for confirmation that the material change point is ready;

[0034] Confirm that the material change point is ready, and control the first manipulator to move to the target position of the material change point;

[0035] After reaching the material change point, the robot releases the clamped workpiece to ensure that the workpiece can be received by the processing equipment and proceed to the next processing operation;

[0036] When the move is complete, the robot returns to a safe position, awaits the next task, or continues other operations.

[0037] Preferably, the method of controlling the second manipulator to move the processed workpiece at the material change point out of the material change point when the workpiece to be processed reaches the material change far point according to the generated second intermediate position coordinates is:

[0038] According to the generated second intermediate position coordinates, the second manipulator is controlled to move to a position near the material change point;

[0039] When the workpiece to be processed reaches the material change point, the second manipulator needs to move the processed workpiece out of the material change point;

[0040] Control the second manipulator to move the processed workpiece using a fixture;

[0041] After the move is completed, the second robot returns to a safe position to prepare for the operation of the next workpiece.

[0042] Preferably, in the process of controlling the movement of the first manipulator, judging whether the intermediate stroke is greater than a predetermined threshold value according to the moving distance, and thus selecting the first moving speed or the second moving speed to complete the intermediate stroke is as follows:

[0043] Determine a preset distance threshold for judging the length of the intermediate trip;

[0044] When the robot starts to move, its position change is monitored by the position sensor until it reaches the predetermined intermediate position. By calculating the distance between the current position of the robot and the target position, the length of the intermediate stroke can be obtained;

[0045] If the length of the intermediate stroke is greater than a predetermined threshold, selecting a first moving speed;

[0046] If the length of the intermediate stroke is less than or equal to a predetermined threshold, the second moving speed is selected.

[0047] Another technical problem to be solved by the present invention is to provide an automatic loading and unloading manipulator control system for a pad printing machine, comprising:

[0048] A coordinate acquisition module is used to acquire the three-dimensional coordinates of the material loading point and the material changing point and the zero-point three-dimensional coordinates of the multi-layer material tray set by the machine tool;

[0049] An intermediate position coordinate generation module generates a first intermediate position coordinate and a second intermediate position coordinate based on the three-dimensional coordinates of the material loading point, the material changing point and the zero point;

[0050] A first manipulator control module is used to control the first manipulator to move the workpiece to be processed located at the loading point to the material changing point for machine tool processing according to the generated first intermediate position coordinates;

[0051] A second manipulator control module is used to control the second manipulator to move the processed workpiece at the material change point out of the material change point when the workpiece to be processed reaches the material change far point according to the generated second intermediate position coordinates;

[0052] A moving distance judgment module is used to judge whether the intermediate stroke is greater than a predetermined threshold value according to the actual moving distance during the movement of the first manipulator;

[0053] Fault handling module: used to detect whether an unexpected interruption occurs.

[0054] Another technical problem to be solved by the present invention is an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, an automatic loading and unloading robot control method for a pad printing machine as described in any one of the above is implemented.

[0055] Another technical problem to be solved by the present invention is a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the automatic loading and unloading robot control method for a pad printing machine as described in any of the above is implemented.

[0056] The beneficial effects of the present invention are:

[0057] Through the automated coordinate acquisition and generation mechanism, this system realizes the full automation of the loading and unloading process, significantly reduces the need for manual intervention, effectively reduces the risk of operational errors, and significantly improves the overall automation level of the production line.

[0058] In terms of coordinate control, the system accurately relies on the machine tool's preset multi-layer tray zero-point three-dimensional coordinates as a reference, accurately calculates and controls the coordinates of the loading point, material change point and intermediate position, ensuring the position accuracy and stability of the robot during movement.

[0059] For the production process, this system adopts a dual-manipulator collaborative operation mode, where the first manipulator is responsible for handling the workpiece before processing, while the second manipulator is responsible for moving the workpiece after processing. Through the pre-planned intermediate position coordinates, the system can intelligently optimize the movement path and speed, thereby shortening the overall production cycle and improving production efficiency.

[0060] In terms of moving speed control, the system is highly flexible. According to the actual moving distance and the preset threshold, the system can intelligently select the first moving speed or the second moving speed to ensure that the intermediate travel is both stable and efficient.

[0061] Finally, automated control and precise coordinate calculation significantly reduce the operator’s direct involvement and operational risks, thereby improving overall operational safety and the stability of the production environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 The present invention is a flow chart of a control method of an automatic loading and unloading robot for a pad printing machine. DETAILED DESCRIPTION

[0063] The principles and features of the present invention are described below, and the examples are only used to explain the present invention and are not used to limit the scope of the present invention. The present invention is described more specifically by way of example in the following paragraphs. According to the following description and claims, the advantages and features of the present invention will become clearer.

[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 of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0065] Example

[0066] See also Figure 1 As shown, a control method for an automatic loading and unloading robot for a pad printing machine includes the following steps:

[0067] Obtain the three-dimensional coordinates of the material loading point and the material changing point, wherein the machine tool is set with a multi-layer material tray, and set the zero point three-dimensional coordinates for the material tray;

[0068] Generate first intermediate position coordinates and second intermediate position coordinates based on the three-dimensional coordinates of the material loading point, the three-dimensional coordinates of the material changing point and the three-dimensional coordinates of the zero point;

[0069] Controlling the first manipulator to move the workpiece to be processed located at the loading point to the material changing point for machine tool processing according to the generated first intermediate position coordinates;

[0070] Control the second manipulator to move the processed workpiece at the material change point out of the material change point when the workpiece to be processed reaches the material change far point according to the generated second intermediate position coordinates, wherein the X-axis coordinate of the material change far point is different from that of the material change point, but the Y-axis and Z-axis coordinates are the same;

[0071] In the process of controlling the movement of the first manipulator, judging whether the intermediate stroke is greater than a predetermined threshold value according to the moving distance, thereby selecting the first moving speed or the second moving speed to complete the intermediate stroke;

[0072] During the control process, detect whether the control method is interrupted unexpectedly, and perform fault processing according to the cause of the interruption, including continuing the execution or terminating the process with an alarm.

[0073] The primary task of the system is to accurately obtain the three-dimensional coordinate information of the loading and changing points. These coordinate data usually correspond to the specific spatial position of the multi-layer tray inside the machine tool, which is used to clearly identify the storage area of ​​the workpieces to be processed and the processed workpieces. At the same time, to ensure the uniformity and accuracy of the coordinate system, each tray has a reference zero point coordinate as the reference origin for subsequent operations.

[0074] Based on the acquired loading point, material change point and zero point coordinate information, the system generates the first intermediate position coordinate and the second intermediate position coordinate through a precise algorithm. These intermediate coordinates are intended to clarify the specific target positions of the first manipulator and the second manipulator during the movement process to ensure that the manipulator's operation can be performed accurately.

[0075] After receiving the system command, the first manipulator moves the workpiece to be processed at the loading point to the material change point safely and stably according to the generated first intermediate position coordinates, so that the machine tool can perform subsequent processing. This process involves complex path planning and speed control strategies to ensure the stability and safety of the workpiece during movement.

[0076] After the workpiece reaches the material change point successfully, the second manipulator starts to operate according to the coordinates of the second intermediate position. Its main task is to move the finished workpiece out of the material change point and transport it to the preset material change far point. It is worth noting that although the coordinates of the far point in the X-axis direction may be different from those of the material change point, the coordinates in the Y-axis and Z-axis directions are consistent to ensure the continuity and accuracy of the workpiece movement.

[0077] During the movement of the robot, the system monitors the actual movement distance in real time and judges whether the intermediate stroke exceeds the preset threshold. Based on the judgment result, the system intelligently selects the most appropriate movement speed (such as the first movement speed or the second movement speed) to complete the remaining stroke, thereby improving overall efficiency while ensuring operational safety. In addition, the system also integrates a comprehensive fault detection and handling mechanism, which can promptly detect and respond to unexpected interruptions such as sensor failures and communication errors. Once a fault occurs, the system will quickly take corresponding measures according to the specific situation, such as continuing to execute subsequent steps or issuing an alarm and terminating the current process to avoid further impact or loss to the production line.

[0078] The method for obtaining the three-dimensional coordinates of the loading point and the material changing point, where the machine tool is set with a multi-layer material tray and setting the zero point three-dimensional coordinates for the material tray is:

[0079] First, determine the specific location and layout of the multi-layer trays on the machine tool, including the height of each layer of trays, the distance between layers, and the size and location of the tray surface;

[0080] Set the zero-point coordinate at the center of each tray. This zero-point coordinate is the reference point of the entire coordinate system and is used to determine the relative positions of other positions.

[0081] Determine the specific location where the material needs to be loaded, use measuring tools to measure and record the three-dimensional coordinates of the loading point, which includes X, Y, and Z axis coordinates to accurately indicate the location of the loading point;

[0082] Determine the specific location where the material change operation is required, that is, the location where the processed workpiece needs to be placed. Also use the measuring tool to measure and record the three-dimensional coordinates of the material change point, including the X, Y, and Z axis coordinates.

[0083] We use professional measuring tools to measure and record the precise three-dimensional coordinates of the loading and changing points, thus ensuring the accuracy of these positions. This effectively reduces the operational errors that may be caused by position deviations and significantly improves the accuracy and stability of the entire processing process.

[0084] After clearly defining the three-dimensional coordinates of the zero point of each tray, we can quickly and accurately locate and switch different trays. This greatly shortens the time required for material change and has a significant positive impact on enhancing the overall production capacity of the production line.

[0085] Furthermore, once the zero-point three-dimensional coordinates and the specific positions of the loading point and the material change point are accurately set and recorded, the operator can directly operate and adjust based on these reliable data, avoiding the need for repeated measurements and position guessing, and greatly improving work efficiency.

[0086] In addition, by implementing precise measurement and recording measures, we effectively reduce the risk of human error and errors, and significantly enhance the reliability and stability of operations. This is of vital importance to ensure the continuous operation of the production line and the strict implementation of product quality control.

[0087] Determine the layout of the machine tool and the tray:

[0088] First of all, it is necessary to have a detailed understanding of the specific configuration and layout of the multi-layer tray on the machine tool, including the height of each layer of the tray, the spacing between layers, and the specific size and position of the tray surface. This information is of great significance for the precise setting of the subsequent coordinate system.

[0089] Set the zero-point stereo coordinate system:

[0090] A zero-point three-dimensional coordinate system must be accurately established at the center of each tray or at a pre-set specific position. This zero-point coordinate will serve as the reference point of the entire coordinate system and is used to calibrate and calculate the relative coordinates of all other positions.

[0091] Measure and record the coordinates of the loading point:

[0092] Use professional measuring tools (such as distance meters, coordinate measuring machines, etc.) to accurately measure the three-dimensional coordinates of the loading point and record the obtained data in detail. These coordinate data must cover the precise values ​​of the three axes of X, Y, and Z to ensure that the workpiece can be placed accurately at the preset position.

[0093] Measure and record the coordinates of the material change point:

[0094] Similar to the measurement of the loading point coordinates, the three-dimensional coordinates of the material change point also need to be accurately measured using the same measuring tools, and the results should be recorded in detail. These coordinate data also need to include the precise values ​​of the three axes of X, Y, and Z to ensure that the processed workpiece can be accurately removed and placed.

[0095] Verification and adjustment:

[0096] After all coordinates are measured and recorded, strict verification is required to ensure that all data is accurate. If any deviation or error is found, necessary adjustments must be made immediately to ensure that the entire coordinate system can accurately indicate each preset position.

[0097] Based on the three-dimensional coordinates of the loading point, the three-dimensional coordinates of the material changing point and the three-dimensional coordinates of the zero point, the method for generating the coordinates of the first intermediate position is:

[0098] Determine the zero point three-dimensional coordinates of each tray, obtain the specific three-dimensional coordinates of the loading point, and obtain the three-dimensional coordinates of the material change point;

[0099] Determine a position between the loading point and the material changing point where the material changing point is ready as the first relative coordinate;

[0100] The zero-point stereoscopic coordinate is used as a reference and combined with the first relative coordinate to calculate the absolute coordinate of the first intermediate position.

[0101] By using the precise zero-point 3D coordinates as a reference and integrating the exact 3D coordinate information of the loading and changing points, we can rigorously calculate the absolute coordinates of the first intermediate position. This precision provides a solid guarantee for the accuracy of the robot during the workpiece movement process, effectively avoiding production problems that may be caused by position errors.

[0102] Once the three-dimensional coordinates of the loading and changing points are accurately measured and recorded, and the zero-point three-dimensional coordinates are set and verified, the operator can use this data to efficiently generate the first intermediate position coordinates, thereby simplifying the operation process and reducing the time cost of setup and adjustment.

[0103] By pre-calculating and determining the coordinates of the first intermediate position, we can make full preparations before the workpiece arrives at the material change point. This not only speeds up the material change process, but also reduces the idle time of the production line, significantly improving the overall production efficiency.

[0104] By using the established absolute coordinate calculation method, we ensure the stability and consistency of the system in different production batches and workpiece replacement scenarios. This is of inestimable value in maintaining the continuity and stability of the production line.

[0105] At the center of each tray or other pre-specified location, we carefully set the zero-point stereo coordinate as the core reference point of the entire coordinate system.

[0106] With the help of advanced measuring tools (such as coordinate measuring machines, distance meters, etc.), we accurately determined the three-dimensional coordinates of the loading and changing points, and recorded the numerical information of the X, Y, and Z axes in detail.

[0107] Between the loading point and the material change point, we clearly define a position waiting for the material change point to be ready as the first relative coordinate. This position is usually located in the intermediate transition area after the workpiece is processed and the material is about to be changed.

[0108] Relying on the zero-point stereo coordinates as a reference and combining the first relative coordinate information, we implement accurate absolute coordinate calculation of the first intermediate position. This process is usually completed with simple and efficient methods such as vector addition or coordinate offset to ensure the accuracy of the calculation results.

[0109] After calculating the coordinates of the first intermediate position, we implement a strict data verification process to ensure that they are correct. If necessary, we will also make necessary adjustments and corrections based on production requirements and the range of motion of the robot.

[0110] Based on the three-dimensional coordinates of the loading point, the three-dimensional coordinates of the material changing point and the three-dimensional coordinates of the zero point, the method for generating the coordinates of the second intermediate position is:

[0111] Determine a position near the material change point for removing the processed workpiece and preparing to receive a new workpiece to be processed as a second relative coordinate;

[0112] The zero-point stereoscopic coordinate is used as a reference and combined with the second relative coordinate to calculate the absolute coordinate of the second intermediate position.

[0113] Based on the zero-point three-dimensional coordinates as the reference frame, combined with the second relative coordinates around the material change point that are accurately measured, we can accurately calculate the absolute coordinates of the second intermediate position. This is to improve the accuracy of workpiece movement and positioning operations, thereby effectively reducing the probability of operating errors and position deviations.

[0114] Clearly setting the coordinates of the second intermediate position in advance, especially planning the preparation position for receiving new workpieces near the material change point, can significantly speed up the material change process. This efficiency improvement strategy is of great significance in reducing the downtime of the production line and improving the overall production efficiency.

[0115] By accurately defining the second relative coordinate and closely combining it with its reference, the zero-point three-dimensional coordinate, operators can perform faster and more reliable material changes. This process optimization measure will undoubtedly enhance the operating efficiency and consistency of the production line.

[0116] The use of standardized coordinate calculation methods helps reduce operational errors caused by human errors and ambiguous instructions, thereby maintaining the stability and quality control level of the production process.

[0117] The zero point coordinate is precisely set at the center of each tray or at a pre-set position to ensure that it serves as a solid foundation for the entire coordinate system.

[0118] Use appropriate measuring tools to accurately measure and record the three-dimensional coordinates of the loading and changing points, covering the specific values ​​of the X, Y, and Z axes.

[0119] A position is clearly defined around the material change point for the removal of the processed workpiece and the preparation of the new workpiece, as the second relative coordinate mark. This position is usually set in the preparation area for the workpiece to be processed after the processed workpiece is evacuated.

[0120] Subsequently, the zero point stereoscopic coordinates and the second relative coordinates are combined to accurately calculate the absolute coordinates of the second intermediate position. This process may involve mathematical operations such as vector addition or coordinate offset to ensure the accuracy and reliability of the calculation results.

[0121] Finally, after the calculation of the second intermediate position coordinates is completed, a strict verification procedure is required to confirm the accuracy of the data. If necessary, corresponding adjustments and corrections are made to adapt to different production requirements and workpiece characteristics.

[0122] The method of controlling the first manipulator to move the workpiece to be processed located at the loading point to the material change point for machine tool processing according to the generated first intermediate position coordinates is:

[0123] According to the first intermediate position coordinates pre-generated in the system, the initial position of the workpiece to be processed at the loading point and the target position at the material changing point are obtained;

[0124] Control the first manipulator to move to the loading point, ready to contact and clamp the workpiece to be processed;

[0125] The robot uses a clamp to securely hold the workpiece to be machined at its end;

[0126] According to the generated first intermediate position coordinates, the first manipulator is controlled to move to the first intermediate position of the workpiece to be processed located at the loading point;

[0127] After the robot reaches the first intermediate position, it waits for confirmation that the material change point is ready;

[0128] Confirm that the material change point is ready, and control the first manipulator to move to the target position of the material change point;

[0129] After reaching the material change point, the robot releases the clamped workpiece to ensure that the workpiece can be received by the processing equipment and proceed to the next processing operation;

[0130] When the move is complete, the robot returns to a safe position, awaits the next task, or continues other operations.

[0131] Using the pre-set first intermediate position coordinates, the robot can accurately transfer from the raw material supply point to the material change point and ensure that the workpiece is accurately placed on the machine tool for fine processing. This significantly reduces the risk of position deviation, thereby improving processing accuracy and product quality.

[0132] By carefully calculating and determining the coordinates of the first intermediate position in advance, workers can more quickly and efficiently perform the workpiece transfer and pre-processing preparation process. This optimized operation process effectively reduces the time loss during the material change process and significantly enhances production efficiency.

[0133] In each operation link, the robot uses the clamping tool to firmly fix and release the workpiece, thus ensuring the safety of the workpiece during the entire process of transfer and processing, without damage or falling off. This strategy greatly guarantees the safety of the production environment and the stability of the operation process.

[0134] Relying on the pre-built coordinate system and automated control technology, the robot can follow the established path and perform various tasks accurately, greatly reducing the dependence on human intervention. Such automated measures significantly enhance the reliability of the system and the consistency of the work results.

[0135] Since most operations rely on pre-calculated coordinate values ​​and automated control mechanisms, this approach significantly reduces the possibility of human error. The operator is only responsible for monitoring the stable operation of the system and the quality of the workpiece, without having to personally intervene in every detail step.

[0136] The method of controlling the second manipulator to move the processed workpiece at the material change point out of the material change point when the workpiece to be processed reaches the material change far point according to the generated second intermediate position coordinates is:

[0137] According to the generated second intermediate position coordinates, the second manipulator is controlled to move to a position near the material change point;

[0138] When the workpiece to be processed reaches the material change point, the second manipulator needs to move the processed workpiece out of the material change point;

[0139] Control the second manipulator to move the processed workpiece using a fixture;

[0140] After the move is completed, the second robot returns to a safe position to prepare for the operation of the next workpiece.

[0141] Using the pre-generated second intermediate position coordinates, the second robot can be accurately moved to a position near the material change point. This accuracy is very important because it can avoid position deviation or inaccuracy of the workpiece during the movement process.

[0142] Through predetermined coordinates and operation procedures, the second robot can quickly and efficiently move the processed workpiece and safely move it out of the material change point using the fixture. This optimized operation process reduces the time of the material change process and possible production line stoppages.

[0143] When moving the processed workpiece, the second robot uses a clamp to ensure the safe fixation and stability of the workpiece. This method ensures that no accidents or damage will occur during the movement of the workpiece, maintaining the safety of the production environment.

[0144] Based on pre-generated coordinates, controlling the movement of the second manipulator is an automated process, which improves the accuracy of the operation and the reliability of the system. This automation reduces the errors or inconsistencies that may be introduced by human operation.

[0145] The second robot's operation process ensures improved production efficiency by quickly moving and safely removing the processed workpiece. This efficient material change process allows the production line to continue running and maximize the use of equipment and human resources.

[0146] In the process of controlling the movement of the first manipulator, a method for judging whether the intermediate stroke is greater than a predetermined threshold value according to the moving distance, thereby selecting the first moving speed or the second moving speed to complete the intermediate stroke is:

[0147] Determine a preset distance threshold for judging the length of the intermediate trip;

[0148] When the robot starts to move, its position change is monitored by the position sensor until it reaches the predetermined intermediate position. By calculating the distance between the current position of the robot and the target position, the length of the intermediate stroke can be obtained;

[0149] If the length of the intermediate stroke is greater than a predetermined threshold, selecting a first moving speed;

[0150] If the length of the intermediate stroke is less than or equal to a predetermined threshold, the second moving speed is selected.

[0151] By dynamically selecting the moving speed according to the actual intermediate stroke length, it can be ensured that the robot can move at the optimal speed within different distance ranges. A higher moving speed can be selected for a longer intermediate stroke to improve efficiency; a lower moving speed can be selected for a shorter intermediate stroke to accurately control the position without introducing excessive acceleration or deceleration.

[0152] Selecting a lower moving speed when the intermediate stroke is short helps save energy and reduce mechanical wear of the robot during movement. At the same time, a higher moving speed can provide higher production efficiency when fast movement is required, thus saving time and cost.

[0153] By dynamically selecting the speed within a predetermined threshold range, the robot can reduce vibration or instability that may occur during acceleration or deceleration. This stability is critical to maintaining workflow continuity and long-term reliability of mechanical equipment.

[0154] Selecting the appropriate moving speed can ensure the precision and accuracy of the robot when it reaches the predetermined position. This is especially important for production tasks that require high-precision positioning and operation, such as precision machining or assembly tasks.

[0155] This approach is adaptive and can dynamically adjust the speed according to the specific situation to adapt to different work scenarios and needs. This flexibility allows the system to maintain efficient operation under various conditions and adjust and optimize according to actual conditions.

[0156] An automatic loading and unloading manipulator control system for a pad printing machine includes:

[0157] A coordinate acquisition module is used to acquire the three-dimensional coordinates of the material loading point and the material changing point and the zero-point three-dimensional coordinates of the multi-layer material tray set by the machine tool;

[0158] An intermediate position coordinate generation module generates a first intermediate position coordinate and a second intermediate position coordinate based on the three-dimensional coordinates of the material loading point, the material changing point and the zero point;

[0159] A first manipulator control module is used to control the first manipulator to move the workpiece to be processed located at the loading point to the material changing point for machine tool processing according to the generated first intermediate position coordinates;

[0160] A second manipulator control module is used to control the second manipulator to move the processed workpiece at the material change point out of the material change point when the workpiece to be processed reaches the material change far point according to the generated second intermediate position coordinates;

[0161] A moving distance judgment module is used to judge whether the intermediate stroke is greater than a predetermined threshold value according to the actual moving distance during the movement of the first manipulator;

[0162] Fault handling module: used to detect whether an unexpected interruption occurs.

[0163] The coordinate acquisition module can accurately obtain the three-dimensional coordinates of the loading point, the material change point and the tray zero point, and the intermediate position coordinate generation module generates the first and second intermediate position coordinates based on these coordinates. This ensures that the first and second manipulators can accurately move to the specified position to perform the tasks of loading and unloading and moving the processed workpiece.

[0164] The first manipulator control module automatically moves the workpiece to be processed from the loading point to the material change point for machine tool processing according to the generated first intermediate position coordinates. This automated process reduces manual intervention and improves production efficiency and the operating speed of the production line.

[0165] The second manipulator control module automatically moves the processed workpiece out of the material change point according to the generated second intermediate position coordinates when the workpiece to be processed reaches the material change point. This automated material change operation not only saves time, but also reduces the risk of operational errors, ensuring the continuity and stability of production.

[0166] The moving distance judgment module can monitor the actual moving distance in real time during the movement of the first manipulator, and select the appropriate moving speed according to the preset threshold. This intelligent motion control method allows the manipulator to adjust the stroke length and speed according to the specific situation to achieve the best operating effect.

[0167] The fault handling module can detect whether an unexpected interruption occurs and handle abnormal situations in a timely manner to ensure the stability and safety of the system. This function is particularly important for automated production lines that run for a long time, and can minimize the risk of production interruptions and equipment damage.

[0168] This embodiment also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the automatic loading and unloading robot control method for a pad printing machine as described above are implemented.

[0169] This embodiment also provides a computer storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of controlling the automatic loading and unloading robot for the pad printing machine as described above are implemented.

[0170] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods 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 memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0171] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed to different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0172] The above embodiments of the present invention are not intended to limit the protection scope of the present invention, and the implementation modes of the present invention are not limited thereto. All other modifications, replacements or changes made to the above structures of the present invention based on the above contents of the present invention, in accordance with common technical knowledge and customary means in the art, without departing from the above basic technical ideas of the present invention, should fall within the protection scope of the present invention.

Claims

1. A control method for an automatic loading and unloading robot for a pad printing machine, characterized in that: The following steps are involved: Obtain the three-dimensional coordinates of the material loading point and the material changing point, wherein the machine tool is set with a multi-layer material tray, and set the zero point three-dimensional coordinates for the material tray; Generate first intermediate position coordinates and second intermediate position coordinates based on the three-dimensional coordinates of the material loading point, the three-dimensional coordinates of the material changing point and the three-dimensional coordinates of the zero point; Controlling the first manipulator to move the workpiece to be processed located at the loading point to the material changing point for machine tool processing according to the generated first intermediate position coordinates; Control the second manipulator to move the processed workpiece at the material change point out of the material change point when the workpiece to be processed reaches the material change far point according to the generated second intermediate position coordinates, wherein the X-axis coordinate of the material change far point is different from that of the material change point, but the Y-axis and Z-axis coordinates are the same; In the process of controlling the movement of the first manipulator, judging whether the intermediate stroke is greater than a predetermined threshold value according to the moving distance, thereby selecting the first moving speed or the second moving speed to complete the intermediate stroke; During the control process, detect whether the control method is interrupted unexpectedly, and perform fault processing according to the cause of the interruption, including continuing the execution or terminating the process with an alarm.

2. The automatic loading and unloading robot control method for pad printing machine according to claim 1 is characterized in that: The method for obtaining the three-dimensional coordinates of the loading point and the material changing point, where the machine tool is set with a multi-layer material tray and setting the zero point three-dimensional coordinates for the material tray is: First, determine the specific location and layout of the multi-layer trays on the machine tool, including the height of each layer of trays, the distance between layers, and the size and location of the tray surface; Set the zero-point coordinate at the center of each tray. This zero-point coordinate is the reference point of the entire coordinate system and is used to determine the relative positions of other positions. Determine the specific location where the material needs to be loaded, use measuring tools to measure and record the three-dimensional coordinates of the loading point, which includes X, Y, and Z axis coordinates to accurately indicate the location of the loading point; Determine the specific location where the material change operation is required, that is, the location where the processed workpiece needs to be placed. Also use the measuring tool to measure and record the three-dimensional coordinates of the material change point, including the X, Y, and Z axis coordinates.

3. The automatic loading and unloading robot control method for pad printing machine according to claim 1 is characterized in that: Based on the three-dimensional coordinates of the loading point, the three-dimensional coordinates of the material changing point and the three-dimensional coordinates of the zero point, the method for generating the coordinates of the first intermediate position is: Determine the zero point three-dimensional coordinates of each tray, obtain the specific three-dimensional coordinates of the loading point, and obtain the three-dimensional coordinates of the material change point; Determine a position between the loading point and the material changing point where the material changing point is ready as the first relative coordinate; The zero-point stereoscopic coordinate is used as a reference and combined with the first relative coordinate to calculate the absolute coordinate of the first intermediate position.

4. The automatic loading and unloading robot control method for pad printing machine according to claim 3 is characterized in that: Based on the three-dimensional coordinates of the loading point, the three-dimensional coordinates of the material changing point and the three-dimensional coordinates of the zero point, the method for generating the coordinates of the second intermediate position is: Determine a position near the material change point for removing the processed workpiece and preparing to receive a new workpiece to be processed as a second relative coordinate; The zero-point stereoscopic coordinate is used as a reference and combined with the second relative coordinate to calculate the absolute coordinate of the second intermediate position.

5. The automatic loading and unloading robot control method for pad printing machine according to claim 3 is characterized in that: The method of controlling the first manipulator to move the workpiece to be processed located at the loading point to the material change point for machine tool processing according to the generated first intermediate position coordinates is: According to the first intermediate position coordinates pre-generated in the system, the initial position of the workpiece to be processed at the loading point and the target position at the material changing point are obtained; Control the first manipulator to move to the loading point, ready to contact and clamp the workpiece to be processed; The robot uses a clamp to securely hold the workpiece to be machined at its end; According to the generated first intermediate position coordinates, the first manipulator is controlled to move to the first intermediate position of the workpiece to be processed located at the loading point; After the robot reaches the first intermediate position, it waits for confirmation that the material change point is ready; Confirm that the material change point is ready, and control the first manipulator to move to the target position of the material change point; After reaching the material change point, the robot releases the clamped workpiece to ensure that the workpiece can be received by the processing equipment and proceed to the next processing operation; When the move is complete, the robot returns to a safe position, awaits the next task, or continues other operations.

6. The control method of the automatic loading and unloading robot for pad printing machine according to claim 4 is characterized in that: The method of controlling the second manipulator to move the processed workpiece at the material change point out of the material change point when the workpiece to be processed reaches the material change far point according to the generated second intermediate position coordinates is: According to the generated second intermediate position coordinates, the second manipulator is controlled to move to a position near the material change point; When the workpiece to be processed reaches the material change point, the second manipulator needs to move the processed workpiece out of the material change point; Control the second manipulator to move the processed workpiece using a fixture; After the move is completed, the second robot returns to a safe position to prepare for the operation of the next workpiece.

7. The control method of the automatic loading and unloading robot for pad printing machine according to claim 6 is characterized in that: In the process of controlling the movement of the first manipulator, a method for judging whether the intermediate stroke is greater than a predetermined threshold value according to the moving distance, thereby selecting the first moving speed or the second moving speed to complete the intermediate stroke is: Determine a preset distance threshold for judging the length of the intermediate trip; When the robot starts to move, its position change is monitored by the position sensor until it reaches the predetermined intermediate position. By calculating the distance between the current position of the robot and the target position, the length of the intermediate stroke can be obtained; If the length of the intermediate stroke is greater than a predetermined threshold, selecting a first moving speed; If the length of the intermediate stroke is less than or equal to a predetermined threshold, the second moving speed is selected.

8. An automatic loading and unloading robot control system for a pad printing machine, characterized in that: Included are: A coordinate acquisition module is used to acquire the three-dimensional coordinates of the material loading point and the material changing point and the zero-point three-dimensional coordinates of the multi-layer material tray set by the machine tool; An intermediate position coordinate generation module generates a first intermediate position coordinate and a second intermediate position coordinate based on the three-dimensional coordinates of the material loading point, the material changing point and the zero point; A first manipulator control module is used to control the first manipulator to move the workpiece to be processed located at the loading point to the material changing point for machine tool processing according to the generated first intermediate position coordinates; A second manipulator control module is used to control the second manipulator to move the processed workpiece at the material change point out of the material change point when the workpiece to be processed reaches the material change far point according to the generated second intermediate position coordinates; A moving distance judgment module is used to judge whether the intermediate stroke is greater than a predetermined threshold value according to the actual moving distance during the movement of the first manipulator; Fault handling module: used to detect whether an unexpected interruption occurs.

9. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the program, the automatic loading and unloading robot control method for a pad printing machine as claimed in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the automatic loading and unloading robot control method for a pad printing machine as described in any one of claims 1 to 7 is implemented.

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