Automatic feeding and discharging mechanical arm control method and system for pad printing machine

Abstract

The application discloses a kind of automatic feeding and discharging mechanical hand control method for pad printing machine, comprising the following steps: obtaining feeding point three-dimensional coordinates and material changing point three-dimensional coordinates, wherein machine tool is provided with multiple layers of material tray, and zero point three-dimensional coordinates are set for material tray;Based on feeding point three-dimensional coordinates, material changing point three-dimensional coordinates and zero point three-dimensional coordinates, generate first intermediate position coordinates and second intermediate position coordinates;Control first mechanical hand according to the first intermediate position coordinates generated, carry out machine tool processing;Control second mechanical hand according to the second intermediate position coordinates generated, and remove the processed workpiece of material changing point;Whether the intermediate stroke is greater than the predetermined threshold according to the moving distance, so as to select the first moving speed or the second moving speed to complete the intermediate stroke;The automatic feeding and discharging mechanical hand control method and system for pad printing machine integrate advanced coordinate acquisition, generation, mechanical hand control, speed optimization and fault handling technology, realize efficient, high-precision, automated production.

Description

Technical Field

[0001] This invention relates to a control method and system for an automatic loading and unloading robot for a pad printing machine. Background Technology

[0002] In automated production lines, the design and control of automatic loading and unloading robotic arms for pad printing machines are crucial, effectively improving production efficiency and ensuring operational safety. The following is a background introduction to this technology:

[0003] Pad printing machines are precision processing devices commonly used in printing and coating processes, typically for transferring patterns or text onto flat or curved surfaces. In high-efficiency production environments, automated loading and unloading robotic systems are widely adopted to minimize operator intervention and maximize production efficiency.

[0004] Traditionally, pad printing machines rely on manual or semi-automatic loading and unloading methods, which are not only inefficient but also prone to operational errors and safety risks. Therefore, automated loading and unloading robotic systems have emerged, achieving automated loading and unloading processes through precise control and planning, significantly improving production efficiency and product quality stability.

[0005] Traditional control methods suffer from insufficient precision in coordinate acquisition and generation, potentially leading to positional deviations or error accumulation during robot movement. This can affect the accurate machining of workpieces, especially in pad printing applications requiring high precision.

[0006] Furthermore, the robotic arm's movement speed and path planning are not optimized enough, resulting in a longer overall loading and unloading process. Especially when the coordinates of the material change point and the remote material change 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] To address the shortcomings of existing technologies, the purpose of this invention is to provide an automatic loading and unloading robot control method and system for pad printing machines that integrates advanced coordinate acquisition, generation, robot control, speed optimization, and fault handling technologies, thereby achieving efficient, high-precision, and automated production.

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

[0009] A method for controlling an automatic loading and unloading robot for a pad printing machine includes the following steps:

[0010] Obtain the 3D coordinates of the loading point and the changing point. The machine tool is set with multiple material trays, and the zero point 3D coordinates of the material trays are set.

[0011] Based on the 3D coordinates of the loading point, the 3D coordinates of the changing point, and the zero point, the coordinates of the first intermediate position and the second intermediate position are generated.

[0012] The first robotic arm is controlled to move the workpiece to be processed from the loading point to the material changing point for machine tool processing based on the generated first intermediate position coordinates;

[0013] The second robotic arm is controlled to move the already processed workpiece out of the material changing point when the workpiece to be processed reaches the material changing point, based on the generated second intermediate position coordinates. The X-axis coordinate of the material changing point is different from that of the material changing point, but the Y-axis and Z-axis coordinates are the same.

[0014] During the process of controlling the movement of the first robotic arm, the intermediate stroke is determined based on the moving distance to determine whether it exceeds a predetermined threshold, and then the first or second moving speed is selected to complete the intermediate stroke.

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

[0016] As a preferred method, the three-dimensional coordinates of the loading point and the changing point are obtained, wherein the machine tool is equipped with multiple material trays, and the method for setting the zero-point three-dimensional coordinates of the material trays is as follows:

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

[0018] A zero-point 3D coordinate is set at the center of each material tray. This zero-point coordinate is the reference point of the entire coordinate system and is used to determine the relative position of other positions.

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

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

[0021] As a preferred method, the method for generating the coordinates of the first intermediate position 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 is as follows:

[0022] Determine the zero-point 3D coordinates of each material tray, obtain the specific 3D coordinates of the loading point, and obtain the 3D coordinates of the material changing point;

[0023] Determine a position between the loading point and the changing point as the first relative coordinate, waiting for the changing point to be ready.

[0024] Using the zero-point three-dimensional coordinates as a reference, and combining them with the first relative coordinates, the absolute coordinates of the first intermediate position are calculated.

[0025] As a preferred method, the method for generating the coordinates of the second intermediate position 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 is as follows:

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

[0027] Using the zero-point three-dimensional coordinates as a reference, and combining them with the second relative coordinates, the absolute coordinates of the second intermediate position are calculated.

[0028] As a preferred method, the first robotic arm is controlled to move the workpiece to be processed from the loading point to the material changing point for machine tool processing based on the generated first intermediate position coordinates.

[0029] Based on the first intermediate position coordinates pre-generated in the system, obtain the initial position of the workpiece at the loading point and the target position at the material changing point;

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

[0031] The robotic arm uses a clamp to securely hold the workpiece to be processed at its end;

[0032] Based on the generated first intermediate position coordinates, control the first robot arm to move to the first intermediate position of the workpiece to be processed located at the loading point;

[0033] After the robotic arm reaches the first intermediate position, it waits to confirm that the material change point is ready.

[0034] Once the material change point is confirmed to be ready, control the first robotic arm to move to the target position of the material change point;

[0035] Upon reaching the material change point, the robotic arm releases the workpiece it is holding, ensuring that the workpiece can be received by the processing equipment and proceed to the next processing operation.

[0036] After completing the movement, the robotic arm returns to a safe position to await the next task or continue performing other operations.

[0037] As a preferred method, the second robotic arm is controlled to move the already processed workpiece out of the material changing point when the workpiece to be processed reaches the far point of the material changing point, based on the generated second intermediate position coordinates:

[0038] Based on the generated second intermediate position coordinates, control the second robotic arm to move to a position near the material change point;

[0039] When the workpiece to be processed arrives at the material change point, the second robot arm needs to remove the processed workpiece from the material change point;

[0040] Control the second robotic arm to move the processed workpiece using a gripper;

[0041] After the movement is complete, the second robotic arm returns to a safe position to prepare for receiving the next workpiece.

[0042] As a preferred method, during the control of the first robotic arm's movement, the method of determining whether the intermediate stroke exceeds a predetermined threshold based on the moving distance, and thus selecting a first or second moving speed to complete the intermediate stroke, is as follows:

[0043] A preset distance threshold is determined to determine the length of the intermediate journey;

[0044] When the robotic arm starts to move, its position changes are monitored by position sensors until it reaches the predetermined intermediate position. By calculating the distance between the current position and the target position of the robotic arm, the length of the intermediate stroke can be obtained.

[0045] If the length of the intermediate travel is greater than the predetermined threshold, select the first moving speed;

[0046] If the length of the intermediate travel is less than or equal to the predetermined threshold, select the second travel speed.

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

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

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

[0050] The first robotic arm control module is used to control the first robotic arm to move the workpiece to be processed from the loading point to the material changing point for machine tool processing according to the generated first intermediate position coordinates;

[0051] The second robotic arm control module is used to control the second robotic arm to move the processed workpiece out of the material changing point when the workpiece to be processed reaches the material changing far point, based on the generated second intermediate position coordinates.

[0052] The movement distance judgment module is used to determine whether the intermediate stroke is greater than a predetermined threshold based on the actual movement distance during the movement of the first robotic arm.

[0053] Fault handling module: Used to detect whether an unexpected interruption has occurred.

[0054] Another technical problem to be solved by the present invention is 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 program, it implements the automatic loading and unloading robot control method for pad printing machines as described above.

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

[0056] The beneficial effects of this invention are:

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

[0058] In terms of coordinate control, the system accurately relies on the preset three-dimensional coordinates of the zero point of the multi-layer material tray of the machine tool as a reference to accurately calculate and control the coordinates of the loading point, material changing point and intermediate position, so as to ensure the position accuracy and stability of the robot during the movement process.

[0059] For the production process, this system adopts a dual-robot collaborative operation mode. The first robot arm is responsible for handling the workpieces before processing, while the second robot arm is responsible for moving the workpieces after processing. By using 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 movement speed control, this system demonstrates a high degree of flexibility. Based on the actual movement distance and preset thresholds, the system can intelligently select either a first or second movement speed to ensure both stability and efficiency during intermediate travel.

[0061] Finally, automated control and precise coordinate calculation significantly reduce direct operator involvement and operational risks, thereby improving overall operational safety and the stability of the production environment. Attached Figure Description

[0062] Figure 1 This is a flowchart of an automatic loading and unloading robot control method for a pad printing machine according to the present invention. Detailed Implementation

[0063] The principles and features of the present invention are described below. The examples given are for illustrative purposes only and are not intended to limit the scope of the invention. The invention is described more specifically by way of example in the following paragraphs. The advantages and features of the invention will become clearer from the following description and claims.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0065] Example

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

[0067] Obtain the 3D coordinates of the loading point and the changing point. The machine tool is set with multiple material trays, and the zero point 3D coordinates of the material trays are set.

[0068] Based on the 3D coordinates of the loading point, the 3D coordinates of the changing point, and the zero point, the coordinates of the first intermediate position and the second intermediate position are generated.

[0069] The first robotic arm is controlled to move the workpiece to be processed from the loading point to the material changing point for machine tool processing based on the generated first intermediate position coordinates;

[0070] The second robotic arm is controlled to move the already processed workpiece out of the material changing point when the workpiece to be processed reaches the material changing point, based on the generated second intermediate position coordinates. The X-axis coordinate of the material changing point is different from that of the material changing point, but the Y-axis and Z-axis coordinates are the same.

[0071] During the process of controlling the movement of the first robotic arm, the intermediate stroke is determined based on the moving distance to determine whether it exceeds a predetermined threshold, and then the first or second moving speed is selected to complete the intermediate stroke.

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

[0073] The system's primary task is to accurately acquire the three-dimensional coordinate information of the loading and changing points. This coordinate data typically corresponds to specific spatial locations on multiple layers of material trays inside the machine tool, clearly identifying the storage areas for workpieces to be processed and those already processed. Simultaneously, to ensure the uniformity and accuracy of the coordinate system, each material tray is assigned a reference zero-point coordinate, serving as the origin for subsequent operations.

[0074] Based on the acquired coordinates of the loading point, changing point, and zero point, the system generates first and second intermediate position coordinates using a sophisticated algorithm. These intermediate coordinates aim to clearly define the specific target positions of the first and second robotic arms during their movement, ensuring that the robotic arm operations can be executed accurately.

[0075] After receiving system instructions, the first robotic arm, based on the generated first intermediate position coordinates, safely and stably moves the workpiece to be processed from the loading point to the material changing point for subsequent processing by the machine tool. This process involves complex path planning and speed control strategies to ensure the smoothness and safety of the workpiece during movement.

[0076] Once the workpiece to be processed successfully reaches the material change point, the second robotic arm is activated and operates according to the coordinates of the second intermediate position. Its main task is to move the processed workpiece from the material change point and transport it to the preset material change remote point. It is worth noting that although the coordinates of the material change remote point in the X-axis direction may differ from those of the material change point, the coordinates in the Y-axis and Z-axis directions remain consistent to ensure the continuity and accuracy of workpiece movement.

[0077] During the robotic arm's movement, the system monitors the actual travel distance in real time and determines whether the intermediate stroke exceeds a preset threshold. Based on the determination, the system intelligently selects the most suitable travel speed (such as a first or second travel speed) to complete the remaining stroke, thereby improving overall efficiency while ensuring operational safety. Furthermore, the system integrates a comprehensive fault detection and handling mechanism, capable of promptly detecting and responding to unexpected interruptions such as sensor malfunctions and communication errors. In the event of a fault, the system will quickly take appropriate measures based on the specific circumstances, such as continuing 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 3D coordinates of the loading point and the changing point, where the machine tool is configured with multiple material trays, and setting the zero-point 3D coordinates of the material trays is as follows:

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

[0080] A zero-point 3D coordinate is set at the center of each material tray. This zero-point coordinate is the reference point of the entire coordinate system and is used to determine the relative position of other positions.

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

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

[0083] We employed professional measuring tools to precisely measure and record the three-dimensional coordinates of the loading and changing points, ensuring the accuracy of these positions. This effectively reduced operational errors that could be caused by positional deviations, significantly improving the accuracy and stability of the entire processing flow.

[0084] After clearly defining the zero-point three-dimensional coordinates of each material tray, we were able to quickly and accurately locate and switch between different material trays. This significantly shortened the time required for material changeover and had a significant positive impact on enhancing the overall capacity of the production line.

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

[0086] Furthermore, by implementing precise measurement and recording measures, we have effectively reduced the risk of human error and significantly enhanced the reliability and stability of operations. This is crucial for ensuring the continuous operation of the production line and the rigorous implementation of product quality control.

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

[0088] First, it is essential to have a thorough understanding of the specific configuration and layout of the multi-layer feed trays on the machine tool. This includes the height of each tray, the spacing between trays, and the specific dimensions and positions of the tray surfaces. This information is crucial for the accurate setting of the subsequent coordinate system.

[0089] Set the zero-point three-dimensional coordinate system:

[0090] A precise zero-point three-dimensional coordinate system must be established at the center of each tray or at a pre-defined specific location. This zero-point coordinate will serve as the reference point for the entire coordinate system, used to calibrate and calculate the relative coordinates of all other locations.

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

[0092] Using professional measuring tools (such as rangefinders and coordinate measuring machines), the three-dimensional coordinates of the loading point are accurately measured, and the obtained data is recorded in detail. This coordinate data must cover the precise values ​​of the X, Y, and Z axes to ensure that the workpiece can be accurately placed in the preset position.

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

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

[0095] Verification and adjustment:

[0096] After all coordinate measurements and records are completed, rigorous verification is required to ensure the accuracy of all data. If any deviations or errors are found, necessary adjustments must be made immediately to ensure the entire coordinate system accurately indicates each preset position.

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

[0098] Determine the zero-point 3D coordinates of each material tray, obtain the specific 3D coordinates of the loading point, and obtain the 3D coordinates of the material changing point;

[0099] Determine a position between the loading point and the changing point as the first relative coordinate, waiting for the changing point to be ready.

[0100] Using the zero-point three-dimensional coordinates as a reference, and combining them with the first relative coordinates, the absolute coordinates of the first intermediate position are calculated.

[0101] By using precise zero-point 3D coordinates as a reference and integrating accurate 3D coordinate information from 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 workpiece movement, effectively avoiding production problems that may be caused by positional errors.

[0102] Once the three-dimensional coordinates of the loading point and the changing point are accurately measured and recorded, and the zero-point three-dimensional coordinates are set and verified, the operator can efficiently generate the first intermediate position coordinates based on these data, thereby simplifying the operation process and shortening the time cost of setting and adjusting.

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

[0104] By employing a predetermined absolute coordinate calculation method, we ensured the system's stable and consistent performance across different production batches and workpiece changeover scenarios. This is of immeasurable value for maintaining the continuity and stability of the production line.

[0105] At the center of each tray or at other pre-specified locations, we have carefully set zero-point three-dimensional coordinates as the core reference point for the entire coordinate system.

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

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

[0108] Using the zero-point three-dimensional coordinates as a reference and combining the first relative coordinate information, we performed a precise calculation of the absolute coordinates of the first intermediate position. This process is typically accomplished using simple and efficient methods such as vector addition or coordinate offset, ensuring the accuracy of the calculation results.

[0109] After calculating the coordinates of the first intermediate position, we implemented a rigorous data verification process to ensure its accuracy. If necessary, we will also make necessary adjustments and corrections based on production requirements and the robot's range of motion.

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

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

[0112] Using the zero-point three-dimensional coordinates as a reference, and combining them with the second relative coordinates, the absolute coordinates of the second intermediate position are calculated.

[0113] Using the zero-point three-dimensional coordinates as a reference framework, combined with the precisely measured second relative coordinates around the material change point, we can accurately calculate the absolute coordinates of the second intermediate position. This aims to improve the accuracy of workpiece movement and positioning operations, thereby effectively reducing the probability of operational errors and positional deviations.

[0114] Pre-determining the coordinates of the second intermediate position, especially planning the preparatory position for receiving new workpieces near the material changeover point, can significantly accelerate the material changeover process. This efficiency improvement strategy is of paramount importance for reducing production line downtime and improving overall production efficiency.

[0115] By precisely defining the second relative coordinates and closely integrating them with its reference point—the zero-point three-dimensional coordinates—operators can perform faster and more reliable material changeovers. This process optimization will undoubtedly enhance the production line's operational efficiency and consistency.

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

[0117] At the center of each material tray or at a pre-set position, the zero-point three-dimensional coordinates are precisely set to ensure that they serve as the stable foundation of the entire coordinate system.

[0118] Using appropriate measuring tools, the three-dimensional coordinates of the loading point and the changing point are accurately measured and recorded, covering the specific values ​​of the X, Y, and Z axes.

[0119] Around the material changeover point, a designated area is established for the removal of processed workpieces and preparation for receiving new workpieces, serving as a marker for a second relative coordinate. This location is typically situated in the workpiece preparation area after the processed workpieces have been removed.

[0120] Subsequently, by combining the zero-point three-dimensional coordinates with the second relative coordinates, the absolute coordinates of the second intermediate position are precisely calculated. 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 calculating the coordinates of the second intermediate position, a rigorous verification procedure must be performed to confirm the accuracy of the data. If necessary, appropriate adjustments and corrections should be made to adapt to different production requirements and workpiece characteristics.

[0122] The method for controlling the first robotic arm to move the workpiece to be processed from the loading point to the material changing point for machine tool processing based on the generated first intermediate position coordinates is as follows:

[0123] Based on the first intermediate position coordinates pre-generated in the system, obtain the initial position of the workpiece at the loading point and the target position at the material changing point;

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

[0125] The robotic arm uses a clamp to securely hold the workpiece to be processed at its end;

[0126] Based on the generated first intermediate position coordinates, control the first robot arm to move to the first intermediate position of the workpiece to be processed located at the loading point;

[0127] After the robotic arm reaches the first intermediate position, it waits to confirm that the material change point is ready.

[0128] Once the material change point is confirmed to be ready, control the first robotic arm to move to the target position of the material change point;

[0129] Upon reaching the material change point, the robotic arm releases the workpiece it is holding, ensuring that the workpiece can be received by the processing equipment and proceed to the next processing operation.

[0130] After completing the movement, the robotic arm returns to a safe position to await the next task or continue performing other operations.

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

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

[0133] In each operational step, the robotic arm uses clamping tools to securely fix and release the workpiece, ensuring its safety throughout the entire transfer and processing process—it will neither be damaged nor fall off. This strategy greatly guarantees the safety of the production environment and the smoothness of the work process.

[0134] Relying on a pre-built coordinate system and automated control technology, the robotic arm can accurately perform various tasks following a predetermined path, significantly reducing reliance on human intervention. These automation measures significantly enhance the system's reliability and the consistency of work results.

[0135] Since most operations rely on pre-calculated coordinate values ​​and automated control mechanisms, this method significantly reduces the possibility of human error. Operators only need to monitor the stable operation of the system and the quality of the workpiece, without having to personally intervene in every detail of the process.

[0136] The method for controlling the second robotic arm to move the already processed workpiece out of the material change point when the workpiece to be processed reaches the material change far point, based on the generated second intermediate position coordinates, is as follows:

[0137] Based on the generated second intermediate position coordinates, control the second robotic arm to move to a position near the material change point;

[0138] When the workpiece to be processed arrives at the material change point, the second robot arm needs to remove the processed workpiece from the material change point;

[0139] Control the second robotic arm to move the processed workpiece using a gripper;

[0140] After the movement is complete, the second robotic arm returns to a safe position to prepare for receiving the next workpiece.

[0141] Using pre-generated second intermediate position coordinates, the second robot arm can be precisely moved to a position near the material change point. This precision is crucial because it prevents positional deviations or inaccuracies in the workpiece during movement.

[0142] Using pre-defined coordinates and operating procedures, the second robotic arm can quickly and efficiently move the processed workpiece and safely remove it from the material changeover point using a fixture. This optimized operating procedure reduces the time spent on material changeovers and potential production line downtime.

[0143] When moving a machined workpiece, the second robotic arm uses grippers to ensure the workpiece is securely fixed and stable. This method ensures that no accidents or damage occur during workpiece movement, maintaining a safe production environment.

[0144] Controlling the movement of the second robotic arm based on pre-generated coordinates is an automated process, which improves operational accuracy and system reliability. This automation reduces errors or inconsistencies that may be introduced by human intervention.

[0145] By rapidly moving and safely removing processed workpieces, the second robotic arm's operation ensures increased production efficiency. This highly efficient material changeover process allows the production line to operate continuously, maximizing the use of equipment and human resources.

[0146] The method for determining whether the intermediate stroke exceeds a predetermined threshold based on the moving distance during the control of the first robotic arm's movement, and thus selecting a first or second moving speed to complete the intermediate stroke, is as follows:

[0147] A preset distance threshold is determined to determine the length of the intermediate journey;

[0148] When the robotic arm starts to move, its position changes are monitored by position sensors until it reaches the predetermined intermediate position. By calculating the distance between the current position and the target position of the robotic arm, the length of the intermediate stroke can be obtained.

[0149] If the length of the intermediate travel is greater than the predetermined threshold, select the first moving speed;

[0150] If the length of the intermediate travel is less than or equal to the predetermined threshold, select the second travel speed.

[0151] By dynamically selecting the travel speed based on the actual length of the intermediate stroke, the robot arm can be ensured to move at the optimal speed across different distance ranges. A longer intermediate stroke allows for a higher travel speed to improve efficiency, while a shorter intermediate stroke allows for a lower travel speed to precisely control the position without introducing excessive acceleration or deceleration.

[0152] Choosing a lower travel speed when the intermediate travel distance is short helps save energy and reduce mechanical wear on the robotic arm during movement. At the same time, a higher travel speed can provide greater productivity when rapid movement is required, thus saving time and costs.

[0153] By dynamically selecting the speed within a predetermined threshold range, vibrations or instability that may occur during the acceleration or deceleration of the robotic arm can be reduced. This stability is crucial for maintaining workflow continuity and the long-term reliability of the machinery.

[0154] Choosing an appropriate movement speed ensures the precision and accuracy of the robot arm when it reaches the designated position. This is especially important for production tasks requiring high-precision positioning and operation, such as precision machining or assembly tasks.

[0155] This method is adaptive, dynamically adjusting the speed according to specific circumstances to adapt to different work scenarios and needs. This flexibility allows the system to maintain high efficiency under various conditions and be adjusted and optimized based on actual situations.

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

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

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

[0159] The first robotic arm control module is used to control the first robotic arm to move the workpiece to be processed from the loading point to the material changing point for machine tool processing according to the generated first intermediate position coordinates;

[0160] The second robotic arm control module is used to control the second robotic arm to move the processed workpiece out of the material changing point when the workpiece to be processed reaches the material changing far point, based on the generated second intermediate position coordinates.

[0161] The movement distance judgment module is used to determine whether the intermediate stroke is greater than a predetermined threshold based on the actual movement distance during the movement of the first robotic arm.

[0162] Fault handling module: Used to detect whether an unexpected interruption has occurred.

[0163] The coordinate acquisition module accurately obtains the 3D coordinates of the loading point, material change point, and zero point of the material tray. The intermediate position coordinate generation module then generates the first and second intermediate position coordinates based on these coordinates. This ensures that the first and second robotic arms can move precisely to the designated positions to perform tasks such as loading / unloading materials and moving processed workpieces.

[0164] The first robotic arm control module automatically moves the workpiece to be processed from the loading point to the changing point for machine tool processing based on the generated first intermediate position coordinates. This automated process reduces manual intervention and improves production efficiency and production line operating speed.

[0165] Based on the generated second intermediate position coordinates, the second robotic arm control module automatically moves the already processed workpiece out of the material change point when the workpiece to be processed arrives at 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 movement distance judgment module can monitor the actual movement distance in real time during the movement of the first robotic arm and select an appropriate movement speed based on a preset threshold. This intelligent motion control method allows the robotic arm to adjust the stroke length and speed according to specific circumstances to achieve the best operating effect.

[0167] The fault handling module can detect unexpected interruptions and promptly handle abnormal situations to ensure system stability and security. This function is particularly important for automated production lines that operate for extended periods, minimizing the risk of production disruptions 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. When the processor executes the computer program, it implements the steps of the automatic loading and unloading robot control method for pad printing machines as described above.

[0169] This embodiment also provides a computer storage medium storing a computer program, which, when executed by a processor, implements the steps described above for controlling the automatic loading and unloading robot of the pad printing machine.

[0170] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0171] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned 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 scope of protection of the present invention. The implementation of the present invention is not limited thereto. All other modifications, substitutions or alterations made to the above structure of the present invention based on the above content of the present invention, in accordance with ordinary technical knowledge and common practice in the field, without departing from the basic technical idea of ​​the present invention, shall fall within the scope of protection of the present invention.

Claims

1. A method for controlling an automatic loading and unloading robot for a pad printing machine, characterized in that, Includes the following steps: The system acquires the 3D coordinates of the loading point and the changing point, where the machine tool has multiple material trays and a zero-point 3D coordinate is set for each tray. Based on the 3D coordinates of the loading point, changing point, and zero point, it generates first and second intermediate position coordinates. The first robot arm is controlled to move the workpiece to be processed from the loading point to the changing point for machining, according to the generated first intermediate position coordinates. The second robot arm is controlled to move the already processed workpiece from the changing point when the workpiece reaches the far point of the changing point, according to the generated second intermediate position coordinates. The X-axis coordinate of the far point of the changing point is different from that of the changing point, but the Y-axis and Z-axis coordinates are the same. During the movement of the first robot arm, the system determines whether the intermediate stroke exceeds a predetermined threshold based on the movement distance, and selects either a first or second movement speed to complete the intermediate stroke. During the control process, detect whether the control method is unexpectedly interrupted, and handle the fault according to the cause of the interruption, including continuing execution or terminating the process with an alarm. The method for obtaining the 3D coordinates of the loading point and the changing point, where the machine tool has multiple layers of trays, and setting the zero-point 3D coordinates for each tray, is as follows: First, determine the specific position and layout of the multiple layers of trays on the machine tool, including the height of each tray, the distance between trays, and the size and position of the tray surface; set the zero-point 3D coordinate at the center of each tray, which serves as the reference point for the entire coordinate system and is used to determine the relative positions of other locations; determine the specific position where loading is required, and use measuring tools to measure and record the 3D coordinates of the loading point, including the X, Y, and Z axis coordinates, to accurately indicate the position of the loading point; determine the specific position required for the changing operation, i.e., the position where the processed workpiece needs to be placed, and again use measuring tools to measure and record the 3D coordinates of the changing point, including the X, Y, and Z axis coordinates. The method for generating the coordinates of the first intermediate position based on the three-dimensional coordinates of the loading point, the three-dimensional coordinates of the changing point, and the zero-point three-dimensional coordinates is as follows: determine the zero-point three-dimensional coordinates of each material tray, obtain the specific three-dimensional coordinates of the loading point, and obtain the three-dimensional coordinates of the changing point; determine a position between the loading point and the changing point where the changing point is ready as the first relative coordinate; use the zero-point three-dimensional coordinates as the reference, combined with the first relative coordinates, to calculate the absolute coordinates of the first intermediate position.

2. The automatic loading and unloading robot control method for pad printing machines according to claim 1, characterized in that, The method for generating the second intermediate position coordinates based on the three-dimensional coordinates of the loading point, the material changing point, and the zero point is as follows: determine a position near the material changing point for removing the processed workpiece and preparing to receive the new workpiece to be processed as the second relative coordinate; use the zero point three-dimensional coordinates as the reference, and combine them with the second relative coordinates to calculate the absolute coordinates of the second intermediate position.

3. The automatic loading and unloading robot control method for pad printing machines according to claim 1, characterized in that, The method for controlling the first robotic arm to move the workpiece to be processed from the loading point to the changing point for machine tool processing according to the generated first intermediate position coordinates is as follows: according to the first intermediate position coordinates generated in the system in advance, the initial position of the workpiece to be processed at the loading point and the target position at the changing point are obtained; the first robotic arm is controlled to move to the loading point, ready to contact and clamp the workpiece to be processed; the robotic arm uses a clamp to securely fix the workpiece to be processed at its end. Based on the generated first intermediate position coordinates, control the first robot arm to move to the first intermediate position; after the robot arm reaches the first intermediate position, wait for confirmation that the material change point is ready; Once the material change point is confirmed to be ready, the first robotic arm is moved to the target position of the material change point. After arriving at the material change point, the robotic arm releases the workpiece it is holding, ensuring that the workpiece can be received by the processing equipment and processed for the next step of processing. After completing the movement, the robotic arm returns to a safe position to await the next task or continue performing other operations.

4. The automatic loading and unloading robot control method for pad printing machines according to claim 3, characterized in that, The method for controlling the second robotic arm to move the already processed workpiece out of the material change point when the workpiece to be processed reaches the material change far point, based on the generated second intermediate position coordinates, is as follows: Based on the generated second intermediate position coordinates, control the second robotic arm to move to a position near the material change point; when the workpiece to be processed reaches the material change far point, the second robotic arm needs to move the already processed workpiece out of the material change point; control the second robotic arm to use a fixture to move the already processed workpiece; after the movement is completed, the second robotic arm returns to a safe position to prepare for receiving the next workpiece.

5. The automatic loading and unloading robot control method for pad printing machines according to claim 4, characterized in that, The method for determining whether the intermediate stroke exceeds a predetermined threshold based on the moving distance during the control of the first robotic arm movement is as follows: a preset distance threshold is determined to determine the length of the intermediate stroke; when the robotic arm starts moving, its position change is monitored by a position sensor until it reaches the predetermined intermediate position; the length of the intermediate stroke can be obtained by calculating the distance between the current position and the target position of the robotic arm; if the length of the intermediate stroke is greater than the predetermined threshold, the first moving speed is selected; if the length of the intermediate stroke is less than or equal to the predetermined threshold, the second moving speed is selected.

6. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the automatic loading and unloading robot control method for pad printing machines as described in any one of claims 1-5.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the automatic loading and unloading robot control method for pad printing machines as described in any one of claims 1-5.

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