Workpiece production line control method, device, electronic equipment, storage medium and system

Abstract

The present application provides a workpiece production line control method, device, electronic device, storage medium and system. The method includes: receiving an unloading request from a first workstation, the unloading request includes the workstation information of the first workstation; determining the workpiece information currently at the first workstation based on the workstation information; obtaining the process formula of the workpiece corresponding to the workpiece information according to the workpiece information; determining the second workstation corresponding to the next process of the workpiece based on the process formula; controlling the movement of the conveying device and the clamping device according to the current working state of the second workstation to move the workpiece. The present application moves the workpiece from the current workstation to any workstation through the conveying device and the clamping device to meet the needs of multiple workpieces on the production line and different process formulas of the multiple workpieces, thereby improving the flexibility of the workpiece during the transmission process.

Description

Technical Field

[0001] The present application relates to the technical field of conveying system control, and in particular to a workpiece production line control method, device, electronic equipment, storage medium and system. Background Art

[0002] In the existing manufacturing logistics system, most of them adopt the method of continuous conveying of multiple workpieces (also known as assembly line), and each workpiece enters each processing station for processing in sequence according to the loading order. However, in the actual production process, such as the research and development stage, different workpieces have different corresponding process formulas, that is, the order in which each workpiece arrives at each processing station is different. For example, there are 5 processing stations in total, and the process formula of workpiece 1 is: station 1-station 2-station 3-station 4-station 5; the process formula of workpiece 2 is: station 1-station 3-station 2-station 5. The conveying method according to the assembly line can no longer meet the processing requirements of multiple process formulas. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a workpiece production line control method, device, electronic device, storage medium and system to improve the flexibility of the workpiece during the transportation process.

[0004] In a first aspect, an embodiment of the present application provides a workpiece production line control method, which is applied to schedule multiple workpieces on a production line; the process recipes of the multiple workpieces are different; the process recipes include the processing sequence of the workpieces in each station on the production line; the method includes:

[0005] receiving an unloading request of a first workstation, wherein the unloading request includes workstation information of the first workstation;

[0006] Determine the workpiece information currently at the first workstation based on the workstation information;

[0007] Acquire a process recipe of a workpiece corresponding to the workpiece information according to the workpiece information;

[0008] Determine the second workstation corresponding to the next process of the workpiece based on the process recipe;

[0009] According to the current working state of the second workstation, the conveying device and the clamping device are controlled to move so as to move the workpiece.

[0010] The embodiment of the present application can move the workpiece from the current workstation to any workstation through a conveying device and a clamping device to meet the needs of multiple workpieces on the production line with different process recipes, thereby improving the flexibility of the workpiece during the transmission process.

[0011] In any embodiment, according to the current working state of the second workstation, controlling the conveying device and the clamping device to move the workpiece includes:

[0012] If the second workstation is in an idle state, the conveying device and the clamping device are controlled to move the workpiece from the first workstation to the second workstation.

[0013] In the embodiment of the present application, when the second workstation is in an idle state, it means that the workpiece can enter the second workstation for processing, and the clamping device is driven to the first workstation where the workpiece is currently located by the conveying device, the clamping device clamps the workpiece out of the first workstation, and then the clamping device is brought to the second workstation by the conveying device, and the clamping device sends the workpiece into the second workstation. This method of moving the workpiece based on the busy state of the second workstation reduces the degree of congestion of the production line.

[0014] In any embodiment, according to the current working state of the second workstation, controlling the conveying device and the clamping device to move the workpiece includes:

[0015] If the second station is in a busy state, determine whether the first station is a cache station;

[0016] If the first station is not a buffer station, controlling the conveying device to drive the clamping device to move the workpiece from the first station to the buffer station;

[0017] If the first workstation is a buffer workstation, the next workpiece is processed.

[0018] In the embodiment of the present application, when the second workstation is in a busy state, the workpiece is moved from the first workstation to the cache workstation, thereby reducing the occupation time at the first workstation and reducing the risk of blocking the production line.

[0019] In any embodiment, according to the current working state of the second workstation, controlling the conveying device and the clamping device to move the workpiece includes:

[0020] If the second workstation is in a busy state, predict the time required for the second workstation to switch from a busy state to an idle state;

[0021] If the duration is greater than the preset duration and the first station is not a cache station, the workpiece is moved from the first station to the cache station and the next workpiece is processed;

[0022] If the duration is not greater than the preset duration, the workpiece is controlled to wait at the first station. When the second station is switched to an idle state, the conveying device and the clamping device are controlled to move the workpiece from the first station to the second station, and the process progress of the workpiece is updated.

[0023] In the embodiment of the present application, the time required for the second station to switch to the idle state is used to determine whether the workpiece is waiting or placed on the cache station, thereby reducing the frequent movement of the workpiece by the conveying device and the clamping device.

[0024] In any embodiment, the process recipe further includes the placement of the workpiece at each station; controlling the conveying device and the clamping device to move the workpiece from the first station to the second station includes:

[0025] Controlling the conveying device to drive the clamping device to clamp the workpiece from the first station;

[0026] Controlling the conveying device to drive the clamping device clamping the workpiece to move from the first station to the second station;

[0027] The clamping device is controlled to place the workpiece on the second station according to the placement configuration.

[0028] The embodiment of the present application can flexibly move the workpiece on the production line through the cooperation of the conveying device and the clamping device, thereby reducing the impact of other workpieces on the production line on the workpiece.

[0029] In any embodiment, controlling the conveying device and the clamping device to move the workpiece from the first station to the second station includes:

[0030] Determine the parameters of the conveying device and the clamping device based on the process recipe;

[0031] A prepackaged scheduling program is called, and the movement of the conveying device and the clamping device is controlled based on the conveying device parameters and the clamping device parameters to move the workpiece from the first station to the second station.

[0032] The embodiment of the present application performs parameterized packaging of the motion programs of the conveying device and the clamping device, and the conveying device and the clamping device can be controlled by subsequent parameter transmission. In addition, the clamping device can control the position and shape of the workpiece, thereby improving the flexibility of workpiece transmission.

[0033] In any embodiment, the step of obtaining a process recipe of a workpiece corresponding to the workpiece information according to the workpiece information includes:

[0034] In the case of receiving unloading requests from a plurality of first workstations, a process recipe of the workpiece that enters the production line earliest is determined according to the workpiece information respectively corresponding to the plurality of first workstations.

[0035] In an embodiment of the present application, in the case where multiple unloading requests are received, the process formula of the workpiece that enters the production line earliest can be determined, and the workpieces can be subsequently scheduled based on the process formula, so that the workpiece that enters the production line earliest can be processed first and go offline as soon as possible, allowing the subsequent workpieces that have not been put online to go online as soon as possible, thereby improving the processing efficiency of the production line.

[0036] In any embodiment, according to the current working state of the second workstation, controlling the conveying device and the clamping device to move the workpiece includes:

[0037] When unloading requests of multiple first workstations are received and the current state of the second workstations corresponding to the workpieces on the multiple first workstations is an idle state, a path planning model is used to perform analysis based on the current positions of the conveying device and the clamping device and the second workstations corresponding to the multiple workpieces to determine the workpiece to be scheduled from the multiple workpieces;

[0038] Control the movement of the conveying device and the clamping device to move the workpiece to be scheduled from the first station to the second station;

[0039] The workpiece to be dispatched is a workpiece that makes the movement path of the conveying device and the clamping device the shortest.

[0040] In any embodiment, after moving the workpiece from the first station to the second station; the method further comprises:

[0041] receiving workpiece information sent by the second workstation; the workpiece information is obtained by scanning the workpiece through a scanning device on the second workstation;

[0042] Verification is performed based on the workpiece information and the process recipe corresponding to the workpiece information to determine whether the workpiece is transported to the correct workstation.

[0043] The embodiment of the present application reduces the probability of process errors in the production process of the workpiece by verifying the workpiece information.

[0044] In any embodiment, if the cache station includes multiple workpieces with the same next process, and the second station corresponding to the next process is switched from a busy state to an idle state; the method further includes:

[0045] The earliest workpiece to enter the production line among multiple workpieces is removed from the buffer station and transported to the second station; or,

[0046] The workpiece that enters the buffer station earliest among the multiple workpieces is taken out from the buffer station and transported to the second station; or,

[0047] A workpiece with the least number of processing steps to be performed among the multiple workpieces is taken out from the buffer station and transported to the second station.

[0048] In the embodiment of the present application, priority is given to processing workpieces that enter the production line earlier, so that subsequent workpieces can enter the production line as early as possible, thereby improving production efficiency.

[0049] In a second aspect, an embodiment of the present application provides a workpiece production line control device, which is used to schedule multiple workpieces on a production line; the process recipes of the multiple workpieces are different; the process recipes include the processing sequence of the workpieces in each station on the production line; the device includes:

[0050] A receiving module, configured to receive an unloading request of a first workstation, wherein the unloading request includes workstation information of the first workstation;

[0051] An information determination module, used to determine information of a workpiece currently located at the first workstation based on the workstation information;

[0052] A recipe acquisition module, used to acquire a process recipe of a workpiece corresponding to the workpiece information according to the workpiece information;

[0053] A workstation determination module, used to determine a second workstation corresponding to the next process of the workpiece based on the process recipe;

[0054] The control module is used to control the movement of the conveying device and the clamping device according to the current working state of the second workstation to move the workpiece.

[0055] In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory, and a bus, wherein:

[0056] The processor and the memory communicate with each other via the bus;

[0057] The memory stores program instructions that can be executed by the processor, and the processor can execute the method of the first aspect by calling the program instructions.

[0058] In a fourth aspect, an embodiment of the present application provides a non-transitory computer-readable storage medium, including:

[0059] The non-transitory computer-readable storage medium stores computer instructions that cause the computer to execute the method of the first aspect.

[0060] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising computer program instructions, wherein when the computer program instructions are read and executed by a processor, the method of the first aspect is executed.

[0061] In a sixth aspect, the embodiments of the present application provide a workpiece production line control system, a controller, a conveying device and a clamping device;

[0062] The controller is used to execute the method described in the first aspect.

[0063] In any embodiment, the system further includes a workstation equipment control system; the workstation equipment control system is communicatively connected to the controller and is used to send workstation information to the controller.

[0064] In any embodiment, the conveying device includes a direct drive motor and the gripping device includes a robotic arm;

[0065] Direct drive motors are used to drive the robot arm movement;

[0066] The robot arm is used to clamp the workpiece.

[0067] In any embodiment, the system further comprises a scanning device; the scanning device is disposed at each workstation and is in communication connection with the controller;

[0068] The scanning device is used to scan the workpiece on the workstation, obtain the workpiece information, and send the workpiece information to the controller.

[0069] In any embodiment, the system further includes a host computer; the host computer is communicatively connected to the controller; the host computer is used to receive the process recipe and send the process recipe to the controller.

[0070] The embodiment of the present application utilizes a conveying device to drive the clamping device to reach any position on the production line, and combined with parameterized step control, the workstations on the production line can be flexibly moved between the various workstations.

[0071] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the embodiments of the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0073] Figure 1 A schematic diagram of a production line structure provided in an embodiment of the present application;

[0074] Figure 2 A schematic diagram of a workpiece production line control method provided in an embodiment of the present application;

[0075] Figure 3 A schematic diagram of parameterized packaging provided for an embodiment of the present application;

[0076] Figure 4 A schematic flow chart of another workpiece production line control method provided in an embodiment of the present application;

[0077] Figure 5 A schematic diagram of a parameterized step control process method provided in an embodiment of the present application;

[0078] Figure 6 A schematic diagram of the structure of a workpiece production line control device provided in an embodiment of the present application;

[0079] Figure 7 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present application;

[0080] Figure 8 A schematic diagram of the structure of a workpiece production line control system provided in an embodiment of the present application;

[0081] Fig. 9 A schematic flow chart of another workpiece production line control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0082] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0083] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0084] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0085] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0086] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0087] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0088] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0089] In order to cope with the uncertainty of frequent iterative optimization of process routes, the manufacturing system needs to be highly compatible to adapt to various process paths. Therefore, higher requirements are placed on the conveying system in the production line, such as: conveying multiple workpieces between multiple processing stations; the order of conveying workpieces can be edited and set; the order of each workpiece is different; and even when conveying to the processing station, the shape of the workpiece is different and configurable.

[0090] In the existing manufacturing conveying system, most of them are single-workpiece point-to-point or multi-workpiece continuous conveying. Among them, the single-workpiece point-to-point method means that a workpiece enters each processing station for processing according to its process recipe on the production line, and then the next workpiece is processed after the processing is completed. This method has very low processing efficiency. Multi-workpiece continuous conveying is more suitable for the same process recipe of multiple workpieces, and the processing stations in the process recipe are set according to the conveying direction. It is not suitable for the situation where the process recipe is variable.

[0091] For example: there are 16 workstations arranged in sequence, and the production line conveys the workpieces in sequence by means of a conveyor belt. Assuming there are 3 workpieces in total, the process formula of workpiece 1 includes workstation 1-workstation 3-workstation 4-workstation 6-workstation 2-workstation 10. The process formula of workpiece 2 includes workstation 1-workstation 2-workstation 4-workstation 6-workstation 13-workstation 10-workstation 16. The process formula of workpiece 3 includes workstation 1-workstation 16-workstation 4-workstation 6-workstation 10-workstation 2. For the traditional method of conveying workpieces by conveyor belt, since the processing order of workpieces at each workstation is different, if all three workpieces are put into production, the risk of blocking the production line is relatively high. For example: when workpiece 1 needs to move from workstation 2 to workstation 10, and workpiece 3 needs to move from workstation 10 to workstation 2, two workpieces with opposite moving directions will be blocked on the production line.

[0092] Based on this, the embodiments of the present application provide a workpiece production line control method, device, electronic device, storage medium, computer program and system. In the method, the conveying device is controlled to drive the clamping device to move between various processing stations by parameterized step control, thereby improving the flexibility of the workpiece during the transmission process.

[0093] It can be understood that the method provided in the embodiments of the present application can be applied to production lines in various fields where workpieces can be clamped and transported by clamping devices, and can be applied to scenarios in the product research and development stage where each batch of products includes multiple process recipes.

[0094] Figure 1 A schematic diagram of a production line structure provided in an embodiment of the present application, such as Figure 1 As shown. The production line includes 14 processing stations, 1 buffer station and 1 loading station, that is, among stations 101 to 116, station 107 is a buffer station, station 101 is a loading station, and the others are processing stations. 117 is a conveying device, which can be a direct drive motor (also known as a DD motor), and 118 is a clamping device, which can be a robotic arm. The conveying device can drive the clamping device to each station on the production line (including processing stations, buffer stations and loading stations) to grab the workpiece from the station or place the workpiece on the station. 119 is a barcode scanning device on each processing station, which is used to scan the workpiece information of the workpiece entering the corresponding processing station.

[0095] It should be noted that Figure 1 Only one implementation method on a production line is shown. In actual applications, the total number of workstations, the number of buffer workstations, the number of conveying devices and clamping devices, etc. in the production line can be set according to actual conditions. Taking the example of two conveying devices and two clamping devices, the production line can be divided into two areas, the first area includes workstations 101-108, and the second area includes workstations 109-116. The first set of conveying devices and clamping devices are responsible for grabbing or placing workpieces on the workstations in the first area, and the second set of conveying devices and clamping devices are responsible for grabbing or placing workpieces on the workstations in the second area.

[0096] Figure 2 A flowchart of a workpiece production line control method provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the method includes:

[0097] Step 201: receiving an unloading request of a first workstation, where the unloading request includes workstation information of the first workstation;

[0098] Step 202: Determine the workpiece information currently at the first workstation based on the workstation information;

[0099] Step 203: acquiring a process recipe of the workpiece corresponding to the workpiece information according to the workpiece information; the process recipe includes a processing sequence of the workpiece in each station;

[0100] Step 204: determining a second workstation corresponding to the next process of the workpiece based on the process recipe;

[0101] Step 205: According to the current working state of the second workstation, control the movement of the conveying device and the clamping device to move the workpiece.

[0102] In the specific implementation process, during the operation of the production line, the number of workpieces in production is generally multiple, and the process formulas of the multiple workpieces are different. It should be noted that different process formulas refer to that the process formulas of multiple workpieces are different, or the process formulas of some workpieces among the multiple workpieces are different. The first station refers to one of the stations in the production line. After the first station completes the processing of the workpiece, it will send an unloading request to the PLC of the production line. The unloading request includes the station information of the first station. The station information can be the station identification of the first station, which is used to characterize the uniqueness of the first station in the production line. It is understandable that the unloading request can also include other parameters, such as a timestamp, information about the workpiece currently at the first station, etc.

[0103] The PLC records the information of the workpiece on each workstation at the current time, that is, stores the correspondence between each workstation and the workpiece, and the correspondence is updated in real time. Therefore, after obtaining the workstation information in the unloading request, the PLC can determine the workpiece information of the workpiece on the first workstation based on the correspondence. It can be understood that the workpiece information can be a workpiece identification, and each workpiece has a unique identification.

[0104] It is understandable that if the unloading request includes workpiece information, the PLC can directly obtain the workpiece information at the first workstation from the unloading request.

[0105] The PLC stores the process formula corresponding to each workpiece, which is used to characterize the processing order of the workpiece in each station. Taking the production line structure provided in the above embodiment as an example, assuming that there are 3 workpieces, the process formula of workpiece 1 includes station 1-station 3-station 4-station 6-station 2-station 10. The process formula of workpiece 2 includes station 1-station 2-station 4-station 6-station 13-station 10-station 16. The process formula of workpiece 3 includes station 1-station 16-station 4-station 6-station 10-station 2.

[0106] After the workpiece information is acquired, the process formula corresponding to the workpiece information is determined from the pre-stored process formulas, and the workstation of the next process corresponding to the next process of the workpiece, ie, the second workstation, can be determined based on the process formula.

[0107] According to the normal process flow, after the workpiece is processed at the first station, it needs to enter the second station for the next process. Before moving the workpiece to the second station, it is necessary to obtain the current working state of the second station, which is used to characterize whether the second station is busy or idle. The busy state indicates that the second station is processing other workpieces, and the idle state indicates that the second station is not currently processing any workpieces.

[0108] It is understandable that after each workstation completes processing of a workpiece, it will send an unloading request to the PLC. After receiving the unloading request, the PLC can control the conveying device and the clamping device to move the workpiece out of the workstation. After the workpiece is completely removed, the workstation can send a loading request to the PLC again, indicating that the current working state at this time is idle. After the PLC transfers the workpiece to the workstation, it can update the current working state of the workstation to busy. Therefore, the current working state of each workstation is stored in the PLC.

[0109] If the current working state of the second station is idle, the PLC can control the conveying device to drive the clamping device to move the workpiece from the first station to the second station. If the current working state of the second station is busy, the workpiece cannot be moved from the first station to the second station at the moment, and the PLC can control the conveying state and the movement of the clamping device according to the pre-set conveying logic to move the workpiece. The specific conveying logic will be introduced later.

[0110] It should be noted that, since there are multiple workpieces being processed in the production line at the same time, each workpiece can be moved according to the above steps 201 to 205. In the case where there is only one set of conveying device and clamping device in the production line, the movement priority of the workpieces can be determined according to the order in which the workpieces enter the production line, that is, if the workpiece that enters the production line first can be moved, it will be moved first. If the workpiece that enters the production line first cannot enter the next process, the workpiece that enters the production line second first will be moved. The reason why the workpiece cannot enter the next process is that the workstation corresponding to the next process is busy.

[0111] The embodiment of the present application can move the workpiece from the current workstation to any workstation by driving the clamping device through the conveying device, and combine with parameterized step control to achieve orderly execution of multiple workpieces to meet the needs of multiple workpieces on the production line and different process recipes of multiple workpieces, thereby improving the flexibility of the workpiece during the transmission process.

[0112] On the basis of the above embodiment, after obtaining the current working state of the second station, the specific implementation method of controlling the movement of the conveying device and the clamping device to move the workpiece is as follows:

[0113] If the second workstation is in an idle state, the conveying device and the clamping device are controlled to move the workpiece from the first workstation to the second workstation.

[0114] In the specific implementation process, if the second station is in an idle state, it means that the workpiece can be moved from the first station to the second station. At this time, the conveying device can be controlled to drive the clamping device to move to the first station, and then the clamping device can be controlled to clamp the workpiece out of the first station; then the conveying device can be controlled to drive the clamping device holding the workpiece to move to the second station, and then the clamping device can be controlled to put the workpiece into the second station. After the placement is completed, the processing progress of the workpiece is updated in the PLC. A separate table can be created for recording, or a state can be added based on the process formula. For example, a state can be added for each station in the process formula. For example, if the workpiece has been processed at the first station in the process formula, a mark indicating that it has been completed can be added to the first station.

[0115] By updating the processing progress, the PLC can know which workstation the workpiece should enter for the next process.

[0116] In the embodiment of the present application, when the second workstation is in an idle state, it means that the workpiece can enter the second workstation for processing, and the clamping device is driven to the first workstation where the workpiece is currently located by the conveying device, the clamping device clamps the workpiece out of the first workstation, and then the clamping device is brought to the second workstation by the conveying device, and the clamping device sends the workpiece into the second workstation. This method of moving the workpiece based on the busy state of the second workstation reduces the degree of congestion of the production line.

[0117] Based on the above embodiment, the current state of the second workpiece may also be a busy state. In this case, the PLC may perform the following operations:

[0118] If the second station is in a busy state, determine whether the first station is a cache station;

[0119] If the first station is not a cache station, moving the workpiece from the first station to the cache station;

[0120] If the first workstation is a buffer workstation, the next workpiece is processed.

[0121] In the specific implementation process, the cache station is a station for temporarily storing workpieces, and at least one workpiece can be placed on a cache station at the same time. In the case where the current working state of the second station is busy, it can be determined whether the workpiece is already in the cache station. If the workpiece is already in the cache station, the workpiece will not be moved and will continue to wait in the cache station. At this time, the PLC can move the next workpiece. If the workpiece is currently located in a station that is not a cache station, the PLC can control the conveying device to drive the clamping device to move the workpiece from the first station to the cache station.

[0122] It is understandable that when the PLC detects that the current working state of the second station is switched from a busy state to an idle state, the conveying device can be controlled to drive the clamping device to move the workpiece from the cache station to the second station. In addition, when the PLC detects that the current working state of the second station is switched from a busy state to an idle state, if there are two workpieces in the cache station and the stations corresponding to the next process are both the second station, then one of the two workpieces can be selected according to the preset rules and moved to the second station. Among them, the preset rules can be: move the workpiece that enters the cache station first to the second station, and determine the workpiece using the first-in-first-out principle; or, move the workpiece that enters the production line first to the second station, so that the workpiece that enters the production line first is processed first; or, move the workpiece with a small number of remaining processes to the second station, so that the work can be processed as soon as possible, so that the workpieces waiting for processing can be processed online as soon as possible.

[0123] In the embodiment of the present application, when the second workstation is in a busy state, the workpiece is moved from the first workstation to the cache workstation, thereby reducing the occupation time at the first workstation and reducing the risk of blocking the production line.

[0124] Based on the above embodiment, the current state of the second workpiece may also be a busy state. In view of this situation, the PLC may also perform the following operations:

[0125] If the second workstation is in a busy state, predict the time required for the second workstation to switch from a busy state to an idle state;

[0126] If the duration is greater than the preset duration and the first station is not a cache station, the workpiece is moved from the first station to the cache station and the next workpiece is processed;

[0127] If the duration is not greater than the preset duration, the workpiece is controlled to wait at the first station. When the second station is switched to an idle state, the conveying device and the clamping device are controlled to move the workpiece from the first station to the second station, and the process progress of the workpiece is updated.

[0128] In the specific implementation process, when the current working state of the second workstation is a busy state, the PLC can predict the time required for the second workstation to switch from a busy state to an idle state. The prediction method of the time can be: counting the average processing time of the second workstation, obtaining the processing time of the workpiece by the second workstation, and then using the difference between the average processing time and the processing time as the time required for the second workstation to switch from a busy state to an idle state.

[0129] If the required time is longer than the preset time, it means that the workpiece needs to wait for a long time before entering the second station. In this case, the conveying device can be controlled to drive the clamping device to move the workpiece to the cache station. Of course, if the workpiece is already in the cache station, the workpiece will not be moved and the next workpiece can be processed.

[0130] If the required time is not greater than the preset time, it means that the workpiece will soon enter the second station. In this case, the workpiece can be allowed to wait at the first station until the current working state of the second station switches from busy state to idle control, and then the workpiece is moved to the second station and the process progress of the workpiece is updated.

[0131] The embodiment of the present application determines whether the workpiece is waiting or placed on the cache station by the time required for the second station to switch to the idle state, which on the one hand reduces the risk of production line blockage, and on the other hand reduces the frequent movement of the workpiece by the conveying device and the clamping device.

[0132] Based on the above embodiment, the process recipe also includes the placement of the workpiece at each station; controlling the conveying device and the clamping device to move the workpiece from the first station to the second station includes:

[0133] Controlling the conveying device to drive the clamping device to clamp the workpiece from the first station;

[0134] Controlling the conveying device to drive the clamping device clamping the workpiece to move from the first station to the second station;

[0135] The clamping device is controlled to place the workpiece on the second station according to the placement configuration.

[0136] In the specific implementation process, when pre-configuring the process formula, in addition to configuring the processing order of the workpiece at each station, you can also configure the placement form of the workpiece when it enters each station, for example: front side up, back side up, left offset by a certain amount, right offset by a certain amount, etc. Based on the process formula, the PLC can determine the second station corresponding to the next process of the workpiece, as well as the placement form of the workpiece at the second station. Then, the conveying device is controlled to drive the clamping device to move from the current position to the first station, and the clamping device clamps the workpiece out of the first station. After clamping the workpiece out, the conveying device is controlled to drive the clamping device clamping the workpiece from the first station to move to the second station, and the clamping device places the workpiece on the second station according to the placement form, and the workpiece is processed by the processing equipment at the second station.

[0137] The embodiment of the present application can flexibly move the workpiece on the production line through the cooperation of the conveying device and the clamping device, thereby reducing the impact of other workpieces on the production line on the workpiece.

[0138] Based on the above embodiment, controlling the conveying device and the clamping device to move the workpiece from the first station to the second station includes:

[0139] Determine the parameters of the conveying device and the clamping device based on the process recipe;

[0140] A prepackaged scheduling program is called, and the movement of the conveying device and the clamping device is controlled based on the conveying device parameters and the clamping device parameters to move the workpiece from the first station to the second station.

[0141] In the specific implementation process, the PLC can pre-divide the process of moving the workpiece by the conveying device and the clamping device according to the function, for example, it can be divided into a moving module, a grabbing module, etc. Each module contains a set of parameters to describe its action or state. Each module is parameterized, that is, the action or state of the module is associated with a set of parameters. Figure 3 The parameterized packaging schematic diagram provided in the embodiment of the present application is as follows: Figure 3As shown. The driver program of the conveying device is encapsulated as 301, and the morphological program of the clamping device is encapsulated as 302. The process configurable function can be realized through the parameterized call of the workstation number and the robot action number 303. 400 is the workstation equipment control signal, and 305 is the logistics system encapsulation signal. The interlocking and intercommunication between the workstation equipment and the logistics equipment are realized through the interaction between 301 and 305. 304 is the encapsulation block signal of 300. Among them, Work ID represents the workpiece ID number, Enable represents the system enable, Interlock represents the safety interlocking signal between systems, Loading Request represents the loading request, Loading ACK represents the loading action, Loading Complete represents the loading completion, UnloadingRequest represents the unloading request, Unloading ACK represents the unloading action, Unloading Complete represents the unloading completion, Output:Ready represents the system ready flag, Output:Busy represents the system busy flag, and Output:Done represents the system completion flag.

[0142] The encapsulated module can perform specific actions by calling the interface and passing in the corresponding parameter values. Among them, the pre-encapsulated scheduling program can be executed through the call of the interface, and the scheduling program includes the methods required for the conveying device and the clamping device to move the workpiece.

[0143] The embodiment of the present application realizes parameterization of actions through parameterized packaging of the conveying device and the clamping device. Different combination process recipes can be realized by calling parameters, thereby improving the flexibility of workpiece transmission.

[0144] On the basis of the above embodiment, in the case of receiving multiple unloading requests from the first station, the PLC system can select an unloading request from the multiple unloading requests from the first station for processing. Among them, the specification of selecting the unloading request can be preset, for example: it can be processed according to the order in which the unloading requests are received, that is, the unloading request received earliest is processed first; it can also select the request corresponding to the workpiece that enters the production line earliest from multiple unloading requests, etc. After determining the unloading request to be processed, the process formula corresponding to the workpiece information in the unloading request is obtained to perform subsequent workpiece scheduling operations based on the process formula. The PLC system controls the conveying device and the clamping device to complete the movement of the workpiece once, and can determine the next workpiece to be moved according to the above scheme. Of course, it is also possible to move the first workpiece first according to the order in which the workpieces are put on the line. After completing the movement of the first workpiece, if the second workpiece also meets the movement conditions, then the second workpiece is moved. If the second workpiece does not meet the movement conditions, it is determined whether the third workpiece is movable, and so on.

[0145] In an embodiment of the present application, in the case where multiple unloading requests are received, the process formula of the workpiece that enters the production line earliest can be determined, and the workpieces can be subsequently scheduled based on the process formula, so that the workpiece that enters the production line earliest can be processed first and go offline as soon as possible, allowing the subsequent workpieces that have not been put online to go online as soon as possible, thereby improving the processing efficiency of the production line.

[0146] On the basis of the above embodiment, according to the current working state of the second station, the conveying device and the clamping device are controlled to move to move the workpiece, including:

[0147] When unloading requests of multiple first workstations are received and the current state of the second workstations corresponding to the workpieces on the multiple first workstations is an idle state, a path planning model is used to perform analysis based on the current positions of the conveying device and the clamping device and the second workstations corresponding to the multiple workpieces to determine the workpiece to be scheduled from the multiple workpieces;

[0148] Control the movement of the conveying device and the clamping device to move the workpiece to be scheduled from the first station to the second station;

[0149] The workpiece to be dispatched is a workpiece that makes the movement path of the conveying device and the clamping device the shortest.

[0150] In the specific implementation process, when the workpiece on the workstation is processed, the workstation will send an unloading request to the PLC system. At this time, the PLC system may receive unloading requests from multiple workstations that have completed processing. After receiving the unloading request, the PLC system can obtain the workstation information from the unloading request, and determine the workpiece information on the workstation based on the workstation information, and then determine the process recipe based on the workpiece information. After determining the process recipe, it can be determined to which workstation (i.e., the second workstation) the workpiece will be moved for processing. The PLC system can respectively determine the working status of the second workstation of the workpiece corresponding to the received unloading request, and treat the workpiece corresponding to the second workstation whose working status is idle as a movable workpiece.

[0151] In the case of multiple movable workpieces, the PLC system can use the path planning model to analyze based on the current positions of the multiple movable workpieces, the second station to be moved to, and the positions of the conveying device and the clamping device, and determine the workpiece to be scheduled from the multiple movable workpieces. Among them, the path planning model can be constructed using the A* algorithm, Dijkstra algorithm or genetic algorithm. The determined workpiece to be scheduled can make the movement path of the conveying device and the clamping device the shortest. Thereby improving the efficiency of workpiece scheduling.

[0152] In addition, in addition to considering the shortest path, the workpiece to be scheduled can also be determined comprehensively based on factors such as the urgency of the workpiece and the processing efficiency of the second workstation.

[0153] For example, the process requires that after the workpiece is processed at station 1, it must enter station 2 for processing within a preset time. At this time, the urgency of the workpiece is relatively high. The urgency of the workpiece can be used as one of the factors input into the path planning model for subsequent analysis.

[0154] The PLC system obtains the motion parameters corresponding to the workpiece based on the path planning results, and calls the scheduling program to control the conveying device and the clamping device to move the workpiece.

[0155] It can be understood that the path planning model is obtained by pre-training using training samples, and the training samples include motion path data of the conveying device and the clamping device under different circumstances in a historical time period.

[0156] The embodiment of the present application determines the workpieces to be scheduled through a path planning model, reduces invalid paths and redundant operations, and thus improves production efficiency.

[0157] Based on the above embodiment, after the workpiece is moved from the first station to the second station, the method further includes:

[0158] receiving workpiece information sent by the second workstation; the workpiece information is obtained by scanning the workpiece through a scanning device on the second workstation;

[0159] Verification is performed based on the workpiece information and the process recipe corresponding to the workpiece information to determine whether the workpiece is transported to the correct workstation.

[0160] In a specific implementation process, before the clamping device sends the workpiece to the second station, it can first scan the workpiece through a scanning device to obtain the workpiece information of the workpiece. Specifically, an identification code, such as a barcode, a QR code, etc., can be attached to the workpiece. After acquiring the workpiece information, the scanning device sends the workpiece information to the PLC, and the PLC verifies the workpiece information to determine whether the workpiece has been transported to the correct station.

[0161] The embodiment of the present application reduces the probability of process errors in the production process of the workpiece by verifying the workpiece information.

[0162] Figure 4 A schematic diagram of another workpiece production line control method provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, including:

[0163] Step 401: configure the process recipe; the process recipe of the batch of workpieces may be configured using a host computer, and after the configuration is completed, the process recipe is sent to the PLC.

[0164] Step 402: Start the process; the PLC controls the production line to start production.

[0165] Step 403: Read the current workpiece number; the scanning device on the loading station scans the workpiece number of the workpiece and sends the workpiece number to the PLC.

[0166] Step 404: Execute process step control; the specific implementation of the process step control is shown in the following embodiment.

[0167] Step 405: Determine whether the processing of the current batch of workpieces is completed. After completing the processing of one workpiece, determine whether the processing of the entire batch of workpieces is completed. If completed, execute step 406, otherwise execute step 404.

[0168] Step 406: The batch production is finished.

[0169] Figure 5 A schematic diagram of a parameterized step control process method provided in an embodiment of the present application is shown in FIG. Figure 5 This process is a step-controlled process for a workpiece, assuming that the workpiece needs to be processed n times in total.

[0170] Process step control Step 1: Determine whether the workpiece Step 1 station has issued an unloading request, and whether the Step 2 station has issued an installation request; if the Step 1 station has issued an unloading request, and the Step 2 station has issued an installation request, then obtain the parameters to be transmitted according to the process recipe of the workpiece, and call the corresponding scheduling program to control the conveying device to drive the clamping device to move the workpiece from the Step 1 station to the Step 2 station, and then execute the process step control Step 2. Among them, the Step 1 station refers to the first processing station in the process recipe of the workpiece; the Step 2 station refers to the second processing station in the process recipe of the workpiece.

[0171] If the Step 1 station issues an unloading request and the Step 2 station does not issue a device request, it means that the Step 2 station is busy. In this case, it can be determined whether the workpiece is in the cache station or the loading station. If it is in the cache station or the loading station, the next workpiece is processed; if the workpiece is not in the cache station or the loading station, the workpiece is moved to the cache station and the next workpiece is processed.

[0172] Process step control Step 2: Determine whether the workpiece Step 2 station has issued an unloading request, and whether the Step 3 station has issued an installation request; if the Step 2 station has issued an unloading request, and the Step 3 station has issued an installation request, then obtain the parameters to be transmitted (including the conveying device parameters and the clamping device parameters) according to the process recipe of the workpiece, and call the corresponding program to control the conveying device to drive the clamping device to move the workpiece from the Step 2 station to the Step 3 station, and then execute the process step control Step 3. Among them, the Step 2 station refers to the first processing station in the process recipe of the workpiece; the Step 3 station refers to the second processing station in the process recipe of the workpiece.

[0173] If the Step2 station sends an unloading request and the Step3 station does not send a device request, it means that the Step3 station is busy. In this case, it can be determined whether the workpiece is in the cache station or the loading station. If it is in the cache station or the loading station, the next workpiece is processed; if the workpiece is not in the cache station or the loading station, the workpiece is moved to the cache station and the next workpiece is processed. And so on.

[0174] Process step control Step(n): Determine whether the workpiece Step(n-1) station has issued an unloading request, and whether the Step(n) station has issued an installation request; if the Step(n-1) station has issued an unloading request, and the Step(n) station has issued an installation request, then obtain the parameters to be transmitted according to the process recipe of the workpiece, and call the corresponding program to control the conveying device to drive the clamping device to move the workpiece from the Step(n-1) station to the Step(n) station. Among them, the Step(n-1) station refers to the first processing station in the process recipe of the workpiece; the Step(n) station refers to the second processing station in the process recipe of the workpiece.

[0175] If the Step (n-1) station issues an unloading request and the Step (n) station does not issue a device request, it means that the Step (n) station is busy. In this case, it can be determined whether the workpiece is in the cache station or the loading station. If it is in the cache station or the loading station, the next workpiece is processed; if the workpiece is not in the cache station or the loading station, the workpiece is moved to the cache station and the next workpiece is processed. And so on.

[0176] Figure 6 This is a schematic diagram of the structure of a workpiece production line control device provided in an embodiment of the present application. The device may be a module, program segment or code on an electronic device. It should be understood that the device is similar to the above-mentioned Figure 2 The method embodiment corresponds to and can be executed Figure 2The various steps involved in the method embodiment and the specific functions of the device can be found in the description above. To avoid repetition, detailed description is appropriately omitted here. The device includes: a receiving module 601, an information determination module 602, a recipe acquisition module 603, a workstation determination module 604 and a control module 605, wherein:

[0177] The receiving module 601 is used to receive an unloading request of a first workstation, wherein the unloading request includes workstation information of the first workstation;

[0178] The information determination module 602 is used to determine the workpiece information currently located at the first workstation based on the workstation information;

[0179] The recipe acquisition module 603 is used to acquire the process recipe of the workpiece corresponding to the workpiece information according to the workpiece information;

[0180] The workstation determination module 604 is used to determine the second workstation corresponding to the next process of the workpiece based on the process recipe;

[0181] The control module 605 is used to control the movement of the conveying device and the clamping device according to the current working state of the second workstation to move the workpiece.

[0182] Based on the above embodiment, the control module 605 is specifically used for:

[0183] If the second workstation is in an idle state, the conveying device and the clamping device are controlled to move the workpiece from the first workstation to the second workstation.

[0184] Based on the above embodiment, the control module 605 is specifically used for:

[0185] If the second station is in a busy state, determining whether the first station is a cache station;

[0186] If the first station is not a buffer station, controlling the conveying device to drive the clamping device to move the workpiece from the first station to the buffer station;

[0187] If the first workstation is a buffer workstation, the next workpiece is processed.

[0188] Based on the above embodiment, the control module 605 is specifically used for:

[0189] If the second workstation is in a busy state, predicting the time required for the second workstation to switch from the busy state to the idle state;

[0190] If the duration is greater than a preset duration and the first station is not a buffer station, the workpiece is moved from the first station to the buffer station and the next workpiece is processed;

[0191] If the duration is not greater than the preset duration, the workpiece is controlled to wait at the first station. When the second station is switched to the idle state, the conveying device and the clamping device are controlled to move the workpiece from the first station to the second station, and the process progress of the workpiece is updated.

[0192] On the basis of the above embodiment, the process recipe also includes the placement form of the workpiece at each station; the control module 605 is specifically used for:

[0193] Controlling the conveying device to drive the clamping device to clamp the workpiece from the first station;

[0194] Controlling the conveying device to drive the clamping device clamping the workpiece to move from the first station to the second station;

[0195] The clamping device is controlled to place the workpiece on the second station according to the placement configuration.

[0196] Based on the above embodiment, the control module 605 is specifically used for:

[0197] Determining conveying device parameters and clamping device parameters based on the process recipe;

[0198] A prepackaged scheduling program is called, and the movement of the conveying device and the clamping device is controlled based on the conveying device parameters and the clamping device parameters to move the workpiece from the first workstation to the second workstation.

[0199] Based on the above embodiment, the recipe acquisition module 603 is specifically used for:

[0200] In the case of receiving unloading requests from a plurality of first workstations, a process recipe of the workpiece that enters the production line earliest is determined according to the workpiece information respectively corresponding to the plurality of first workstations.

[0201] Based on the above embodiment, the control module 605 is specifically used for:

[0202] When unloading requests for a plurality of first workstations are received and the current state of the second workstations corresponding to the workpieces on the plurality of first workstations is an idle state, a path planning model is used to perform analysis based on the current positions of the conveying device and the clamping device and the second workstations corresponding to the plurality of workpieces, so as to determine the workpiece to be scheduled from the plurality of workpieces;

[0203] Controlling the movement of the conveying device and the clamping device to move the workpiece to be scheduled from the first station to the second station;

[0204] The workpiece to be dispatched is a workpiece that makes the movement path of the conveying device and the clamping device the shortest.

[0205] On the basis of the above embodiment, after the workpiece is moved from the first station to the second station, the device further includes a verification module for:

[0206] receiving workpiece information sent by the second workstation; the workpiece information is obtained by scanning the workpiece with a scanning device on the second workstation;

[0207] Verification is performed based on the workpiece information and the process recipe corresponding to the workpiece information to determine whether the workpiece is transported to the correct workstation.

[0208] On the basis of the above embodiment, if the cache station includes multiple workpieces with the same next process, and the second station corresponding to the next process is switched from a busy state to an idle state; the control module 605 is further used to:

[0209] The workpiece that enters the production line earliest among the multiple workpieces is taken out from the buffer station and transported to the second station; or,

[0210] The workpiece that enters the buffer station earliest among the multiple workpieces is taken out from the buffer station and transported to the second station; or,

[0211] The workpiece with the least number of processing steps to be performed among the multiple workpieces is taken out from the buffer station and transported to the second station.

[0212] Figure 7 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present application, such as Figure 7 As shown, the electronic device includes: a processor (processor) 701, a memory (memory) 702 and a bus 703; wherein,

[0213] The processor 701 and the memory 702 communicate with each other via the bus 703;

[0214] The processor 701 is used to call the program instructions in the memory 702 to execute the methods provided by the above-mentioned method embodiments, for example, including: receiving an unloading request from a first workstation, the unloading request including the workstation information of the first workstation; determining the workpiece information currently at the first workstation based on the workstation information; obtaining the process formula of the workpiece corresponding to the workpiece information based on the workpiece information; determining the second workstation corresponding to the next process of the workpiece based on the process formula; and controlling the movement of the conveying device and the clamping device to move the workpiece according to the current working status of the second workstation.

[0215] The processor 701 may be an integrated circuit chip with signal processing capabilities. The processor 701 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. It may implement or execute various methods, steps and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0216] The memory 702 may include, but is not limited to, random access memory (RAM), read only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0217] The present embodiment discloses a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the methods provided by the above-mentioned method embodiments, for example, including: receiving an unloading request from a first workstation, the unloading request including workstation information of the first workstation; determining workpiece information currently at the first workstation based on the workstation information; acquiring a process formula of the workpiece corresponding to the workpiece information based on the workpiece information; determining a second workstation corresponding to the next process of the workpiece based on the process formula; and controlling the movement of a conveying device and a clamping device to move the workpiece according to the current working status of the second workstation.

[0218] The present embodiment provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions enable the computer to execute the methods provided by the above-mentioned method embodiments, for example, including: receiving an unloading request from a first workstation, the unloading request including the workstation information of the first workstation; determining the workpiece information currently at the first workstation based on the workstation information; obtaining the process formula of the workpiece corresponding to the workpiece information according to the workpiece information; determining the second workstation corresponding to the next process of the workpiece based on the process formula; and controlling the movement of the conveying device and the clamping device according to the current working status of the second workstation to move the workpiece.

[0219] Figure 8 A schematic diagram of a workpiece production line control system structure provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, it includes a controller 801, a conveying device 802 and a clamping device 803, wherein the controller 801 is respectively connected to the conveying device 802 and the clamping device 803 in communication. The controller 801 can cooperate with the conveying device 802 and the clamping device 803 to execute the above-mentioned various method embodiments. Therefore, the controller 801 can be a PLC.

[0220] Fig. 9 This is another workpiece production line control system flow chart provided in the embodiment of the present application. Fig. 9 shown.

[0221] On the basis of the above embodiment, the system station equipment control system; the station equipment control system is connected to the controller through the switch 3, and is used to send station information to the controller. It can be understood that the station equipment control system is used to control all stations on the production line. The station information can be the station identification, the current working state of the station, the workpiece information entering the station, etc. In addition, the station equipment control system can also send loading requests and unloading requests of the station to the controller.

[0222] Based on the above embodiment, the conveying device includes a direct drive motor, also known as a DD (Direct Drive Motor) motor. The clamping device includes a robotic arm, and the DD motor can drive the robotic arm to move in the production line to reach each workstation. The robotic arm is used to clamp the workpiece, and the position of the workpiece entering the workstation can be adjusted as needed.

[0223] On the basis of the above embodiment, the system further includes a scanning device; the scanning device is arranged at each workstation and is connected to the controller through the switch 2;

[0224] The scanning device is used to scan the workpiece on the workstation, obtain the workpiece information, and send the workpiece information to the controller.

[0225] Based on the above embodiment, the system further includes a host computer; the host computer is connected to the controller through switch 1; the host computer is used to receive the process recipe and send the process recipe to the controller. The host computer can also be connected to the station equipment control system through switches 1 and 3.

[0226] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0227] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0228] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0229] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0230] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A workpiece production line control method, characterized in that: The method is applied to schedule multiple workpieces on a production line; the process recipes of the multiple workpieces are different; The process recipe includes the processing sequence of the workpiece in each station on the production line; the method includes: receiving an unloading request of a first workstation, wherein the unloading request includes workstation information of the first workstation; Determine information of a workpiece currently at the first workstation based on the workstation information; Acquire a process recipe of a workpiece corresponding to the workpiece information according to the workpiece information; Determining a second workstation corresponding to the next process of the workpiece based on the process recipe; According to the current working state of the second station, controlling the conveying device and the clamping device to move so as to move the workpiece; According to the current working state of the second station, controlling the conveying device and the clamping device to move so as to move the workpiece includes: If the second workstation is in a busy state, predicting the time required for the second workstation to switch from the busy state to the idle state; If the duration is greater than a preset duration and the first station is not a buffer station, the workpiece is moved from the first station to the buffer station and the next workpiece is processed; If the duration is not greater than the preset duration, the workpiece is controlled to wait at the first station. When the second station is switched to the idle state, the conveying device and the clamping device are controlled to move the workpiece from the first station to the second station, and the process progress of the workpiece is updated.

2. The method according to claim 1, characterized in that: According to the current working state of the second station, controlling the conveying device and the clamping device to move so as to move the workpiece includes: If the second workstation is in an idle state, the conveying device and the clamping device are controlled to move the workpiece from the first workstation to the second workstation.

3. The method according to claim 1, characterized in that According to the current working state of the second station, controlling the conveying device and the clamping device to move so as to move the workpiece includes: If the second station is in a busy state, determining whether the first station is a cache station; If the first station is not a buffer station, controlling the conveying device to drive the clamping device to move the workpiece from the first station to the buffer station; If the first workstation is a buffer workstation, the next workpiece is processed.

4. The method according to any one of claims 2 to 3, characterized in that: The process recipe also includes the placement of the workpiece at each station; the control of the conveying device and the clamping device to move the workpiece from the first station to the second station includes: Controlling the conveying device to drive the clamping device to clamp the workpiece from the first station; Controlling the conveying device to drive the clamping device clamping the workpiece to move from the first station to the second station; The clamping device is controlled to place the workpiece on the second station according to the placement configuration.

5. The method according to claim 2, characterized in that: The control of the conveying device and the clamping device to move the workpiece from the first station to the second station includes: Determining conveying device parameters and clamping device parameters based on the process recipe; A prepackaged scheduling program is called, and the movement of the conveying device and the clamping device is controlled based on the conveying device parameters and the clamping device parameters to move the workpiece from the first workstation to the second workstation.

6. The method according to claim 1, characterized in that The step of obtaining a process recipe of a workpiece corresponding to the workpiece information according to the workpiece information includes: In the case of receiving unloading requests from a plurality of first workstations, a process recipe of the workpiece that enters the production line earliest is determined according to the workpiece information respectively corresponding to the plurality of first workstations.

7. The method according to claim 1, characterized in that According to the current working state of the second station, controlling the conveying device and the clamping device to move so as to move the workpiece includes: When unloading requests of a plurality of first workstations are received and the current state of the second workstations corresponding to the workpieces on the plurality of first workstations is an idle state, a path planning model is used to perform analysis based on the current positions of the conveying device and the clamping device and the second workstations corresponding to the plurality of workpieces, so as to determine the workpiece to be scheduled from the plurality of workpieces; Controlling the movement of the conveying device and the clamping device to move the workpiece to be scheduled from the first station to the second station; The workpiece to be dispatched is a workpiece that makes the movement path of the conveying device and the clamping device the shortest.

8. The method according to claim 1 or 2, characterized in that: After moving the workpiece from the first station to the second station; the method further comprises: receiving workpiece information sent by the second workstation; the workpiece information is obtained by scanning the workpiece with a scanning device on the second workstation; Verification is performed based on the workpiece information and the process recipe corresponding to the workpiece information to determine whether the workpiece is transported to the correct workstation.

9. The method according to claim 1 or 3, characterized in that: If the cache station includes multiple workpieces with the same next process, and the second station corresponding to the next process is switched from a busy state to an idle state; the method further includes: The workpiece that enters the production line earliest among the multiple workpieces is taken out from the buffer station and transported to the second station; or, The workpiece that enters the buffer station earliest among the multiple workpieces is taken out from the buffer station and transported to the second station; or, The workpiece with the least number of processing steps to be performed among the multiple workpieces is taken out from the buffer station and transported to the second station.

10. A workpiece production line control device, characterized in that: The device is used to schedule multiple workpieces on a production line; the process recipes of the multiple workpieces are different; The process recipe includes the processing sequence of the workpiece in each station on the production line; the device includes: A receiving module, configured to receive an unloading request of a first workstation, wherein the unloading request includes workstation information of the first workstation; An information determination module, used to determine information of a workpiece currently located at the first workstation based on the workstation information; A recipe acquisition module, used for acquiring a process recipe of a workpiece corresponding to the workpiece information according to the workpiece information; A workstation determination module, used to determine a second workstation corresponding to the next process of the workpiece based on the process recipe; A control module, used for controlling the movement of the conveying device and the clamping device to move the workpiece according to the current working state of the second station; The control module is specifically used for: If the second workstation is in a busy state, predicting the time required for the second workstation to switch from the busy state to the idle state; If the duration is greater than a preset duration and the first station is not a buffer station, the workpiece is moved from the first station to the buffer station and the next workpiece is processed; If the duration is not greater than the preset duration, the workpiece is controlled to wait at the first station. When the second station is switched to the idle state, the conveying device and the clamping device are controlled to move the workpiece from the first station to the second station, and the process progress of the workpiece is updated.

11. An electronic device, characterized in that: include: processor, memory and bus, wherein, The processor and the memory communicate with each other via the bus; The memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the method according to any one of claims 1 to 9.

12. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer instructions, which, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 9.

13. A computer program product, characterized in that The method comprises computer program instructions, and when the computer program instructions are read and executed by a processor, the method according to any one of claims 1 to 9 is executed.

14. A workpiece production line control system, characterized in that: It includes a controller, a conveying device and a clamping device; The controller is used to execute the method according to any one of claims 1 to 9.

15. The system according to claim 14, characterized in that The system further comprises a workstation equipment control system; the workstation equipment control system is communicatively connected with the controller and is used for sending workstation information to the controller.

16. The system according to claim 14, characterized in that The conveying device includes a direct drive motor, and the clamping device includes a mechanical arm; The direct drive motor is used to drive the mechanical arm to move; The mechanical arm is used for clamping a workpiece.

17. The system according to claim 14, characterized in that The system further comprises a scanning device; the scanning device is arranged at each workstation and is in communication connection with the controller; The scanning device is used to scan the workpiece on the workstation, obtain workpiece information, and send the workpiece information to the controller.

18. The system according to any one of claims 14 to 17, characterized in that: The system also includes a host computer; the host computer is in communication connection with the controller; the host computer is used to receive a process recipe and send the process recipe to the controller.

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