Blockage removing robot and control method, device, system and equipment thereof, storage medium, computer program product and removing system
By using the in-place sensors and read and write stations in the plug-in robot to obtain body information, judge the vehicle model and automatically adjust the picking action, the empty picking and wear problems during picking low-end models is solved, and a more efficient plug-in picking process and a longer equipment maintenance cycle are achieved.
Patent Information
- Application Number
- CN202411877695.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-19
- Publication Date
- 2025-03-18
AI Technical Summary
When the jam-removing robot removes jam-removing parts for low-end models, it will still operate according to the picking trajectory of the high-end models, resulting in empty picking and unnecessary mechanical wear, reducing the jaw accuracy and shortening the maintenance cycle.
The in-place sensor receives the in-place signal of the body of the blocked part to be removed, and obtains the body information from the reading and writing station to determine whether it is consistent with the preset high-end model information. According to the judgment results, the plug-in removal robot is controlled to perform the corresponding plug-in removal action to ensure that the plug-in removal process of low-end models and high-end models is automated.
It avoids empty picking when picking low-end models, reduces unnecessary mechanical wear, extends the maintenance cycle of jaws, reduces production costs, and improves the overall quality of the car body.
Smart Images
Figure CN119635640A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of robots, and in particular to a plugging piece removing robot and a control method, device, system, equipment, storage medium, computer program product and removing system thereof. Background Art
[0002] In the production of removing plugs from the underbody using a plug removal robot, it was found that there was an empty removal phenomenon in the process of removing plugs for a certain model. After on-site analysis, it was determined that the model was divided into two models, high-end and low-end. There were 32 plugs to be removed for the high-end model and 31 plugs to be removed for the low-end model. However, the removal trajectory executed by the plug removal robot did not distinguish between high-end and low-end models. This resulted in the removal of 32 plugs by the plug removal robot for the low-end model, which still followed the removal trajectory of the high-end model to complete the removal of 32 plugs, resulting in an empty removal action.
[0003] For the mechanical structure of the plug removal robot, each removal will cause wear and tear, especially the chuck and cylinder of the chuck. Therefore, every time the robot performs a removal task on a low-end vehicle, it will cause unnecessary mechanical wear, greatly reducing the accuracy of the chuck, shortening the maintenance cycle of the chuck, and increasing the number of chuck and cylinder spare parts to be ordered, thereby increasing production costs and affecting the overall quality of the vehicle body.
[0004] In the prior art, the picking trajectory for the low-end model is executed for both the low-end model and the high-end model, and then the excess blocking parts of the high-end model relative to the low-end model are manually picked. However, the effect is not ideal, and there is a problem of missing blocking parts when picking them manually. Summary of the invention
[0005] To solve at least one aspect of the above problems, the present invention provides a plugging removal robot and a control method, device, system, equipment, storage medium, computer program product and removal system thereof.
[0006] In the first aspect, the present application provides a control method for a blocking piece removing robot, comprising the following steps: receiving a signal that a vehicle body of a blocking piece to be removed is in position from an in-position sensor; upon receiving the signal that a vehicle body of a blocking piece to be removed is in position, obtaining the vehicle body information of the blocking piece to be removed from a read-write station; determining whether the vehicle body information of the blocking piece to be removed is consistent with the vehicle body information of a preset high-end vehicle model; when the vehicle body information of the blocking piece to be removed is consistent with the vehicle body information of a preset high-end vehicle model, controlling the blocking piece removing robot body to execute the removal of the first type of blocking piece of the blocking piece to be removed, wherein The first type of blocking parts are the extra blocking parts in high-end models compared to low-end models; after the first type of blocking parts are removed, the blocking part removing robot body is controlled to remove several second type of blocking parts from the body of the blocking parts to be removed, wherein the second type of blocking parts are the same blocking parts for high-end models and low-end models; when the body information of the body of the blocking parts to be removed is inconsistent with the body information of the preset high-end model, the blocking part removing robot body is controlled to remove several second type of blocking parts from the body of the blocking parts to be removed; when several second type of blocking parts are removed, a release signal is sent to the body conveying device.
[0007] Preferably, the vehicle body information includes vehicle model, color, and vehicle type configuration information.
[0008] In the second aspect, the present application provides a control device for a blocking piece removing robot, the device comprising: a first receiving module, configured to receive a signal of the vehicle body of the blocking piece to be removed from the in-position sensor; a second receiving module, configured to obtain the body information of the vehicle body of the blocking piece to be removed from the reading and writing station when receiving the signal of the vehicle body of the blocking piece to be removed; a judgment module, configured to judge whether the body information of the vehicle body of the blocking piece to be removed is consistent with the body information of a preset high-end model; a first control module, configured to control the blocking piece removing robot body to execute the first step of removing the vehicle body of the blocking piece to be removed when the body information of the vehicle body of the blocking piece to be removed is consistent with the body information of the preset high-end model. A type of blocking parts, wherein the first type of blocking parts are the additional blocking parts of the high-end vehicle model relative to the low-end vehicle model; a second control module is configured to control the blocking part removing robot body to remove several second type of blocking parts of the vehicle body to be removed after the first type of blocking parts are removed, wherein the second type of blocking parts are the same blocking parts of the high-end vehicle model and the low-end vehicle model; a third control module is configured to control the blocking part removing robot body to remove several second type of blocking parts of the vehicle body to be removed when the body information of the vehicle body to be removed is inconsistent with the body information of the preset high-end vehicle model; a sending module is configured to send a release signal to the vehicle body conveying device after the removal of several second type of blocking parts is completed.
[0009] On the third aspect, the present application provides a control system for a blocking piece removing robot, the system comprising a first control unit and a second control unit, the first control unit being communicatively connected to the second control unit; the first control unit being used to receive a signal from the in-place sensor that the body of the blocking piece to be removed is in place; upon receiving the signal from the in-place sensor that the body of the blocking piece to be removed is in place, the body information of the body of the blocking piece to be removed is obtained from the read-write station; it is determined whether the body information of the body of the blocking piece to be removed is consistent with the body information of a preset high-end model; when the body information of the body of the blocking piece to be removed is consistent with the body information of the preset high-end model, a signal is sent to the second control unit that the body information of the body of the blocking piece to be removed is consistent with the body information of the preset high-end model; when the body information of the body of the blocking piece to be removed is inconsistent with the body information of the preset high-end model, a signal is sent to the second control unit that the body information of the body of the blocking piece to be removed is inconsistent with the body information of the preset high-end model; the second control unit is used to receive the signal sent by the first control unit that the body of the blocking piece to be removed is in place The vehicle body information of the blocking piece body is consistent with the vehicle body information of the preset high-end model, and when the vehicle body information of the blocking piece body to be removed is consistent with the vehicle body information of the preset high-end model, the blocking piece removing robot body is controlled to remove the first type of blocking pieces of the blocking piece body to be removed, wherein the first type of blocking pieces are the extra blocking pieces of the high-end model relative to the low-end model, and after the first type of blocking pieces are removed, the blocking piece removing robot body is controlled to remove several second type of blocking pieces of the blocking piece body to be removed, wherein the second type of blocking pieces are the same blocking pieces of the high-end model and the low-end model; and the vehicle body information of the blocking piece body to be removed is received from the first control unit. The vehicle body information of the blocking piece body to be removed and the vehicle body information of the preset high-end model are inconsistent, and when the vehicle body information of the blocking piece body to be removed and the vehicle body information of the preset high-end model are received. The robot body is controlled to remove several second type of blocking pieces of the blocking piece body to be removed; and when the removal of several second type of blocking pieces is completed, a release signal is sent to the vehicle body conveying device.
[0010] Preferably, the first control unit is a PLC controller, and the second control unit is a controller of a blocking piece removal robot.
[0011] In a fourth aspect, the present application provides a control device for a plug-removing robot, the device comprising a memory and a processor, the memory storing a computer program, and implementing any one of the above-mentioned control methods for the plug-removing robot when the computer program is executed by the processor.
[0012] In a fifth aspect, the present application provides a plugging piece removing robot, comprising a plugging piece removing robot control device and a plugging piece removing robot body as described above.
[0013] In the sixth aspect, the present application provides a system for removing car body plugs, the system comprising: a plug removal robot as described above, a conveying device, an in-position sensor, and a read-write station; the in-position sensor is installed near the plug removal robot, and is used to detect the in-position signal that the car body to be removed has arrived at the plug removal robot's workstation, and send the in-position signal to the control device of the plug removal robot; the in-position sensor is communicatively connected to the control device of the plug removal robot; the read-write station is used to receive the in-position signal of the in-position sensor, and after receiving the in-position signal of the in-position sensor, read and write the car body information on the carrier on the car body to be removed, and send the car body information to the control device of the plug removal robot; the read-write station is communicatively connected to both the in-position sensor and the control device of the plug removal robot; the conveying device is used to transport the car body to be removed and the car body after the plug removal is completed, and receive the release-allowed-exit signal sent by the control device of the plug removal robot, and after receiving the release-allowed-exit signal, transport the car body after the plug removal is completed away from the workstation of the plug removal robot; the conveying device is communicatively connected to the control device of the plug removal robot.
[0014] In a seventh aspect, the present application provides a storage medium storing computer-readable instructions, which, when executed by a processor, executes any one of the methods described above.
[0015] In an eighth aspect, the present application provides a computer program product, comprising a computer program, which implements the steps of the above-mentioned method when executed by a processor.
[0016] The plugging removal robot and its control method, device, system, equipment, storage medium, computer program product and removal system of the present invention have the following beneficial effects:
[0017] After the vehicle body to be removed arrives at the removing robot station, the present application obtains the vehicle body information of the vehicle body to be removed through the reading and writing station, and compares it with the vehicle body information of the preset high-end model to determine whether the vehicle body to be removed is a high-end model or a low-end model. That is, when the vehicle body information of the vehicle body to be removed is consistent with the vehicle body information of the preset high-end model, it is a high-end model; when the vehicle body information of the vehicle body to be removed is inconsistent with the vehicle body information of the preset high-end model, it is a low-end model. When it is a high-end model, the removing robot body is first controlled to execute the removal of the excess information of the high-end model relative to the low-end model. The controller then executes the removal of the same blocking parts for high-end and low-end models. When it is a low-end model, it directly executes the removal of the same blocking parts for low-end and high-end models, realizing the full automation of removing blocking parts for low-end and high-end models, and controlling the blocking removal robot body to perform corresponding actions according to the high-end and low-end models of the model, avoiding empty removal actions when removing low-end models, thereby avoiding unnecessary mechanical wear of the blocking removal robot, helping to extend the maintenance cycle of the gripper and reduce the ordering quantity of chuck and cylinder spare parts, thereby reducing production costs and improving the overall quality of the car body. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to better understand the above and other purposes, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings refer to the same components. It should be understood by those skilled in the art that the accompanying drawings are intended to schematically illustrate the preferred embodiments of the present invention and have no limiting effect on the scope of the present invention, and the components in the drawings are not drawn to scale.
[0019] Figure 1 A flowchart of a control method of a plug removal robot according to an embodiment of the present invention is shown;
[0020] Figure 2 It shows a structural framework diagram of a control device of a plugging piece removing robot according to an embodiment of the present invention;
[0021] Figure 3 A structural framework diagram of a control system of a plug removal robot according to an embodiment of the present invention is shown;
[0022] Figure 4 The structural framework diagram of a system for removing vehicle body plugs according to an embodiment of the present invention is shown.
[0023] Description of reference numerals:
[0024] 101. First receiving module; 102. Second receiving module; 103. Judging module; 104. First control module; 105. Second control module; 106. Third control module; 107. Sending module; 201. First control unit; 202. Second control unit; 2. Blockage-removing robot; 21. Control device of the blockage-removing robot; 3. Conveying device; 4. In-position sensor; 5. Read-write station. DETAILED DESCRIPTION
[0025] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.
[0026] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.
[0027] In order to at least partially solve the above-mentioned problems and one or more of other potential problems, the embodiments of the present disclosure propose a control method for a blocking piece removal robot, comprising the following steps: receiving a signal of the vehicle body of the blocking piece to be removed from the in-position sensor. Upon receiving the signal of the vehicle body of the blocking piece to be removed, obtaining the vehicle body information of the blocking piece to be removed from the read-write station. Preferably, the vehicle body information includes vehicle model, color, and vehicle configuration information. Determine whether the vehicle body information of the blocking piece to be removed is consistent with the vehicle body information of a preset high-end vehicle model, so as to determine whether the vehicle body of the blocking piece to be removed is a high-end vehicle model or a low-end vehicle model. When the vehicle body information of the blocking piece to be removed is consistent with the vehicle body information of the preset high-end vehicle model, it is determined to be a high-end vehicle model. When the vehicle body information of the blocking piece to be removed is inconsistent with the vehicle body information of the preset high-end vehicle model, it is determined to be a low-end vehicle model. When the body information of the vehicle body to be removed is consistent with the body information of the preset high-end model, the blocking piece removing robot body is controlled to remove the first type of blocking pieces of the vehicle body to be removed, wherein the first type of blocking pieces are the extra blocking pieces of the high-end model relative to the low-end model; after the first type of blocking pieces are removed, the blocking piece removing robot body is controlled to remove several second type of blocking pieces of the vehicle body to be removed, wherein the second type of blocking pieces are the same blocking pieces of the high-end model and the low-end model; when the body information of the vehicle body to be removed is inconsistent with the body information of the preset high-end model, the blocking piece removing robot body is controlled to remove several second type of blocking pieces of the vehicle body to be removed; in a specific embodiment, A code for judging whether the body information of the body of the blocking piece to be removed is consistent with the body information of the preset high-end model is set in front of the computer program code for controlling the robot body to remove the first type of blocking piece. During the execution process, when the body information of the body of the blocking piece to be removed is consistent with the body information of the preset high-end model, the computer program code for controlling the robot body to remove the first type of blocking piece is executed. When the code is executed, other codes are executed. When the body information of the body of the blocking piece to be removed is inconsistent with the body information of the preset high-end model, the computer program code for controlling the robot body to remove the first type of blocking piece is skipped and other codes are executed directly. When several second-type blocking pieces are removed, a release signal is sent to the body conveying device.
[0028] The present application also provides a control device for a plug removal robot, such as Figure 2As shown, the device includes: a first receiving module 101, configured to receive a signal from an in-position sensor that the vehicle body of the blocking piece to be removed is in position; a second receiving module 102, configured to obtain the vehicle body information of the blocking piece to be removed from the reading and writing station when receiving the signal; a judgment module 103, configured to judge whether the vehicle body information of the blocking piece to be removed is consistent with the vehicle body information of a preset high-end model; a first control module 104, configured to control the blocking piece removing robot body to execute the removal of the first type of blocking piece of the blocking piece to be removed when the vehicle body information of the blocking piece to be removed is consistent with the vehicle body information of the preset high-end model, wherein the first type The blocking parts are the extra blocking parts of the high-end vehicle model compared to the low-end vehicle model; the second control module 105 is configured to control the blocking part removing robot body to remove several second-type blocking parts of the vehicle body to be removed after the first-type blocking parts are removed, wherein the second-type blocking parts are the same blocking parts of the high-end vehicle model and the low-end vehicle model; the third control module 106 is configured to control the blocking part removing robot body to remove several second-type blocking parts of the vehicle body to be removed when the body information of the vehicle body to be removed is inconsistent with the body information of the preset high-end vehicle model; the sending module 107 is configured to send a release signal to the vehicle body conveying device after the removal of several second-type blocking parts is completed.
[0029] The present application also provides a control system for a plug removal robot, such as Figure 3As shown, the system includes a first control unit 201 and a second control unit 202, and the first control unit 201 is communicatively connected with the second control unit 202; preferably, the first control unit 201 is a PLC controller, and the first control unit 201 is used to receive a signal that the body of the blocking piece to be removed is in place from the in-place sensor; when receiving the signal that the body of the blocking piece to be removed is in place, obtain the body information of the body of the blocking piece to be removed from the read-write station; determine whether the body information of the body of the blocking piece to be removed is consistent with the body information of the preset high-end model; when the body information of the body of the blocking piece to be removed is consistent with the body information of the preset high-end model, send a signal that the body information of the body of the blocking piece to be removed and the body information of the preset high-end model are consistent to the second control unit 202; when the body information of the body of the blocking piece to be removed is inconsistent with the body information of the preset high-end model, send a signal that the body information of the body of the blocking piece to be removed and the body information of the preset high-end model are inconsistent to the second control unit 202; preferably, the second control unit 202 is the controller of the blocking piece removing robot, and the second control Unit 202 is used to receive a signal that the body information of the vehicle body of the blocking piece to be removed and the body information of the preset high-end model are consistent, and when receiving a signal that the body information of the vehicle body of the blocking piece to be removed and the body information of the preset high-end model are consistent, control the blocking piece removing robot body to execute the removal of the first type of blocking pieces of the vehicle body to be removed, wherein the first type of blocking pieces are the blocking pieces that are extra in the high-end model relative to the low-end model, and after the first type of blocking pieces are removed, control the blocking piece removing robot body to execute the removal of several second type of blocking pieces of the vehicle body to be removed, wherein the second type of blocking pieces are the same blocking pieces as the high-end model and the low-end model; and receive a signal that the body information of the vehicle body of the blocking piece to be removed and the body information of the preset high-end model are inconsistent, and when receiving a signal that the body information of the vehicle body of the blocking piece to be removed and the body information of the preset high-end model are inconsistent, control the blocking piece removing robot body to execute the removal of several second type of blocking pieces of the vehicle body to be removed; and when the removal of several second type of blocking pieces is completed, send a release signal to the vehicle body conveying device.
[0030] In an embodiment of the control system of the blocking piece removing robot of the present application, which is specifically applied to the removal system of the body blocking pieces, the control system of the above-mentioned blocking piece removing robot, a conveying device, an in-position sensor, and a read-write station are included; the in-position sensor is installed near the blocking piece removing robot, and is used to detect the in-position signal that the body of the blocking piece to be removed arrives at the blocking piece removing robot's workstation, and sends the in-position signal to the first control unit 201; the in-position sensor is communicatively connected with the first control unit 201; the read-write station is used to receive the in-position signal of the in-position sensor, and read and write the body information of the carrier on the body of the blocking piece to be removed after receiving the in-position signal of the in-position sensor, and send the body information to the first control unit 201; the read-write station is communicatively connected with both the in-position sensor and the first control unit 201; the conveying device is used to transport the body of the blocking piece to be removed and the body after the blocking piece is removed, and receive the release-allowed-exit signal sent by the second control unit 202, and transport the body after the blocking piece is removed away from the blocking piece removing robot's workstation after receiving the release-allowed-exit signal; the conveying device is communicatively connected with the control device of the second control unit 202.
[0031] The present application also provides a control device for a plug-removing robot, the device comprising a memory and a processor, the memory storing a computer program, and implementing any one of the above-mentioned control methods for the plug-removing robot when the computer program is executed by the processor.
[0032] The present application also provides a plugging piece removing robot, comprising a plugging piece removing robot control device 21 and a plugging piece removing robot body as described above.
[0033] The present application also provides a system for removing a car body plug, such as Figure 4 As shown, the system includes: a blocking piece removing robot 2 as described above, a conveying device 3, an in-position sensor 4, and a read-write station 5; the in-position sensor 4 is installed near the blocking piece removing robot 2, and is used to detect the in-position signal of the body of the blocking piece to be removed arriving at the working position of the blocking piece removing robot 2, and send the in-position signal to the control device 21 of the blocking piece removing robot; the in-position sensor 4 is communicatively connected with the control device 21 of the blocking piece removing robot; the read-write station 5 is used to receive the in-position signal of the in-position sensor 4, and read and write the body information of the carrier on the body of the blocking piece to be removed after receiving the in-position signal of the in-position sensor 4, and send the body information to the control device 21 of the blocking piece removing robot; the read-write station 5 is communicatively connected with both the in-position sensor 4 and the control device 21 of the blocking piece removing robot; the conveying device 3 is used to transport the body of the blocking piece to be removed and the body after the blocking piece is removed, and receive the release-allowed-exit signal sent by the control device 21 of the blocking piece removing robot, and transport the body after the blocking piece is removed away from the working position of the blocking piece removing robot 2 after receiving the release-allowed-exit signal; the conveying device 3 is communicatively connected with the control device 21 of the blocking piece removing robot.
[0034] The present application also provides a storage medium storing computer-readable instructions, and when the instructions are executed by a processor, the method according to any one of the above methods is executed.
[0035] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned method when executed by a processor.
[0036] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the present invention.
Claims
1. A control method for a plug removal robot, characterized in that: The following steps are involved: Receive a signal from the arrival sensor indicating that the vehicle body to be removed is in place; When receiving the signal that the vehicle body of the blocking piece to be removed has arrived, the vehicle body information of the vehicle body of the blocking piece to be removed is obtained from the reading and writing station; Determine whether the body information of the vehicle body to be removed is consistent with the body information of the preset high-end vehicle model; When the body information of the vehicle body to be removed is consistent with the body information of the preset high-end vehicle model, the robot body is controlled to remove the first type of blocking parts from the vehicle body to be removed, wherein the first type of blocking parts are the extra blocking parts of the high-end vehicle model relative to the low-end vehicle model; After the first type of blocking parts are removed, the blocking part removal robot body is controlled to remove a number of second type of blocking parts from the vehicle body to be removed, wherein the second type of blocking parts are the same blocking parts for high-end and low-end models; When the body information of the vehicle body to be removed is inconsistent with the body information of the preset high-end vehicle model, the blocking piece removing robot body is controlled to remove a plurality of second-type blocking pieces of the vehicle body to be removed; When a plurality of the second type blocking parts are removed, a release signal is sent to the vehicle body conveying device.
2. The control method of a plug removal robot according to claim 1, characterized in that: The vehicle body information includes vehicle model, color, and vehicle configuration information.
3. A control device for a plug removal robot, characterized in that: The device comprises: A first receiving module (101) is configured to receive a signal indicating that a vehicle body of a to-be-removed blocking piece has arrived from an arrival sensor; A second receiving module (102) is configured to obtain the vehicle body information of the vehicle body to be removed from the reading and writing station when receiving a signal that the vehicle body to be removed has arrived; A judgment module (103) is configured to judge whether the body information of the vehicle body to be removed from the blocking part is consistent with the body information of the preset high-end vehicle model; A first control module (104) is configured to control the blocking piece removing robot body to remove the first type of blocking pieces from the body of the blocking piece to be removed when the body information of the body of the blocking piece to be removed is consistent with the body information of the preset high-end vehicle model, wherein the first type of blocking pieces are the blocking pieces that are extra for the high-end vehicle model relative to the low-end vehicle model; The second control module (105) is configured to control the blocking piece removing robot body to remove a plurality of second-type blocking pieces from the vehicle body to be removed after the first-type blocking pieces are removed, wherein the second-type blocking pieces are the same as those of the high-end vehicle model and the low-end vehicle model; A third control module (106) is configured to control the blocking piece removing robot body to remove a plurality of second-type blocking pieces from the blocking piece body when the body information of the blocking piece to be removed is inconsistent with the body information of the preset high-end model; The sending module (107) is configured to send a release signal to the vehicle body conveying device after the removal of a plurality of second-type blocking parts is completed.
4. A control system for a plug removal robot, characterized in that: The system comprises a first control unit (201) and a second control unit (202), wherein the first control unit (201) is communicatively connected with the second control unit (202); The first control unit (201) is used to receive a signal indicating that the vehicle body of the blocking piece to be removed is in position from the in-position sensor; upon receiving the signal indicating that the vehicle body of the blocking piece to be removed is in position, the vehicle body information of the blocking piece to be removed is obtained from the reading and writing station; Determine whether the body information of the vehicle body to be removed is consistent with the body information of the preset high-end vehicle model; When the body information of the blocking piece body to be removed is consistent with the body information of the preset high-end model, a signal is sent to the second control unit indicating that the body information of the blocking piece body to be removed is consistent with the body information of the preset high-end model; when the body information of the blocking piece body to be removed is inconsistent with the body information of the preset high-end model, a signal is sent to the second control unit (202 indicating that the body information of the blocking piece body to be removed is inconsistent with the body information of the preset high-end model; The second control unit (202) is used to receive a signal that the body information of the vehicle body of the blocking piece to be removed and the body information of the preset high-end model are consistent, and when receiving the signal that the body information of the vehicle body of the blocking piece to be removed and the body information of the preset high-end model are consistent, control the blocking piece removing robot body to remove the first type of blocking pieces of the vehicle body to be removed, wherein the first type of blocking pieces are the blocking pieces that are extra in the high-end model relative to the low-end model, and after the first type of blocking pieces are removed, control the blocking piece removing robot body to remove a number of second type of blocking pieces of the vehicle body to be removed, wherein the second type of blocking pieces are the same blocking pieces as the high-end model and the low-end model; and receive a signal that the body information of the vehicle body of the blocking piece to be removed and the body information of the preset high-end model are inconsistent, and when receiving the signal that the body information of the vehicle body of the blocking piece to be removed and the body information of the preset high-end model are inconsistent, control the blocking piece removing robot body to remove a number of second type of blocking pieces of the vehicle body to be removed; and when the removal of the number of second type of blocking pieces is completed, send a release signal to the vehicle body conveying device.
5. The control system of the blocking piece removal robot according to claim 4, characterized in that: The first control unit (201) is a PLC controller, and the second control unit (202) is a controller of the blocking piece removal robot.
6. A control device for a plug removal robot, characterized in that: The device includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, a control method for a blocking piece removal robot according to any one of claims 1 to 2 is implemented.
7. A robot for removing plugs, characterized in that: It comprises a control device (21) of a plugging piece removing robot as described in claim 6 and a plugging piece removing robot body.
8. A system for removing blocking parts of a vehicle body, characterized in that: It comprises a blocking piece removing robot (2), a conveying device (3), an in-position sensor (4), and a reading and writing station (5) as described in claim 7; The in-position sensor (4) is installed near the blocking piece removing robot (2) and is used to detect an in-position signal that the blocking piece body to be removed has arrived at the working position of the blocking piece removing robot (2), and send the in-position signal to the control device (21) of the blocking piece removing robot; the in-position sensor (4) is in communication connection with the control device (21) of the blocking piece removing robot; The read / write station (5) is used to receive an in-position signal from the in-position sensor (4), and after receiving the in-position signal from the in-position sensor (4), read and write the vehicle body information of the carrier on the vehicle body of the blocking piece to be removed, and send the vehicle body information to the control device (21) of the blocking piece removing robot; the read / write station (5) is in communication connection with the in-position sensor (4) and the control device (21) of the blocking piece removing robot; The conveying device (3) is used to transport the vehicle body to be removed from the blocking parts and the vehicle body after the blocking parts have been removed, and to receive a release-allowed-exit signal sent by the control device (21) of the blocking part removing robot, and after receiving the release-allowed-exit signal, transport the vehicle body after the blocking parts have been removed away from the working station of the blocking part removing robot (2); the conveying device (3) is in communication connection with the control device (21) of the blocking part removing robot.
9. A storage medium, characterized in that: Computer-readable instructions are stored, and when the instructions are executed by a processor, the method according to any one of claims 1-2 is executed.
10. A computer program product, comprising a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 1 are implemented.