Control methods, devices, storage media and electronic equipment for palletizing equipment

Abstract

This application provides a control method, apparatus, storage medium, and electronic device for a palletizing device. The method is applied to a controller in a multi-axis system. The method includes: acquiring movement parameters of a target object, including at least real-time position information, real-time velocity information, real-time pose information, target position, and target pose of the target object, where the target object is the left or right side panel of an air conditioner; determining the operating parameters of each axis of the palletizing device based on the movement parameters of the target object, where the palletizing device includes a three-axis structure, a four-axis structure, and a five-axis structure; and controlling the operation of the three-axis, four-axis, and five-axis structures according to the operating parameters of each axis of the palletizing device to palletize the target object at the target position with the target pose. This method achieves highly automated control, reducing manual intervention. The multi-axis system provides higher operational precision, ensuring consistent product quality.

Description

Technical Field

[0001] This application relates to the field of air conditioning device palletizing, and more specifically, to a control method for a palletizing device, a control device for a palletizing device, a computer-readable storage medium, and an electronic device. Background Technology

[0002] In the production of sheet metal for air conditioners, the arrangement of the left and right side panels is a crucial step that directly affects the quality of the final product and production efficiency. Traditional control methods often rely on complex mechanical structures and manual operation, which not only increases production costs but also reduces production efficiency and product consistency. Summary of the Invention

[0003] The main objective of this application is to provide a control method for a palletizing device, a control device for a palletizing device, a computer-readable storage medium, and an electronic device, so as to at least solve the problem that the prior art lacks effective automated control means for the sorting process of the left and right side panels of air conditioner sheet metal, resulting in low production efficiency and difficulty in ensuring the stability of product quality.

[0004] To achieve the above objectives, according to one aspect of this application, a control method for a palletizing device is provided, applied to a controller in a multi-axis system. The method includes: acquiring movement parameters of a target object, the movement parameters including at least real-time position information, real-time speed information, real-time pose information, target position, and target pose of the target object, wherein the target object is a left or right side panel of an air conditioner; determining operating parameters of each axis of the palletizing device based on the movement parameters of the target object, wherein the palletizing device includes a three-axis structure, a four-axis structure, and a five-axis structure; and controlling the operation of the three-axis structure, the four-axis structure, and the five-axis structure according to the operating parameters of each axis of the palletizing device, so as to palletize the target object at the target position with the target pose.

[0005] Optionally, based on the operating parameters of each axis of the palletizing device, the operation of the three-axis structure, the four-axis structure, and the five-axis structure is controlled to palletize the target object at the target position with the target pose. This includes: determining the palletizing process of the target object, the palletizing process including a sorting process, a pose adjustment process, and a palletizing process; when the target object is in the sorting process and is located in the sorting area, based on the operating parameters of the three-axis structure, controlling the three-axis structure to move the target object from the sorting area to the conveyor belt, so that the conveyor belt transports the target object to the palletizing position; when the target object is in the pose adjustment process and is located at the palletizing position, based on the operating parameters of the five-axis structure, controlling the five-axis structure to adjust the pose of the target object from the current pose to the target pose; when the target object is in the palletizing process and its pose is the target pose, based on the operating parameters of the four-axis structure, controlling the four-axis structure to palletize the target object at the target position.

[0006] Optionally, the three-axis structure includes an x-axis structure, a y-axis structure, and a z-axis structure. The z-axis structure includes a first z-axis structure and a second z-axis structure. Controlling the three-axis structure to move the target object from the sorting area to the conveyor belt according to the operating parameters of the three-axis structure includes: controlling the z-axis structure to grip the target object according to the operating parameters of the z-axis structure, thereby fixing the target object between the first z-axis structure and the second z-axis structure; controlling the x-axis structure to move the horizontal position of the target object to a first horizontal position according to the operating parameters of the x-axis structure; and controlling the y-axis structure to move the vertical position of the target object to a first vertical position according to the operating parameters of the y-axis structure, thereby moving the target object from the sorting area to the conveyor belt.

[0007] Optionally, the five-axis structure includes an α-axis structure, a β-axis structure, a γ1-axis structure, a γ2-axis structure, and a δ-axis structure. The δ-axis structure includes a first δ-axis structure and a second δ-axis structure. Based on the operating parameters of the five-axis structure, controlling the five-axis structure to adjust the pose of the target object from the current pose to the target pose includes: controlling the δ-axis structure to grip the target object according to the operating parameters of the δ-axis structure, thereby fixing the target object between the first δ-axis structure and the second δ-axis structure; controlling the α-axis structure to move the horizontal position of the target object to a second horizontal position according to the operating parameters of the α-axis structure; controlling the β-axis structure to move the vertical position of the target object to a second vertical position according to the operating parameters of the β-axis structure; and controlling the γ1-axis structure and the γ2-axis structure to simultaneously rotate by a preset angle according to the operating parameters of the γ1-axis structure and the γ2-axis structure, thereby adjusting the pose of the target object from the current pose to the target pose.

[0008] Optionally, the four-axis structure includes an a-axis structure, a b-axis structure, a c-axis structure, and a d-axis structure. Based on the operating parameters of the four-axis structure, controlling the four-axis structure to stack the target object at the target position includes: controlling the b-axis structure to move its vertical position in the storage bin to a third vertical position, the third vertical position being at least one height of the target object from its current vertical position; controlling the c-axis structure and the d-axis structure to clamp the target object, fixing it between them, to store it in the storage bin; and when the number of target objects in the storage bin reaches a preset quantity, controlling the a-axis structure to move from the storage bin to the palletizing robot's picking position, stacking the target objects at the target position, based on the operating parameters of the a-axis structure.

[0009] Optionally, the operating parameters of each axis of the palletizing device are determined according to the movement parameters of the target object, including: determining the operating parameters of each axis of the palletizing device according to the real-time position information, real-time speed information and real-time pose information of the target object, wherein the operating parameters include the running time, running trajectory and running speed of the corresponding axis, the running trajectory includes multiple running segments, and one running segment corresponds to one running speed.

[0010] Optionally, the method further includes: determining virtual restriction areas for each axis of the palletizing device, and controlling a first non-target axis to adjust its running speed and / or running trajectory when the first target axis runs to the corresponding virtual restriction area, wherein the first non-target axis is an axis in the palletizing device other than the first target axis; and / or determining the locking time of each axis of the palletizing device, and controlling a second target axis to stop moving when the current time is within the locking time; and / or determining the locking pose of each axis of the palletizing device, and controlling a second non-target axis to stop moving when the current pose of the third target axis is the locking pose, wherein the second non-target axis is an axis in the palletizing device other than the third target axis; and / or collecting the actual position information of each axis of the palletizing device, and issuing an alarm signal when the deviation between the actual position information of the axis and the preset position information of the axis is greater than a preset deviation.

[0011] According to another aspect of this application, a multi-axis system is provided, comprising: a controller for executing any of the control methods of the palletizing device described above, the controller including a first PLC module and a second PLC module, the first PLC module and the second PLC module being communicatively connected; and a palletizing device including a three-axis structure, a four-axis structure and a five-axis structure, communicatively connected to the controller.

[0012] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the control methods of the palletizing apparatus described above.

[0013] According to another aspect of this application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a control method for performing any of the palletizing devices described above.

[0014] Applying the technical solution of this application, the control method of the palletizing device described above is applied to the controller of a multi-axis system. This method first acquires the movement parameters of the target object, including at least the real-time position information, real-time speed information, real-time pose information, target position, and target pose of the target object, which is the left or right side panel of an air conditioner. Then, based on the movement parameters of the target object, the operating parameters of each axis of the palletizing device are determined. The palletizing device includes a three-axis structure, a four-axis structure, and a five-axis structure. Finally, based on the operating parameters of each axis of the palletizing device, the three-axis structure, the four-axis structure, and the five-axis structure are controlled to palletize the target object at the target position with the target pose. This method achieves highly automated control and reduces manual intervention. The multi-axis system provides higher operational precision, ensures product quality consistency, and solves the problem in the prior art that the sorting process of the left and right side panels of air conditioner sheet metal lacks effective automated control methods, resulting in low production efficiency and difficulty in ensuring product quality stability. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for performing a control method for a palletizing device according to an embodiment of this application is shown.

[0017] Figure 2 A schematic flowchart of a control method for a palletizing device according to an embodiment of this application is shown;

[0018] Figure 3 A first-view structural schematic diagram of a palletizing device provided according to an embodiment of this application is shown;

[0019] Figure 4 A second-view structural schematic diagram of a palletizing device provided according to an embodiment of this application is shown;

[0020] Figure 5 A schematic diagram of a three-axis structure of a palletizing device according to an embodiment of this application is shown;

[0021] Figure 6 A schematic diagram of a five-axis structure of a palletizing device according to an embodiment of this application is shown;

[0022] Figure 7 A schematic diagram of a five-axis structure of another palletizing device provided according to an embodiment of this application is shown;

[0023] Figure 8A schematic diagram of a four-axis structure of a palletizing device according to an embodiment of this application is shown;

[0024] Figure 9 A structural block diagram of a controller provided according to an embodiment of this application is shown.

[0025] The above figures include the following reference numerals:

[0026] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] As described in the background section, the existing technology lacks effective automated control methods for the sorting process of the left and right side panels of air conditioner sheet metal, resulting in low production efficiency and difficulty in ensuring product quality stability. To solve the problem of low production efficiency and difficulty in ensuring product quality stability caused by the lack of effective automated control methods for the sorting process of the left and right side panels of air conditioner sheet metal in the existing technology, the embodiments of this application provide a control method for a palletizing device, a control device for a palletizing device, a computer-readable storage medium, and an electronic device.

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0032] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a control method of a palletizing device according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0033] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the control method of the palletizing device in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-described networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the above-described networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0034] This embodiment provides a control method for a palletizing device that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0035] Figure 2 This is a flowchart of a control method for a palletizing apparatus according to an embodiment of this application. Figure 2 As shown, this method is applied to the controller of a multi-axis system, and the method includes the following steps:

[0036] Step S201: Obtain the movement parameters of the target object. The movement parameters include at least the real-time position information, real-time speed information, real-time pose information, target position, and target pose of the target object. The target object is the left or right side panel of the air conditioner.

[0037] Specifically, before controlling the palletizing device to execute actions, a PLC program needs to be written to define the motion trajectory and time sequence of each axis to ensure precise and synchronized operation. The motion trajectory typically refers to the path of each axis from its starting point to its ending point. That is, the operating parameters of each axis of the palletizing device differ when the target object moves to different positions; therefore, it is necessary to obtain real-time position information, real-time speed information, and real-time pose information of the target object.

[0038] Step S202: Based on the movement parameters of the target object, determine the operating parameters of each axis of the palletizing device. The palletizing device includes a three-axis structure, a four-axis structure, and a five-axis structure.

[0039] Specifically, in a PLC, defining a motion trajectory typically includes the following: the starting position, target position, and path for each axis. The PLC controls the movement of each axis from one point to another by setting its coordinates. Trajectory control in this multi-axis system requires interpolation algorithms; this control design primarily uses spatial interpolation. When defining the trajectory of each axis, the target position (e.g., XYZ coordinates) and path type (e.g., straight line, arc, curve) are usually defined according to the task requirements. For example:

[0040] MOVE X1,Y1,Z1; Move to coordinates (X1,Y1,Z1);

[0041] MOVE X2,Y2,Z2; Move to coordinates (X2,Y2,Z2).

[0042] Specifically, determining the operating parameters of each axis of the palletizing device based on the movement parameters of the target object includes: determining the operating parameters of each axis of the palletizing device based on the real-time position information, real-time speed information, and real-time pose information of the target object. The operating parameters include the running time, running trajectory, and running speed of the corresponding axis. The running trajectory includes multiple running segments, and one running segment corresponds to one running speed.

[0043] Specifically, during the operation of a multi-axis system, the speed of each axis needs to be controlled. To ensure smooth motion and avoid vibration or impact, maximum acceleration and deceleration are typically set for each axis. In a PLC program, the acceleration of each axis can be controlled using timers (such as TON and TOF) and counters. For example:

[0044] Acceleration phase: When the shaft starts moving from rest, it needs to gradually increase its speed through the acceleration phase to avoid the impact caused by sudden acceleration.

[0045] Constant speed segment: After reaching the target speed, the shaft needs to maintain a constant speed.

[0046] Deceleration phase: When approaching the target position, it is necessary to decelerate in order to avoid exceeding the target position.

[0047] PLCs control the acceleration, velocity, target position, etc. of each axis within a specific time period using time sequences. For example:

[0048] SET SPEED X,1000; Sets the maximum speed of the X-axis to 1000.

[0049] SET ACCEL X,500; Sets the acceleration of the X-axis to 500;

[0050] MOVE X1,Y1,Z1; Move to coordinates (X1,Y1,Z1).

[0051] Step S203: Based on the operating parameters of each axis of the palletizing device, control the operation of the three-axis structure, the four-axis structure, and the five-axis structure to palletize the target object at the target position in the target pose.

[0052] Specifically, in this multi-axis system, the motion between each axis needs to be precisely synchronized. For example, 3-axis, 4-axis, and 5-axis systems may need to start, stop, or adjust motion at the same time to maintain the smoothness of the trajectory.

[0053] Figure 3 and Figure 4 The following are schematic diagrams of the palletizing device from two different perspectives, as shown below. Figure 3 and Figure 4 As shown, Figure 3In the diagram, A represents a three-axis structure, B a four-axis structure, C a five-axis structure, and D the target object. Design a PLC control program to define the motion trajectory and operation logic of each axis, achieving automated control of operations such as material distribution, flipping, and unloading.

[0054] The process of controlling the operation of the three-axis structure, the four-axis structure, and the five-axis structure according to the operating parameters of each axis of the palletizing device to palletize the target object at the target position in the target pose includes the following steps:

[0055] Step S301: Determine the palletizing process of the target object, which includes a sorting process, a pose adjustment process, and a palletizing process.

[0056] Step S302: When the target object is in the sorting process and the target object is in the sorting area, the three-axis structure is controlled to move the target object from the sorting area to the conveyor belt according to the operating parameters of the three-axis structure, so that the conveyor belt will transport the target object to the palletizing position.

[0057] The aforementioned three-axis structure includes an x-axis structure, a y-axis structure, and a z-axis structure. The z-axis structure includes a first z-axis structure and a second z-axis structure. Based on the operating parameters of the aforementioned three-axis structure, controlling the aforementioned three-axis structure to move the aforementioned target object from the aforementioned sorting area to the conveyor belt includes the following steps:

[0058] Step S3021: According to the operating parameters of the above z-axis structure, control the above z-axis structure to clamp the above target object, so as to fix the above target object between the above first z-axis structure and the above second z-axis structure.

[0059] Step S3022: Based on the operating parameters of the x-axis structure, control the x-axis structure to move the horizontal position of the target object to the first horizontal position.

[0060] Step S3023: Based on the operating parameters of the y-axis structure, control the y-axis structure to move the vertical position of the target object to the first vertical position, so as to move the target object from the sorting area to the conveyor belt.

[0061] Specifically, in the three-axis system, the x-axis is responsible for the horizontal movement of the left and right side plates, i.e., movement in the X-axis direction. The y-axis is responsible for the vertical movement of the left and right side plates. The z-axis is responsible for the clamping and material handling functions of the left and right side plates.

[0062] The raw materials are moved from the storage area to the processing position using a combination of three-axis systems (x, y, z). The x and y axes work together to precisely place the raw materials at the starting position of the processing.

[0063] like Figure 5 As shown, the x, y, and z axes are labeled. The y-axis is mainly responsible for vertical movement, and the z-axis is mainly responsible for clamping. Through a drive shaft, the two axes move together to clamp the material. The x-axis is mainly responsible for horizontal movement. Communication between the axes and the PLC is via the EtherCAT protocol. Interpolation parameters are added to ensure smooth movement of the x, y, and z axes.

[0064] Step S303: When the target object is in the pose adjustment process and the target object is located at the palletizing position, the five-axis structure is controlled to adjust the pose of the target object from the current pose to the target pose according to the operating parameters of the five-axis structure.

[0065] The aforementioned five-axis structure includes an α-axis structure, a β-axis structure, a γ1-axis structure, a γ2-axis structure, and a δ-axis structure. The δ-axis structure includes a first δ-axis structure and a second δ-axis structure. Based on the operating parameters of the aforementioned five-axis structure, controlling the aforementioned five-axis structure to adjust the pose of the target object from the current pose to the target pose includes:

[0066] Step S3031: According to the operating parameters of the above-mentioned δ-axis structure, control the above-mentioned δ-axis structure to clamp the above-mentioned target object, so as to fix the above-mentioned target object between the above-mentioned first δ-axis structure and the above-mentioned second δ-axis structure.

[0067] Step S3032: Based on the operating parameters of the α-axis structure, control the α-axis structure to move the horizontal position of the target object to the second horizontal position.

[0068] Step S3033: Based on the operating parameters of the β-axis structure, control the β-axis structure to move the vertical position of the target object to the second vertical position.

[0069] Step S3034: Based on the operating parameters of the γ1 axis structure and the γ2 axis structure, control the γ1 axis structure and the γ2 axis structure to rotate simultaneously by a preset angle, so as to adjust the pose of the target object from the current pose to the target pose.

[0070] Specifically, in the five-axis system, the α axis is the same as the x-axis in the three-axis system, responsible for horizontal movement. The β axis is the same as the y-axis in the three-axis system, responsible for vertical movement. The γ1 axis provides an additional rotational degree of freedom for material flipping operations, moving in conjunction with the γ2 axis. The γ2 axis provides an additional rotational degree of freedom for material flipping operations, moving in conjunction with the γ1 axis. The δ axis is the same as the z-axis in the three-axis system, responsible for clamping and picking up materials.

[0071] like Figure 6 and Figure 7As shown, the five axes α, β, δ, γ1, and γ2 are labeled respectively. Figure 6 As shown, the γ1 and γ2 axes in the five-axis system rotate simultaneously to achieve the flipping of the side plate, allowing it to be locked in place in both directions, forming a stable stacked shape. During the flipping process, the α and β axes can rotate synchronously, but interpolation is required to avoid structural interference and ensure smooth and precise flipping.

[0072] In some instances, the preset angle can be 27° when the target object is an odd number, and -270° when the target object is an even number.

[0073] Step S304: When the target object is in the stacking process and the pose of the target object is the target pose, the four-axis structure is controlled to stack the target object at the target position according to the operating parameters of the four-axis structure.

[0074] The aforementioned four-axis structure includes an a-axis structure, a b-axis structure, a c-axis structure, and a d-axis structure. Based on the operating parameters of the aforementioned four-axis structure, controlling the four-axis structure to stack the aforementioned target object at the aforementioned target position includes the following steps:

[0075] Step S3041: According to the operating parameters of the b-axis structure, control the b-axis structure to move the vertical position of the storage compartment to a third vertical position, wherein the third vertical position is at least one height of the target object away from the current vertical position of the target object.

[0076] Step S3042: Based on the operating parameters of the c-axis structure and the d-axis structure, control the c-axis structure and the d-axis structure to clamp the target object, so as to fix the target object between the c-axis structure and the d-axis structure, and store the target object in the storage compartment.

[0077] Step S3043: When the number of the target objects in the storage bin reaches a preset number, the a-axis structure is controlled to move from the storage bin to the palletizing robot's picking position according to the operating parameters of the a-axis structure, so as to palletize the target objects at the target position.

[0078] Specifically, in the four-axis system, axis A is responsible for the horizontal movement of the left and right side panels. Axis B is responsible for the vertical movement of the left and right side panels. Axis C is responsible for the left-side clamping function of the left and right side panels. Axis D is responsible for the right-side clamping function of the left and right side panels.

[0079] like Figure 8As shown, after the left and right side panels arrive at the material preparation area, the c-axis and d-axis of the four-axis system are used to bring them together in the middle, tidying up the air conditioner outdoor unit side panels. After tidying, the two axes then open to await the arrival of the next finished product. To allow multiple finished products to be stacked, the b-axis of the four-axis system needs to descend by the height of one product. Once the material bin is full, it is handed over to the a-axis of the four-axis system to move to the palletizing robot's picking position, where the palletizing robot picks up the material and performs subsequent palletizing operations.

[0080] The method further includes: determining the virtual restriction area of ​​each axis of the palletizing device, and controlling the first non-target axis to adjust its running speed and / or running trajectory when the first target axis runs to the corresponding virtual restriction area, wherein the first non-target axis is an axis in the palletizing device other than the first target axis; and / or determining the locking time of each axis of the palletizing device, and controlling the second target axis to stop moving when the current time is within the locking time; and / or determining the locking pose of each axis of the palletizing device, and controlling the second non-target axis to stop moving when the current pose of the third target axis is the locking pose, wherein the second non-target axis is an axis in the palletizing device other than the third target axis; and / or collecting the actual position information of each axis of the palletizing device, and issuing an alarm signal when the deviation between the actual position information of the axis and the preset position information of the axis is greater than a preset deviation.

[0081] Specifically, PLCs typically use synchronization signals or time delays to ensure that all axes move in a coordinated manner according to a predetermined time and sequence. For example: `SYNC MOVE X1,Y1,Z1` synchronizes the movement of the X, Y, and Z axes. This includes point-to-point motion and continuous path motion. Point-to-point motion moves each axis from one specified position to another; this method is relatively simple and is typically used for simple assembly and material handling applications. Continuous path motion involves multiple axes moving simultaneously and in a coordinated manner along a predetermined path; it is commonly used in machining, engraving, and other scenarios requiring high-precision control.

[0082] In a PLC, different motion modes can be selected based on task requirements to control the speed, acceleration, and target point of each axis. The selection of motion modes is typically controlled by conditional statements in the program. The corresponding code is as follows:

[0083] IF TaskType=='Point-to-Point'THEN;

[0084] MOVE X1,Y1,Z1; Point-to-point motion;

[0085] ELSE IF TaskType=='Continuous'THEN;

[0086] CONTINUOUS PATH X1,Y1,Z1; Continuous trajectory motion;

[0087] END IF.

[0088] Multi-axis systems typically require measures to prevent interference between axes. In practical applications, the motion of multiple axes can interfere with each other, leading to incorrect paths or positional deviations. To avoid this, the following solutions were implemented in this control system:

[0089] Virtual limiter: A virtual limit area is set in the program. When a certain axis approaches the area, the PLC automatically adjusts the movement speed or trajectory of other axes to avoid interference.

[0090] Interlocking mechanism: Using an interlocking mechanism ensures that certain axes cannot move simultaneously within a specific time period, or that other axes are in a stopped state when a certain action is performed.

[0091] Axis position monitoring: By installing position sensors, encoders, etc., the position of each axis is monitored in real time, and the data is fed back to the PLC. If the position deviation of a certain axis is too large, the PLC can issue a warning or stop the equipment operation.

[0092] Emergency Stop (E-stop): The PLC needs to be able to quickly stop all motion in the event of a malfunction or emergency to prevent accidents.

[0093] The corresponding code is as follows:

[0094] IF FAULT THEN;

[0095] E_STOP; Emergency stop system;

[0096] END IF.

[0097] The control method for the palletizing device described in this application is applied to a controller in a multi-axis system. This method first acquires the movement parameters of the target object, including at least its real-time position information, real-time speed information, real-time pose information, target position, and target pose. The target object is either the left or right side panel of an air conditioner. Then, based on the movement parameters of the target object, the operating parameters of each axis of the palletizing device are determined. The palletizing device includes a three-axis structure, a four-axis structure, and a five-axis structure. Finally, based on the operating parameters of each axis of the palletizing device, the three-axis, four-axis, and five-axis structures are controlled to palletize the target object at the target position with the target pose. This method achieves highly automated control, reducing manual intervention. The multi-axis system provides higher operational precision, ensures product quality consistency, and solves the problem in the prior art where the sorting process of the left and right side panels of air conditioner sheet metal lacks effective automated control methods, resulting in low production efficiency and difficulty in ensuring product quality stability.

[0098] This application embodiment also provides a multi-axis system, including: a controller, the controller being used to execute any of the above-described control methods for the palletizing device, the controller including a first PLC module and a second PLC module, the first PLC module and the second PLC module being communicatively connected; and a palletizing device, including a three-axis structure, a four-axis structure and a five-axis structure, which is communicatively connected to the controller.

[0099] Since the palletizing device includes one three-axis structure, two four-axis structures, and two five-axis structures, and one PLC module can only control 12 axes, two PLC modules are needed to control the entire palletizing device.

[0100] The aforementioned multi-axis system employs Ethernet IP control, exchanging signals between two programmable logic controllers (PLCs). It utilizes one three-axis system, two four-axis systems, and two five-axis systems to control the material distribution, flipping, and unloading of the left and right side panels. The combination of PLC and Ethernet IP achieves highly automated control, reducing manual intervention. The multi-axis system provides higher operational precision, ensuring consistent product quality. The system design is flexible and can be adjusted to meet different production needs. Its modular design facilitates maintenance and upgrades.

[0101] This application also provides a controller. It should be noted that the controller in this application can be used to execute the control method for a palletizing device provided in this application. This controller is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0102] The controller provided in the embodiments of this application will be described below.

[0103] Figure 9 This is a schematic diagram of a controller according to an embodiment of this application. Figure 9 As shown, the controller includes an acquisition unit 10, a determination unit 20, and a control unit 30. The acquisition unit 10 is used to acquire the movement parameters of the target object, which include at least the real-time position information, real-time speed information, real-time pose information, target position, and target pose of the target object. The target object is the left or right side panel of an air conditioner. The determination unit 20 is used to determine the operating parameters of each axis of the palletizing device based on the movement parameters of the target object. The palletizing device includes a three-axis structure, a four-axis structure, and a five-axis structure. The control unit 30 is used to control the operation of the three-axis structure, the four-axis structure, and the five-axis structure based on the operating parameters of each axis of the palletizing device, so as to palletize the target object at the target position with the target pose.

[0104] The controller described in this application includes an acquisition unit, a determination unit, and a control unit. The acquisition unit acquires the movement parameters of the target object, which include at least the real-time position information, real-time speed information, real-time pose information, target position, and target pose of the target object. The target object is the left or right side panel of an air conditioner. The determination unit determines the operating parameters of each axis of the palletizing device based on the movement parameters of the target object. The palletizing device includes a three-axis structure, a four-axis structure, and a five-axis structure. The control unit controls the operation of the three-axis structure, the four-axis structure, and the five-axis structure based on the operating parameters of each axis of the palletizing device to palletize the target object at the target position with the target pose. This controller achieves highly automated control, reducing manual intervention. The multi-axis system provides higher operational precision, ensures product quality consistency, and solves the problem in the prior art that the sorting process of the left and right side panels of air conditioner sheet metal lacks effective automated control methods, resulting in low production efficiency and difficulty in ensuring product quality stability.

[0105] In some examples, the control unit includes a first determining module, a first controlling module, a second controlling module, and a third controlling module. The first determining module is used to determine the palletizing process of the target object, which includes a sorting process, a pose adjustment process, and a palletizing process. The first controlling module is used to control the three-axis structure to move the target object from the sorting area to the conveyor belt according to the operating parameters of the three-axis structure when the target object is in the sorting process and is located in the sorting area, so that the conveyor belt transports the target object to the palletizing position. The second controlling module is used to control the five-axis structure to adjust the pose of the target object from the current pose to the target pose according to the operating parameters of the five-axis structure when the target object is in the pose adjustment process and is located in the palletizing position. The third controlling module is used to control the four-axis structure to palletize the target object at the target position according to the operating parameters of the four-axis structure when the target object is in the palletizing process and is in the target pose.

[0106] In some examples, the aforementioned three-axis structure includes an x-axis structure, a y-axis structure, and a z-axis structure. The z-axis structure includes a first z-axis structure and a second z-axis structure. The first control module includes a first control submodule, a second control submodule, and a third control submodule. The first control submodule is used to control the z-axis structure to grip the target object according to the operating parameters of the z-axis structure, so as to fix the target object between the first z-axis structure and the second z-axis structure. The second control submodule is used to control the x-axis structure to move the horizontal position of the target object to a first horizontal position according to the operating parameters of the x-axis structure. The third control submodule is used to control the y-axis structure to move the vertical position of the target object to a first vertical position according to the operating parameters of the y-axis structure, so as to move the target object from the sorting area to the conveyor belt.

[0107] In some examples, the aforementioned five-axis structure includes an α-axis structure, a β-axis structure, a γ1-axis structure, a γ2-axis structure, and a δ-axis structure. The δ-axis structure includes a first δ-axis structure and a second δ-axis structure. The second control module includes a fourth control submodule, a fifth control submodule, a sixth control submodule, and a seventh control submodule. The fourth control submodule is used to control the δ-axis structure to grip the target object according to the operating parameters of the δ-axis structure, thereby fixing the target object between the first δ-axis structure and the second δ-axis structure. The fifth control submodule is used to control the α-axis structure to move the horizontal position of the target object to a second horizontal position according to the operating parameters of the α-axis structure. The sixth control submodule is used to control the β-axis structure to move the vertical position of the target object to a second vertical position according to the operating parameters of the β-axis structure. The seventh control submodule is used to control the γ1-axis structure and the γ2-axis structure to rotate simultaneously by a preset angle according to the operating parameters of the γ1-axis structure and the γ2-axis structure, thereby adjusting the pose of the target object from the current pose to the target pose.

[0108] In some examples, the aforementioned four-axis structure includes an a-axis structure, a b-axis structure, a c-axis structure, and a d-axis structure. The third control module includes an eighth control submodule, a ninth control submodule, and a tenth control submodule. The eighth control submodule is used to control the b-axis structure to move its vertical position in the storage bin to a third vertical position based on the operating parameters of the b-axis structure. The third vertical position is at least one height above the current vertical position of the target object. The ninth control submodule is used to control the c-axis structure and the d-axis structure to clamp the target object based on the operating parameters of the c-axis structure and the d-axis structure, thereby fixing the target object between the c-axis structure and the d-axis structure and storing the target object in the storage bin. The tenth control submodule is used to control the a-axis structure to move from the storage bin to the palletizing robot's picking position based on the operating parameters of the a-axis structure when the number of target objects in the storage bin reaches a preset number, thereby palletizing the target objects at the target position.

[0109] In some instances, the determining unit includes a determining subunit, which is used to determine the operating parameters of each axis of the palletizing device based on the real-time position information, real-time speed information and real-time pose information of the target object. The operating parameters include the running time, running trajectory and running speed of the corresponding axis. The running trajectory includes multiple running segments, and one running segment corresponds to one running speed.

[0110] In some examples, the above method further includes a second determining module, a third determining module, a fourth determining module, and an alarm module. The second determining module is used to determine the virtual restriction area of ​​each axis of the palletizing device, and when the first target axis moves to the corresponding virtual restriction area, it controls the first non-target axis to adjust its running speed and / or running trajectory. The first non-target axis is the axis in the palletizing device other than the first target axis. The third determining module is used to determine the locking time of each axis of the palletizing device, and when the current time is within the locking time, it controls the second target axis to stop moving. The fourth determining module is used to determine the locking pose of each axis of the palletizing device, and when the current pose of the third target axis is the locking pose, it controls the second non-target axis to stop moving. The second non-target axis is the axis in the palletizing device other than the third target axis. The alarm module is used to collect the actual position information of each axis of the palletizing device, and when the deviation between the actual position information of the axis and the preset position information of the axis is greater than the preset deviation, it issues an alarm signal.

[0111] The control unit of the aforementioned palletizing device includes a processor and a memory. The aforementioned acquisition units, etc., are all stored as program units in the memory, and the processor executes these program units stored in the memory to achieve the corresponding functions. All of the aforementioned modules are located in the same processor; alternatively, the aforementioned modules may be located in different processors in any combination.

[0112] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured. By adjusting kernel parameters, the lack of effective automated control in the current process of assembling the left and right side panels of air conditioner sheet metal can be addressed, resulting in low production efficiency and difficulty in ensuring product quality stability.

[0113] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0114] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the control method of the palletizing device.

[0115] This invention provides a processor for running a program, wherein the program executes the control method of the palletizing device.

[0116] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements at least the control method steps of a palletizing device. The device described herein may be a server, PC, PAD, mobile phone, etc.

[0117] This application also provides a computer program product that, when executed on a data processing device, is adapted to perform the steps of a control method for initializing a device with at least a palletizing device.

[0118] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0119] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0120] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0121] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0122] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0123] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0124] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0125] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0126] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0127] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0128] 1) The control method of the palletizing device described in this application is applied to a controller in a multi-axis system. This method first acquires the movement parameters of the target object, including at least its real-time position information, real-time speed information, real-time pose information, target position, and target pose. The target object is either the left or right side panel of an air conditioner. Then, based on the movement parameters of the target object, the operating parameters of each axis of the palletizing device are determined. The palletizing device includes a three-axis structure, a four-axis structure, and a five-axis structure. Finally, based on the operating parameters of each axis of the palletizing device, the three-axis structure, the four-axis structure, and the five-axis structure are controlled to palletize the target object at the target position with the target pose. This method achieves highly automated control and reduces manual intervention. The multi-axis system provides higher operational precision, ensures product quality consistency, and solves the problem in the prior art where the sorting process of the left and right side panels of air conditioner sheet metal lacks effective automated control methods, resulting in low production efficiency and difficulty in ensuring product quality stability.

[0129] 2) The controller described in this application includes an acquisition unit, a determination unit, and a control unit. The acquisition unit acquires the movement parameters of the target object, which include at least the real-time position information, real-time speed information, real-time pose information, target position, and target pose of the target object. The target object is the left or right side panel of an air conditioner. The determination unit determines the operating parameters of each axis of the palletizing device based on the movement parameters of the target object. The palletizing device includes a three-axis structure, a four-axis structure, and a five-axis structure. The control unit controls the operation of the three-axis structure, the four-axis structure, and the five-axis structure based on the operating parameters of each axis of the palletizing device to palletize the target object at the target position with the target pose. This controller achieves highly automated control, reducing manual intervention. The multi-axis system provides higher operational precision, ensures product quality consistency, and solves the problem in the prior art that the sorting process of the left and right side panels of air conditioner sheet metal lacks effective automated control methods, resulting in low production efficiency and difficulty in ensuring product quality stability.

[0130] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for a palletizing device, characterized in that, The method, applied to a controller in a multi-axis system, includes: The movement parameters of the target object are obtained. The movement parameters include at least the real-time position information, real-time velocity information, real-time pose information, target position, and target pose of the target object. The target object is the left or right side panel of the air conditioner. Based on the movement parameters of the target object, the operating parameters of each axis of the palletizing device are determined. The palletizing device includes a three-axis structure, a four-axis structure, and a five-axis structure. Based on the operating parameters of each axis of the palletizing device, the operation of the three-axis structure, the four-axis structure, and the five-axis structure is controlled to palletize the target object at the target position in the target pose. The method further includes: Determine virtual restriction areas for each axis of the palletizing device, and when the first target axis moves to the corresponding virtual restriction area, control the first non-target axis to adjust its running speed and / or running trajectory, wherein the first non-target axis is an axis in the palletizing device other than the first target axis; and / or, Determine the locking time of each axis of the palletizing device, and if the current moment falls within the locking time, control the second target axis to stop moving; and / or, Determine the locked pose of each axis of the palletizing device; if the current pose of the third target axis is the locked pose, control the second non-target axis to stop moving; the second non-target axis is any axis in the palletizing device other than the third target axis; and / or, The actual position information of each axis of the palletizing device is collected. If the deviation between the actual position information of the axis and the preset position information of the axis is greater than the preset deviation, an alarm signal is issued.

2. The method according to claim 1, characterized in that, Based on the operating parameters of each axis of the palletizing device, the operation of the three-axis structure, the four-axis structure, and the five-axis structure is controlled to palletize the target object at the target position in the target pose, including: The palletizing process of the target object is determined, and the palletizing process includes a sorting process, a pose adjustment process, and a palletizing process. When the target object is in the sorting process and the target object is located in the sorting area, the three-axis structure is controlled to move the target object from the sorting area to the conveyor belt according to the operating parameters of the three-axis structure, so that the conveyor belt will transport the target object to the palletizing position. When the target object is in the pose adjustment process and the target object is located at the palletizing position, the five-axis structure is controlled to adjust the pose of the target object from the current pose to the target pose according to the operating parameters of the five-axis structure. When the target object is in the palletizing process and its pose is the target pose, the four-axis structure is controlled to palletize the target object at the target position according to the operating parameters of the four-axis structure.

3. The method according to claim 2, characterized in that, The three-axis structure includes an x-axis structure, a y-axis structure, and a z-axis structure. The z-axis structure includes a first z-axis structure and a second z-axis structure. Based on the operating parameters of the three-axis structure, controlling the three-axis structure to move the target object from the sorting area to the conveyor belt includes: Based on the operating parameters of the z-axis structure, the z-axis structure is controlled to grip the target object, thereby fixing the target object between the first z-axis structure and the second z-axis structure; Based on the operating parameters of the x-axis structure, control the x-axis structure to move the horizontal position of the target object to the first horizontal position; Based on the operating parameters of the y-axis structure, the y-axis structure is controlled to move the vertical position of the target object to a first vertical position, so as to move the target object from the sorting area to the conveyor belt.

4. The method according to claim 2, characterized in that, The five-axis structure includes an α-axis structure, a β-axis structure, a γ1-axis structure, a γ2-axis structure, and a δ-axis structure. The δ-axis structure includes a first δ-axis structure and a second δ-axis structure. Based on the operating parameters of the five-axis structure, the system controls the five-axis structure to adjust the pose of the target object from the current pose to the target pose, including: Based on the operating parameters of the δ-axis structure, the δ-axis structure is controlled to grip the target object, thereby fixing the target object between the first δ-axis structure and the second δ-axis structure; Based on the operating parameters of the α-axis structure, the α-axis structure is controlled to move the horizontal position of the target object to a second horizontal position; Based on the operating parameters of the β-axis structure, the β-axis structure is controlled to move the vertical position of the target object to a second vertical position; Based on the operating parameters of the γ1-axis structure and the γ2-axis structure, the γ1-axis structure and the γ2-axis structure are controlled to rotate simultaneously by a preset angle to adjust the pose of the target object from the current pose to the target pose.

5. The method according to claim 2, characterized in that, The four-axis structure includes an a-axis structure, a b-axis structure, a c-axis structure, and a d-axis structure. Based on the operating parameters of the four-axis structure, the system controls the stacking of the target object at the target position, including: Based on the operating parameters of the b-axis structure, the b-axis structure is controlled to move the vertical position of the storage compartment to a third vertical position, the third vertical position being at least one height of the target object from the current vertical position of the target object; Based on the operating parameters of the c-axis structure and the d-axis structure, the c-axis structure and the d-axis structure are controlled to clamp the target object, thereby fixing the target object between the c-axis structure and the d-axis structure and storing the target object in the storage compartment. When the number of target objects in the storage bin reaches a preset quantity, the a-axis structure is controlled to move from the storage bin to the palletizing robot's picking position according to the operating parameters of the a-axis structure, so as to palletize the target objects at the target position.

6. The method according to claim 1, characterized in that, Based on the movement parameters of the target object, the operating parameters of each axis of the palletizing device are determined, including: Based on the real-time position information, real-time speed information, and real-time pose information of the target object, the operating parameters of each axis of the palletizing device are determined. The operating parameters include the operating time, operating trajectory, and operating speed of the corresponding axis. The operating trajectory includes multiple operating segments, and each operating segment corresponds to a certain operating speed.

7. A multi-axis system, characterized in that, include: A controller for executing a control method for a palletizing device according to any one of claims 1 to 6, the controller comprising a first PLC module and a second PLC module, the first PLC module and the second PLC module being communicatively connected. The palletizing device includes a three-axis structure, a four-axis structure, and a five-axis structure, and is communicatively connected to the controller.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the control method of the palletizing apparatus according to any one of claims 1 to 6.

9. An electronic device, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a control method for performing a palletizing apparatus according to any one of claims 1 to 6.

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