Full-automatic processing system, full-automatic processing control method and device and electronic equipment

Abstract

The invention discloses a full-automatic machining system, a full-automatic machining control method and device and electronic equipment. The full-automatic machining system comprises at least two sets of machine tools, each set of machine tools comprises at least two machine tools arranged in sequence, each machine tool executes one working procedure in the machining process, and finished products are obtained after machining is conducted through the working procedures in the set in sequence; a movable robot; and the upper computer is in communication connection with the robot and the machine tool and used for automatically controlling the robot to move according to the workpiece machining state in the machine tool so as to cooperate with the machine tool for feeding and / or discharging. At least two sets of machine tools are arranged, each set of machine tools integrates all procedures in the product machining process, each set of machine tools can obtain finished products through machining, unified scheduling is conducted on the robot and the multiple sets of machine tools through the upper computer, resource priority distribution is achieved, manual intervention is reduced, efficient and continuous full-automatic machining is achieved, and the machining efficiency is improved; the machining precision is prevented from being affected by human factors, and the method can adapt to complex working conditions.

Description

Technical Field

[0001] The present invention relates to the field of automatic processing technology, and in particular to a full-automatic processing system, a full-automatic processing control method, a device and an electronic device. Background Art

[0002] With the continuous development of industrial automation, robots are increasingly used in various fields. As one of the key components of robots, the machining accuracy and quality of robot joint flanges directly affect the performance and reliability of robots.

[0003] At present, the robot joint flange processing equipment on the market has a single function, a low degree of automation, requires a lot of manual intervention, and is difficult to meet the needs of large-scale production. The processing efficiency is low, and the processing accuracy is unstable due to human factors. There are also certain deficiencies in processing accuracy, stability and reliability, which need to be further improved.

[0004] For example, one robot is responsible for one machine tool, which is a one-to-one mode. The control method is mainly controlled by PLC (Programmable Logic Controller), and all signals of the machine tool and the robot must be controlled by PLC. This control method is relatively simple, and programming and debugging are also relatively complicated. It can only be applied in one-to-one scenarios with simple working conditions. A finished workpiece cannot be processed by one machine tool, and at least two machine tools are required to cooperate. The above one-to-one mode requires manual switching of multiple machine tools and manual flipping of workpieces, which has low processing efficiency.

[0005] With regard to the problem of low efficiency in robot joint flange processing in the prior art, no effective solution has been proposed yet. Summary of the invention

[0006] The embodiments of the present invention provide a full-automatic processing system, a full-automatic processing control method, a device and an electronic device, so as to at least solve the problem of low processing efficiency of robot joint flange in the prior art.

[0007] In order to solve the above technical problems, an embodiment of the present invention provides a fully automatic processing system, comprising:

[0008] At least two groups of machine tools, each group of machine tools includes: at least two machine tools arranged in sequence, each machine tool performs a process in the processing, and obtains a finished product after being processed in sequence through each process in the group;

[0009] Mobile robots;

[0010] The host computer is connected to the robot and the machine tool in communication, and is used to automatically control the movement of the robot according to the processing status of the workpiece inside the machine tool, so as to cooperate with the machine tool to load and / or unload materials.

[0011] Optionally, the robot comprises a dual-station fixture.

[0012] Optionally, the fully automatic processing system further includes: an AGV cart, which is communicatively connected to the host computer and is used for transporting materials.

[0013] The embodiment of the present invention further provides a fully automatic machining control method, which is applied to the fully automatic machining system described in the embodiment of the present invention. The machine tools in each group of machine tools are recorded as the first machine tool, the second machine tool, ..., the Nth machine tool in the order of the process, and N represents the total number of processes corresponding to the machining process. The method includes:

[0014] Obtain the workpiece processing status inside the machine tool;

[0015] The robot is automatically controlled to move according to the workpiece processing status to cooperate with the machine tool to load and / or unload materials.

[0016] Optionally, automatically controlling the movement of the robot according to the workpiece processing state to cooperate with the machine tool for loading and / or unloading includes:

[0017] It is detected that there is material in the blank loading area;

[0018] Receiving an idle signal or a processing completion signal from any first machine tool;

[0019] Controlling the robot to grab the blank from the blank loading area and move it to the first machine tool;

[0020] Controlling the first machine tool to open a door;

[0021] If there is no workpiece in the first machine tool, controlling the robot to place the blank into the first machine tool for processing;

[0022] If there is a workpiece in the first machine tool, the robot is controlled to grab the workpiece from the first machine tool and put it on the turning table, and the blank is put into the first machine tool for processing.

[0023] Optionally, after controlling the robot to grab the workpiece from the first machine tool and place it on the turning table, the method further includes:

[0024] determining whether a second machine tool in the same group of machine tools is performing a machining operation;

[0025] If not, directly controlling the robot to take out the workpiece from the turning table, and placing the workpiece into the second machine tool for further processing;

[0026] If so, when a processing completion signal is received from a second machine tool in the same group of machine tools and the workpiece in the second machine tool has been taken out, the robot is controlled to take out the workpiece from the turning table and put the workpiece into the second machine tool for further processing.

[0027] Optionally, automatically controlling the movement of the robot according to the workpiece processing state to cooperate with the machine tool to perform unloading and / or unloading, includes:

[0028] When the first machine tool in all the group machine tools is performing a machining operation, a machining completion signal of any Nth machine tool is received;

[0029] When there is a pallet in the finished product unloading area and there is no material on the pallet, the robot is controlled to move to the Nth machine tool to take out the finished product from the Nth machine tool.

[0030] Optionally, after taking out the finished product from the Nth machine tool, the method further comprises:

[0031] Determining whether the finished product is a qualified product;

[0032] If the finished product is a qualified product, the robot is controlled to move to the finished product unloading area and place the finished product in the finished product unloading area;

[0033] If the finished product is a defective product, the robot is controlled to move to the NG unloading area and place the finished product in the NG unloading area.

[0034] The embodiment of the present invention further provides a fully automatic machining control device, which is applied to the fully automatic machining system described in the embodiment of the present invention. The machine tools in each group of machine tools are recorded as the first machine tool, the second machine tool, ..., the Nth machine tool in the order of the process, and N represents the total number of processes corresponding to the machining process. The device includes:

[0035] An acquisition module is used to acquire the workpiece processing status inside the machine tool;

[0036] The control module is used to automatically control the movement of the robot according to the processing status of the workpiece, so as to cooperate with the machine tool to load and / or unload materials.

[0037] An embodiment of the present invention further provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the fully automatic machining control method described in the embodiment of the present invention when executing the computer program.

[0038] The embodiment of the present invention further provides a non-volatile computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the fully automatic processing control method described in the embodiment of the present invention is implemented.

[0039] By applying the technical solution of the present invention, at least two groups of machine tools are set up, each group of machine tools integrates various working procedures in the product processing process, and each group of machine tools can process finished products. The upper computer automatically controls the movement of the robot according to the processing status of the workpiece inside the machine tool to cooperate with the machine tool for loading and / or unloading. The upper computer uniformly schedules the robot and multiple groups of machine tools to realize resource priority allocation, reduce manual intervention, realize efficient and continuous full-automatic processing, improve processing efficiency, avoid the influence of processing accuracy due to human factors, and can adapt to complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a schematic diagram of a fully automatic processing system provided by an embodiment of the present invention;

[0041] Figure 2 is a flow chart of a fully automatic processing control method provided by an embodiment of the present invention;

[0042] Figure 3 is a fully automatic processing control logic diagram provided by an embodiment of the present invention;

[0043] Figure 4 is a structural block diagram of a fully automatic processing control device provided by an embodiment of the present invention;

[0044] Figure 5 is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention;

[0045] Description of reference numerals:

[0046] The first machine tool 10, the second machine tool 20, the robot 30, the ground rail 40, the loading docking station 51, the turning table 52, the unloading docking station 53, the NG unloading docking station 54, the AGV trolley 60, the AGV charging pile 70, the rough material storage area 81, the finished product storage area 82, and the manual stacking docking station 90. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0049] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0050] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0051] The optional embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0052] Example 1

[0053] This embodiment provides a fully automatic processing system, which can be used to process robot joint flanges, etc.

[0054] The fully automatic processing system includes: at least two sets of machine tools, a robot and a host computer.

[0055] Each group of machine tools includes: at least two machine tools arranged in sequence, each machine tool performs a process in the processing, and the finished product is obtained after the processes in the group are processed in sequence. The machine tools in each group of machine tools are recorded as the first machine tool, the second machine tool, ..., the Nth machine tool in the order of the processes, and N represents the total number of processes corresponding to the processing process. The finished product is obtained after the first machine tool, the second machine tool, ..., the Nth machine tool in the same group perform their corresponding processes in sequence. N≥2.

[0056] The robot is movable, and specifically, a ground rail may be installed, and the robot moves on the ground rail.

[0057] The host computer is connected to the robot and the machine tool in communication, and is used to automatically control the movement of the robot according to the processing status of the workpiece inside the machine tool, so as to cooperate with the machine tool to load and / or unload materials.

[0058] Take two sets of machine tools as an example. Figure 1 As shown, each group of machine tools includes: two adjacent machine tools, denoted as the first machine tool 10 and the second machine tool 20, the first machine tool 10 performs the first process in the processing process, and the second machine tool 20 performs the second process in the processing process, and the finished product is obtained after the first process and the second process are processed in sequence. The two groups of machine tools are arranged in a row, and the robot 30 can operate each machine tool by moving along its ground rail 40, that is, the movement range of the robot 30 covers the two groups of machine tools. The host computer is connected to the first machine tool 10, the second machine tool 20, and the robot 30. Each group of machine tools corresponds to: a loading docking station 51 (also called a blank loading area), a flipping station 52 (also called a flipping mechanism), and a unloading docking station 53 (also called a finished product unloading area). The loading docking station 51 corresponds to the position of the first machine tool 10 and is used to place blanks. The unloading docking station 53 corresponds to the position of the second machine tool 20 and is used to place finished products. The turning table 52 corresponds to the position between the first machine tool 10 and the second machine tool 20, and is used to turn over the semi-finished product processed by the first machine tool 10. The fully automatic processing system also includes an NG unloading docking station 54 (also called an NG unloading area) for placing unqualified products. The NG unloading docking station 54 can be located between the two sets of machine tools to facilitate robot operation and speed up processing efficiency.

[0059] In this embodiment, at least two groups of machine tools are arranged, each group of machine tools integrates various working procedures in the product processing process, and each group of machine tools can process finished products. The upper computer automatically controls the movement of the robot according to the processing status of the workpiece inside the machine tool to cooperate with the machine tool for loading and / or unloading. The upper computer uniformly schedules the robot and multiple groups of machine tools to realize resource priority allocation, reduce manual intervention, realize efficient and continuous full-automatic processing, improve processing efficiency, avoid the influence of processing accuracy due to human factors, and can adapt to complex working conditions.

[0060] The robot 30 includes a double-station fixture. The double-station fixture includes two claw plates, each of which can grab an object, thereby reducing the number of grabs and improving work efficiency. The claw plate adopts an internal support type and can adapt to different flange size specifications and processing requirements.

[0061] The fully automatic processing system also includes multiple sensors for detecting whether the target exists, whether the target is in place, or whether the workpiece is qualified, for example, detecting whether a pallet on a rack exists.

[0062] like Figure 1As shown, the fully automatic processing system also includes: an AGV trolley 60, which is connected to the host computer for transporting materials. The AGV trolley 60 travels along its path, and the path is as follows Figure 1 The dotted line in the middle shows that materials can be transported automatically without human intervention through the AGV. AGV is the abbreviation of Automated Guided Vehicle.

[0063] The fully automatic processing system also includes: an AGV charging station 70 for charging the AGV trolley 60 .

[0064] The fully automatic processing system also includes a material storage area, which is specifically divided into a blank storage area 81 and a finished product storage area 82. The fully automatic processing system also includes a manual material stacking docking station 90.

[0065] The AGV 60 can take materials from one location and send them to another location. For example, the AGV 60 takes blanks from the blank storage area 81 or the manual material docking station 90 and sends them to the loading docking station 51 for the robot 30 to take materials. For another example, the AGV 60 takes finished products from the unloading docking station 53 and sends them to the finished product storage area 82. For another example, the AGV 60 takes unqualified products from the NG unloading docking station 54, etc.

[0066] Example 2

[0067] This embodiment provides a fully automatic machining control method, which is executed by a host computer and applied to the fully automatic machining system described in the above embodiment. Each machine tool in each group of machine tools is recorded as the first machine tool, the second machine tool, ..., the Nth machine tool in the order of the process, and N represents the total number of processes corresponding to the machining process.

[0068] Figure 2 is a flow chart of a fully automatic processing control method provided by an embodiment of the present invention, such as Figure 2 As shown, the method comprises the following steps:

[0069] S201, obtaining the workpiece processing status inside the machine tool.

[0070] S202, automatically controlling the movement of the robot according to the processing status of the workpiece to cooperate with the machine tool for loading and / or unloading.

[0071] The workpiece processing status inside the machine tool includes: idle, executing processing operation, and processing completed. Idle means that the machine tool is in an idle state and there is no workpiece inside it, and processing completed means that the processing has been completed and the workpiece is still in the machine tool.

[0072] In this embodiment, at least two groups of machine tools are arranged, each group of machine tools integrates various working procedures in the product processing process, and each group of machine tools can process finished products. The upper computer automatically controls the movement of the robot according to the processing status of the workpiece inside the machine tool to cooperate with the machine tool for loading and / or unloading. The upper computer uniformly schedules the robot and multiple groups of machine tools to realize resource priority allocation, reduce manual intervention, realize efficient and continuous full-automatic processing, improve processing efficiency, and avoid affecting processing accuracy due to human factors.

[0073] In one embodiment, the movement of the robot is automatically controlled according to the processing status of the workpiece to cooperate with the machine tool for loading and / or unloading, including: detecting that there is material in the blank loading area; receiving an idle signal or a processing completion signal from any first machine tool; controlling the robot to grab the blank from the blank loading area and move it to the first machine tool; controlling the first machine tool to open the door; if there is no workpiece in the first machine tool, controlling the robot to place the blank into the first machine tool for processing; if there is a workpiece in the first machine tool, controlling the robot to grab the workpiece from the first machine tool and place it on the turning table, and placing the blank into the first machine tool for processing.

[0074] This embodiment can timely call a suitable first machine tool to carry out material loading and processing according to the actual situation of the machine tool, thereby realizing reasonable scheduling of the machine tool and improving processing efficiency.

[0075] It should be noted that, since the robot includes a dual-station fixture, the robot uses one station to grab the blank, and then can use the other station to grab the workpiece in the first machine tool, which improves efficiency. When the fully automatic processing system starts running, both sets of machine tools are idle. At this time, the robot's dual-station fixture can be filled with blanks and placed in the first machine tool of the first set of machine tools and the first machine tool of the second set of machine tools in turn, which can also improve efficiency.

[0076] If multiple first machine tools are idle or have completed processing at the same time, the first machine tool with the highest priority can be determined for loading and processing. For example, the first machine tool closest to the current position of the robot has the highest priority, or the groups of machine tools are numbered in sequence and the group with the smallest number has the highest priority, or the first machine tool with the shortest cumulative running time has the highest priority.

[0077] After the control robot grabs the workpiece from the first machine tool and puts it on the turning table, it also includes: judging whether the second machine tool in the same group of machine tools is performing a processing operation; if not, directly controlling the robot to take out the workpiece from the turning table and put the workpiece into the second machine tool for further processing; if so, when receiving the processing completion signal of the second machine tool in the same group of machine tools and the workpiece in the second machine tool has been taken out, controlling the robot to take out the workpiece from the turning table and put the workpiece into the second machine tool for further processing. Similarly, after the processing of the second machine tool is completed, the robot can be controlled to grab the workpiece from the second machine tool and put it into the idle third machine tool in the same group for further processing.

[0078] This embodiment can timely advance the subsequent processing progress according to the actual processing situation of the machine tool to ensure processing efficiency.

[0079] In one embodiment, the movement of the robot is automatically controlled according to the processing status of the workpiece to cooperate with the machine tool for unloading and / or unloading, including: when the first machine tool in all groups of machine tools is performing processing operations, a processing completion signal from any Nth machine tool is received; when there is a pallet in the finished product unloading area and there is no material on the pallet, the robot is controlled to move to the Nth machine tool to take out the finished product from the Nth machine tool.

[0080] In this embodiment, when the first machine tool in all groups of machine tools is performing processing operations, priority is given to unloading workpieces from the machine tools, and finished products can be unloaded in a timely manner according to the actual conditions of the machine tools, thereby freeing up the machine tools for the next round of processing, achieving reasonable scheduling of the machine tools and improving processing efficiency.

[0081] Furthermore, after taking out the finished product from the Nth machine tool, it also includes: judging whether the finished product is a qualified product; if the finished product is a qualified product, controlling the robot to move to the finished product unloading area and placing the finished product in the finished product unloading area; if the finished product is an unqualified product, controlling the robot to move to the NG unloading area and placing the finished product in the NG unloading area. For example, whether the finished product is a qualified product can be judged by detecting the accuracy of the finished product.

[0082] This embodiment can distinguish qualified products from unqualified products and place them in corresponding unloading areas to facilitate subsequent targeted processing.

[0083] Example 3

[0084] The fully automatic processing control method is described below in conjunction with a specific embodiment. However, it is worth noting that this specific embodiment is only for better illustrating the present application and does not constitute an improper limitation on the present application. The explanation of terms that are the same or corresponding to the above embodiment will not be repeated in this embodiment.

[0085] The program written into the production line by the PLC is fixed, and it can only control the part of the line to which it belongs. According to its fixed logic, the next step will be carried out only when the conditions are met. Under various working conditions, the ladder logic of the PLC is difficult to control and debug. The host computer of this embodiment can monitor and manage the line body, schedule and uniformly allocate the line body, and realize resource priority allocation, that is, determine which machine tool of the production line is idle and issue instructions. The host computer can provide a more intuitive human-machine interface, and has better data analysis capabilities and production progress monitoring. Therefore, this embodiment uses a host computer, which has more scheduling advantages.

[0086] The fully automatic processing system of this embodiment adopts a one-to-four working mode, that is, one robot is responsible for the automatic loading and unloading of four machine tools (i.e., two groups). The work content covered by the fully automatic processing system includes: AGV trolley material picking and feeding, blank loading unit, finished product unloading unit, first group of machine tool loading and unloading unit, second group of machine tool loading and unloading unit, material rack tray and material detection, as well as abnormal detection and processing of each part. Exemplarily, the first machine tool in each group is denoted as OP10 machine tool, which executes OP10 process, and the blank is processed according to OP10 process to obtain OP10 workpiece (i.e., semi-finished product), and the second machine tool is denoted as OP20 machine tool, which executes OP20 process, and OP10 workpiece is processed according to OP20 process to obtain OP20 workpiece (i.e., finished product).

[0087] In specific implementation, the above work contents can be each treated as a separate work module, the action logic of a single work module is controlled by PLC, and each work module is introduced to the host computer (also called the central control computer) for scheduling, so that the impact between the various work modules can be minimized. In other words, the above work contents are disassembled into separate work tasks, the task start conditions are clarified, and necessary conditions such as beats are added to facilitate scheduling by the host computer.

[0088] PLC is mainly used to control various physical quantities in the industrial production process. For example, for robots, PLC can control the movement angle and speed of its joints to achieve precise grasping and placement of objects. The host computer can control the PLC through Ethernet. Both the PLC and the host computer support Ethernet interfaces. They can be connected to the same local area network, and the communication protocol often uses TCP / IP or UDP / IP. The host computer uses Socket programming to package the control instructions according to the established protocol and send them to the IP address and port number of the PLC. In the monitoring system of the automated factory, the host computer can remotely control the PLC through the above communication method to achieve operations such as starting and stopping the production line equipment and adjusting parameters.

[0089] The following is an explanation of PLC control and host computer scheduling. The action logic of the fully automatic processing system is as follows:

[0090] After the blank is sent to the loading area, a feedback signal is given to the central control system. After the central control system confirms that there is material in the blank loading area, it reads the robot status and deploys the robot to the blank loading area. At the same time, it monitors whether the machine tool signal is normal and meets the loading conditions.

[0091] If the loading conditions of the first group of machine tools are met (for example, the robot is located at the blank picking position of the first group of machine tools and there is material at the corresponding position of the blank picking station, and at the same time, there is no abnormality in the first group of machine tools and the station is idle or the station processing is completed), the central control system interacts with the PLC signal and executes the loading and unloading unit action of the first group of machine tools. Specifically, the robot moves to the front of the first group of machine tools after clamping the blank and waits for PLC signal feedback. After the OP10 machine tool opens the door, if there is no workpiece in the machine tool, the robot puts the blank into the OP10 machine tool; if there is a workpiece in the machine tool, the robot grabs the processed OP10 workpiece and places it on the flip table to prepare for OP20, and at the same time, the robot's double-station fixture puts the blank into the OP10 machine tool. After the loading and unloading unit action of the first group of machine tools is completed, the robot returns to the default safe position and waits for the host computer to dispatch to realize cyclic processing.

[0092] At this time, the first group of machine tools are processing. If the loading conditions of the second group of machine tools are met, the upper computer dispatches the robot to switch the processing tasks and perform the displacement tasks. The central control system interacts with the PLC and executes the loading and unloading unit actions of the second group of machine tools (the action logic is the same as that of the first group of machine tools, which will not be repeated here). After the loading and unloading unit actions of the second group of machine tools are completed, the robot waits for the upper computer to dispatch. If the loading conditions of the second group of machine tools are not met, for example, the second group of machine tools are also processing, then the blank grabbing judgment is performed, and the processing completion signal and the finished product unloading status judgment are performed subsequently. If the unloading conditions are met, the upper computer dispatches the robot to switch the unloading tasks and perform the finished product unloading action (that is, the robot moves to the front of the corresponding machine tool, clamps the finished product and moves to the finished product unloading area for unloading), and the unloading of the machine tool workpiece is performed first. Specifically, it can be judged whether the following conditions are met: OP20 processing completion signal, no material at the corresponding position of the finished product station, and the corresponding tooling pallet of the finished product station exists. If both are met, it is considered that the unloading conditions are met. Therefore, after the finished product is unloaded, the machine tool can be freed up for processing.

[0093] In this embodiment, when the current execution condition is not met, the judgment detection of the next action unit will be carried out or the action will be interspersed, thereby greatly reducing the waiting actions of the robot and improving production efficiency.

[0094] For example, the upper computer controls the robot to put the blank into the OP10 machine tool. After the OP10 is processed, the OP10 workpiece is grabbed. At this time, the OP10 machine tool is idle, and a new blank can be put into the OP10 machine tool for processing again. The grabbed OP10 workpiece is placed on the turning table for turning and then placed in the OP20 machine tool for processing.

[0095] like Figure 3 As shown, the fully automatic processing control logic is as follows:

[0096] S301, all parts of the system are ready, including: automated line control system, blank tooling, machine tools, robots and their fixtures, and information monitoring system.

[0097] Among them, the automated line is controlled by PLC. The information monitoring system in the automated line is mainly used for real-time monitoring and management of the line's operating status, production data, etc. It contains multiple sensors to collect data, such as the speed of each joint of the robot, the position and passing conditions of objects detected by photoelectric sensors, the spindle data inside the machine tool, and processing data. The data collected by the sensor will be transmitted to the monitoring software platform, and the operating parameters, production efficiency, fault alarm and other information of the equipment will be displayed through the interface of the platform. Through the information monitoring system, precise control of the production process can be achieved. Once a fault is detected in a certain production link, the system can quickly issue an alarm to inform the staff of the fault location and type, so as to repair it in time, reduce downtime, and improve production efficiency. At the same time, the production data recorded by the system can also be used for many subsequent purposes such as quality tracing and production optimization.

[0098] S302, main control system operation monitoring.

[0099] S303, host computer instruction scheduling.

[0100] S304, control the AGV to fetch materials from the storage area.

[0101] S305, determine whether there is material through the sensor, if so, go to S307, if not, go to S306.

[0102] S306, sending a material taking failure signal.

[0103] S307, loading of the first group of machine tools OP10.

[0104] S308, determine whether the feeding conditions are met, if so, go to S310, if not, go to S309.

[0105] S309, sending the first set of OP10 machine tool abnormality signals.

[0106] S310, OP10 processing.

[0107] S311, check whether the workpiece accuracy in the OP10 machine tool is qualified (i.e., determine whether the OP10 workpiece is qualified). If so, enter S314, if not, enter S312.

[0108] S312, an abnormal signal is issued.

[0109] S313, the abnormal workpiece is sent to the NG station by the AGV.

[0110] S314, placing the OP10 workpiece on the first set of workpiece turning tables.

[0111] S315, determine whether the flip is successful through the sensor, if so, go to S317, if not, go to S316.

[0112] S316, sending the first set of turning table abnormality signals.

[0113] S317, loading of the first group of machine tools OP20.

[0114] S318, determine whether the feeding conditions are met, if so, go to S320, if not, go to S319.

[0115] S319, sends the second set of OP10 machine tool abnormality signals.

[0116] S320, OP20 processing.

[0117] S321, check whether the workpiece accuracy in the OP10 machine tool is qualified (i.e., determine whether the OP10 workpiece is qualified). If so, enter S322, if not, enter S323.

[0118] S322, the OP20 workpiece (i.e., finished product) is sent to the finished product unloading area.

[0119] S323, an abnormal signal is issued.

[0120] S324, the abnormal workpiece is sent to the NG station by the AGV.

[0121] S325, blank loading area status detection, the proximity sensor detects whether the tray exists and the infrared sensor detects the status of the blank on the tray.

[0122] S326, determine whether there is material. If there is material, enter S327. If there is no material, the feedback system will replenish the material, that is, the upper computer will issue instructions to dispatch the AGV car, unload the empty pallet, transport a new batch of blanks from the blank storage area to the line, and return to S325 for further testing.

[0123] S327, complete the closed loop and send out a cyclic processing signal.

[0124] S328, pallet material and material rack detection, whether they meet the grasping requirements, if so, enter S329, if not, issue a prompt and continue to determine whether they meet the grasping requirements.

[0125] S329, sends a normal signal.

[0126] S330, material rack switching operation.

[0127] S331, check whether the switching is successful, if so, return to S328, if not, return to S330.

[0128] S332, executing control operations of the second group of machine tools. The control logic of the second group of machine tools is similar to that of the first group of machine tools (ie, steps S304 to S327), and will not be described in detail here.

[0129] This embodiment breaks through the constraints of the traditional one-to-one model, introduces a host system, and cooperates with PLC through information technology to cope with more complex scenarios. The host system determines the processing status of the workpiece inside the machine tool, thereby scheduling the processing priorities of different machine tools to maximize the processing efficiency, greatly improve the processing time, reduce manual intervention, and achieve efficiency improvement through staff reduction. The scope of application has been expanded, the fault tolerance is strong, the adjustment difficulty is reduced, and the goal of efficiency improvement is achieved at the same time. This design facilitates bus monitoring and lays the foundation for further moving towards unmanned factories.

[0130] Through unified scheduling by the host computer, this embodiment can determine the idle machine tools and give priority to the use of the machine tools based on the process sequence, thereby improving the processing efficiency and quality of the robot joint flanges, reducing production costs, and meeting the large-scale market demand for robot joint flanges.

[0131] This embodiment uses two sets of processing lines, and the robot dual-station fixture can also grasp materials in dual stations. The dual stations work together and can perform machining tasks at the same time, further shortening the processing cycle. The fully automatic processing system can achieve continuous and efficient processing, reduce manual intervention and waiting time, and greatly improve production efficiency. The fully automatic processing system uses high-precision sensors, control systems and processing equipment, which can accurately control processing parameters to ensure the dimensional accuracy and surface quality of each joint flange. Through precise positioning and clamping devices, the processing accuracy and stability of the workpiece during the processing are guaranteed, and the errors caused by vibration and displacement are reduced. The fully automatic processing system realizes automated production, and workers only need to perform equipment monitoring and maintenance, which greatly reduces labor intensity. It reduces safety risks in manual operation and improves the safety of the working environment. It can be quickly adjusted and switched according to different joint flange specifications and processing requirements to meet the production needs of various products, facilitate process optimization and upgrading, improve the market competitiveness of the enterprise, and improve the flexibility and adaptability of production.

[0132] In addition, the high-precision processing of this embodiment ensures the dimensional consistency and surface quality of the joint flange, improves the assembly accuracy and performance of the robot, reduces the scrap rate caused by processing errors, improves product quality, and reduces production costs. The efficient production method and stable product quality can meet the market's large demand for robot joint flanges. The efficient processing method reduces the waste of energy and materials, and automated production reduces dependence on human resources, alleviating the problem of labor shortage.

[0133] Example 4

[0134] Based on the same inventive concept, this embodiment provides a fully automatic processing control device, which is applied to the fully automatic processing system described in the above embodiment, and can be used to implement the fully automatic processing control method described in the above embodiment. The machine tools in each group of machine tools are recorded as the first machine tool, the second machine tool, ..., the Nth machine tool in the order of the process, and N represents the total number of processes corresponding to the processing process. The fully automatic processing control device can be implemented by software and / or hardware, and the fully automatic processing control device can generally be integrated into a host computer.

[0135] Figure 4 is a structural block diagram of a fully automatic processing control device provided by an embodiment of the present invention, such as Figure 4 As shown, the fully automatic processing control device includes:

[0136] An acquisition module 41 is used to acquire the workpiece processing status inside the machine tool;

[0137] The control module 42 is used to automatically control the movement of the robot according to the workpiece processing status to cooperate with the machine tool to load and / or unload materials.

[0138] In this embodiment, at least two groups of machine tools are arranged, each group of machine tools integrates various working procedures in the product processing process, and each group of machine tools can process finished products. The upper computer automatically controls the movement of the robot according to the processing status of the workpiece inside the machine tool to cooperate with the machine tool for loading and / or unloading. The upper computer uniformly schedules the robot and multiple groups of machine tools to realize resource priority allocation, reduce manual intervention, realize efficient and continuous full-automatic processing, improve processing efficiency, avoid the influence of processing accuracy due to human factors, and can adapt to complex working conditions.

[0139] Optionally, the control module 42 includes:

[0140] A detection unit is used to detect the presence of material in the blank loading area;

[0141] A first receiving unit, used to receive an idle signal or a processing completion signal of any first machine tool;

[0142] A first control unit, used for controlling the robot to grab the blank from the blank loading area and move it to the first machine tool;

[0143] a second control unit, used for controlling the first machine tool to open a door;

[0144] a third control unit, configured to control the robot to place the blank into the first machine tool for processing if there is no workpiece in the first machine tool;

[0145] The fourth control unit is used to control the robot to grab the workpiece from the first machine tool and put it on the turning table if there is a workpiece in the first machine tool, and to put the blank into the first machine tool for processing.

[0146] Optionally, the control module 42 further includes:

[0147] a first judging unit, configured to judge whether a second machine tool in the same group of machine tools is performing a machining operation after the fourth control unit controls the robot to grab the workpiece from the first machine tool and place it on the turning table;

[0148] a fifth control unit, for directly controlling the robot to take out the workpiece from the turning table and place the workpiece into the second machine tool for further processing if the judgment result is no; and for controlling the robot to take out the workpiece from the turning table and place the workpiece into the second machine tool for further processing if the judgment result is yes and a processing completion signal is received from the second machine tool in the same group of machine tools and the workpiece in the second machine tool has been taken out.

[0149] Optionally, the control module 42 includes:

[0150] A second receiving unit is used to receive a processing completion signal of any Nth machine tool when the first machine tool in all the groups of machine tools is performing a processing operation;

[0151] The sixth control unit is used to control the robot to move to the Nth machine tool and take out the finished product from the Nth machine tool when there is a pallet in the finished product unloading area and there is no material on the pallet.

[0152] Optionally, the control module 42 further includes:

[0153] a second judging unit, configured to judge whether the finished product is a qualified product after the sixth control unit takes out the finished product from the Nth machine tool;

[0154] The seventh control unit is used to control the robot to move to the finished product unloading area and place the finished product in the finished product unloading area if the finished product is a qualified product; and to control the robot to move to the NG unloading area and place the finished product in the NG unloading area if the finished product is an unqualified product.

[0155] The above-mentioned fully automatic processing control device can execute the fully automatic processing control method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, please refer to the fully automatic processing control method provided by the embodiment of the present invention.

[0156] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0157] Example 5

[0158] An embodiment of the present invention further provides a non-volatile computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the fully automatic processing control method described in the above embodiment is implemented.

[0159] Example 6

[0160] An embodiment of the present invention further provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the fully automatic machining control method described in the above embodiment when executing the computer program.

[0161] Figure 5 is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention, such as Figure 5 As shown, the electronic device includes:

[0162] One or more processors 510 and memory 520, Figure 5 A processor 510 is taken as an example.

[0163] The electronic device may further include: an input device 530 and an output device 540 .

[0164] The processor 510, the memory 520, the input device 530 and the output device 540 may be connected via a bus or other means. Figure 5 The example of connecting through bus is taken in the following.

[0165] The memory 520 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the fully automatic machining control method in the embodiment of the present invention. The processor 510 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 520, that is, realizing the above-mentioned fully automatic machining control method.

[0166] The memory 520 may include a program storage area and a data storage area, wherein the program storage area may store an operating device and an application required for at least one function; the data storage area may store machine tool processing status data, etc. In addition, the memory 520 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0167] The input device 530 can receive input digital or character information and generate key signal input related to user settings and function control of the electronic device. The output device 540 can include a display device such as a display screen.

[0168] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0169] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fully automatic processing system, characterized in that: include: At least two groups of machine tools, each group of machine tools includes: at least two machine tools arranged in sequence, each machine tool performs a process in the processing, and obtains a finished product after being processed in sequence through each process in the group; Mobile robots; The host computer is connected to the robot and the machine tool in communication, and is used to automatically control the movement of the robot according to the processing status of the workpiece inside the machine tool, so as to cooperate with the machine tool to load and / or unload materials.

2. The fully automatic processing system according to claim 1, characterized in that: The robot includes a dual-station fixture.

3. The fully automatic processing system according to claim 1, characterized in that: The fully automatic processing system also includes: an AGV cart, which is communicatively connected to the host computer and is used for transporting materials.

4. A fully automatic processing control method, characterized in that: The fully automatic machining system according to any one of claims 1 to 3, wherein each machine tool in each group of machine tools is recorded as the first machine tool, the second machine tool, ..., the Nth machine tool in the order of the process, and N represents the total number of processes corresponding to the machining process, and the method comprises: Obtain the workpiece processing status inside the machine tool; The robot is automatically controlled to move according to the workpiece processing status to cooperate with the machine tool to load and / or unload materials.

5. The method according to claim 4, characterized in that Automatically controlling the movement of the robot according to the workpiece processing state to cooperate with the machine tool for loading and / or unloading, including: It is detected that there is material in the blank loading area; Receiving an idle signal or a processing completion signal from any first machine tool; Controlling the robot to grab the blank from the blank loading area and move it to the first machine tool; Controlling the first machine tool to open a door; If there is no workpiece in the first machine tool, controlling the robot to place the blank into the first machine tool for processing; If there is a workpiece in the first machine tool, the robot is controlled to grab the workpiece from the first machine tool and put it on the turning table, and the blank is put into the first machine tool for processing.

6. The method according to claim 5, characterized in that After controlling the robot to grab the workpiece from the first machine tool and place it on the turning table, the method further includes: determining whether a second machine tool in the same group of machine tools is performing a machining operation; If not, directly controlling the robot to take out the workpiece from the turning table, and placing the workpiece into the second machine tool for further processing; If so, when a processing completion signal is received from a second machine tool in the same group of machine tools and the workpiece in the second machine tool has been taken out, the robot is controlled to take out the workpiece from the turning table and put the workpiece into the second machine tool for further processing.

7. The method according to claim 4, characterized in that Automatically controlling the movement of the robot according to the workpiece processing state to cooperate with the machine tool to carry out unloading and / or unloading, including: When the first machine tool in all the group machine tools is performing a machining operation, a machining completion signal of any Nth machine tool is received; When there is a pallet in the finished product unloading area and there is no material on the pallet, the robot is controlled to move to the Nth machine tool to take out the finished product from the Nth machine tool.

8. The method according to claim 7, characterized in that After taking out the finished product from the Nth machine tool, the method further includes: Determining whether the finished product is a qualified product; If the finished product is a qualified product, the robot is controlled to move to the finished product unloading area and place the finished product in the finished product unloading area; If the finished product is a defective product, the robot is controlled to move to the NG unloading area and place the finished product in the NG unloading area.

9. A fully automatic processing control device, characterized in that: A fully automatic machining system applied to any one of claims 1 to 3, wherein each machine tool in each group of machine tools is recorded as a first machine tool, a second machine tool, ..., an Nth machine tool in the order of the process, N represents the total number of processes corresponding to the machining process, and the device comprises: An acquisition module is used to acquire the workpiece processing status inside the machine tool; The control module is used to automatically control the movement of the robot according to the processing status of the workpiece, so as to cooperate with the machine tool to load and / or unload materials.

10. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the fully automatic machining control method according to any one of claims 4 to 8 when executing the computer program.

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