Fully automatic processing system, fully automatic processing control method, device and electronic equipment

Abstract

The application 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 groups of machine tools, each group of machine tools comprising: at least two machine tools arranged in sequence, each machine tool performing one process in a machining process, and a finished product being obtained after sequentially passing through each process in the group; a movable robot; and an upper computer in communication connection with the robot and the machine tools, used for automatically controlling the robot to move according to a workpiece machining state in the machine tool, so as to cooperate with the machine tool to perform feeding and / or discharging. The application sets at least two groups of machine tools, each group of machine tools integrating each process in a product machining process, and each group of machine tools being capable of machining a finished product. The upper computer is used for uniformly scheduling the robot and the multiple groups of machine tools, resource priority allocation is realized, manual intervention is reduced, efficient and continuous full-automatic machining is realized, machining efficiency is improved, machining precision is affected due to human factors is avoided, and the application can adapt to complex working conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic processing, in particular to a full-automatic processing system, a full-automatic processing control method and device, and electronic equipment. BACKGROUND

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

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

[0004] For example, a robot is responsible for a machine tool, that is, a one-to-one mode, and the control mode is mainly controlled by a PLC (Programmable Logic Controller) to control the whole. All signals of the machine tool and the robot need to be controlled by the PLC. This control mode is relatively simple, and the programming and debugging are also complex, and can only be applied in a one-to-one and simple working condition. A finished workpiece cannot be machined by one machine tool, and at least two machine tools are needed to complete the cooperation. The above one-to-one mode needs manual switching of multiple machine tools, and also needs manual turning of the workpiece, which has low processing efficiency.

[0005] In view of the low machining efficiency of the robot joint flange in the prior art, no effective solution has been proposed so far. SUMMARY

[0006] The embodiments of the present application provide a full-automatic processing system, a full-automatic processing control method and device, and electronic equipment to at least solve the problem of low machining efficiency of robot joint flanges in the prior art.

[0007] To solve the above technical problems, the embodiments of the present application provide a full-automatic processing system, which comprises:

[0008] At least two groups of machine tools, each group of machine tools comprising: at least two machine tools arranged in sequence, each machine tool performing one process in the machining process, and the finished product being obtained after being sequentially machined by each process in the group;

[0009] A movable robot;

[0010] The host computer is in communication connection with the robot and the machine tool, and is used for automatically controlling the robot to move according to the workpiece processing state inside the machine tool, so as to cooperate with the machine tool to carry out feeding and / or discharging.

[0011] Optionally, the robot comprises a double-station clamp.

[0012] Optionally, the full-automatic processing system further comprises an AGV vehicle in communication connection with the host computer and used for transporting materials.

[0013] The embodiment of the application further provides a full-automatic processing control method applied to the full-automatic processing system, and each machine tool in each group of machine tools is recorded as a first machine tool, a second machine tool,..., and an Nth machine tool according to the order of processes, wherein N represents the total number of processes corresponding to the processing process, and the method comprises the following steps of:

[0014] Obtaining a workpiece processing state inside a machine tool;

[0015] Automatically controlling a robot to move according to the workpiece processing state, so as to cooperate with the machine tool to carry out feeding and / or discharging.

[0016] Optionally, the step of automatically controlling the robot to move according to the workpiece processing state, so as to cooperate with the machine tool to carry out feeding and / or discharging comprises the following steps of:

[0017] Detecting that there is material in a blank feeding area;

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

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

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

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

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

[0023] Optionally, after the step of controlling the robot to grab the workpiece from the first machine tool and put the workpiece on the turnover table, the method further comprises the following steps of:

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

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

[0026] If so, when receiving a machining completion signal of 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 turnover table and put the workpiece into the second machine tool for continuous machining.

[0027] Optionally, the robot is automatically controlled to move according to the workpiece machining state to cooperate with the machine tool to carry out feeding and / or discharging, comprising:

[0028] In the case that all the first machine tools in all groups of machine tools are performing machining operations, receiving a machining completion signal of any Nth machine tool;

[0029] In the case that there is a tray in the finished product discharging area and no material on the tray, the robot is controlled to move to the Nth machine tool and take out a finished product from the Nth machine tool.

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

[0031] judging 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 discharging area and put the finished product on the finished product discharging area;

[0033] If the finished product is an unqualified product, the robot is controlled to move to the NG discharging area and put the finished product on the NG discharging area.

[0034] The embodiment of the present application also provides a full-automatic machining control device applied to the full-automatic machining system, each machine tool in each group of machine tools is recorded as a first machine tool, a second machine tool, …, and an Nth machine tool according to the order of processes, N represents the total number of processes corresponding to the machining process, and the device comprises:

[0035] an acquisition module configured to acquire a workpiece machining state inside a machine tool;

[0036] a control module configured to automatically control a robot to move according to the workpiece machining state to cooperate with the machine tool to carry out feeding and / or discharging.

[0037] The embodiment of the present application also provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the processor realizes the full-automatic machining control method when executing the computer program.

[0038] The embodiment of the present application also provides a nonvolatile computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the full-automatic machining control method.

[0039] The technical scheme of the present application sets at least two groups of machine tools, each group of machine tools integrating each working procedure in the product machining process, each group of machine tools being capable of machining finished products, the host computer automatically controlling the robot to move to cooperate with the machine tools to load and / or unload according to the workpiece machining state inside the machine tools, the robot and the multiple groups of machine tools being uniformly scheduled by the host computer, resource priority allocation being realized, manual intervention being reduced, efficient continuous full-automatic machining being realized, machining efficiency being improved, machining precision being affected by human factors being avoided, and complex working conditions being adapted. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is a schematic diagram of a full-automatic machining system provided by an embodiment of the present application;

[0041] Figure 2 is a flowchart of a full-automatic machining control method provided by an embodiment of the present application;

[0042] Figure 3 is a full-automatic machining control logic diagram provided by an embodiment of the present application;

[0043] Figure 4 is a structural block diagram of a full-automatic machining control device provided by an embodiment of the present application;

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

[0045] BRIEF DESCRIPTION OF DRAWINGS

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

[0047] In order to make the objectives, technical schemes and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0048] It should be noted that the terms "first", "second", and the like in the description and claims of the application and the drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

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

[0050] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.

[0051] The optional embodiments of the application will be described in detail below with reference to the accompanying drawings.

[0052] Embodiment 1

[0053] This embodiment provides a full-automatic machining system, which can be used for machining robot joint flanges and the like.

[0054] The full-automatic machining system comprises at least two groups of machine tools, a robot and an upper computer.

[0055] Each group of machine tools comprises at least two machine tools arranged in sequence, each machine tool performing one process in the machining process, and the finished product being obtained after being sequentially machined by each process in the group. Each machine tool in each group of machine tools is sequentially recorded as a first machine tool, a second machine tool,..., and an Nth machine tool, N representing the total number of processes corresponding to the machining process, and the finished product being obtained after sequentially machining each corresponding process by the first machine tool, the second machine tool,..., and the Nth machine tool in the same group. N≥2.

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

[0057] The host computer communicates with the robot and machine tool to automatically control the robot's movement based on the workpiece processing status inside the machine tool, so as to cooperate with the machine tool for loading and / or unloading.

[0058] Taking two sets of machine tools as an example, such as 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 processing step, and the second machine tool 20 performs the second processing step. The finished product is obtained after processing through the first and second processing steps 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 track 40; that is, the robot 30's movement range covers both groups of machine tools. The host computer is communicatively connected to the first machine tool 10, the second machine tool 20, and the robot 30. Each group of machine tools has a corresponding loading dock 51 (also called the blank loading area), a turning table 52 (also called the flipping mechanism), and an unloading dock 53 (also called the finished product unloading area). The loading dock 51 corresponds to the position of the first machine tool 10 and is used to place the blank. The unloading dock 53 corresponds to the position of the second machine tool 20 and is used to place the finished product. The flip table 52 is positioned corresponding to the first machine tool 10 and the second machine tool 20, and is used to flip the semi-finished products processed by the first machine tool 10. The fully automatic processing system also includes an NG unloading docking station 54 (also known as an NG unloading area) for placing defective 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] This embodiment sets up at least two sets of machine tools, each set of which integrates various processes in the product processing. Each set of machine tools can process finished products. The host computer automatically controls the robot to move according to the workpiece processing status inside the machine tool to cooperate with the machine tool for loading and / or unloading. The host computer performs unified scheduling of the robot and multiple sets of machine tools to achieve priority allocation of resources, reduce manual intervention, realize efficient and continuous fully automatic processing, improve processing efficiency, avoid the impact of human factors on processing accuracy, and adapt to complex working conditions.

[0060] Robot 30 includes a dual-station gripper. The dual-station gripper comprises two gripper discs, each capable of grasping an item, thereby reducing the number of gripping operations and improving work efficiency. The gripper discs are internally supported, adaptable to different flange sizes and processing requirements.

[0061] The fully automated processing system also includes multiple sensors to detect whether a target exists, whether the target is in place, or whether the workpiece is qualified, such as detecting whether a pallet exists on the material rack.

[0062] like Figure 1As shown, the full-automatic processing system further comprises an AGV 60, which is in communication connection with the host computer and is used for transporting materials. The AGV 60 travels along its path, which is indicated by the dashed line. Figure 1 Through the AGV, the transportation of materials can be automatically performed without human intervention. AGV is the abbreviation of Automated Guided Vehicle, which means automatic guided vehicle.

[0063] The full-automatic processing system further comprises an AGV charging pile 70, which is used for charging the AGV 60.

[0064] The full-automatic processing system further comprises a material storage area, which is specifically divided into a blank storage area 81 and a finished product storage area 82. The full-automatic processing system further comprises a manual material loading and connecting table 90.

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

[0066] Embodiment 2

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

[0068] Figure 2 The embodiment provides a flowchart of the full-automatic processing control method, as shown in Figure 2 The method comprises the following steps:

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

[0070] S202, automatically controlling the robot to move according to the workpiece processing state, so as to cooperate with the machine tool to load and / or unload materials.

[0071] The workpiece processing state inside the machine tool comprises idle, executing a processing operation, and completing processing. The idle means that the machine tool is in an idle state and has no workpiece inside, and the completing processing means that the processing has been completed and the workpiece is still in the machine tool.

[0072] The embodiment sets at least two groups of machine tools, each group of machine tools integrates each process in the product machining process, and each group of machine tools can process finished products. The upper computer automatically controls the robot to move to cooperate with the machine tool to load and / or unload according to the workpiece machining state in the machine tool. The upper computer uniformly schedules the robot and the multiple groups of machine tools, realizes resource priority allocation, reduces manual intervention, realizes efficient continuous full-automatic machining, improves machining efficiency, and avoids affecting machining precision due to human factors.

[0073] In one embodiment, the robot is automatically controlled to move according to the workpiece machining state to cooperate with the machine tool to load and / or unload, including: detecting that the blank loading area has material; receiving an idle signal or a machining completion signal of any first machine tool; controlling the robot to grab the blank from the blank loading area and move 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 put the blank into the first machine tool for machining; and if there is a workpiece in the first machine tool, controlling the robot to grab the workpiece from the first machine tool and put it on the turnover table, and put the blank into the first machine tool for machining.

[0074] The embodiment can timely call a suitable first machine tool to load and machine according to the actual situation of the machine tool, realize reasonable scheduling of the machine tool, and improve machining efficiency.

[0075] It should be noted that since the robot includes a double-station clamp, the robot uses one station to grab the blank, and then the other station can be used to grab the workpiece in the first machine tool, thereby improving efficiency. When the full-automatic machining system is just started, both groups of machine tools are in an idle state, at this time, the double-station clamp of the robot can be filled with blanks, which are sequentially put into the first machine tool of the first group of machine tools and the first machine tool of the second group of machine tools, thereby improving efficiency.

[0076] If multiple first machine tools are in an idle state or machining completion state at the same time, the first machine tool with the highest priority can be determined from them to load and machine, for example, the first machine tool closest to the current position of the robot has the highest priority, or the group of machine tools 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 robot is controlled to pick up the workpiece from the first machine tool and place it on the turnover table, the method further comprises: determining whether a second machine tool in the same group is performing a machining operation; if not, the robot is directly controlled to pick up the workpiece from the turnover table and place it in the second machine tool to continue machining; if yes, when a machining completion signal of the second machine tool in the same group is received and the workpiece in the second machine tool is picked up, the robot is controlled to pick up the workpiece from the turnover table and place it in the second machine tool to continue machining. In this way, after the second machine tool finishes machining, the robot can be controlled to pick up the workpiece from the second machine tool and place it in a third machine tool in the same group to continue machining.

[0078] The embodiment can timely promote the subsequent machining progress according to the actual machining condition of the machine tool, and ensure the machining efficiency.

[0079] In one embodiment, the robot is automatically controlled to move according to the machining state of the workpiece to cooperate with the machine tool to unload and / or load, which comprises: receiving a machining completion signal of any Nth machine tool when all the first machine tools in the groups are performing machining operations; and controlling the robot to move to the Nth machine tool to pick up the finished product from the Nth machine tool when there is a tray in the finished product unloading area and the tray is empty.

[0080] The embodiment can timely unload the finished product according to the actual condition of the machine tool when all the first machine tools in the groups are performing machining operations, so as to timely release the machine tool for the next round of machining, realize reasonable scheduling of the machine tools, and improve the machining efficiency.

[0081] Further, after the finished product is picked up from the Nth machine tool, the method further comprises: 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 on the finished product unloading area; and if the finished product is an unqualified product, the robot is controlled to move to the NG unloading area and place the finished product on the NG unloading area. For example, the precision of the finished product can be detected to determine whether it is a qualified product.

[0082] The embodiment can distinguish qualified products and unqualified products and place them in corresponding unloading areas, so as to facilitate subsequent targeted processing.

[0083] Embodiment 3

[0084] The above fully automatic machining control method will be described below in combination with a specific embodiment, however, it should be noted that the specific embodiment is only used to better illustrate the present application and does not constitute an improper limitation on the present application. The same or corresponding terms as in the above embodiments will not be described again.

[0085] The program written by the PLC in the production line is fixed, and can only control the part of the line to which it belongs. According to its fixed logic, the next step will only be taken if the conditions are met. In various working conditions, the step-by-step logic of the PLC is difficult to control and debug. The host computer of the present embodiment can monitor and manage the line, schedule and uniformly distribute the line, realize resource priority allocation, that is, determine which machine tool of the production line is in an idle state and issue instructions, and the host computer can provide a more intuitive man-machine interface and better data analysis capability and production progress monitoring. Therefore, the host computer used in the present embodiment has a scheduling advantage.

[0086] The full-automatic machining system of the present embodiment adopts a one-to-four working mode, that is, one robot is responsible for the automatic feeding and discharging of four machine tools (i.e., two groups). The working content covered by the full-automatic machining system includes: AGV car feeding, blank feeding unit, finished product discharging unit, first group of machine tool feeding and discharging unit, second group of machine tool feeding and discharging unit, tray and material detection of the rack, and abnormal detection and processing of each part. For example, the first machine tool in each group is recorded as OP10 machine tool, which performs OP10 process, and the blank is processed into OP10 workpiece (i.e., semi-finished product) according to OP10 process. The second machine tool is recorded as OP20 machine tool, which performs OP20 process, and the OP10 workpiece is processed into OP20 workpiece (i.e., finished product) according to OP20 process.

[0087] In specific implementation, each of the above working contents can be taken as a separate working module, the action logic of a single working module is controlled by a PLC, and each working module is introduced into a host computer (also called a central control computer) for scheduling, so that the influence between each working module can be minimized. That is, the above working content is disassembled into individual working tasks, the task start condition is determined, and necessary conditions such as beat are added to facilitate scheduling by the host computer.

[0088] The PLC is mainly used to control various physical quantities in the industrial production process. For example, for a robot, the PLC can control the movement angle and speed of its joints to achieve precise grabbing and placing of objects. The host computer can control the PLC through Ethernet, and the PLC and the host computer both support Ethernet interface, they can be connected to the same local area network, and the communication protocol commonly uses TCP / IP or UDP / IP. The host computer uses Socket programming to package and send control instructions to the IP address and port number of the PLC according to the established protocol. In the monitoring system of the automated factory, the host computer can remotely control the PLC through the above communication mode to realize the start and stop of the production line equipment, parameter adjustment and other operations.

[0089] The PLC control and host computer scheduling are described below, and the action logic of the full-automatic machining system is as follows:

[0090] After the blank is sent to the loading area, a feedback signal is sent to the central control system. The central control system confirms that the blank loading area has blanks, reads the robot state, and adjusts 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 first group of machine tool loading conditions are met (for example, the robot is located at the blank taking position of the first group of machine tools, and there is material in the corresponding position of the blank taking station, at the same time, the first group of machine tools has no abnormalities and the station is idle or the station has completed processing), the central control system interacts with the PLC signal and executes the first group of machine tool loading and unloading unit actions. Specifically, after the robot clamps the blank, it moves to the front of the first group of machine tools and waits for the PLC signal feedback. After the OP10 machine tool opens, if there is no workpiece in the machine tool, the robot will put the blank into the OP10 machine tool. If there is a processed workpiece in the machine tool, the robot will grab the processed OP10 workpiece and place it on the turnover table for OP20 to prepare work, and at the same time, the double-station clamp of the robot will put the blank into the OP10 machine tool. After the first group of machine tool loading and unloading unit actions are completed, the robot returns to the default safe position and waits for the host computer to dispatch, so as to realize cyclic processing.

[0092] At this time, the first group of machine tools is processing. If the second group of machine tool loading conditions are met, the host computer dispatches the robot to switch processing tasks and perform displacement tasks. The central control system interacts with the PLC and executes the second group of machine tool loading and unloading unit actions (the action logic is the same as that of the first group of machine tools, which will not be repeated here). After the second group of machine tool loading and unloading unit actions are completed, the robot waits for the host computer to dispatch. If the second group of machine tool loading conditions are not met, for example, the second group of machine tools is also processing, then the blank grabbing judgment is performed, the processing completion signal is waited for, and the subsequent finished product unloading state judgment is performed. If the unloading conditions are met, the host computer dispatches the robot to switch unloading tasks and perform finished product unloading actions (i.e., 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 machine tool workpiece unloading is preferentially performed. Specifically, it can be judged whether the OP20 processing completion signal, the absence of material in the corresponding position of the finished product station, and the presence of the finished product station corresponding to the tool tray are met. If all the above conditions are met, it is considered that the unloading conditions are met. Thus, after the finished product is unloaded, the machine tool can be used for processing.

[0093] In the case where the current execution conditions are not met, the next action unit judgment detection or action interleaving is performed in the present embodiment, thereby greatly reducing the robot waiting action and improving production efficiency.

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

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

[0096] S301, each part of the system is ready, including: automation line control system, blank tooling, machine tool, robot and its fixture, information monitoring system.

[0097] Among them, the automation line is controlled by PLC. The information monitoring system in the automation line is mainly used for real-time monitoring and management of line operation state, production data, etc., containing multiple sensors for collecting data, such as robot joint speed, photoelectric sensor detection object position and passing situation, machine tool internal spindle data and processing data, etc. The data collected by the sensor will be transmitted to the monitoring software platform, and the running 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, accurate control of the production process can be realized. Once a fault is detected in a production link, the system can quickly issue an alarm to inform the staff of the fault location and type, so as to timely repair and reduce downtime, improve production efficiency. At the same time, the production data recorded by the system can also be used for subsequent quality traceability, production optimization and other purposes.

[0098] S302, main control system operation monitoring.

[0099] S303, host computer instruction scheduling.

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

[0101] S305, judge whether there is material through the sensor, if yes, enter S307, if no, enter S306.

[0102] S306, issue a failed material taking signal.

[0103] S307, first group of machine tool OP10 feeding.

[0104] S308, judge whether the feeding condition is met, if yes, enter S310, if no, enter S309.

[0105] S309, issue a first group of OP10 machine tool abnormal signal.

[0106] S310, OP10 processing.

[0107] S311, detect whether the workpiece precision in OP10 machine tool is qualified (i.e. judge whether OP10 workpiece is qualified), if yes, enter S314, if no, enter S312.

[0108] S312, issue an abnormal signal.

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

[0110] S314, place the OP10 workpiece on the first set of workpiece turnover table.

[0111] S315, determine whether the turnover is successful by the sensor, if yes, go to S317, if no, go to S316.

[0112] S316, issue a first set of turnover table abnormal signal.

[0113] S317, first set of machine tool OP20 feeding.

[0114] S318, determine whether the feeding condition is met, if yes, go to S320, if no, go to S319.

[0115] S319, issue a second set of OP10 machine tool abnormal signal.

[0116] S320, OP20 processing.

[0117] S321, detect whether the workpiece precision in the OP10 machine tool is qualified (i.e. determine whether the OP10 workpiece is qualified), if yes, go to S322, if no, go to S323.

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

[0119] S323, issue an abnormal signal.

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

[0121] S325, blank feeding area state detection, proximity sensor detects whether the tray exists and infrared sensor detects the blank state on the tray.

[0122] S326, determine whether there is material, if there is material, go to S327, if there is no material, feedback the system to replenish, i.e. issue an instruction to the AGV by the upper computer, dispatch the AGV, take the empty tray, transport a new batch of blank materials from the blank storage area, and return to S325 for continuous detection.

[0123] S327, complete the closed loop and issue a recyclable processing signal.

[0124] S328, tray material and rack detection, whether it meets the grabbing requirement, if yes, go to S329, if no, issue a prompt and continue to determine whether the grabbing requirement is met.

[0125] S329, issue a normal signal.

[0126] S330, rack switching operation.

[0127] S331, detecting whether the switching is successful, if yes, returning to S328, if no, returning to S330.

[0128] S332, performing control operation 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 (i.e., steps S304 to S327), which is not described here.

[0129] The embodiment breaks through the shackles of the traditional one-to-one mode, introduces a higher-level system, and through the cooperation of information technology and PLC, can cope with more complex scenarios. The higher-level system determines the workpiece processing state inside the machine tool, thereby scheduling different machine tool processing priorities to maximize processing efficiency, greatly improving processing timeliness, reducing manual intervention, and achieving the goal of reducing staff and increasing efficiency. The scope of application is expanded, the fault tolerance is strong, the adjustment difficulty is reduced, and the efficiency is improved. The design is convenient for bus monitoring, laying a foundation for further moving towards unmanned factory.

[0130] The embodiment can determine the idle machine tool and preferentially use the machine tool through unified scheduling of the host computer based on the process sequence, improve the processing efficiency and quality of the robot joint flange, reduce production cost, and meet the large-scale demand of the market for robot joint flanges.

[0131] The embodiment uses two groups of processing lines, and the robot double-station clamp can also double-station grab, and the double-station works cooperatively, which can simultaneously perform machining tasks, further shortening the processing cycle. The fully automatic machining system can realize continuous and efficient processing, reducing manual intervention and waiting time, and greatly improving production efficiency. The fully automatic machining system adopts high-precision sensors, control systems and machining equipment, which can accurately control the processing parameters to ensure the dimensional accuracy and surface quality of each joint flange. Through precise positioning and clamping devices, the machining precision and stability of the workpiece during processing are ensured, and errors caused by vibration and displacement are reduced. The fully automatic machining system realizes automatic production, and workers only need to perform equipment monitoring and maintenance, etc., greatly reducing the labor intensity. The safety risk in manual operation is reduced, and the safety of the working environment is improved. It can be quickly adjusted and switched according to different joint flange specifications and processing requirements, adapt to the production needs of various products, facilitate process optimization and upgrading, improve the market competitiveness of enterprises, and improve the flexibility and adaptability of production.

[0132] In addition, the high-precision machining of the embodiment ensures the size consistency and surface quality of the joint flange, improves the assembly precision and performance of the robot, reduces the waste rate caused by machining errors, improves the product quality, and reduces the production cost. The efficient production mode and stable product quality can meet the large demand of the market for robot joint flanges. The efficient machining mode reduces the waste of energy and materials, and the automated production reduces the dependence on human resources, thereby alleviating the problem of labor shortage.

[0133] Embodiment 4

[0134] Based on the same inventive concept, the embodiment provides a full-automatic machining control device applied to the full-automatic machining system described in the above-mentioned embodiments, which can be used to realize the full-automatic machining control method described in the above-mentioned embodiments. The machine tools in each group of machine tools are sequentially recorded as a first machine tool, a second machine tool, …, and an Nth machine tool according to the process sequence, and N represents the total number of processes corresponding to the machining process. The full-automatic machining control device can be realized by software and / or hardware, and the full-automatic machining control device can be generally integrated in a host computer.

[0135] Figure 4 is a structural block diagram of the full-automatic machining control device provided by the embodiment of the application, as shown in Figure 4 The full-automatic machining control device comprises:

[0136] The acquisition module 41 is configured to acquire the workpiece machining state inside the machine tool.

[0137] The control module 42 is configured to automatically control the robot to move in cooperation with the machine tool to perform feeding and / or discharging according to the workpiece machining state.

[0138] The embodiment sets at least two groups of machine tools, each group of machine tools integrates each process in the product machining process, and each group of machine tools can process a finished product. The host computer automatically controls the robot to move in cooperation with the machine tool to perform feeding and / or discharging according to the workpiece machining state inside the machine tool. The host computer uniformly schedules the robot and the multiple groups of machine tools, realizes resource priority allocation, reduces manual intervention, realizes efficient and continuous full-automatic machining, improves machining efficiency, avoids affecting machining precision due to human factors, and can adapt to complex working conditions.

[0139] Optionally, the control module 42 comprises:

[0140] The detection unit is configured to detect whether the blank feeding area has blanks.

[0141] The first receiving unit is configured to receive an idle signal or a machining completion signal of any first machine tool.

[0142] The first control unit is configured to control the robot to grab a blank from the blank feeding area and move to the first machine tool.

[0143] a second control unit configured to control the first machine tool to open the door;

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

[0145] a fourth control unit configured to control the robot to pick up the workpiece from the first machine tool and place it on the turnover table, and place the blank into the first machine tool for machining if there is a workpiece in the first machine tool.

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

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

[0148] a fifth control unit configured to, in the case of a negative judgment result, directly control the robot to pick up the workpiece from the turnover table and place it into the second machine tool for continuous machining, and in the case of a positive judgment result, control the robot to pick up the workpiece from the turnover table and place it into the second machine tool for continuous machining when a machining completion signal of the second machine tool in the same group is received and the workpiece in the second machine tool has been picked up.

[0149] Optionally, the control module 42 comprises:

[0150] a second receiving unit configured to receive a machining completion signal of any Nth machine tool in the case that all first machine tools in all groups are performing machining operations;

[0151] a sixth control unit configured to control the robot to move to the Nth machine tool and pick up a finished product from the Nth machine tool in the case that there is a tray in the finished product discharge area and there is no material on the tray.

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

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

[0154] a seventh control unit configured to control the robot to move to the finished product discharge area and place the finished product on the finished product discharge area if the finished product is a qualified product, and control the robot to move to the NG discharge area and place the finished product on the NG discharge area if the finished product is an unqualified product.

[0155] The full-automatic processing control device described above can execute the full-automatic processing control method provided by the embodiments of the present application, has the function modules and beneficial effects corresponding to the execution method. The technical details not described in detail in the embodiments can be referred to the full-automatic processing control method provided by the embodiments of the present application.

[0156] The device embodiments described above are only schematic, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0157] Embodiment 5

[0158] The embodiments of the present application also provide a non-volatile computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the full-automatic processing control method described in the above embodiments.

[0159] Embodiment 6

[0160] The embodiments of the present application also provide an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to realize the full-automatic processing control method described in the above embodiments.

[0161] Figure 5 is a hardware structure schematic diagram of the electronic device provided by the embodiments of the present application, as shown in Figure 5 The electronic device comprises:

[0162] one or more processors 510 and memories 520, Figure 5 for example, taking one processor 510 as an example.

[0163] The electronic device can also comprise input devices 530 and output devices 540.

[0164] The processor 510, the memory 520, the input device 530 and the output device 540 can be connected through a bus or other means, Figure 5 for example, taking the connection through the bus as an example.

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

[0166] The memory 520 can include a program storage area and a data storage area, wherein the program storage area can store application programs required by the operation device and at least one function; and the data storage area can store machine tool machining state data and the like. In addition, the memory 520 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device.

[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] From the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software plus necessary universal hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) 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 application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to some technical features thereof; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A fully automated processing system, characterized in that, The full-automatic machining system comprises: at least two groups of machine tools, each group of machine tools comprising: at least two machine tools arranged in sequence, each machine tool performing one process in a machining process, and a finished product being obtained after being sequentially machined by each process in the group; a movable robot; a host computer, which is in communication connection with the robot and the machine tools, and is used for automatically controlling the robot to move according to the workpiece machining state inside the machine tool, so as to cooperate with the machine tool to perform feeding and / or discharging; each machine tool in each group of machine tools is recorded as a first machine tool, a second machine tool, …, and an Nth machine tool in the order of processes, N representing the total number of processes corresponding to the machining process; the host computer is used for: detecting that there is material in a blank feeding area; receiving an idle signal or a machining completion signal of any first machine tool; controlling the robot to grab a blank from the blank feeding area and move 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 put the blank into the first machine tool for machining; if there is a workpiece in the first machine tool, controlling the robot to grab the workpiece from the first machine tool and put the workpiece on a turnover table, and put the blank into the first machine tool for machining; if multiple first machine tools are in an idle state or machining completion at the same time, a first machine tool with the highest priority is determined from among the first machine tools to perform feeding and machining: a first machine tool closest to the current position of the robot has the highest priority, or a group of machine tools with the smallest number has the highest priority in sequence, or a first machine tool with the shortest cumulative running time has the highest priority; after controlling the robot to grab the workpiece from the first machine tool and put the workpiece on the turnover table, it is judged whether a second machine tool in the same group of machine tools is performing a machining operation; if not, the robot is directly controlled to take out the workpiece from the turnover table and put the workpiece into the second machine tool for continuous machining; if yes, when a machining completion signal of the second machine tool in the same group of machine tools is received and the workpiece in the second machine tool has been taken out, the robot is controlled to take out the workpiece from the turnover table and put the workpiece into the second machine tool for continuous machining.

2. The fully automatic processing system according to claim 1, characterized in that, The robot comprises a double-station clamp.

3. The fully automated processing system of claim 1, wherein, The full-automatic machining system further comprises an AGV vehicle in communication connection with the host computer and used for transporting materials.

4. A fully automatic machining control method, characterized by, The method is applied to the full-automatic machining system of any one of claims 1 to 3, each machine tool in each group of machine tools is recorded as a first machine tool, a second machine tool, …, and an Nth machine tool in the order of processes, N representing the total number of processes corresponding to the machining process, and the method comprises: obtaining a workpiece machining state inside the machine tool; The method comprises the following steps: detecting that the blank loading area has materials; receiving an idle signal or a machining completion signal of any first machine tool; controlling the robot to grab the blank from the blank loading area and move 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 put the blank into the first machine tool for machining; if there is a workpiece in the first machine tool, controlling the robot to grab the workpiece from the first machine tool and put it on a turnover table, and then put the blank into the first machine tool for machining; If multiple first machine tools are in idle state or machining completion state at the same time, the first machine tool with the highest priority is determined to perform loading and machining, wherein the first machine tool closest to the current position of the robot has the highest priority, or the first machine tool in 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; After the step of controlling the robot to grab the workpiece from the first machine tool and put it on the turnover table, the method further comprises the following steps: determining whether a second machine tool in the same group is performing machining operation; if not, directly controlling the robot to take out the workpiece from the turnover table and put it into the second machine tool for continuous machining; if yes, when receiving a machining completion signal of the second machine tool in the same group and the workpiece in the second machine tool has been taken out, controlling the robot to take out the workpiece from the turnover table and put it into the second machine tool for continuous machining.

5. The method of claim 4, wherein, The method comprises the following steps: receiving a machining completion signal of any Nth machine tool in all groups of machine tools, when all the machine tools in all groups are performing machining operation; controlling the robot to move to the Nth machine tool and take out finished products from the Nth machine tool, when there is a tray in the finished product unloading area and the tray is empty.

6. The method of claim 5, wherein, After taking out the finished products from the Nth machine tool, the method further comprises the following steps: determining whether the finished products are qualified products; if the finished products are qualified products, controlling the robot to move to the finished product unloading area and put the finished products into the finished product unloading area; if the finished products are unqualified products, controlling the robot to move to the NG unloading area and put the finished products into the NG unloading area.

7. A fully automatic machining control device, characterized by The device is applied to the fully automatic machining system of any one of claims 1 to 3, each machine tool in each group of machine tools is recorded as a first machine tool, a second machine tool, …, and an Nth machine tool according to the order of processes, N represents the total number of processes corresponding to the machining process, and the device comprises: an acquisition module configured to acquire the machining state of the workpiece inside the machine tool; a control module configured to automatically control the movement of the robot according to the machining state of the workpiece to cooperate with the machine tool to perform loading and / or unloading; the control module comprises: a detection unit configured to detect that the blank loading area has materials; a first receiving unit configured to receive an idle signal or a machining completion signal of any first machine tool; The first control unit is configured to control the robot to pick up the blank from the blank feeding area and move to the first machine tool; The second control unit is configured to control the first machine tool to open the door; The third control unit is configured to control the robot to put the blank into the first machine tool for machining if there is no workpiece in the first machine tool; The fourth control unit is configured to control the robot to pick up the workpiece from the first machine tool and put it on the turnover table, and put the blank into the first machine tool for machining if there is a workpiece in the first machine tool; If multiple first machine tools are in idle state or machining is completed at the same time, the first machine tool with the highest priority is determined from them to perform feeding and machining, the first machine tool closest to the current position of the robot has the highest priority, or the first machine tool of 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; The control module further comprises: The first judging unit is configured to judge whether the second machine tool in the same group is performing machining operation after the fourth control unit controls the robot to pick up the workpiece from the first machine tool and put it on the turnover table; The fifth control unit is configured to directly control the robot to take out the workpiece from the turnover table and put it into the second machine tool for continuous machining if the judgment result is no, and control the robot to take out the workpiece from the turnover table and put it into the second machine tool for continuous machining when receiving the machining completion signal of the second machine tool in the same group and the workpiece in the second machine tool has been taken out if the judgment result is yes.

8. 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 full-automatic machining control method of any one of claims 4 to 6 when executing the computer program.

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