Control method of production equipment and production equipment

Abstract

The invention discloses a production equipment control method and production equipment, and the method comprises the steps: building a three-dimensional coordinate system through a space reference target; defining a group of structural body data corresponding to each production station of the production equipment based on the three-dimensional coordinate system; wherein the structural body data comprises coordinate monitoring data of the to-be-processed material in each production station; acquiring operation state information of each transportation execution mechanism in the production equipment; adjusting each piece of coordinate monitoring data in real time based on each piece of operation state information; and each transportation executing mechanism is adjusted and controlled by utilizing each piece of coordinate monitoring data adjusted in real time. By means of the mode, the control method of the production equipment can monitor whether the handover position of each transportation executing mechanism is safe or not in time and effectively distinguish whether the handover process is successful or not, so that the butt joint process efficiency of each transportation executing mechanism is improved, and the butt joint safety risk is reduced.

Description

Technical Field

[0001] The present application relates to the field of industrial production technology, and in particular to a control method for production equipment and production equipment. Background Art

[0002] As automation continues to penetrate into the production links of various industries and the technology is updated with each passing day, the control of production equipment is becoming more and more intelligent and standardized.

[0003] However, previous automated production lines all established a request-response mechanism between various mechanical components, and the position of each component was limited to its own calibration. When these individually calibrated positions were intertwined, the reference position could not directly distinguish whether the handover position was safe or whether the handover process was successful. At the same time, program maintenance was also difficult. Once the production equipment was replaced, the introduced new coordinates were difficult to enter the respective calibrated coordinate systems, and many core control components had no position feedback, which restricted the improvement of the efficiency of the mechanical docking process and posed a safety risk. Summary of the invention

[0004] The main technical problem solved by the present application is to provide a control method and production equipment for production equipment, which can solve the problem in the prior art that during the handover process between various mechanical components, it is impossible to directly distinguish whether the handover position is safe and whether the handover process is successful. At the same time, program maintenance is also difficult, the efficiency of the docking process is low, and there are safety risks.

[0005] In order to solve the above technical problems, a technical solution adopted in the present application is: to provide a control method for production equipment, wherein the control method for production equipment includes: establishing a three-dimensional coordinate system using a spatial reference target; defining a set of structural data corresponding to each production station of the production equipment based on the three-dimensional coordinate system; wherein the structural data includes coordinate monitoring data of the material to be processed in each production station; obtaining the operating status information of each transport execution mechanism in the production equipment; adjusting each coordinate monitoring data in real time based on each operating status information; and adjusting and controlling each transport execution mechanism using each coordinate monitoring data adjusted in real time.

[0006] Among them, the structural data also includes the carrier position coordinates of at least some production stations, and the step of adjusting each coordinate monitoring data in real time based on each operating status information includes: adjusting each coordinate monitoring data and each carrier position coordinate in real time based on each operating status information; the step of using each coordinate monitoring data to adjust and control each transport execution mechanism includes: using each coordinate monitoring data and each carrier position coordinate to adjust and control each transport execution mechanism.

[0007] Among them, the structural data also includes the workstation position coordinates of at least some production stations and the material transfer reference coordinates between at least some adjacent production stations. The step of using each coordinate monitoring data and each carrier position coordinate to adjust and control each transport execution mechanism includes: using each coordinate monitoring data, each carrier position coordinate, each workstation position coordinate and each material transfer reference coordinate to adjust and control each transport execution mechanism.

[0008] Among them, the transportation execution mechanism includes a loading mechanism, and the steps of defining a set of structural data for each production station of the production equipment based on the three-dimensional coordinate system include: detecting whether there is material to be processed on the loading mechanism; in response to the presence of material to be processed on the loading mechanism, defining a set of material initial coordinates for each material to be processed based on the three-dimensional coordinate system; controlling the loading mechanism to transport each material to be processed to the loading station in the production station, and adjusting the initial material coordinates in real time based on the status feedback information of the loading mechanism; defining the initial structural data of the loading station using the initial material coordinates of the material to be processed transported to the loading station; and defining a set of structural data for each production station in turn using the initial structural data.

[0009] Among them, the step of adjusting each coordinate monitoring data in real time based on each operation status information includes: based on each operation status information, obtaining the coordinate monitoring data of the preset loading position or the previous production station at each production station at the end of transportation to define the coordinate monitoring data of the current production station; adjusting the coordinate monitoring data of the current production station in real time in response to the operation status information of the transport execution mechanism corresponding to the current production station; using the coordinate monitoring data at the end of transportation of the current production station to define the coordinate monitoring data of the next production station, and re-obtaining the coordinate monitoring data at the end of transportation of the previous production station to redefine the coordinate monitoring data of the current production station.

[0010] Among them, the structure data also includes material characteristic information, the production process code and processing characteristic parameters of each production station. After the step of defining a set of structure data for each production station of the production equipment based on the three-dimensional coordinate system, it also includes: using the material characteristic information, each production process code and each processing characteristic parameter to control the corresponding processing execution mechanism in the production equipment at each production station to process the material to be processed in each production station.

[0011] Among them, after the step of using material characteristic information, each production process code and each processing characteristic parameter to control the corresponding processing execution mechanism in the production equipment at each production station to process the material to be processed in each production station, it also includes: obtaining state feedback information of each processing execution mechanism; adjusting each processing characteristic parameter in real time based on each state feedback information; and adjusting and controlling each processing execution mechanism using each processing characteristic parameter adjusted in real time.

[0012] The step of adjusting each processing characteristic parameter in real time based on each state feedback information includes: adjusting each processing characteristic parameter in real time based on each state feedback information and each coordinate monitoring data.

[0013] Among them, after the step of adjusting each coordinate monitoring data in real time based on each operating status information, it also includes: sending each coordinate monitoring data to the host computer so that the host computer scales each coordinate monitoring data, and uses a preset display model to display the scaled coordinate monitoring data.

[0014] In order to solve the above-mentioned technical problems, another technical solution adopted in the present application is: to provide a production equipment, wherein the production equipment includes at least two transport execution mechanisms and a control mechanism, and has at least two production stations; wherein each transport execution mechanism is used to transport the materials to be processed in each production station; and the control mechanism is used to adjust and control each transport execution mechanism using the control method of the production equipment as described in any of the above items.

[0015] The beneficial effect of the present application is as follows: Different from the prior art, the control method of the production equipment provided by the present application establishes a three-dimensional coordinate system by utilizing a spatial reference target, so as to define a set of structural data corresponding to each production station of the production equipment based on the three-dimensional coordinate system, and the structural data includes the coordinate monitoring data of the material to be processed in each production station, and obtains the operating status information of each transport execution mechanism in the production equipment, so as to adjust each coordinate monitoring data in real time based on each operating status information, and use each coordinate monitoring data adjusted in real time to adjust and control each transport execution mechanism, so as to timely monitor whether the handover position of each transport execution mechanism is safe, and effectively distinguish whether the handover process is successful, so as to improve the efficiency of the docking process; and when the transport execution mechanism is replaced, the coordinate monitoring data of the material to be processed obtained based on the three-dimensional coordinate system can still effectively monitor and feedback the operating position of the replaced transport execution mechanism, so as to effectively improve the docking process efficiency of each transport execution mechanism and reduce the docking safety risk. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0017] Figure 1 It is a flow chart of the first implementation method of the control method of the production equipment of the present application;

[0018] Figure 2 It is a structural schematic diagram of an embodiment of the production equipment of the present application;

[0019] Figure 3 yes Figure 1 S14 is a schematic diagram of a flow chart of an embodiment;

[0020] Figure 4 It is a flow chart of the second implementation method of the control method of the production equipment of the present application;

[0021] Figure 5 yes Figure 2 A schematic diagram of a detailed embodiment of a partial structure of a production device;

[0022] Figure 6 yes Figure 5 A structural schematic diagram of an embodiment of a carrier in a production device;

[0023] Figure 7 yes Figure 5 A schematic structural diagram of another embodiment of a carrier in a production device;

[0024] Figure 8 yes Figure 4 S22 is a flow chart of an embodiment;

[0025] Fig. 9 It is a flow chart of the third implementation method of the control method of the production equipment of the present application;

[0026] Fig.10 It is a structural schematic diagram of an implementation method of the production equipment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] The terms "first", "second" and "third" in this application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second" and "third" can explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. All directional indications (such as up, down, left, right, front, back...) in the implementation mode of this application are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations 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 limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0029] Reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0030] The present application is described in detail below with reference to the accompanying drawings and implementation methods.

[0031] See also Figure 1 and Figure 2 ,in, Figure 1 is a flow chart of the first embodiment of the control method of the production equipment of the present application, Figure 2 This is a schematic diagram of the structure of an embodiment of the production equipment of the present application. Specifically, it may include the following steps:

[0032] S11: Establish a three-dimensional coordinate system using a spatial reference target.

[0033] It is understandable that if Figure 2 As shown, in industrial production, a variety of different processing processes are usually involved, so a plurality of different transport execution mechanisms 200 are required to transport the material 100 to be processed to different production stations of the production equipment 1 for processing and production. There is also the problem of material handover between a plurality of different transport execution mechanisms 200, and how to ensure the efficiency and safety of the handover process becomes one of the key issues in production line control.

[0034] It is worth mentioning that the workstation is the most basic production unit in the production process, where personnel, equipment, raw materials and tools are arranged for production and assembly. The workstation site is arranged according to the production project, and work members, equipment, raw materials, etc. are arranged. The workstation site consists of tools and tool racks, parts and parts racks, work equipment, power sockets, cup racks, etc.

[0035] Among them, the production equipment 1 may specifically include a control mechanism (not shown) and a transport execution mechanism 200 and a processing execution mechanism 400 that are communicatively connected to the control mechanism, and the production equipment 1 has at least two different production stations. The control mechanism is used to control the transport execution mechanism 200 to transport the material 100 to be processed to different production stations, and at the same time drive the processing execution mechanism 400 to perform corresponding processing and production on the material 100 to be processed at each production station.

[0036] Specifically, the control mechanism is used to receive program control instructions input by a user, or to perform image scanning on a spatial reference target to obtain spatial data information, so as to establish a three-dimensional coordinate system based on the program control instructions or the spatial data information corresponding to a pre-selected spatial reference target based on the production equipment 1. For example, a Z-axis coordinate system is established with the ground as a reference, an X-axis coordinate system is established with the material conveying direction of the production equipment 1 as a reference, and a Y-axis coordinate system is established based on the Z-axis coordinate system and the X-axis coordinate system, with the loading position of the material 100 to be processed on the production equipment 1 as the origin.

[0037] In some embodiments, the control mechanism may specifically include one or more of any reasonable signal processing elements or terminals such as a PLC (Programmable Logic Controller), a single-chip microcomputer, a control chip, a background computer, etc., and this application does not limit this.

[0038] In some embodiments, the transport actuator 200 may specifically include a material carrier 201, a loading component 202, a push cylinder component 203, a transmission component 204, an elevator (front) 205, a rotation component 206, an elevator (rear) 207, a waterproof door component 208, a material picking robot component 209, a feeding robot component 210, a vacuum elevator 211, a vacuum material picking robot component 212, a jaw crusher robot component 213, and the like, and any one or more of the servo components reasonably used to transport the material to be processed 100 between various production stations, and the present application does not limit this.

[0039] In some embodiments, the processing actuator 400 may specifically include a heating component (not shown), a water blasting component (not shown), a vacuum dryer (not shown), a drying component (not shown), a jaw crusher (not shown), etc., any one or more of the servo components reasonably used for processing the material 100 at each production station, and the present application does not limit this.

[0040] S12: A set of structural data is defined for each production station of the production equipment based on the three-dimensional coordinate system.

[0041] When defining each production station of the production equipment 1 based on the three-dimensional coordinate system, a set of structure data can be used to describe the position, state and other relevant information of each station. This approach helps to efficiently manage and operate various data in the production process in the software program. The following is a specific implementation plan: Structure definition We can define a structure to represent the information of each production station.

[0042] The structure data includes coordinate monitoring data of the material 100 to be processed in each production station, that is, the X, Y, and Z coordinate positions of the material 100 to be processed.

[0043] It is worth noting that the structure refers to a structured data composed of a group of data. Each data that makes up the structured data is called a "member" of the structured data, which describes the size and interpretation of a memory interval.

[0044] In some embodiments, the structure data specifically includes one or more of any reasonable production process parameters such as material quantity, process code, action time accumulation, waiting time, etc., and this application does not limit this.

[0045] In some embodiments, each axis of the coordinates in the structure data, i.e., the X, Y, and Z axes, retains three independent variable positions, and reserves spare parameters, and defines the first loading station in the production station as this structure data as the starting transfer data. Define a set number of stations as array data of this structure to receive data transfer; the set number is greater than the total number of production stations, and a margin is left, which is defined as a global variable and is a hold type.

[0046] It is worth noting that the hold function is a technique or function that maintains a specific state or value under certain conditions. For example, in a temperature measurement device, the hold function can keep the last measurement result displayed during the measurement process until a new measurement value is recorded.

[0047] The characteristics of the holding type include:

[0048] Stability: The hold function keeps the displayed result unchanged for a certain period of time until new input is recorded.

[0049] Reliability: The hold function ensures that the results of previous measurements can still be viewed after the device is powered off or restarted.

[0050] Ease of use: Users can easily view historical measurement results without having to re-measure.

[0051] The applications of holding type in different fields include:

[0052] Industrial Automation: In industrial automation systems, the hold function can be used to monitor the operating status of equipment to ensure that problems can be discovered and handled in a timely manner when equipment fails.

[0053] Suppose we use C++ language to define this structure, the example is as follows: struct ProductionStation{

[0054] / / 3D coordinates

[0055] double x; / / X-axis coordinate

[0056] double y; / / Y-axis coordinate

[0057] double z; / / Z-axis coordinate

[0058] / / Workstation status

[0059] bool isOccupied; / / Is it occupied?

[0060] bool isProcessing; / / Whether production is in progress

[0061] bool isReady; / / Is it ready?

[0062] / / Production task information

[0063] int currentTaskID; / / Current task ID

[0064] double taskStartTime; / / Task start time

[0065] double taskEndTime; / / task end time

[0066] / / Other information

[0067] std::string stationName; / / workstation name

[0068] std::string description; / / description information

[0069] };

[0070] Next, we can create a sample array to represent multiple production stations and fill it with some sample data: #include <iostream>

[0071] #include <vector>

[0072] #include <string>

[0073] struct ProductionStation{

[0074] double x;

[0075] double y;

[0076] double z;

[0077] bool isOccupied;

[0078] bool isProcessing;

[0079] bool isReady;

[0080] int currentTaskID;

[0081] double taskStartTime;

[0082] double taskEndTime;

[0083] std::string stationName;

[0084] std::string description;

[0085] };

[0086] int main(){

[0087] / / Create a vector containing multiple production stations

[0088] std::vector <productionstation>stations;

[0089] / / Add sample workstation data

[0090] ProductionStation station1={

[0091] 0.0,0.0,0.0,

[0092] false,false,true,

[0093] 0,0.0,0.0,

[0094] "Station A","Example Station A"

[0095] };

[0096] stations.push_back(station1);

[0097] ProductionStation station2={

[0098] 1.0,0.0,0.0,

[0099] true,true,true,

[0100] 1,10.0,20.0,

[0101] "Station B","Example Station B"

[0102] };

[0103] stations.push_back(station2);

[0104] / / Output station information

[0105] for(const auto&station:stations){

[0106] std::cout<<"Station Name:"< <station.stationName<<std::endl;

[0107] std::cout<<"Coordinates:("< <station.x<<","<<station.y<<","<<

[0108] station.z<<")"< <std::endl;

[0109] std::cout<<"Is Occupied:"<<(station.isOccupied?"Yes":"No")<<

[0110] std::endl;

[0111] std::cout<<"Is Processing:"<<(station.isProcessing?"Yes":"No")<<

[0112] std::endl;

[0113] std::cout<<"Is Ready:"<<(station.isReady?"Yes":"No")<<

[0114] std::endl;

[0115] std::cout<<"Current Task ID:"<<station.currentTaskID<<std::endl;

[0116] std::cout<<"Task Start Time:"<<station.taskStartTime<<std::endl;

[0117] std::cout<<"Task End Time:"<<station.taskEndTime<<std::endl;

[0118] std::cout<<"Description:"<<station.description<<std::endl;

[0119] std::cout<<"------------------------"<<std::endl;

[0120] }

[0121] return 0;

[0122] }

[0123] It is understandable that cpp (source file) parsing In this example, we define a ProductionStation (production station, also known as workstation) structure. Among them, the structure includes the basic information of each production station. Each station has its three-dimensional coordinate position, and can further include one or more of the status information (whether it is occupied, whether it is in production, whether it is ready) and the current task information (material quantity, process code, action time accumulation, waiting time, start time, end time). In addition, the structure can also contain some descriptive information, such as the station name and description. Through such a structure definition, we can easily manage and operate the data of each production station. In actual applications, more fields can be expanded according to specific needs, such as station type, load capacity of the station, etc., to provide more detailed information, which is not limited in this application.

[0124] S13: Obtaining the operating status information of each transport execution mechanism in the production equipment.

[0125] It is understandable that the production equipment 1 can also specifically include a detection mechanism 300, which is communicatively connected to a control mechanism (not shown in the figure). The control mechanism is also used to receive a detection signal sent by the detection mechanism 300 and / or a status feedback signal sent by the transport execution mechanism 200, so as to parse and obtain the current operating status information of each transport execution mechanism 200 in the production equipment 1.

[0126] The control mechanism collects, analyzes and displays the operating status of each transport actuator 200 in real time, including but not limited to key indicators such as speed, position, workload, fault status, etc. By obtaining the operating status information of each transport actuator 200 in the production equipment 1, the smooth operation of the production line can be ensured, potential problems can be discovered and solved in time, thereby improving production efficiency and product quality.

[0127] In some embodiments, the detection mechanism 300 may specifically include one or more of any reasonable detection sensors such as a distance detection sensor, a position sensor, a speed sensor, a load sensor, a state sensor, etc., and the present application does not limit this.

[0128] Among them, position sensor: used to detect the position of the transport mechanism, such as photoelectric encoder, magnetic encoder, etc. Speed ​​sensor: used to detect the speed of the transport mechanism, such as photoelectric sensor, rotary encoder, etc. Load sensor: used to detect the load condition of the transport mechanism, such as weighing sensor, pressure sensor, etc. State sensor: used to detect the working state of the transport mechanism, such as limit switch, proximity switch and other detection sensors.

[0129] S14: Adjust each coordinate monitoring data in real time based on each operation status information.

[0130] The control mechanism monitors the operating status information of each transport actuator 200 in real time to analyze the transportation status of the material 100 to be processed by each transport actuator 200 at each production station. For example, by detecting the lifting height and running speed of the elevator, the driving distance and running speed of the push cylinder assembly 203, the running trajectory of the manipulator and other operating status information, the transportation position, transportation speed and other parameters of the current material 100 to be processed are obtained, and the structural data established corresponding to each production station are used to adjust each coordinate monitoring data in real time, that is, each coordinate monitoring data is adjusted in real time to be consistent with the current coordinate position of the material 100 to be processed.

[0131] S15: Utilize each coordinate monitoring data adjusted in real time to regulate and control each transport execution mechanism.

[0132] It is understandable that each coordinate monitoring data actually corresponds to the current coordinate position of the material to be processed 100, and corresponds to the production station to which the material to be processed 100 currently belongs. When the control mechanism obtains each coordinate monitoring data, it can adjust and control the corresponding transport execution mechanism 200 to drive the transport execution mechanism 200 to continue transporting or delay transporting the material to be processed 100. Especially when different transport execution mechanisms 200 need to be docked, by real-time monitoring of the coordinate position of the material to be processed 100, it is possible to effectively obtain whether the transport execution mechanism 200 to be handed over has arrived at the handover position accurately, and when to drive the transport execution mechanism 200 to be handed over to arrive at the handover position, thereby effectively improving the docking process efficiency of each transport execution mechanism 200 and reducing the docking safety risk.

[0133] The above scheme, by establishing a set of common three-dimensional coordinate systems and adjusting and controlling each transport execution mechanism 200 based on the coordinate monitoring data of the material to be processed 100 in the three-dimensional coordinate system, can timely monitor whether the handover position of each transport execution mechanism 200 is safe, and effectively distinguish whether the handover process is successful, so as to improve the efficiency of the docking process; and when the transport execution mechanism 200 is replaced, the coordinate monitoring data of the material to be processed 100 obtained based on the three-dimensional coordinate system can still effectively monitor and feedback the operating position of the replaced transport execution mechanism 200, thereby effectively improving the docking process efficiency of each transport execution mechanism 200 and reducing the docking safety risk.

[0134] See also Figure 3 , Figure 3 yes Figure 1 In one embodiment, the control method of the production equipment of the present application includes not only the above S11-S15, but also some more specific steps. Specifically, the above S14 may also include the following steps:

[0135] S141: Based on each operation status information, coordinate monitoring data of a preset loading position or a previous production station at the end of transportation is obtained at each production station to define the coordinate monitoring data of the current production station.

[0136] It is understandable that, because the control mechanism specifically defines a set of structure data corresponding to each production station, the structure data between different production stations, especially the coordinate monitoring data in the structure data, are specifically updated in real time independently of each other.

[0137] Furthermore, since the coordinate monitoring data actually corresponds to the coordinate position of the material 100 to be processed in each production station, the number of the material 100 to be processed can be at least two, and they enter each production station sequentially for processing and production. Therefore, the update of the coordinate monitoring data corresponding to each production station actually corresponds to the cyclic update of the coordinate positions of different materials 100 to be processed.

[0138] Among them, the number of materials 100 to be processed that are synchronously transported to each production station can be at least two, so as to form a group of materials 100 to be processed. Each group of materials 100 to be processed enters each production station in sequence for processing, and the corresponding coordinate monitoring data corresponds to the coordinate positions of different groups of materials 100 to be processed and are updated cyclically.

[0139] It can be seen from this that when one of the materials 100 to be processed is transported from the starting position to the end position of the current production station, the coordinate monitoring data will be updated in real time in response to the change in the coordinate position of the material 100 to be processed, and when the next material 100 to be processed enters the starting position of the current production station, the coordinate monitoring data corresponding to the current production station will be initialized, or the coordinate monitoring data will be readjusted to the coordinate monitoring data corresponding to the starting position of the transport, and the coordinate monitoring data will be cyclically updated in response to the change in the coordinate position of each material 100 to be processed that enters the current production station.

[0140] Specifically, taking any production station in the production equipment 1 as an example, the control mechanism obtains the coordinate monitoring data of the preset loading position or the end of transportation of the previous production station based on the operating status information of the transport actuator 200 corresponding to the production station, such as the forward distance of the elevator or push cylinder assembly 203, so as to define the coordinate monitoring data of the current production station, such as pushing the array of the coordinate monitoring data recorded at the end of transportation of the production station back one position.

[0141] It is worth noting that the preset loading position refers to the first production station where the production equipment 1 processes the material 100 to be processed, that is, the loading position preset in the loading station for waiting to receive the material 100 to be processed; the previous production station refers to the station corresponding to the previous process flow of the current production station; similarly, the next production station refers to the station corresponding to the next process flow after the current production station.

[0142] S142: In response to the operation status information of the transport execution mechanism corresponding to the current production station, the coordinate monitoring data of the current production station is adjusted in real time.

[0143] Specifically, during the transportation of the material 100 to be processed at the current production station, the control mechanism specifically responds to the operating status information of the transport actuator 200 corresponding to the current production station, such as the forward distance of the elevator or push cylinder assembly 203, etc., that is, adjusts the coordinate monitoring data of the current production station in real time corresponding to the change in the coordinate position of the material 100 to be processed.

[0144] S143: using the coordinate monitoring data of the current production station at the end of transportation to define the coordinate monitoring data of the next production station, and re-acquiring the coordinate monitoring data of the previous production station at the end of transportation to redefine the coordinate monitoring data of the current production station.

[0145] Furthermore, when the material 100 to be processed is transported to the end position of the transportation of the current production station, the coordinate monitoring data of the next production station is defined using the coordinate monitoring data of the current production station at the end of transportation, and the coordinate monitoring data of the current production station is initialized, that is, the coordinate monitoring data of the previous production station at the end of transportation of the next material 100 to be processed is re-obtained to redefine the coordinate monitoring data of the current production station, and the coordinate monitoring data is cyclically updated in response to the changes in the coordinate position of each material 100 to be processed entering the current production station.

[0146] It is understandable that the structural data corresponding to each production station can specifically have an initial setting value, so that when the material 100 to be processed enters each production station, each structural data can be cyclically updated on the basis of the initial setting value in response to the change in the coordinate position of the material 100 to be processed; and specifically, when the first material 100 to be processed enters each production station in turn, the structural data corresponding to each production station can be defined in turn according to the processing order.

[0147] Furthermore, in one embodiment, the structure data also includes material characteristic information, the production process code and processing characteristic parameters of each production station. After the above S12, it specifically also includes: using the material characteristic information, each production process code and each processing characteristic parameter to control the corresponding processing execution mechanism 400 in the production equipment 1 at each production station to process the material 100 to be processed in each production station.

[0148] It is understandable that the control mechanism is specifically used to parse and obtain processing-related parameters in the structural data corresponding to each production station, such as material characteristic information, the production process code and processing characteristic parameters of each production station, so as to use the material characteristic information, each production process code and each processing characteristic parameter at each production station to control the corresponding processing execution mechanism 400 to process the material 100 to be processed.

[0149] Furthermore, in one embodiment, after the above S14, it specifically includes: sending each coordinate monitoring data to a host computer, so that the host computer scales each coordinate monitoring data, and uses a preset display model to display the scaled coordinate monitoring data.

[0150] It is understandable that in order to more intuitively display the changes in the coordinate position of the material 100 to be processed at each production station, the control mechanism can specifically adopt a preset display model, such as a dynamic image model, a data chart model or a data monitoring window interface, or any reasonable model style to display each coordinate monitoring data on the display screen, or each coordinate monitoring data after scaling; and each coordinate monitoring data can also be sent to the host computer, so that the host computer uses the preset display model to display each coordinate monitoring data on the display screen, or scales each coordinate monitoring data, and then uses the preset display model to display the scaled coordinate monitoring data.

[0151] It can be seen that by introducing model display into production line control, the visual recognition of the control method of production equipment 1 is effectively improved, allowing each part to interact more easily.

[0152] It is worth mentioning that the host computer refers to a computer that can directly issue control commands, usually a PC (Personal Computer) or a host computer system used to monitor and control the lower computers (such as PLC, single-chip microcomputer, etc.).

[0153] The difference between the upper computer and the lower computer is:

[0154] Host computer: Usually a PC or host computer, used to monitor and control the slave computers, communicate with the slave computers through communication protocols, obtain the operating status of the slave computers, and send control commands.

[0155] Lower computer: Generally, it is an embedded system such as PLC or single-chip microcomputer, which directly controls the equipment and obtains the equipment status, and feeds the equipment status data back to the upper computer.

[0156] See also Figure 4 , Figure 4 1 is a flow chart of a second embodiment of a method for controlling a production device. Figure 1 A flow chart of a detailed implementation of the control method of the production equipment in the embodiment of the present invention specifically includes the following steps:

[0157] S21: Establish a three-dimensional coordinate system using a spatial reference target.

[0158] S22: Define a set of structural data corresponding to each production station of the production equipment based on the three-dimensional coordinate system.

[0159] S23: Obtaining the operating status information of each transport execution mechanism in the production equipment.

[0160] Among them, S21, S22 and S23 are Figure 1 S11, S12 and S13 are the same, please refer to S11, S12 and S13 and their related text descriptions for details, which will not be repeated here.

[0161] S24: adjusting each coordinate monitoring data and each vehicle position coordinate in real time based on each operation status information.

[0162] Among them, the structural data specifically also includes the carrier position coordinates of at least some production stations, that is, at at least some production stations, the material carrier 201 is specifically used to load and transport the material 100 to be processed, so that the carrier position coordinates are defined corresponding to the coordinate monitoring data of the material 100 to be processed.

[0163] Specifically, the control mechanism monitors the operating status information of each transport actuator 200 in real time to analyze the transportation status of the material 100 to be processed by each transport actuator 200 at each production station. For example, by detecting the lifting height and running speed of the elevator, the driving distance and running speed of the push cylinder assembly 203, the running trajectory of the manipulator and other operating status information, the transportation position, transportation speed and other parameters of the current material carrier 201 and the material 100 to be processed are obtained, and the structural data established corresponding to each production station are adjusted in real time to each coordinate monitoring data and each carrier position coordinate, that is, each coordinate monitoring data is adjusted in real time to be consistent with the current coordinate position of the material 100 to be processed, and each carrier position coordinate is adjusted in real time to be consistent with the current coordinate position of the material carrier 201.

[0164] Please continue to refer to Figure 5-Figure 7 ,in, Figure 5 yes Figure 2 A schematic diagram of a detailed embodiment of a partial structure of a production device in FIG. Figure 6 yes Figure 5 A schematic structural diagram of an embodiment of a carrier in a production device, Figure 7 yes Figure 5 A schematic structural diagram of another embodiment of a carrier in a production device.

[0165] In some embodiments, each material carrier 201 can carry one or at least two materials to be processed 100, and to facilitate the positioning of the coordinate position of each material to be processed 100, taking each set center point coordinate of the same group of materials to be processed 100 on the carrier as the coordinate monitoring data as an example, the coordinate monitoring data corresponding to each production station can be specifically Xa1, Xa2, and Xa3; the carrier position coordinates corresponding to each material carrier 201 can be specifically Xb1, Xb2, or Xc1, Xc2, and Xc3, so that it can be adjusted in response to actual material transportation and processing scenarios, and the present application does not limit this.

[0166] S25: Utilize each coordinate monitoring data and each carrier position coordinate to regulate and control each transport execution mechanism.

[0167] Furthermore, each coordinate monitoring data actually corresponds to the current coordinate position of the material 100 to be processed, and corresponds to the production station to which the material 100 to be processed currently belongs. Each carrier position coordinate corresponds to the current coordinate position of the material carrier 201. When the control mechanism obtains each coordinate monitoring data and each carrier position coordinate, it can adjust and control the corresponding transport execution mechanism 200 to drive the transport execution mechanism 200 to continue to transport or delay the transport of the material 100 to be processed. Especially when different transport execution mechanisms 200 need to be docked, by real-time monitoring of the coordinate position of the material 100 to be processed, it is possible to effectively obtain whether the transport execution mechanism 200 to be handed over has arrived at the handover position accurately, and when to drive the transport execution mechanism 200 to be handed over to arrive at the handover position, thereby effectively improving the docking process efficiency of each transport execution mechanism 200 and reducing the docking safety risk.

[0168] Furthermore, in one embodiment, the structural data also includes the workstation position coordinates of at least some of the production stations and the material transfer reference coordinates between at least some of the adjacent two production stations. In the above S25, it specifically also includes: using each coordinate monitoring data, each carrier position coordinate, each workstation position coordinate and each material transfer reference coordinate to adjust and control each transport execution mechanism 200.

[0169] It is understandable that in order to ensure that different transport execution agencies 200 can achieve docking more efficiently and safely, and to ensure the effectiveness of the coordinate monitoring data update, the structure data may specifically include the workstation position coordinates of at least some production stations and the material transfer reference coordinates between at least some adjacent production stations, so that in the transportation project of the processed material 100, each currently acquired coordinate monitoring data, each carrier position coordinate, each workstation position coordinate and each material transfer reference coordinate can be used to adjust and control each transport execution agency 200, so as to effectively improve the docking process efficiency of each transport execution agency 200 and reduce the docking safety risk.

[0170] See also Figure 8 , Figure 8 yes Figure 4 In one embodiment, the control method of the production equipment of the present application includes not only the above S21-S25, but also some more specific steps. Specifically, the above S22 may also include the following steps:

[0171] S221: Detect whether there is material to be processed on the feeding mechanism.

[0172] It is understandable that the number of materials 100 to be processed for production and processing using the production equipment 1 can be at least two, and they enter each production station sequentially for processing and production. The update of the coordinate monitoring data corresponding to each production station actually corresponds to the cyclic update of the coordinate positions of different materials 100 to be processed. In order to ensure that each coordinate monitoring data can accurately reflect the coordinate position of each material 100 to be processed, the control mechanism can also specifically define the structural data corresponding to each production station according to the processing order when the first material 100 to be processed enters each production station in turn.

[0173] Specifically, the control mechanism can utilize a material sensor arranged at a corresponding loading position or an origin of a three-dimensional coordinate system to detect whether there is a material 100 to be processed on the loading mechanism.

[0174] If there is material 100 to be processed on the feeding mechanism, S223 is executed; if there is no material 100 to be processed on the feeding mechanism, S222 is executed.

[0175] S222: Control the feeding mechanism to feed materials.

[0176] When it is determined that there is no material 100 to be processed on the loading mechanism, the loading mechanism is controlled to transport the material 100 to be processed to the loading position, or the loading mechanism is controlled to maintain a state of waiting for loading.

[0177] S223: defining a set of initial material coordinates for each material to be processed based on the three-dimensional coordinate system.

[0178] When it is determined that there is a material 100 to be processed on the loading mechanism, a set of initial material coordinates is defined for each material 100 to be processed in the same group produced synchronously based on the three-dimensional coordinate system.

[0179] S224: Control the loading mechanism to transport each material to be processed to the loading station in the production station, and adjust the initial coordinates of the material in real time based on the status feedback information of the loading mechanism.

[0180] The control mechanism drives the loading mechanism to transport each material 100 to be processed to the loading station, and obtains the status feedback information of the loading mechanism in real time, so as to adjust the initial coordinates of the material in real time according to the changes in the coordinate position of each material 100 to be processed in the loading station based on the status feedback information.

[0181] It is worth noting that the loading station can be understood as the first production station for processing the material 100 to be processed.

[0182] S225: defining the initial structural data of the loading station using the initial coordinates of the material to be processed transported to the loading station.

[0183] Furthermore, the initial structural data of the loading station is defined using the initial coordinates of the material 100 to be processed that is transported to the loading station.

[0184] S226: Using the initial structure data, define a set of structure data for each production station in turn.

[0185] The control mechanism may specifically utilize the initial structure data to respond to the material 100 to be processed sequentially entering each production station, and define a set of structure data for each production station in turn.

[0186] See also Fig. 9 , Fig. 9 The control method of the production equipment of this application is a flow chart of the third embodiment. Figure 1 A flow chart of a detailed implementation of the control method of the production equipment in the embodiment of the present invention specifically includes the following steps:

[0187] S31: Establish a three-dimensional coordinate system using a spatial reference target.

[0188] S32: Define a set of structural data corresponding to each production station of the production equipment based on the three-dimensional coordinate system.

[0189] S33: Obtaining the operating status information of each transport execution mechanism in the production equipment.

[0190] S34: Adjust each coordinate monitoring data in real time based on each operation status information.

[0191] S35: Utilize each coordinate monitoring data adjusted in real time to regulate and control each transport execution mechanism.

[0192] Among them, S31, S32, S33, S34 and S35 are Figure 1 S11, S12, S13, S14 and S15 are the same, please refer to S11, S12, S13, S14 and S15 and their related text descriptions for details, which will not be repeated here.

[0193] S36: Using the material characteristic information, each production process code and each processing characteristic parameter, the corresponding processing execution mechanism in the production equipment at each production station is controlled to process the material to be processed in each production station.

[0194] Specifically, the control mechanism is also used to parse and obtain processing-related parameters in the structural data corresponding to each production station, such as material characteristic information, the production process code and processing characteristic parameters of each production station, so as to use the material characteristic information, each production process code and each processing characteristic parameter at each production station to control the corresponding processing execution mechanism 400 to process the material 100 to be processed.

[0195] S37: Obtain status feedback information of each processing execution mechanism.

[0196] The control mechanism is also used to obtain status feedback information of each processing actuator 400 in real time, such as the temperature and air pressure in the process of heating the material 100 to be processed by the heating component, the immersion time in the water quenching process by the water explosion component, and other status feedback information corresponding to any reasonable processing parameters of the processing actuator 400.

[0197] S38: Adjust each processing feature parameter in real time based on each state feedback information.

[0198] The control mechanism is also specifically used to adjust each processing feature parameter in real time in response to each state feedback information, so that the current processing feature parameter can better meet the actual process scenario.

[0199] S39: Utilize each processing characteristic parameter adjusted in real time to regulate and control each processing execution mechanism.

[0200] Furthermore, while the control mechanism acquires each processing characteristic parameter in real time, it is also used to use each processing characteristic parameter to adjust and control each processing execution mechanism 400 to achieve better processing quality control.

[0201] Furthermore, in one embodiment, the above S38 may specifically include: adjusting each processing feature parameter in real time based on each state feedback information and each coordinate monitoring data.

[0202] It is understandable that in order to ensure that the production processing of the material 100 to be processed is more in line with the actual process scenario, the control mechanism can also specifically adjust each processing feature parameter in real time by combining each state feedback information and each coordinate monitoring data.

[0203] For ease of understanding, Figure 2 , Figure 5 , Figure 6 , Figure 7 As shown, taking the production equipment 1 as a silicon material water quenching equipment, and having stations G1, G2, ..., G30 in sequence as an example, the silicon material water quenching equipment can specifically include a transportation actuator 200, a detection mechanism 300, a processing actuator 400 (not shown) and a control mechanism (not shown), the transportation actuator 200 includes a material carrier 201, a loading component 202, a push cylinder component 203, a transmission component 204, an elevator (front) 205, a rotary component 206, an elevator (rear) 207, a waterproof door component 208, a material taking robot component 209, a feeding robot component 210, a vacuum elevator 211, vacuum material taking robot assembly 212, jaw crusher robot assembly 213; the detection mechanism 300 includes a material detection sensor 301, an elevator carrier detection sensor 302, an elevator front safety detection sensor 303, a carrier push plate safety detection sensor 304 and a material quantity detection sensor 305; the processing execution mechanism 400 includes a heating component (not shown in the figure), a water blasting component (not shown in the figure), a vacuum dryer (not shown in the figure), a drying component (not shown in the figure), a jaw crusher (not shown in the figure), a first carrier push plate 401, a second carrier push plate 402, a third carrier push plate 403 and a fourth carrier push plate 404.

[0204] Among them, the material detection sensor 301 is used to detect whether the material 100 to be processed is loaded and the size and quantity of the material 100 to be processed; there are 4 elevator carrier detection sensors 302, 2 for the front and rear elevators, and 2 for detecting the operating status of the elevator; the elevator front safety detection sensor 303 is used to prevent the carrier from falling; the carrier push plate safety detection sensor 304 is used to prevent the push plate from exceeding the carrier position; the material quantity detection sensor 305 is used to detect the quantity of material on each material carrier 201; there are 4 carrier push plates, and they are specifically installed symmetrically and equally.

[0205] The control mechanism specifically selects reference points and surfaces as reference points of each axis to establish a three-dimensional coordinate system. For example, the X-axis coordinate system is established based on the top position of the material conveying direction, the Z-axis coordinate system is established based on the ground, and the Y-axis coordinate system is established based on the rotation center point of the jaw crusher robot assembly 213.

[0206] Location reference:

[0207] The coordinates of the material 100 to be processed at the loading position are: Xa3 = -100, Xa2 = -280, Xa1 = -540, Y = 0, Z = 1000;

[0208] The coordinates of the material carrier 201 at the loading position are: Xb1=0, Xb2=600, Y=0, Z=1000.

[0209] M1 is the reference origin of the three-dimensional coordinate system, that is, the coordinate when the material is ready to be fed upwards;

[0210] M2 is the coordinate of the connection position between station G1 and the loading robot;

[0211] M3 is the position coordinate of station G2;

[0212] M4 is the position coordinate of station G21;

[0213] M5 is the coordinate of the tooling at station G22;

[0214] M6 is the material picking coordinates of station G23 and station G22 waiting position;

[0215] M7 is the coordinates for stations G23 and G24 to wait for transfer;

[0216] M8 is the coordinates for stations G24 and G23 to wait for transfer;

[0217] M9 is the coordinate for workstation G24 and workstation G25 to wait for feeding;

[0218] M10 is the reference coordinate for vacuum loading and unloading of station G25;

[0219] M11 is the coordinates of workstation G26 and workstation G25 waiting for vacuum material collection;

[0220] M12 is the coordinate of the connection position between workstation G26 and workstation G27.

[0221] Among them, station G1 is the handover station of the elevator (front) 205, which is responsible for receiving the material and lifting it to the same height as the heating cavity of the heating component;

[0222] Stations G2 to G22 are stations for 20 material carriers 201 in the heating component chamber. Each time the push cylinder assembly 203 pushes the cylinder forward once, the material 100 to be processed and the material carrier 201 are translated backward by one production station;

[0223] Station G23 is the handover work station of the elevator (rear) 207, and is responsible for handing over materials with the water blasting assembly and transporting the material carrier 201 back to the conveying assembly 204;

[0224] Station G24 is the working station of the material taking robot assembly 209, and is responsible for transporting the material 100 to be processed from the heating assembly and the first half of the water explosion;

[0225] Station G25 is the working station of the feeding robot, and is responsible for the second half of the water explosion and transporting the material 100 to be processed to the vacuum dryer;

[0226] Station G26 is a vacuum dryer working station, and is responsible for drying the material 100 to be processed and the transition platform for the material to be transferred later;

[0227] Station G27 is the working station of the vacuum material taking manipulator assembly 212, and is responsible for taking out materials from the vacuum dryer and delivering them to the jaw crusher manipulator assembly 213 in multiple times;

[0228] Station G28 is the working station of jaw crusher manipulator assembly 213, and is responsible for transferring the material to be processed to the jaw crusher 100 times;

[0229] Station G31 to Station G34 are four workstations in the rotary process. Station G31 inherits the position of Station G22, and Station G1 inherits the position of Station G34. They are responsible for transporting empty carriers to the front and buffering a carrier in the middle to improve the transmission efficiency.

[0230] Modeling in the program of the control mechanism:

[0231] Create a structure that includes the X, Y, and Z coordinate positions of the material, the material quantity, the process code, the accumulated action time, the waiting time, etc. Three positions are reserved for each axis in the X, Y, and Z coordinates to reserve spare parameters.

[0232] Define the loading station as this structure data, as the starting transfer data. Define 40 stations as this structure array data, used to receive data transfer; (in principle, it is greater than the total number of stations, and leave a margin), defined as a global variable, and maintain type.

[0233] A data display model is established on the upper computer interface, the coordinates are scaled proportionally, and the scaling of each coordinate changes dynamically based on the servo position.

[0234] The control method of the feeding mechanism and the elevator (front) 205 in the station G1 is as follows:

[0235] Feeding mechanism:

[0236] Through the switch detection of the material detection sensor 301, the corresponding coordinates of the first material to be processed 100 are defined as (X 3 =0-the distance of the feeding motor translation, Y=0, Z=1000);

[0237] The material detection sensor 301 can generate 1-3 edge detection signals, which can record the actual material discharge quantity and position corresponding to the previous feeding action, and determine the actual diameter of the three materials 100 to be processed and whether there is material, and combine it with the customer-defined process to mix it into a new process code for the control program.

[0238] For example, the actual diameter of the three materials 100 selected by the customer to be processed is compared with the material quantity and diameter size generated by our material inspection, and relatively different heating time, water quenching time, vacuum time, etc. are generated. The relevant parameters will be stored in the upper computer or lower computer in a table-like form;

[0239] Workflow: Elevator (front) 205 requests loading → loading lift → push forward → generate material information → descend → transfer material information and clear → retract → elevator requests loading;

[0240] Initialization: if there is material, it will rise and move back to the initial position; if there is no material, it will lower and move back to the initial position;

[0241] Station G1:

[0242] Based on the carrier unloading plane, a handover Z axis is defined when joining materials, that is, 50mm below 1000mm is the safe position before handover, and 50mm above 1000mm is the position where the material can be returned after joining. This position is the material connection position;

[0243] Define the horizontal position with the lower rotary track as the carrier docking position (initial position);

[0244] Define the horizontal position with the heating cavity track as the furnace entry intersection;

[0245] Workflow: The carrier docking position detects the entry of the material carrier 201 → inherits the position information of the carrier during rotation → starts the working timer, clears the waiting timer → rises to the material docking position → starts the waiting timer and issues a loading request → clears the waiting timer after loading is completed, receives material information → rises to the furnace entry handover point → starts the waiting timer and issues a request to push the material → clears the waiting signal after pushing the material, clears the material information → descends to the carrier docking position → starts the waiting timer → the carrier docking position detects the entry of the material carrier 201;

[0246] Initialization: If there is a material carrier 201 but no material 100 to be processed, drive the elevator (front) 205 to the material docking position; if there is a material carrier 201 and there is material 100 to be processed, drive the elevator (front) 205 to the furnace handover point; if there is no material carrier 201 and no material 100 to be processed, drive the elevator (front) 205 to the initial position.

[0247] Position G2-G22 and material positioning method:

[0248] Each time the push cylinder assembly 203 moves forward to the set position, the push cylinder position increment is accumulated on the material carrier 201 and the material to be processed 100, and the same can be said;

[0249] In addition, in the control program, each time the push cylinder assembly 203 is started or completed, the array of records of the material carrier 201 and the material to be processed 100, that is, the structure data, is pushed back one position;

[0250] When the carrier position coordinate of the material carrier 201 appears at the 21st position of the array, that is, the structural data corresponding to the workstation G22, the material carrier 201 and the material to be processed 100 correspond to the connection position of the water blasting component.

[0251] The working positions of workstations G2 to G22 are all fixed positions, that is, there is no interaction between different transport actuators 200, and no detailed dynamic position changes are required, that is, there is no need to dynamically adjust the structural data corresponding to workstations G2 to G22. Of course, the structural data corresponding to workstations G2 to G22 can also be dynamically adjusted in response to the dynamic position changes of the push cylinder assembly 203; and the working positions of the remaining production workstations are all dynamic workstations, such as the workstation G23 of the first robot, whose position has dynamic changes in the X-axis and Z-axis.

[0252] Control method of rotation and station G23:

[0253] The material carrier 201 obtains a standard position on the elevator, based on which the elevator carrier detection sensor 302 records the position of the rotary servo at the falling edge, and the carrier is offset to the Xb1, Xb2, or Xc1, Xc2, Xc3 position on the rotary line according to this changing position;

[0254] In the program, establish the material carrier 201 position Xb1, Xb2, or Xc1, Xc2, Xc3, and establish an array. No matter how many carriers are rotating, one moves back to the storage position, which can not only keep a short history record, but also retain the redundancy of the number of rotating carriers. Set a number of carriers in the program, and the one that needs to be docked in the end can be followed and docked at the key position;

[0255] Place 4 carrier push baffles. The first step is to push the material carrier 201 to the elevator (front) 205 in a jog mode, and ends when the elevator carrier detection sensor 302 is triggered;

[0256] The second step is to push the next material carrier 201 in a relative motion to the elevator (front) 205 to end, and the elevator carrier detection sensor 302 detects that the material carrier 201 has not ended within a certain period of time, and forcibly terminates it to prevent the carrier from falling due to over-pushing.

[0257] Process: Rotational jog (start-up and re-initialization) → Material carrier 201 waits for detection → Elevator (front) 205 requests to load carrier → Rotational jog and start working timer → Elevator (front) 205 carrier detection → Stop, start waiting timer → Elevator (front) 205 leaves the interference position, Elevator (rear) 207 is at the carrier docking position → Relative positioning (10000mm), clear waiting timer → Elevator (rear) 207 carrier detection falling edge → Position carrier position and clear working timer → Elevator (front) 205 requests to load carrier;

[0258] Station G23:

[0259] The carrier connection point is defined by the track being flush with the heating chamber, and the carrier release point (initial position) is defined by the track being flush with the turning line;

[0260] Workflow: The carrier detects the falling edge of the top photoelectric switch → exceeds the material carrier 201 according to the servo position increment, and the front photoelectric switch is disconnected → rises and starts the working timer, clears the waiting timer → reaches the carrier docking position, and starts the waiting timer → the station G24 material receiving action is completed → descends, and clears the waiting timer → reaches the carrier release point, clears the working timer, and starts the waiting timer → the carrier detects the falling edge of the top photoelectric switch;

[0261] Initialization: If there is a carrier and there are 100 materials to be processed, it will rise to the carrier docking position and transmit the material collection request to the workstation G24; if there is a carrier but no 100 materials to be processed, it will descend to the carrier release position; if there is no carrier and no materials, it will rise to the carrier docking position and wait;

[0262] Control methods of stations G24, G25 and G27 and the processing of soaking time:

[0263] The coordinate system of the material picking robot is established with the work station carrier docking position of station G23 as the Z-axis reference benchmark and the material carrier 201Xb1, Xb2, or Xc1, Xc2, Xc3 as the X-axis reference benchmark.

[0264] With Xb1 or Xc1 station G22 working position 800mm, Z is 50mm below the carrier plane, and station G24 is connected with station G23 to wait for position M6 (initial position).

[0265] Establish a waiting position for connection with workstation G25 according to actual conditions;

[0266] Control process of the material picking robot: receiving the material picking request, working timing and clearing the waiting timing → the moment the connection is lifted, the material information of station G23 is transmitted to station G24 → the robot enters the water position and the soaking time T is counted 1 → Arrive at the connection position with the feeding robot, wait for timing → The feeding robot takes away the material, wait for reset, time T 1 Pass to T 2 , and clear T 1 →Wait for the feeding robot to move out of the interference area →Return to the waiting position for picking up materials, start the waiting timer, and clear the working timer →Start the work timer of the work station and clear the waiting timer;

[0267] Station G25:

[0268] The coordinate system of the feeding robot is established based on the material picking robot at the safe docking position.

[0269] The X-axis coordinate of the feeding robot is equal to the X-axis coordinate of the picking robot, and Z is 50mm lower than the waiting position of the picking robot for docking, and the feeding robot feeding station G24 docking waiting position (initial position) is made.

[0270] The X-axis coordinate of station G25 is 800mm away from the X-axis coordinate of station G26, and 50mm above the carrier reference surface of station G26 to serve as the waiting position for vacuum connection;

[0271] Feeding robot control process: start, station working timing and clear waiting timing → the moment of connection and lifting → material information of station G24, transferred to station G25 → soaking time T 2 Continue timing → When soaked in water T 2 When the set soaking time is reached, the feeding robot is lifted out of the water. 2 Timing stops → Move to the vacuum connection waiting position → Arrive at the connection waiting position, waiting timing starts → Vacuum issues a loading command, waiting timing is reset → Receive the material collection request, work timing and reset waiting timing;

[0272] Station G27:

[0273] The vacuum manipulator coordinate system is established with the Z-axis coordinate of the material carrier 201 discharging surface as the reference and Xb1, Xb2, or Xc1, Xc2, Xc3 of the vacuum material carrier 201 as the X-axis reference reference.

[0274] With robot X 1 Distance Vacuum X 1 800mm, Z is 50mm below the cavity reference surface, which is the G25 docking waiting position (initial position). 1 Distance jaw crusher robot X 1 800mm, Z is 50mm higher than the reference plane of the jaw crusher as the docking waiting position of station G28.

[0275] The control process of the vacuum reclaiming manipulator component 212: Station G26 issues a material unloading application → Work starts, starts the work timer and clears the waiting timer → Reclaims → Goes to the jaw crusher docking position, initiates a handover request, starts the waiting timer → Jaw crusher reclaims the material, returns to the reclaiming docking position, starts the waiting timer, clears the work timer → Station G28 issues a material unloading application;

[0276] Calibrate the coordinates of the interference object, all in X 1 , X 2 , Z 1 , Z 2 Marked as a line, the robot is used to avoid the entire area;

[0277] About soaking time T 1 , T 2 : Core technology, soaking in water for two periods of time, T 1 The timing is from the time the material is received to the time it is taken away, and the timing will be on as long as the position is below the water surface. 2 The timing starts at the moment of material delivery, from T 1 The transmitted value continues to count, T 2 Time>=immersion time set by process, workstation G25 is lifted out of water.

[0278] Station G28 control method:

[0279] The Z axis of the jaw crusher manipulator assembly 213 is fixed and rotates around the Z axis to coincide with the workstation G27 as X. 1 , X 2 Coordinate, Y 1 , Y 2 The coordinate 0 is symmetrical, and this position is defined as the material connection position (initial position). Rotating 90 degrees clockwise is the jaw crusher unloading position.

[0280] Jaw crusher robot control process: receiving station G27 request for unloading → issuing permission, starting working timing → station G27 issues a message that material No. 1 has been processed → clear waiting timing, rotate and unload the material → return to the initial position, and start waiting timing, issue a message to continue unloading → {station G27 issues a message that material No. 2 has been processed → clear waiting timing, rotate and unload the material → return to the initial position, and start waiting timing, issue a message to continue unloading →} station G27 issues a message that material No. 3 has been processed → clear waiting timing, rotate and unload the material → return to the initial position, and start waiting timing, clear working timing → receiving station G27 request for unloading (Note: when the material quantity detection sensor 305 does not detect the material, the {} part of the above process is skipped).

[0281] This application also provides a production device, see Fig.10 , Fig.10 It is a structural schematic diagram of an embodiment of the production equipment of the present application. In this embodiment, the production equipment 40 includes at least two transport execution mechanisms 41 and a control mechanism 42, and has at least two production stations.

[0282] In some embodiments, the production equipment 40 specifically also includes a processing execution mechanism and a detection mechanism 300 . The processing execution mechanism (not shown in the figure), the detection mechanism (not shown in the figure) and the transportation execution mechanism 41 are all communicatively connected to the control mechanism 42 .

[0283] Each transport actuator 41 is used to transport the material to be processed (not shown) in each production station; the control mechanism 42 is used to adjust and control each transport actuator 41 and the processing actuator using the control method of the production equipment 40 as described in any of the above items, so as to transport and process the material to be processed at each production station. For details, please refer to Figure 1-9 And the related text content will not be repeated here.

[0284] The beneficial effect of the present application is as follows: Different from the prior art, the control method of the production equipment provided by the present application establishes a three-dimensional coordinate system by utilizing a spatial reference target, so as to define a set of structural data corresponding to each production station of the production equipment based on the three-dimensional coordinate system, and the structural data includes the coordinate monitoring data of the material to be processed in each production station, and obtains the operating status information of each transport execution mechanism in the production equipment, so as to adjust each coordinate monitoring data in real time based on each operating status information, and use each coordinate monitoring data adjusted in real time to adjust and control each transport execution mechanism, so as to timely monitor whether the handover position of each transport execution mechanism is safe, and effectively distinguish whether the handover process is successful, so as to improve the efficiency of the docking process; and when the transport execution mechanism is replaced, the coordinate monitoring data of the material to be processed obtained based on the three-dimensional coordinate system can still effectively monitor and feedback the operating position of the replaced transport execution mechanism, so as to effectively improve the docking process efficiency of each transport execution mechanism and reduce the docking safety risk.

[0285] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.< / productionstation> < / string> < / vector> < / iostream>

Claims

1. A method for controlling a production device, characterized in that: The control method of the production equipment comprises: Establish a three-dimensional coordinate system using spatial reference objects; A set of structure data is defined corresponding to each production station of the production equipment based on the three-dimensional coordinate system; wherein the structure data includes coordinate monitoring data of the material to be processed in each of the production stations; Obtaining the operating status information of each transport execution mechanism in the production equipment; Adjust each of the coordinate monitoring data in real time based on each of the operating status information; Each of the transport actuators is regulated and controlled by using each of the coordinate monitoring data adjusted in real time.

2. The control method of production equipment according to claim 1, characterized in that: The structural data also includes the position coordinates of at least part of the carriers of the production stations, and the step of adjusting each of the coordinate monitoring data in real time based on each of the operation status information includes: Adjust each of the coordinate monitoring data and each of the vehicle position coordinates in real time based on each of the operating status information; The step of using each of the coordinate monitoring data to adjust and control each of the transport execution mechanisms comprises: Each of the transport execution mechanisms is regulated and controlled using each of the coordinate monitoring data and each of the carrier position coordinates.

3. The control method of production equipment according to claim 2, characterized in that: The structural data also includes at least part of the station position coordinates of the production stations and at least part of the material transfer reference coordinates between two adjacent production stations. The step of using each of the coordinate monitoring data and each of the carrier position coordinates to adjust and control each of the transport execution mechanisms includes: Each of the transport execution mechanisms is regulated and controlled using each of the coordinate monitoring data, each of the carrier position coordinates, each of the workstation position coordinates, and each of the material transfer reference coordinates.

4. The control method of production equipment according to claim 1, characterized in that: The transport execution mechanism includes a loading mechanism, and the step of defining a set of structural data corresponding to each production station of the production equipment based on the three-dimensional coordinate system includes: Detecting whether there is material to be processed on the feeding mechanism; In response to the presence of the to-be-processed material on the loading mechanism, a set of material initial coordinates is defined corresponding to each of the to-be-processed materials based on the three-dimensional coordinate system; Controlling the feeding mechanism to transport each of the materials to be processed to the feeding station in the production station, and adjusting the initial coordinates of the materials in real time based on the state feedback information of the feeding mechanism; Defining initial structural data of the loading station using the initial material coordinates of the material to be processed transported to the loading station; A set of the structure data is defined for each of the production stations in turn using the initial structure data.

5. The control method of production equipment according to claim 1, characterized in that: The step of adjusting each of the coordinate monitoring data in real time based on each of the operating status information comprises: Based on each of the operation status information, coordinate monitoring data of a preset loading position or a previous production station at the end of transportation is acquired at each of the production stations to define coordinate monitoring data of the current production station; In response to the operation status information of the transport execution mechanism corresponding to the current production station, the coordinate monitoring data of the current production station is adjusted in real time; The coordinate monitoring data of the next production station is defined by using the coordinate monitoring data of the current production station at the end of transportation, and the coordinate monitoring data of the previous production station at the end of transportation is re-acquired to redefine the coordinate monitoring data of the current production station.

6. The control method of production equipment according to claim 1, characterized in that: The structure data also includes material feature information, a production process code and processing feature parameters of each production station. After the step of defining a set of structure data corresponding to each production station of the production equipment based on the three-dimensional coordinate system, the step further includes: The material characteristic information, each of the production process codes and each of the processing characteristic parameters are used to control the corresponding processing execution mechanism in the production equipment at each of the production stations to process the material to be processed in each of the production stations.

7. The control method of production equipment according to claim 6, characterized in that: After the step of using the material feature information, each of the production process codes and each of the processing feature parameters to control the corresponding processing execution mechanism in the production equipment at each of the production stations to process the material to be processed in each of the production stations, the method further includes: Obtaining status feedback information of each of the processing execution mechanisms; Adjust each of the processing feature parameters in real time based on each of the state feedback information; Each of the processing feature parameters adjusted in real time is used to regulate and control each of the processing execution mechanisms.

8. The control method of production equipment according to claim 7, characterized in that: The step of adjusting each of the processing feature parameters in real time based on each of the state feedback information comprises: Each of the processing feature parameters is adjusted in real time based on each of the state feedback information and each of the coordinate monitoring data.

9. The control method of production equipment according to claim 1, characterized in that: After the step of adjusting each of the coordinate monitoring data in real time based on each of the operating status information, the method further includes: Each of the coordinate monitoring data is sent to a host computer so that the host computer scales each of the coordinate monitoring data and uses a preset display model to display the scaled coordinate monitoring data.

10. A production equipment, characterized in that: The production equipment includes at least two transport execution mechanisms and a control mechanism, and has at least two production stations; Wherein, each of the transport execution mechanisms is used to transport the materials to be processed in each of the production stations; The control mechanism is used to adjust and control each of the transport execution mechanisms using the control method of the production equipment as described in any one of claims 1 to 9.

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