Automatic feeding and discharging machining control method

Abstract

The invention discloses an automatic feeding and discharging processing control method, which comprises the following steps of: 1, configuring an overall operation mode of an automatic feeding and discharging processing control system according to a feeding and discharging mode of the system; 2, preparing automatic operation of the system; 3, according to the feeding and discharging process of the robot, switching a state machine in which the robot runs; 4, switching the material taking and discharging priority states of the stock bins according to the online states of the stock bins; 5, according to the material taking and discharging priority state of the stock bin, the state machine of the material taking and discharging position in the stock bin is judged, and switching of the material selecting and discharging state machines of the stock bin is achieved; and step 6, managing the automatic feeding and discharging process of the system by adopting a modular mechanism. According to the system, manual material changing is carried out without interrupting system operation in the feeding and discharging process, and the feeding and discharging efficiency of the system is improved through pre-feeding preparation, pre-discharging preparation and alarm material level shielding treatment. The problems that most monitoring systems are complex in operation, and the operation period of operators is long are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical automation control, and in particular relates to an automatic loading and unloading processing control method. Background Art

[0002] In recent years, with the rapid development of factory automation and the increase in labor costs, users have higher and higher requirements for the degree of automation of CNC engraving machines, and it has become a trend to use robots instead of people to load and unload CNC engraving machines. At present, most companies still use manual methods to load and unload engraving machines, which is inefficient, labor-intensive, and difficult to ensure quality. In addition, accidents often occur in which operators are injured, which directly affects the production efficiency and product quality of the company. The processing of right-angle thin-walled parts requires high clamping accuracy, and the manual loading and unloading method seriously affects the product yield. The use of articulated robots to load and unload right-angle thin-walled parts not only greatly improves the factory's production efficiency and product yield, but also saves a lot of complicated operating procedures for operators, improves the safety and comfort of operators, and reduces the production costs of enterprises.

[0003] At present, an industrial computer + multi-axis motion control board is used to control the truss robot for loading and unloading, and a fixed silo is used to place the processed materials. The industrial computer is responsible for monitoring and transaction management, and the multi-axis motion control board is responsible for controlling the trajectory movement and signal logic processing of the truss robot. This type of system has poor anti-interference ability in factories with harsh environments, which is not conducive to large-scale implementation. In addition, due to the use of fixed silos, its versatility is relatively poor.

[0004] It uses an open controller based on PC. All loading and unloading logic and motion control are controlled by pure software, and real-time Ethernet technology is used to communicate with each actuator. This type of system has a long development cycle, high cost, and high requirements for developers. At the same time, it requires operators to undergo long-term training before they can use it proficiently.

[0005] The shortcomings of the prior art are as follows: 1. Poor versatility. It is unable to alternately operate in series or parallel according to process requirements, has poor ability to cope with the actual processing environment, and has low machine tool utilization; 2. High cost. Currently, most of the truss manipulators are controlled by multi-axis motion boards, which are expensive and have high maintenance costs in the later stage. 3. Poor anti-interference ability. The multi-axis motion board has relatively high requirements for the environment, and the system has poor anti-interference ability in factories with relatively harsh environments, which is not conducive to large-scale implementation; 4. Low efficiency. A failure in a certain material level in a silo will cause the entire silo to alarm, making it unable to work, affecting the production efficiency of the entire system; 5. Poor operability. Currently, most loading and unloading unit silos cannot be controlled by material level. If a material level fails, it needs to be processed before it can be used. The problematic material level cannot be manually removed. 6. High requirements for operators. Currently, most monitoring systems are complex to operate and require special training for operators, which takes a long time for operators to get started. 7. Poor modularity is not conducive to the maintenance and replacement of each subsystem. Summary of the invention

[0006] In view of the deficiencies in the prior art, the purpose of the present invention is to propose and design a simple, low-cost automatic loading and unloading control system for processing right-angle thin-walled parts. The system does not interrupt system operation for manual material replacement during loading and unloading, and automatically switches the silo when the blank material level is empty and the finished product material level is full. The loading and unloading efficiency of the system is improved through pre-loading preparation, pre-unloading preparation and alarm material level shielding processing. The system can also be freely selected in series and parallel by configuring the system's working mode, thereby realizing flexible loading and unloading of the system.

[0007] The present invention adopts the following technical solutions: An automatic loading and unloading processing control method comprises the following steps: Step 1: Configure the overall operation mode of the automatic loading and unloading processing control system according to the loading and unloading mode of the system; Step 2: Automatic operation preparation of the system, including automatic loading and unloading operation preparation of the machine tool, automatic loading and unloading operation preparation of the robot, automatic loading and unloading operation preparation of the silo, and automatic loading and unloading operation preparation of the system as a whole; Step 3: According to the loading and unloading process of the robot, the state machine of the robot switches between the following nine states: Material bin picking status, material bin discharging status, robot turning status, first engraving machine first loading status, first engraving machine material changing status, first engraving machine unloading status, second engraving machine first loading status, second engraving machine material changing status, second engraving machine unloading status; Step 4, switching the priority status of material collection and discharge in the silo according to the online status of the silo; Step 5, according to the silo material picking priority state and the silo material discharging priority state, determine the state machine of the material picking and discharging position in the silo, and realize the switching of the silo material selection and discharging state machine; Step 6: Use modular mechanism to manage the system's automatic loading and unloading process; In step 1, the operation mode includes a control system operation mode, a silo operation mode and an engraving machine operation mode; In step 2, the system operation preparation process includes the machine tool automatic loading and unloading operation preparation, the robot automatic loading and unloading operation preparation, the silo automatic loading and unloading operation preparation and the system overall automatic loading and unloading operation preparation process; In step 3, the state machine switching of the robot operation can be divided into a serial loading and unloading mode and a parallel loading and unloading mode according to the networking mode of the engraving machine. The serial loading and unloading mode and the parallel loading and unloading mode can be configured before the automatic operation is started; in the serial loading and unloading mode, the first engraving machine processes the front side of the right-angle thin-walled part, and the second engraving machine processes the back side of the right-angle thin-walled part; in the parallel loading and unloading mode, the first engraving machine and the second engraving machine can both process the front and back sides of the right-angle thin-walled part, and the loading and unloading processes of the first engraving machine and the second engraving machine are exactly the same; In step 4, the switching of the priority of material silo picking and discharging can be divided into nine states: silo online state, silo picking priority state, silo discharging priority state, silo No. 1 picking level state, silo No. 2 picking level state, silo No. 1 discharging level state, silo No. 2 discharging level state, silo No. 1 material selection state, silo No. 2 material selection state; The silo priority switching process includes the following steps: 1) When the system runs automatically, the silo state machine switches to the silo online state; 2) The priority of loading and unloading materials in the silo is determined according to the online status of the silo. The silo that is online first has a higher priority. If both silos are online at the same time, the priority of loading and unloading materials in the silo is switched to silo No. 1. 3) The system reads the loading and unloading status of silo No. 1 and silo No. 2; 4) Determine the material loading and unloading status of the silo with high priority. If the material loading and unloading status is normal, the priority is maintained. If the material loading status alarms or there is no material, the silo material loading priority status is switched; if the material unloading status alarms or the material is full, the silo material unloading priority status is switched; 5) If a high-priority silo goes offline, the silo's material loading and unloading priority status will be switched.

[0008] In step 5, according to the switching of the material bin picking and discharging state machine, the raw material position and the finished product material position are automatically judged to improve the efficiency of loading and unloading of the system, and to ensure that when an alarm occurs in the material bin material position during automatic operation, it can be automatically shielded without affecting the automatic operation of the entire system. After the processing of all the raw material positions in the bin that have not been alarmed is completed, centralized alarm processing is performed; The material silo material selection state machine switching is based on the silo material picking priority state and the silo material discharging priority state. According to the silo priority state, the state machine of the material picking and discharging position in the silo is judged, thereby realizing automatic loading and unloading. The silo material selection state machine switching process includes the following steps: 1) When the system is running automatically, the silo status switches to the silo material picking priority status; 2) If the No. 1 silo has a higher priority for material extraction, the state will be switched to the No. 1 silo material extraction level state; if the No. 2 silo has a higher priority for material extraction, the state will be switched to the No. 2 silo material extraction level state; 3) After reading the material picking position status, it switches to the corresponding silo material selection state. At this time, the silo material picking state machine is switched, and the robot can perform the material picking action at the corresponding material position; 4) After the system completes the material collection, the silo status switches to the silo discharge priority status; 5) If the discharge priority of No.1 silo is high, the state will be switched to the discharge position of No.1 silo; if the discharge priority of No.2 silo is high, the state will be switched to the discharge position of No.2 silo; 6) After reading the discharge position status, it switches to the corresponding silo material selection state. At this time, the silo discharge state machine is switched, and the robot can perform the discharge action of the corresponding material position; 7) After the material discharge is completed, the system switches to a new round of silo material selection status.

[0009] In step 6, the system automatically runs the loading and unloading process, including the first loading process, the material changing process and the unloading process; the modular mechanism, the loading and unloading forms of the engraving machine and the silo can be freely combined, and the system can be freely selected in series and parallel by configuring the working mode of the system. At the same time, when an alarm occurs on the engraving machine or the silo during the automatic operation, the entire loading and unloading sequence can be automatically eliminated without affecting the automatic operation of the entire system, thereby realizing flexible loading and unloading of the system; Compared with the prior art, the advantages of the present invention include: By configuring the overall operating mode of the automatic loading and unloading processing control system, the problem of poor ability of a single mode to cope with the actual processing environment is solved, and the versatility of the system is improved.

[0010] The series and parallel loading and unloading modes of the system's overall automatic operation state machine switching process solve the problem of low machine tool utilization and improve the system reconstruction performance.

[0011] Through the flexible switching of silo priorities, the problem of the system not being able to work normally after a silo alarm or going offline, which affects the production efficiency of the entire system, is solved. The system can run uninterruptedly after an alarm prompt, thus reducing the offline time of the silo system.

[0012] This system automatically marks the material level after the current material level alarm, and selects the normal material level for loading and unloading. The material level control is realized through the material level state machine, which solves the problem that a single material level alarm needs to be processed before it can be used, and improves the anti-interference ability of the system.

[0013] The free combination of the loading and unloading modes of the engraving machine and the silo enhances the flexibility of the system and is conducive to the maintenance and replacement of each subsystem.

[0014] The automatic loading and unloading processing control system is easy to configure and simple to operate, which solves the problem that most monitoring systems are complicated to operate and require a long operator learning period. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a flow chart of the automatic loading and unloading processing control method; Figure 2 This is a diagram of the automatic loading and unloading processing control system; Figure 3 This is a structural diagram of the automatic loading and unloading processing system of the present invention; Figure 4 This is the structural diagram of the silo system; Figure 5 Prepare engineering flow charts for systems; Figure 6 This is the switching process diagram of the state machine for the first loading in the series mode; Figure 7 It is a diagram of the switching process of the material changing state machine in the series mode; Figure 8 It is the switching process diagram of the material unloading state machine in the series mode; Fig. 9 This is the switching process diagram of the state machine for the first loading in parallel mode; Fig.10 It is the switching process diagram of the material changing state machine in the parallel mode; Fig.11 It is the switching process diagram of the material unloading state machine in the parallel mode; Fig.12 This is the switching process diagram of the material bin loading and unloading priority state machine; Fig.13 The switching process diagram of the material selection state machine for the silo; Fig.14 This is the first loading process diagram of the first engraving machine; Fig.15 This is the process diagram of material changing and unloading for the first engraving machine; Fig.16 This is the first loading process diagram of the second engraving machine; Fig.17 This is the process diagram of material changing and unloading for the second engraving machine; Fig.18 This is a diagram of the robot turning material process; Fig.19 This is a diagram of the robot taking materials from the silo; Fig. 20 This is a diagram of the robot placing materials in the silo; Among them: 1. The first silo; 2. The robot gripper; 3. The first engraving machine; 4. The second engraving machine; 5. The articulated robot; 6. The second silo; 7. The first blank material position in the silo; 8. The material dividing mechanism for the first blank material position in the silo; 9. The third blank material position in the silo; 10. The material dividing mechanism for the third blank material position in the silo; 11. The robot material turning and cleaning module; 12. The first finished product material position in the silo; 13. The second finished product material position in the silo; 14. The second blank material position in the silo; 15. The material dividing mechanism for the second blank material position in the silo. DETAILED DESCRIPTION

[0016] The present invention provides an automatic loading and unloading processing control method, the mechanical part of the automatic loading and unloading processing control system is composed of a first engraving machine 3, a second engraving machine 4, a joint robot 5, a first material bin 1, and a second material bin 6. Figure 3 As shown. The articulated robot 5 has six degrees of freedom, and a robot gripper 2 is installed at the end of the articulated robot 5. The robot gripper 2 consists of a front gripper suction cup and a rear gripper suction cup, so that the robot can quickly change materials inside the engraving machine; the first material bin 1 consists of a first blank material position 7, a second blank material position 14, a third blank material position 9, a first finished product material position 12 and a material turning and cleaning module 11. Each blank material position can hold up to 100 blank thin-walled parts, and each finished product material position can hold up to 300 finished thin-walled parts. The blank material position is divided by a dividing mechanism, and the dividing mechanism can divide one blank thin-walled part each time, such as Figure 4 As shown. The first engraving machine 3 and the second engraving machine 4 can be connected in series or in parallel. When connected in series, the first engraving machine 3 and the second engraving machine 4 process the front and back sides of the thin-walled parts respectively. When connected in parallel, the first engraving machine 3 and the second engraving machine 4 can both process the front and back sides of the thin-walled parts. The articulated robot 5 grabs the thin-walled parts from the first silo 1 or the second silo 6 to load and unload the two engraving machines, thereby realizing the automated production of the two engraving machines.

[0017] 1. Composition of automatic loading and unloading processing control system The automatic loading and unloading processing control system consists of five parts: main control system I, robot control system II, silo management control system III, monitoring and operating system IV, and machine tool control system V. Figure 2 As shown, the main control system Ⅰ and the robot control system Ⅱ exchange data through the DeviceNet bus, the main control system Ⅰ and the silo management control system Ⅲ communicate through shared memory, the main control system Ⅰ and the monitoring and operating system Ⅳ communicate through RS422, and the main control system Ⅰ and the machine tool control system Ⅴ communicate through I / O coding.

[0018] The main control system I performs the timing processing of the entire loading and unloading system, exchanges information with the robot control system II, the silo management and control system III, the monitoring and operation system IV, the machine tool control system V and the upper monitoring module, and makes safety judgments for the entire system. As the loading and unloading execution unit, the robot control system II performs loading and unloading of the machine tool and the silo, flipping of thin-walled parts, cleaning of the gripper suction cup, information exchange with the main control, and judgment of the robot movement safety area. The silo management system III manages the overall raw and finished materials of the silo, controls the silo raw material position distribution mechanism, makes overall safety judgments of the silo, configures the silo system, and manages the silo operation authority. As the thin-walled part processing unit, the machine tool control system V performs spindle avoidance, moves to the loading and unloading position, exchanges signals with the main control system, controls the fixture module, controls the thin-walled part cleaning, and controls the automatic door module. As the human-machine interaction unit, the monitoring and operation system has the functions of main control operation, silo operation, system parameter configuration, status monitoring, emergency stop, safety settings, prompts and alarm information, and alarm history.

[0019] 2. Automatic loading and unloading processing control system workflow (1) System operation mode The overall operation mode of the automatic loading and unloading processing control system is divided into manual operation mode and automatic operation mode. In the manual operation mode, the system can perform manual operation of the guardrail and manual operation of the robot. In the automatic operation mode, the entire system can automatically load and unload.

[0020] The operation mode of the silo can be divided into offline operation mode and online operation mode. In the offline operation mode, the silo safety door and the silo blank material position dividing mechanism can be operated. In the online operation mode, automatic material selection, material dividing and multi-silo loading and unloading switching can be performed.

[0021] The operation modes of the engraving machine can be divided into offline operation mode and online operation mode. In the offline operation mode, the engraving machine's fixture can be manually operated, the automatic door can be manually operated, the cleaning module can be manually operated, and the engraving machine can be manually operated and automatically operated. In the online operation mode, the engraving machine can automatically load and unload materials online.

[0022] (2) System automatic operation preparation The system operation preparation process includes the automatic loading and unloading operation preparation of the machine tool, the automatic loading and unloading operation preparation of the robot, the automatic loading and unloading operation preparation of the silo, and the automatic loading and unloading operation preparation of the system as a whole. Figure 5 shown.

[0023] Preparing the system for operation includes the following steps: Step 1: Power on the main control system, silo system and robot system, and wait for the main control system, silo system and robot system to be powered on; Step 2: Power on the engraving machine system and wait for the engraving machine system to power on. Step 3: The robot is manually moved to the original working position, and the robot is waited for to move into position; Step 4: The robot switches to automatic motion mode and waits for the robot to be ready; Step 5: The silo discharges the rough material and takes the finished product, and waits for the silo to complete the discharge; Step 6: Close the silo safety door, then switch the silo to the online state and wait for the silo to be ready; Step 7: The engraving machine returns to the reference point and waits for the engraving machine reference point to be established; Step 8: Close the automatic door of the engraving machine and wait for it to close completely. Step 9: Move the Z axis of the engraving machine to a safe position and wait for the Z axis of the engraving machine to move into place; Step 10, clamp the engraving machine fixture and wait for the engraving machine fixture to be clamped in place; Step 11: Switch the engraving machine to the online motion state, then start the engraving machine to run automatically, and wait until the engraving machine is ready; Step 12: The overall system preparation is completed.

[0024] (3) The system's overall automatic operation state machine switching process In the automatic operation mode of the automatic loading and unloading processing control system, according to the networking mode of the engraving machine, it can be divided into serial loading and unloading mode and parallel loading and unloading mode. The serial loading and unloading mode and the parallel loading and unloading mode can be configured before the automatic operation is started.

[0025] When the system is running automatically, the loading and unloading process of the robot can be divided into the material bin picking process, the material bin unloading process, the robot flipping process, the first loading process of the first engraving machine, the material changing process of the first engraving machine, the unloading process of the first engraving machine, the first loading process of the second engraving machine, the material changing process of the second engraving machine, and the unloading process of the second engraving machine. According to the loading and unloading process of the robot, the state machine of the robot operation can be divided into nine states: material bin picking state ①, material bin unloading state ②, robot flipping state ③, first loading state of the first engraving machine ④, material changing state of the first engraving machine ⑤, unloading state of the first engraving machine ⑥, first loading state of the second engraving machine ⑦, material changing state of the second engraving machine ⑧, unloading state of the second engraving machine ⑨.

[0026] During the first loading process of the serial robot, the state machine switching process of the robot is as follows: Figure 6 As shown, the specific steps include: Step 1: The system starts to run automatically, and the robot's running state machine switches to the silo picking state①; Step 2: After the robot has finished picking up materials from the material bin, the robot's operating state machine switches to the first engraving machine's first loading state④; Step 3: After the robot has finished loading the first material to the first engraving machine, the robot's operating state machine switches to the bin picking state ①; Step 4: After the robot has finished taking the material from the material bin, the robot operation state machine switches to the first engraving machine material changing state ⑤; Step 5: After the robot completes the material change at the first engraving machine, the robot operation state machine switches to the robot material flipping state ③; Step 6: After the robot has finished flipping the material, the robot operation state machine switches to the second engraving machine material changing state⑧; Step 7: After the robot's second engraving machine has finished reloading, the robot's running state machine switches to the material bin picking state ①; Step 8: During the first loading process of the robot, the state machine switching of the robot is completed.

[0027] During the material change process of the serial robot, the state machine switching process of the robot is as follows: Figure 7 As shown, the specific steps include: Step 1: After the robot completes the first loading, the robot's operating state machine switches to the silo picking state ①; Step 2: After the robot has finished taking the material from the material bin, the robot operation state machine switches to the first engraving machine material changing state ⑤; Step 3: After the robot completes the material change at the first engraving machine, the robot operation state machine switches to the robot material flipping state ③; Step 4: After the robot has finished flipping the material, the robot operation state machine switches to the second engraving machine material changing state⑧; Step 5: After the robot has finished reloading the second engraving machine, the robot's operating state machine switches to the silo unloading state ②; Step 6: After the robot has finished discharging materials in the silo, the robot's operating state machine switches to the silo picking state ①; Step seven: During the robot material changing process, the robot's state machine switching is completed.

[0028] During the unloading process of the serial robot, the state machine switching process of the robot is as follows: Figure 8 As shown, the specific steps include: Step 1: After the robot completes the material change, the robot's operating state machine switches to the silo material picking state ①; Step 2: There is no blank in the material bin, and the robot operation state machine switches to the first engraving machine unloading state ⑥; Step 3: After the robot has finished unloading the material at the first engraving machine, the robot operation state machine switches to the robot turning state ③; Step 4: After the robot has finished flipping the material, the robot operation state machine switches to the second engraving machine material changing state⑧; Step 5: After the robot has finished reloading the second engraving machine, the robot's operating state machine switches to the silo unloading state ②; Step 6: After the robot has finished unloading the material in the material bin, the robot operation state machine switches to the second engraving machine unloading state ⑨; Step 7: After the robot has finished unloading the material from the second engraving machine, the robot's operating state machine switches to the material bin picking state ①; Step 8: During the robot unloading process, the state machine switching of the robot is completed.

[0029] In the parallel operation mode, the first loading process of the first engraving machine is the same as that of the second engraving machine. The first loading process of the first engraving machine is used as an example to illustrate the state machine switching process of the robot operation. Fig. 9 As shown, the specific steps include: Step 1: The system starts to run automatically, and the robot's running state machine switches to the silo picking state①; Step 2: determine whether the priority of the material change request of the second engraving machine is the highest. If yes, proceed to step 3; otherwise, jump to step 5 for execution. Step 3: the robot operation state machine switches to the second engraving machine material changing state⑧, and the robot starts to change materials for the second engraving machine; Step 4: After the robot completes the material exchange for the second engraving machine, the robot operation state machine switches to the robot material flipping state ③, waiting for the robot to complete the material flipping; Step 5: the robot operation state machine switches to the first engraving machine first feeding state ④, waiting for the robot to complete the first feeding of the first engraving machine; Step 6: After the robot completes the first feeding of materials to the first engraving machine, the robot operation state machine switches to the material bin picking state ①; Step 7: During the first loading process of the robot, the state machine switching of the robot is completed.

[0030] In the parallel operation mode, the material change process of the first engraving machine is the same as that of the second engraving machine. The material change process of the first engraving machine is used as an example. The state machine switching process of the robot operation is as follows: Fig.10 As shown, the specific steps include: Step 1: After the robot completes the first loading, the robot's operating state machine switches to the silo picking state ①; Step 2: arbitrate the material change requests of the first engraving machine and the second engraving machine. When the material change priority of the first engraving machine is higher than that of the second engraving machine, jump to step 4; when the material change priority of the second engraving machine is higher than that of the first engraving machine, jump to step 3; Step 3: When the material reloading priority of the second engraving machine is higher than that of the first engraving machine, the robot operation state machine switches to the material reloading state ⑧ of the second engraving machine, waiting for the material reloading of the second engraving machine to be completed; after the material reloading is completed, when the material on the robot gripper is a semi-finished material, jump to step 6; Step 4: When the material reloading priority of the first engraving machine is higher than that of the second engraving machine, the robot operation state machine switches to the material reloading state ⑤ of the first engraving machine, waiting for the material reloading of the first engraving machine to be completed; Step 5: After the first engraving machine has finished changing the material, the material on the robot gripper is judged. When the material on the robot gripper is a finished material, the process goes to step 8; when the material on the robot gripper is a semi-finished material, the process goes to step 6; Step 6: The robot operation state machine switches to the robot material turning state ③, waiting for the robot to finish turning the material; Step 7: After the robot has finished flipping the material, the robot operation state machine switches to the first engraving machine material changing state ⑤, waiting for the robot to complete the material changing for the first engraving machine; Step 8: The robot operation state machine switches to the silo unloading state ②, waiting for the robot silo unloading to be completed; Step 9: After the robot has finished unloading the material from the silo, the robot's operating state machine switches to the silo retrieving state ①; Step 10: During the robot material changing process, the robot's state machine switching is completed.

[0031] In the parallel operation mode, the unloading process of the first engraving machine is the same as that of the second engraving machine. The unloading process of the first engraving machine is used as an example to illustrate the state machine switching process of the robot operation. Fig.11 As shown, the specific steps include: Step 1: After the robot completes the material change, the robot's operating state machine switches to the silo material picking state ①; Step 2: There is no blank in the material bin, and the robot operation state machine switches to the first engraving machine unloading state ⑥; Step 3, judging whether the thin-walled part in the first engraving machine is a finished product, and if it is a finished product, jumping to step 9 for execution; Step 4: The robot operation state machine switches to the robot material turning state ③, waiting for the robot to finish turning the material; Step 5: After the robot has finished flipping the material, the robot operation state machine switches to the second engraving machine material changing state⑧; Step 6: After the robot has finished changing the material for the second engraving machine, it is determined whether the material on the robot gripper is a finished product or a semi-finished product. If it is a finished product, it jumps to step 7 for execution; if it is a semi-finished product, it jumps to step 4 for execution; Step 7: The robot operation state machine switches to the silo unloading state ②, waiting for the robot silo unloading to be completed; Step 8: After the robot hopper is unloaded, the robot operation state machine switches to the second engraving machine unloading state ⑨; Step 9: After the robot has finished unloading the material to the second engraving machine, the robot's operating state machine switches to the bin unloading state ②; Step 10: After the robot has finished unloading the material to the engraving machine, the robot's operating state machine switches to the material bin picking state ①; Step 11: During the robot unloading process, the robot's state machine switching is completed.

[0032] (4) Silo priority management switching process The system's series or parallel state does not affect the management of the two silos. The functions of silo 1 and silo 2 are completely the same, and they can serve different machine tools to perform material loading and unloading operations. Fig.12 As shown, the specific steps include: Step 1: When the system runs automatically, the silo state machine switches to the silo online state ①; Step 2: Determine the priority state of the silo for material extraction according to the online state of the silo ①. The silo that is online first has a higher priority. If both silos are online at the same time, the priority state of the silo for material extraction ② is switched to silo No. 1. Step 3: Determine the material bin discharge priority state ③ according to the online state ① of the material bin. The first online material bin has a higher priority. If both are online, the material bin discharge priority state ③ is switched to the No. 1 material bin. Step 4: The system reads the material level status of the No. 1 silo ④ and the material level status of the No. 2 silo ⑤; Step 5: Determine the material level status of the silo with high priority. If the material level status is normal, the priority is maintained. If the material level status alarms or there is no material, the silo material level priority status is switched to ②; Step 6: The system reads the discharge level status of the No. 1 silo ⑥ and the discharge level status of the No. 2 silo ⑦; Step 7: Determine the discharge level status of the silo with high priority. If the discharge level status is normal, the priority is maintained. If the discharge level status alarms or the material is full, the silo discharge priority is switched to ③. Step 8: If an abnormality occurs in the silo with a high priority for taking materials, the material discharge priority state is switched to ③; Step nine, if the high priority silo is offline midway, switch the silo material picking priority state ② and the silo material discharging priority state ③.

[0033] (5) Material silo selection state machine switching process The material selection state machine switching is based on the material retrieval priority state ② and the material discharge priority state ③. The state machine determines the material retrieval and discharge position in the silo according to the silo priority state, thereby realizing automatic loading and unloading. Fig.13 ,The material silo selection state machine switching process includes the following steps: Step 1: When the system is running automatically, the silo status switches to the silo material extraction priority status ②; Step 2: If the material picking priority of No. 1 silo is high, the state will be switched to the material picking level state of No. 1 silo④; if the material picking priority of No. 2 silo is high, the state will be switched to the material picking level state of No. 2 silo⑤; Step 3: After reading the material picking position status, switch to the corresponding silo material selection state ⑧⑨. At this time, the silo material picking state machine is switched, and the robot can perform the material picking action at the corresponding material position; Step 4: After the system completes the material collection, the silo status switches to the silo discharge priority status ③; Step 5: If the discharge priority of No.1 silo is high, the state will be switched to the discharge position state of No.1 silo ⑥; if the discharge priority of No.2 silo is high, the state will be switched to the discharge position state of No.2 silo ⑦; Step 6: After reading the discharge position status, switch to the corresponding silo material selection state ⑧⑨. At this time, the silo discharge state machine is switched, and the robot can perform the discharge action of the corresponding material position; Step 7: After the material is discharged, the system switches to a new round of silo material selection state.

[0034] (6) The system automatically runs the loading and unloading process The first loading process of the first engraving machine is similar to that of the second engraving machine. Fig.14 and Fig.16 As shown, the first engraving machine first loading process includes the following steps: Step 1: The first engraving machine closes the automatic door and waits for the automatic door to close properly; Step 2: Clean the first engraving machine fixture and wait for the cleaning to be completed; Step 3: The first engraving machine spindle avoids and waits for the spindle to avoid completion; Step 4: the first engraving machine moves to the loading and unloading position, and waits for the first engraving machine to move to the loading and unloading position; Step 5: Open the first engraving machine jig and open the automatic door at the same time, waiting for the first engraving machine jig to open in place; Step 6: The first engraving machine sends a signal requesting the first loading, and the state machine of the waiting robot is ④; Step 7: The robot starts to load the first engraving machine for the first time, and waits for the robot to move to the loading position of the first engraving machine; Step 8, turn on the jig cleaning module in the first engraving machine, the robot starts to discharge the material, and wait for the robot to complete the discharge; Step nine, turn off the jig cleaning module in the first engraving machine and wait for the robot to complete the first loading; Step 10, close the automatic door of the first engraving machine, clamp the first engraving machine fixture at the same time, and wait for the automatic door to be fully closed and the fixture to be fully clamped; Step 11: The first engraving machine is loaded with materials for the first time, and the first engraving machine starts processing.

[0035] The material changing and unloading process of the first engraving machine is similar to that of the second engraving machine. Fig.15 and Fig.17 As shown, the material changing and unloading process of the first engraving machine includes the following steps: Step 1: The first engraving machine closes the automatic door and waits for the automatic door to close properly; Step 2: Clean the first engraving machine fixture and wait for the cleaning to be completed; Step 3: The first engraving machine spindle avoids and waits for the spindle to avoid completion; Step 4: the first engraving machine moves to the loading and unloading position, and waits for the first engraving machine to move to the loading and unloading position; Step 5: Open the first engraving machine jig and open the automatic door at the same time, waiting for the first engraving machine jig to open in place; Step 6: The first engraving machine sends a signal requesting material change, and makes a judgment.

[0036] The robot's turning process is as follows Fig.18 As shown, the specific steps include: Step 1: The robot starts flipping the material at the flipping mechanism, and judges whether the flipping mechanism is ready; Step 2: determine whether the material turning mechanism is ready. After the material turning mechanism is ready, the robot state machine is judged; Step 3: When the robot state machine is ③, the robot starts to turn the material; Step 4: The robot moves to the material turning mechanism and waits for the robot to move into place; Step 5: After the robot moves to the right position, it unloads the material at the material turning mechanism and waits for the material to be unloaded into place; Step 6: After the robot puts the material in place, turn on the robot hand cleaning device at the material turning mechanism, start the robot hand cleaning movement, and wait for the robot hand cleaning to be completed; Step 7: After the robot gripper is cleaned, the robot starts to grasp the reverse side of the right-angle thin-walled part and waits for the robot to complete the grasping; Step 8: After the robot grabs the back side of the right-angle thin-walled part, it moves to the material flipping completion position and waits for the robot to move into place; Step nine, after the robot moves into position, the entire material turning process of the robot is completed.

[0037] The robot's material picking process at the silo is as follows Fig.19 As shown, the specific steps include: Step 1: The robot starts the material picking process at the silo and makes a judgment on whether the silo is ready; Step 2: After the silo is prepared, the silo blank material level is arbitrated, and the silo blank material level arbitration is waited for completion; Step 3: After the arbitration of the material level of the silo blank is completed, the material level for taking materials is selected, and the material is divided by the material dividing mechanism for this material level, and the material division is waited for completion; Step 4: determine whether the robot's state machine is ①. When the robot's state machine is ①, the robot moves to the blank material position to grab the material and wait for the material to be in place; Step 5: After the robot grabs the material in place, the robot moves to the material bin to complete the grabbing position and waits to move into place; Step six, after the robot moves to the position where the material is grabbed in the silo, the robot's material picking process at the silo is completed.

[0038] The robot's unloading process at the silo is as follows Fig. 20 As shown, the specific steps include: Step 1: The robot starts the material discharge process at the silo and makes a judgment on whether the silo is ready; Step 2: After the silo is prepared, the silo finished product material level will be arbitrated, and the silo finished product material level arbitration will be completed; Step 3: After the arbitration of the finished product material level in the silo is completed, the material level for discharging is selected, and this material level is prepared for unloading and waits for the preparation to be completed; Step 4: After the material position is ready for unloading, determine whether the robot's state machine is ②. When the robot's state machine is ②, the robot moves to the finished product position to unload the material and wait for the unloading to be in place; Step 5: After the robot has placed the material in place, it moves to the material bin where the material is placed and waits for the robot to move into place. Step six, after the robot moves to the position where the material is placed in the bin and the material is grabbed, the robot's material placement process at the bin is completed.

Claims

1. An automatic loading and unloading processing control method, characterized in that: The following steps are involved: Step 1: Configure the overall operation mode of the automatic loading and unloading processing control system according to the loading and unloading mode of the system; Step 2: Automatic operation preparation of the system, including automatic loading and unloading operation preparation of the machine tool, automatic loading and unloading operation preparation of the robot, automatic loading and unloading operation preparation of the silo, and automatic loading and unloading operation preparation of the system as a whole; Step 3: According to the loading and unloading process of the robot, the state machine of the robot switches between the following nine states: Material bin picking status, material bin discharging status, robot turning status, first engraving machine first loading status, first engraving machine material changing status, first engraving machine unloading status, second engraving machine first loading status, second engraving machine material changing status, second engraving machine unloading status; Step 4, switching the priority status of material collection and discharge in the silo according to the online status of the silo; Step 5, according to the silo material picking priority state and the silo material discharging priority state, determine the state machine of the material picking and discharging position in the silo, and realize the switching of the silo material selection and discharging state machine; Step 6: Use a modular mechanism to manage the system's automatic loading and unloading process.

2. The automatic loading and unloading processing control method according to claim 1 is characterized in that: In step 1, the operation modes include a control system operation mode, a silo operation mode and an engraving machine operation mode.

3. The automatic loading and unloading processing control method according to claim 1 is characterized in that: In step 3, the state machine switching of the robot operation can be divided into serial loading and unloading mode and parallel loading and unloading mode according to the networking mode of the engraving machine. The serial loading and unloading mode and the parallel loading and unloading mode can be configured before the automatic operation is started; in the serial loading and unloading mode, the first engraving machine processes the front side of the right-angle thin-walled part, and the second engraving machine processes the back side of the right-angle thin-walled part; in the parallel loading and unloading mode, the first engraving machine and the second engraving machine can both process the front and back sides of the right-angle thin-walled part, and the loading and unloading processes of the first engraving machine and the second engraving machine are exactly the same.

4. The automatic loading and unloading processing control method according to claim 1 is characterized in that: In step 4, the switching of the priority of material retrieval and discharge in the silo can be divided into nine states: silo online state, silo retrieval priority state, silo discharge priority state, silo No. 1 material retrieval level state, silo No. 2 material retrieval level state, silo No. 1 material discharge level state, silo No. 2 material discharge level state, silo No. 1 material selection state, silo No. 2 material selection state.

5. The automatic loading and unloading processing control method according to claim 4 is characterized in that: In step 4, the switching of the priority of taking and discharging materials from the silo specifically includes the following steps: 1) When the system runs automatically, the silo state machine switches to the silo online state; 2) The priority of loading and unloading materials in the silo is determined according to the online status of the silo. The silo that is online first has a higher priority. If both silos are online at the same time, the priority of loading and unloading materials in the silo is switched to silo No.

1. 3) The system reads the loading and unloading status of silo No. 1 and silo No. 2; 4) Determine the material loading and unloading status of the silo with high priority. If the material loading and unloading status is normal, the priority is maintained. If the material loading status alarms or there is no material, the silo material loading priority status is switched; if the material unloading status alarms or the material is full, the silo material unloading priority status is switched; 5) If a high-priority silo goes offline, the silo's material loading and unloading priority status will be switched.

6. The automatic loading and unloading processing control method according to claim 4 is characterized in that: In step 5, the material silo selection state machine switching process includes the following steps: 1) When the system is running automatically, the silo status switches to the silo material picking priority status; 2) If the No. 1 silo has a higher priority for material extraction, the state will be switched to the No. 1 silo material extraction level state; if the No. 2 silo has a higher priority for material extraction, the state will be switched to the No. 2 silo material extraction level state; 3) After reading the material picking position status, it switches to the corresponding silo material selection state. At this time, the silo material picking state machine is switched, and the robot can perform the material picking action at the corresponding material position; 4) After the system completes the material collection, the silo status switches to the silo discharge priority status; 5) If the discharge priority of No.1 silo is high, the state will be switched to the discharge position of No.1 silo; if the discharge priority of No.2 silo is high, the state will be switched to the discharge position of No.2 silo; 6) After reading the discharge position status, it switches to the corresponding silo material selection state. At this time, the silo discharge state machine is switched, and the robot can perform the discharge action of the corresponding material position; 7) After the material discharge is completed, the system switches to a new round of silo material selection status.

7. The automatic loading and unloading processing control method according to claim 1 is characterized in that: In step 5, according to the switching of the material bin picking and discharging state machine, the raw material level and the finished product level are automatically judged to improve the efficiency of loading and unloading of the system, and to ensure that when an alarm occurs in the material bin during automatic operation, it can be automatically shielded without affecting the automatic operation of the entire system. After the processing of all the raw material levels in the bin that have not alarmed is completed, centralized alarm processing is carried out.

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