Dynamic anti-collision control method for movement of multi-axis tool

Abstract

The invention relates to the field of automatic control systems, in particular to a dynamic anti-collision control method for motion of a multi-axis tool, which comprises the following steps of: respectively setting a target moving distance and a safety distance for each clamp, and generating a motion sequence containing all the clamps; clamps are sequentially obtained from the motion sequence to serve as current clamps; and measuring the distance between the adjacent clamps for the current clamp, and judging whether the distance between the adjacent clamps accords with the safe distance or not until all the clamps are moved. In order to solve the problem of interference between moving shafts of a multi-shaft tool in the prior art, a safety distance and a target moving distance configured between bent frames or between clamps are introduced. In the moving process, multi-direction spacing detection is conducted on the bent frames or the clamps in the moving sequence in sequence, whether the moving condition meets the safety spacing or not is judged, spacing judgment is conducted in sequence in a recursive mode, and the bent frames or the clamps move in the direction until the bent frames or the clamps meet the set spacing requirement. And finally, all the clamps are safely moved to target positions.

Description

Technical Field

[0001] The invention relates to the field of automatic control systems, and in particular to a dynamic anti-collision control method for multi-axis tooling motion. Background Art

[0002] The multi-axis tooling motion control system is composed of a multi-axis motion controller building a flexible fixture control system, which is used to control the fixture to perform specified actions to complete the posture adjustment, shape preservation, clamping and other requirements of the workpiece to be clamped. It is mainly composed of an industrial computer, motion controller, servo drive and motor, and is often used in application scenarios such as clamping and positioning of large workpieces.

[0003] For example, Chinese patent CN202010128518.9 discloses a multi-section telescopic device and a linkage lifting device and a tooling platform provided with the multi-section telescopic device. The multi-section telescopic device is provided with a mounting seat, a driving mechanism and a telescopic mechanism. The different shaft transmission systems formed by the telescopic mechanism are connected to the driving mechanism and then installed in the mounting seat, thereby obtaining a telescopic device with rapid lifting and adjustment response, fast adjustment speed and strong bearing capacity; a linkage lifting device is also proposed, which is provided with multiple driving points, and the multi-section telescopic device is provided at each driving point. By utilizing the advantages of the telescopic device, efficient lifting work of lifting and lowering multiple points at the same time can be realized; the present application also proposes a tooling platform, which is provided with multiple support points, and each support point is provided with the multi-section telescopic device. For the use of multiple multi-section telescopic devices, the lifting method can be set according to user needs.

[0004] However, in actual implementation, the inventors found that when the multi-axis tooling itself involves clamping and transporting multiple workpieces, the motion trajectories of the multiple motion axes in the tooling may interfere with each other and cause collisions. Summary of the invention

[0005] In view of the above problems existing in the prior art, a dynamic anti-collision control method for multi-axis tooling motion is now provided.

[0006] The specific technical solutions are as follows:

[0007] A dynamic anti-collision control method for multi-axis tooling movement, the dynamic anti-collision method is applicable to multi-axis tooling, the multi-axis tooling is in a matrix structure;

[0008] The multi-axis tooling comprises a plurality of rows of racks, each row of racks being provided with a plurality of columns of fixtures;

[0009] The rack drives all the fixtures on the rack to move along the X-axis direction;

[0010] The fixture moves along the Y-axis direction;

[0011] The fixture moves along the Z axis along its own height direction;

[0012] The dynamic anti-collision method is used to realize anti-collision control of the fixture along the Y-axis direction;

[0013] The dynamic anti-collision control method comprises:

[0014] Step S1: setting a target moving distance and a safety spacing for each of the fixtures, and generating a motion sequence including all the fixtures;

[0015] The target moving distance includes the forward and backward moving distance of the Y axis;

[0016] The safety distance includes the Y-axis safety distance;

[0017] Step S2: sequentially obtaining the fixtures from the motion sequence as the current fixture;

[0018] Step S3: measuring the distance between adjacent fixtures of the current fixture, and determining whether the distance between adjacent fixtures meets the safety distance;

[0019] In the step S3, the adjacent fixture spacing includes the adjacent fixture spacing in the Y-axis direction;

[0020] If yes, move the current fixture according to the target moving distance, and then go to step S4;

[0021] If not, add the order of the current fixture to the end of the motion sequence, and then go to step S4;

[0022] Step S4: Return to step S2 until all the clamps are moved.

[0023] On the other hand, the multi-axis tooling includes multiple rows of racks arranged in the horizontal direction, and multiple columns of fixtures are arranged on each row of racks;

[0024] The rack drives all the fixtures in the same row to move in the X-axis;

[0025] In the step S1, the rack is associated with all the fixtures in the same row to set the target moving distance and the safety spacing along the X-axis direction.

[0026] On the other hand, the fixture includes a Z-axis up and down movement perpendicular to the X-axis and the Y-axis, and the fixture also moves up and down along the Z-axis to change the height of the workpiece. In the step S3, the height of the current fixture is also changed when the current fixture is moved.

[0027] On the other hand, the step S1 comprises:

[0028] Step S11: for each of the racks and the clamps, respectively setting the safety distance between the racks and the adjacent racks, and the safety distance between the clamps and the adjacent clamps;

[0029] Step S12: setting the target moving distance according to the safety distance;

[0030] Step S13: adding the rack or the fixture to the movement sequence respectively.

[0031] On the other hand, in step S12, the target moving distance includes the horizontal moving distance of the X-axis;

[0032] The X-axis horizontal movement distance is:

[0033] X i =X i1 -D X *(i-1);

[0034] Where, X i is the X-axis moving distance that the rack needs to move based on its own motor origin position, i is the rack number, X i1 is the target position of each rack movement generated by the rack based on the first row position, D X is the X-axis safety spacing of the rack in the X-axis movement direction;

[0035] The Y-axis forward and backward movement distance is:

[0036] Y i =Y i1 -D Y *(i-1);

[0037] Where Y i is the Y-axis moving distance that the fixture needs to move based on its own motor origin position, i is the fixture number, Y i1 Generate the target position that needs to be moved for the fixture based on the first fixture in the first row, D Y It is the Y-axis safety distance of the fixture in the Y-axis movement direction.

[0038] On the other hand, in the step S2, one of the clamps is sequentially obtained from the motion sequence as the current clamp.

[0039] On the other hand, the fixture on the rack also includes up and down movement in the Z direction;

[0040] In the step S2, the fixtures are sequentially obtained from the motion sequence as the current fixture, so as to determine the distance between adjacent fixtures in the Y-axis direction of the current fixture in the step S3;

[0041] Furthermore, the rack where the fixture is located is extracted as the current rack, so as to measure the distance between adjacent racks in the X-axis direction.

[0042] On the other hand, the step S3 comprises:

[0043] Step S31: measuring the spacing between adjacent fixtures in the Y-axis direction for the current fixture, or measuring the spacing between adjacent racks in the X-axis direction for the current rack;

[0044] Step S32: determining whether all the adjacent rack spacings in the X-axis direction and the adjacent fixture spacings in the Y-axis direction meet the safety spacings;

[0045] If yes, move the rack or the fixture in the current moving direction, and then go to step S4;

[0046] If not, the fixture and / or the corresponding associated fixture on the rack are moved to the end of the motion sequence, and then the process goes to step S4.

[0047] On the other hand, in the step S4, when the fixture that meets the safety distance does not exist after traversing the motion sequence, an alarm message is output and the determination is stopped.

[0048] On the other hand, the fixture is provided with an X-axis limit switch in the direction of movement of the rack along the X-axis;

[0049] The fixture is provided with a Y-axis limit switch in the direction of movement of the fixture along the Y-axis;

[0050] The fixture is provided with a Z-axis limit switch in the direction of movement of the fixture along the Z-axis;

[0051] Then in step S3, when the rack triggers the X-axis limit switch along the X-axis movement direction or each of the clamps triggers the Y-axis limit switch or the Z-axis limit switch along the Y-axis or Z-axis movement direction, an alarm signal is generated and the current clamp is stopped.

[0052] A controller is connected to a multi-axis tooling, and the controller controls the multi-axis tooling according to the above-mentioned dynamic anti-collision control method for the movement of the multi-axis tooling.

[0053] A multi-axis tooling includes a plurality of fixtures, and the fixtures move according to the above-mentioned dynamic anti-collision control method for multi-axis tooling movement under the control of an external control device.

[0054] The above technical solution has the following advantages or beneficial effects:

[0055] In view of the problem of interference between the moving axes when the multi-axis tooling in the prior art is clamping, positioning, and moving the workpiece, this solution introduces the safety spacing and target movement distance configured for each rack or each fixture to form a movement sequence. During the movement process, the racks or fixtures in the movement sequence are detected in multiple directions in turn to determine whether the movement meets the safety spacing. If not, the movement of the current rack or fixture in that direction is suspended, and the movement of the adjacent rack or fixture in its movement direction is executed first, and the spacing judgment is recursively performed in turn until the rack or fixture meets the set spacing requirements, and then the rack or fixture is moved in that direction, and finally all fixtures are safely moved to the target position. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The embodiments of the present invention will be described more fully with reference to the attached drawings, which are provided for illustration and description only and are not intended to limit the scope of the present invention.

[0057] Figure 1 It is an overall schematic diagram of an embodiment of the present invention;

[0058] Figure 2 A schematic diagram of a moving plane in an embodiment of the present invention;

[0059] Figure 3 This is a schematic diagram of step S1 in an embodiment of the present invention;

[0060] Figure 4 Schematic diagram of step S3 in an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0063] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0064] The present invention comprises:

[0065] A dynamic anti-collision method for a multi-axis tooling, the dynamic anti-collision method is applicable to the multi-axis tooling, the multi-axis tooling includes a plurality of fixtures, and the fixtures are used for clamping, positioning and moving a workpiece;

[0066] like Figure 1As shown, the dynamic collision avoidance method includes:

[0067] Step S1: Set the target moving distance and safety spacing for each fixture, and generate a motion sequence including all fixtures;

[0068] In step S1, the unified movement of all fixtures in the same row in the X-axis direction is controlled by the rack, so that the target moving distance and the safety spacing of all fixtures in the same row in the X-axis direction are the same;

[0069] Step S2: Obtain fixtures in sequence from the motion sequence as the current fixture;

[0070] Step S3: measuring the distance between adjacent fixtures of the current fixture, and determining whether the distance between adjacent fixtures meets the safety distance;

[0071] If yes, move the current fixture according to the target moving distance, and then go to step S4;

[0072] If not, add the current fixture's order to the end of the motion sequence, and then go to step S4;

[0073] Step S4: Return to step S2 until all the clamps are moved.

[0074] Specifically, in view of the problem that interference may occur between the moving axes when the multi-axis tooling in the prior art clamps, positions and moves the workpiece, this embodiment introduces the configuration of a safety spacing and a target movement distance between each rack or each fixture to form a movement sequence. During the movement process, the racks or fixtures in the movement sequence are sequentially detected in multiple directions to determine whether the movement meets the safety spacing. If not, the movement of the current rack or fixture in that direction is suspended, and the movement of the adjacent rack or fixture in its movement direction is first executed, and the spacing judgment is recursively performed in sequence until the rack or fixture meets the set safety spacing requirements, and then the rack or fixture is moved in that direction, and finally all fixtures are safely moved to the target position.

[0075] Specifically, the multi-axis tooling includes multiple rows of racks and multiple fixtures. The movement of each row of racks and each fixture is driven by a corresponding servo mechanism, such as a servo drive, servo motor, cylinder or other equivalent mechanism, which is used to provide X-, Y- and Z-direction movement for each fixture respectively.

[0076] The servo mechanisms of multiple racks or fixtures are connected to a controller, and the controller controls the multiple racks or fixtures in linkage according to a preset motion trajectory program to achieve operations such as clamping, shifting, and adjusting the posture of the workpiece.

[0077] In the control process, the safety distance is the minimum distance set for different fixture or rack movements in the corresponding motion axis direction to avoid collision with the servo mechanism of other fixtures or racks.

[0078] On this basis, for each motion instruction in the motion trajectory program, the distance of the coordinated movement of the rack or fixture needs to be converted into the safety distance to obtain the actual target moving distance.

[0079] Later, during the actual machining process, the built-in encoder of the fixture's servo mechanism provides position feedback, which can be used to measure the actual spacing of the motion axis relative to other fixtures or rack movements after calculation.

[0080] In one embodiment, Figure 2 As shown, the multi-axis tooling includes movement along the horizontal X direction, wherein the horizontal direction movement is the rack movement, which drives all the fixtures of its own rack to move simultaneously.

[0081] The multi-axis tooling is arranged in a matrix structure, divided into multiple rows and columns. Each row is composed of multiple fixtures, and each fixture has three degrees of freedom in the X, Y and Z directions. Each row drives all its own fixtures to move horizontally in the X direction, and each fixture moves forward and backward along the Y direction and up and down along the Z direction.

[0082] In step S1, a target moving distance and a safety spacing are set in the moving direction of each rack or fixture, and the fixture moves in the Z direction without motion interference.

[0083] Specifically, in order to achieve clamping and positioning of the workpiece, in this embodiment, the matrix multi-axis tooling is configured with multiple fixtures, each row is composed of multiple fixtures, and each fixture has three degrees of freedom in the X, Y and Z directions, so as to clamp and position the workpiece.

[0084] The movement of multi-axis fixtures is controlled by a servo mechanism, which includes X, Y and Z axis motion control, to drive the fixture to complete the relevant movement and positioning. On this basis, the movement of each fixture involves the setting of the safety distance between adjacent fixtures in the Y direction and the safety distance between racks in the X direction. The rack movement drives all the fixtures of the rack to move at the same time.

[0085] After setting the safety spacing of each row of fixtures in the X direction and the safety spacing of adjacent fixtures in the Y direction, the corresponding target movement distances are determined respectively, thereby avoiding the risk of collision in any axial direction during the movement of the rack or fixture.

[0086] In one embodiment, the fixture also moves up and down along the Z-axis direction to change the height of the workpiece;

[0087] In step S3, the height of the current clamp is also changed when the current clamp is moved.

[0088] Specifically, in order to achieve the clamping and positioning of the workpiece, in this embodiment, when determining the safety spacing of the tooling fixture moving in the Y direction and the safety spacing of the rack moving along the X direction, the clamping and positioning of the workpiece is achieved by synchronously controlling the X-axis, Y-axis and Z-axis.

[0089] In one embodiment, Figure 3 As shown, step S1 includes:

[0090] Step S11: for each rack and fixture, respectively set a safety distance between the rack and the adjacent rack, and a safety distance between the fixture and the adjacent fixture;

[0091] Step S12: setting the target moving distance according to the safety distance;

[0092] Step S13: adding racks or fixtures to the movement sequence respectively.

[0093] Specifically, in order to achieve a better anti-collision effect, in this embodiment, for each fixture or each rack, a safety distance relative to the adjacent fixture or adjacent rack is designed in the front and rear or horizontal movement direction, and then the moving target distance is set for the target movement of the fixture and rack in the preset tooling motion program.

[0094] Specifically, when the rack moves horizontally in the X direction and each fixture moves in the Y direction, in step S12, the target moving distance includes the X-axis moving distance of the rack and the Y-axis moving distance of the fixture;

[0095] The X-axis moving distance of the rack is:

[0096] X i =X i1 -D X *(i-1);

[0097] Where, X i is the X-axis moving distance that the rack needs to move based on its own motor origin position, i is the rack number, X i1 is the target position of each rack movement generated based on the first row position, D X It is the X-axis safety distance of the rack in the X-axis movement direction;

[0098] The Y-axis moving distance of the fixture is:

[0099] Y i =Y i1 -D Y *(i-1);

[0100] Where Y i is the Y-axis moving distance that the fixture needs to move based on its own motor origin position, i is the fixture number, Y i1 Generate the target position that needs to be moved for the fixture based on the first fixture in the first row, D Y It is the Y-axis safety distance of the fixture in the Y-axis movement direction.

[0101] Typically, in step S2, a fixture is sequentially obtained from the motion sequence as the current fixture.

[0102] At this time, in step S3, the distance between the fixture and the adjacent fixture is detected and the safety interval is determined in sequence.

[0103] In another embodiment, the multi-axis tooling includes multiple rows of racks distributed along the X-axis, wherein the horizontal movement is the rack movement, driving all the fixtures on its own rack to move horizontally at the same time. ;

[0104] Each fixture of the multi-axis tooling includes forward and backward movement in the Y direction and up and down movement in the Z direction;

[0105] In step S2, the fixtures are sequentially obtained from the motion sequence as the current fixture, so as to determine the distance between adjacent fixtures in the Y-axis direction of the current fixture in step S3;

[0106] Furthermore, the rack where the fixture is located is extracted as the current rack, so as to measure the distance between adjacent racks in the X-axis direction.

[0107] Specifically, in order to achieve the clamping and positioning of the workpiece on the multi-axis tooling, in this embodiment, the multi-axis tooling includes movement along the horizontal X direction, where the horizontal direction movement is the rack movement, driving all the fixtures on its own rack to move simultaneously. The tooling fixture also includes movement in the Y direction and the Z direction, and these racks and fixtures move together to clamp and position the workpiece.

[0108] Then in step S3, when the fixture needs to move in the X direction and the Y direction at the same time, the actual spacing between adjacent racks or fixtures in its direction will be measured at the same time, and it will be determined whether they all meet the safety spacing; if so, the spacing judgment will be recursively performed in sequence until the rack or fixture meets the set spacing requirement, and then the rack or fixture will be moved in this direction; if it does not meet the requirement, the movement of the current rack or fixture in this direction will be paused, and the movement of the adjacent rack or fixture in its movement direction will be executed first.

[0109] In one embodiment, Figure 4 As shown, step S3 includes:

[0110] Step S31: measuring the spacing between adjacent fixtures in the Y-axis direction for the current fixture, or measuring the spacing between adjacent racks in the X-axis direction for the current rack;

[0111] Step S32: Determine whether all adjacent rack spacings in the X-axis direction and adjacent fixture spacings in the Y-axis direction meet the safety spacings;

[0112] If yes, move the rack or fixture in the current moving direction, and then go to step S4;

[0113] If not, the fixture and / or the associated fixture on the corresponding rack are moved to the end of the motion sequence, and then the process goes to step S4.

[0114] Specifically, in order to achieve a better anti-collision effect, when all the fixtures on the rack brought to its own rack move along the X-axis movement direction and when each fixture moves along the Y-axis direction and the Y-axis moves, the adjacent rack spacing in the X-axis direction and the adjacent fixture spacing in the Y-axis direction are measured for the current rack or fixture, and then it is determined whether the spacing between the racks in the X-axis direction and the adjacent fixture spacing in the Y-axis direction meet the corresponding safety spacing, otherwise the current fixture or rack is moved to the end of the motion sequence to achieve recursive motion.

[0115] In one embodiment, in step S4, when there is no rack or fixture that meets the safety spacing after traversing the motion sequence, an alarm message is output.

[0116] Specifically, to achieve better operation results, in this embodiment, when there are no racks or fixtures that meet the safety spacing after traversing the motion sequence, an alarm message is output to facilitate timely troubleshooting.

[0117] In one embodiment, the rack is provided with an X-axis limit switch along the X-axis of motion;

[0118] The fixture is provided with a Y-axis limit switch on the Y-axis, and a Z-axis limit switch on the Z-axis.

[0119] Then in step S3, when the current rack triggers the X-axis limit switch along the X-axis movement direction or each fixture triggers the Y-axis or Z-axis limit switch along the Y-axis or Z-axis movement direction, an alarm signal is generated and the movement of the current fixture or rack is stopped.

[0120] Specifically, in order to achieve a better anti-collision effect, in the present embodiment, an X-axis limit switch is respectively arranged on the X-axis, a Y-axis limit switch is arranged on the Y-axis, and a Z-axis limit switch is arranged on the Z-axis. When the current rack triggers the X-axis limit switch along the X-axis movement direction or each fixture triggers the Y-axis or Z-axis limit switch along the Y-axis or Z-axis movement direction, an alarm signal is generated and the movement of the current fixture or rack is stopped to achieve a better anti-collision effect.

[0121] A controller is connected to a multi-axis tooling device, and the controller controls the movement of the multi-axis tooling device according to the above-mentioned dynamic anti-collision method.

[0122] A multi-axis tooling includes a plurality of fixtures, and the fixtures move according to the above-mentioned dynamic anti-collision method under the control of an external control device.

[0123] The above technical solution has the following advantages or beneficial effects:

[0124] In view of the problem of interference between the moving axes when the multi-axis tooling in the prior art is clamping, positioning, and moving the workpiece, this solution introduces the safety spacing and target movement distance configured for each rack or each fixture to form a movement sequence. During the movement process, the racks or fixtures in the movement sequence are detected in multiple directions in turn to determine whether the movement meets the safety spacing. If not, the movement of the current rack or fixture in that direction is suspended, and the movement of the adjacent rack or fixture in its movement direction is executed first, and the spacing judgment is recursively performed in turn until the rack or fixture meets the set spacing requirements, and then the rack or fixture is moved in that direction, and finally all fixtures are safely moved to the target position.

[0125] Those skilled in the art will appreciate that various aspects of the present invention, or possible implementations of various aspects, can be specifically implemented as systems, methods or computer program products. Therefore, various aspects of the present invention, or possible implementations of various aspects, can adopt the form of complete hardware embodiments, complete software embodiments (including firmware, resident software, etc.), or combined software and hardware embodiments, all collectively referred to as "circuit", "module" or "system" here. In addition, various aspects of the present invention, or possible implementations of various aspects, can adopt the form of computer program products, which refer to computer-readable program codes stored in computer-readable media.

[0126] The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium includes but is not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or apparatuses, or any suitable combination of the foregoing, such as random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable read-only memory (CD-ROM).

[0127] The processor in the computer reads the computer-readable program code stored in the computer-readable medium, so that the processor can execute the functional actions specified in each step or the combination of steps in the flowchart; and generate a device for implementing the functional actions specified in each block or the combination of blocks in the block diagram.

[0128] It should be understood that the processor in the computer can be understood as one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components implemented to execute the aforementioned computer-readable program codes.

[0129] Computer readable program code can be executed completely on the local computer of the user, partially on the local computer of the user, as a separate software package, partially on the local computer of the user and partially on the remote computer, or executed completely on the remote computer or server.It should also be noted that in some alternative embodiments, the functions noted in each step in the flow chart or each block in the block diagram may not occur in the order noted in the figure.For example, depending on the function involved, two steps shown in succession or two blocks may actually be executed roughly simultaneously, or these blocks may sometimes be executed in reverse order.

[0130] Those skilled in the art will appreciate that one or more embodiments of the present application may be provided as a method, system or computer program product. Therefore, one or more embodiments of the present application may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, one or more embodiments of the present application may take the form of a computer program product implemented on one or more computer-usable storage media (which may include but are not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0131] The term "and / or" in the present application means at least one of the two. For example, "A and / or B" may include three options: A, B, and "A and B".

[0132] Each embodiment in the present application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the data processing device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0133] Although the application includes many specific implementation details, these should not be interpreted as limiting any disclosed scope or the scope of protection claimed, but are mainly used to describe the features of specific disclosed specific embodiments. Certain features described in multiple embodiments in the application can also be implemented in combination in a single embodiment. On the other hand, the various features described in a single embodiment can also be implemented separately in multiple embodiments or implemented with any suitable sub-combination. In addition, although the feature can work as in some combinations and even initially claim protection, one or more features from the claimed combination can be removed from the combination in some cases, and the claimed combination can point to a variation of a sub-combination or a sub-combination.

[0134] The above describes a specific embodiment of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0135] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A dynamic anti-collision control method for multi-axis tooling motion, characterized in that: The dynamic anti-collision method is applicable to a multi-axis tooling, and the multi-axis tooling is in a matrix structure; The multi-axis tooling comprises a plurality of rows of racks, each row of racks being provided with a plurality of columns of fixtures; The rack drives all the fixtures on the rack to move along the X-axis direction; The fixture moves along the Y-axis direction; The fixture moves along the Z axis along its own height direction; The dynamic anti-collision method is used to realize anti-collision control of the fixture along the Y-axis direction; The dynamic anti-collision control method comprises: Step S1: setting a target moving distance and a safety spacing for each of the fixtures, and generating a motion sequence including all the fixtures; The target moving distance includes the forward and backward moving distance of the Y axis; The safety distance includes the Y-axis safety distance; Step S2: sequentially obtaining the fixtures from the motion sequence as the current fixture; Step S3: measuring the distance between adjacent fixtures of the current fixture, and determining whether the distance between adjacent fixtures meets the safety distance; In the step S3, the adjacent fixture spacing includes the adjacent fixture spacing in the Y-axis direction; If yes, move the current fixture according to the target moving distance, and then go to step S4; If not, add the order of the current fixture to the end of the motion sequence, and then go to step S4; Step S4: Return to step S2 until all the clamps are moved.

2. The dynamic anti-collision control method for multi-axis tooling motion according to claim 1, characterized in that: The multi-axis tooling includes multiple rows of racks arranged in the horizontal direction, and multiple columns of fixtures are arranged on each row of racks; The rack drives all the fixtures in the same row to move in the X-axis; In the step S1, the rack is associated with all the fixtures in the same row to set the target moving distance and the safety spacing along the X-axis direction.

3. The dynamic anti-collision control method for multi-axis tooling motion according to claim 2, characterized in that: The fixture includes a Z-axis vertical movement perpendicular to the X-axis and the Y-axis, and the fixture also moves up and down along the Z-axis to change the height of the workpiece. In the step S3, the height of the current fixture is also changed when the current fixture is moved.

4. The dynamic anti-collision control method for multi-axis tooling motion according to claim 2, characterized in that: The step S1 comprises: Step S11: for each of the racks and the clamps, respectively setting the safety distance between the racks and the adjacent racks, and the safety distance between the clamps and the adjacent clamps; Step S12: setting the target moving distance according to the safety distance; Step S13: adding the rack or the fixture to the movement sequence respectively.

5. The dynamic anti-collision control method for multi-axis tooling motion according to claim 4, characterized in that: In the step S12, the target moving distance includes the horizontal moving distance of the X-axis; The X-axis horizontal movement distance is: X i =X i1 -D X *(i-1); Where, X i is the X-axis moving distance that the rack needs to move based on its own motor origin position, i is the rack number, X i1 is the target position of each rack movement generated by the rack based on the first row position, D X is the X-axis safety spacing of the rack in the X-axis movement direction; The Y-axis forward and backward movement distance is: Y i =Y i1 -D Y *(i-1); Where Y i is the Y-axis moving distance that the fixture needs to move based on its own motor origin position, i is the fixture number, Y i1 Generate the target position that needs to be moved for the fixture based on the first fixture in the first row, D Y It is the Y-axis safety distance of the fixture in the Y-axis movement direction.

6. The dynamic anti-collision control method for multi-axis tooling motion according to claim 1, characterized in that: In the step S2, one of the clamps is sequentially obtained from the motion sequence as the current clamp.

7. The dynamic anti-collision control method for multi-axis tooling motion according to claim 2, characterized in that: The fixture on the rack also includes up and down movement in the Z direction; In the step S2, the fixtures are sequentially obtained from the motion sequence as the current fixture, so as to determine the distance between adjacent fixtures in the Y-axis direction of the current fixture in the step S3; Furthermore, the rack where the fixture is located is extracted as the current rack, so as to measure the distance between adjacent racks in the X-axis direction.

8. The dynamic anti-collision control method for multi-axis tooling motion according to claim 7, characterized in that: The step S3 comprises: Step S31: measuring the spacing between adjacent fixtures in the Y-axis direction for the current fixture, or measuring the spacing between adjacent racks in the X-axis direction for the current rack; Step S32: determining whether all the adjacent rack spacings in the X-axis direction and the adjacent fixture spacings in the Y-axis direction meet the safety spacings; If yes, move the rack or the fixture in the current moving direction, and then go to step S4; If not, the fixture and / or the corresponding associated fixture on the rack are moved to the end of the motion sequence, and then the process goes to step S4.

9. The dynamic anti-collision control method for multi-axis tooling motion according to claim 1, characterized in that: In the step S4, when the fixture that meets the safety distance does not exist after traversing the motion sequence, an alarm message is output and the determination is stopped.

10. The dynamic anti-collision control method for multi-axis tooling motion according to claim 3 or 7, characterized in that: The fixture is provided with an X-axis limit switch in the direction of movement of the rack along the X-axis; The fixture is provided with a Y-axis limit switch in the direction of movement of the fixture along the Y-axis; The fixture is provided with a Z-axis limit switch in the direction of movement of the fixture along the Z-axis; Then in step S3, when the rack triggers the X-axis limit switch along the X-axis movement direction or each of the clamps triggers the Y-axis limit switch or the Z-axis limit switch along the Y-axis or Z-axis movement direction, an alarm signal is generated and the current clamp is stopped.

11. A controller, characterized in that: The controller is connected to a multi-axis tooling, and the controller controls the multi-axis tooling according to the dynamic anti-collision control method for the movement of the multi-axis tooling as described in any one of claims 1-10.

12. A multi-axis tooling, characterized in that: The multi-axis tooling includes a plurality of fixtures, and the fixtures move under the control of an external control device in accordance with the dynamic anti-collision control method for multi-axis tooling movement as described in any one of claims 1 to 10.

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