Method and system for collaborative work of an industrial robot with a press

Abstract

The application discloses an industrial robot and press cooperative work control method and system, and relates to the technical field of industrial automation control. The method comprises the following steps: acquiring cooperative work data in the cooperative work process of the industrial robot and the press, wherein the cooperative work data comprises press operation data, robot operation data, workpiece state data and work task data; determining cooperative work state information according to the cooperative work data; determining dynamic cooperative control conditions according to the cooperative work state information and the work task data; generating a target cooperative control strategy based on the dynamic cooperative control conditions, and generating robot control instructions and press control instructions; determining cooperative execution deviation information according to real-time changes of the cooperative work data during execution, and correcting the robot control instructions and / or the press control instructions accordingly. In the above manner, the dependence on fixed timing and single interlock signal can be reduced, and the adaptability of cooperative work to site fluctuations can be improved.

Description

Technical Field

[0001] This application relates to the field of industrial automation control technology, and in particular to a method and system for controlling the collaborative operation of an industrial robot and a press. Background Technology

[0002] With the development of industrial automation and intelligent manufacturing technologies, industrial robots are increasingly being used in stamping, forging, bending, and forming production lines to perform tasks such as workpiece gripping, loading, unloading, transfer, and stacking. Presses, as key equipment in the forming of metal sheets or parts, typically require collaboration with industrial robots to complete continuous production processes. Compared to manual loading and unloading, the collaborative operation of industrial robots and presses reduces labor intensity, decreases the frequency of personnel entering hazardous areas, and improves the automation level and operational efficiency of the production line. Therefore, achieving stable, safe, and efficient collaborative control between industrial robots and presses is a crucial technical aspect of automated stamping production lines.

[0003] In related technologies, industrial robots and presses are typically coordinated and controlled through input / output signals between controllers, fieldbus signals, or safety interlock signals. For example, after completing the loading action, the robot sends a processing permission signal to the press; after completing a stamping action, the press sends a material handling permission signal to the robot. The robot then enters the corresponding position according to a preset program to perform material handling and transfer actions. This type of control method is usually based on a preset action sequence, fixed waiting time, and equipment arrival signals, which can meet the production needs of relatively stable cycle times and relatively simple workpiece types. However, in actual production processes, the press's action response, robot running speed, workpiece gripping posture, workpiece placement position, and equipment operating status may all fluctuate. Relying solely on fixed timing sequences and simple interlock signals for control can easily lead to problems such as excessively long robot waiting times, increased press idle time, or frequent abnormal shutdowns. At the same time, when equipment action deviations, workpiece posture deviations, or cycle time fluctuations are not reflected in the coordinated control process in a timely manner, it may also affect the stability of the coordination between the robot's loading / unloading and the press's processing actions, thereby affecting production continuity and operational safety.

[0004] Therefore, in the collaborative operation control of industrial robots and presses, the reliance on fixed timing for equipment actions, the limited interlocking judgment information, and the insufficient adaptability of the collaborative control process to on-site fluctuations have become urgent problems to be solved. Summary of the Invention

[0005] This application provides a method and system for controlling the collaborative operation of an industrial robot and a press, aiming to solve the problems in the existing technology of controlling the collaborative operation of industrial robots and presses, such as the reliance on fixed timing for equipment actions, the limited interlock judgment information, and the insufficient adaptability of the collaborative control process to on-site fluctuations.

[0006] A first aspect includes a method for controlling the collaborative operation of an industrial robot and a press, the method comprising: Acquire collaborative operation data during the collaborative operation of an industrial robot and a press, wherein the collaborative operation data includes press operation data, robot operation data, workpiece status data, and task data; Based on the collaborative operation data, collaborative operation status information is determined, which is used to characterize the current coordination status of the press, industrial robot and workpiece during the collaborative operation process; Based on the collaborative operation status information and the operation task data, dynamic collaborative control conditions are determined. These dynamic collaborative control conditions are used to constrain the coordination relationship between the industrial robot's actions and the press's actions. Based on the dynamic collaborative control conditions, a target collaborative control strategy is generated, and robot control instructions and press control instructions are generated according to the target collaborative control strategy. During the process of the industrial robot and the press executing the robot control command and the press control command, the collaborative execution deviation information is determined based on the real-time changes of the collaborative operation data; Based on the cooperative execution deviation information, the robot control commands and / or the press control commands are corrected.

[0007] Optionally, in the above solution, acquiring collaborative operation data during the collaborative operation of the industrial robot and the press includes: Obtain the equipment operation sampling data of the press during the current work cycle to obtain the press operation data; Obtain sampled data of the industrial robot's motion execution during the current work cycle to obtain robot operation data; The detection data of the workpiece during the gripping, placement, processing and removal process is obtained to obtain the workpiece status data; Obtain the process parameters, cycle time parameters, and workflow parameters corresponding to the current collaborative operation to obtain the operation task data; The press operation data, robot operation data, workpiece status data, and task data are correlated according to a unified operation cycle to obtain the collaborative operation data.

[0008] Optionally, in the above scheme, determining the collaborative operation status information based on the collaborative operation data includes: Based on the press operation data, press motion features are extracted. The press motion features include at least one of press motion position features, motion direction features, and motion response features. The motion response features include at least one of start response features, stop response features, and hold response features. The press operation status information is determined based on the press operation characteristics. The press operation status information is used to characterize the operation stage and operation response status of the press in the current operation cycle. Robot motion features are extracted from the robot operation data, and the robot motion features include at least one of robot motion progress features, work position features, and end effector state features; The robot's operational status information is determined based on the robot's motion characteristics and the workpiece's status data. The robot's operational status information is used to characterize the current cooperation status between the industrial robot and the workpiece. The collaborative operation status information is determined based on the press operation status information and the robot operation status information.

[0009] Optionally, in the above scheme, determining the robot's operational status information based on the robot's motion characteristics and the workpiece status data includes: The current operation stage of the robot is determined based on the robot's motion progress characteristics. The current operation stage of the robot includes at least one of the following: loading stage, picking stage, transfer stage, and waiting stage. The current working position state of the robot is determined based on the working position characteristics, and the current working position state of the robot is used to characterize the positional relationship of the industrial robot relative to the working area of ​​the press. The workpiece pick-up and place status is determined based on the end-effector state characteristics and the workpiece state data. The workpiece pick-up and place status is used to characterize the state in which the workpiece is gripped, placed, or removed. The robot's operational status information is determined based on the robot's current operational stage, its current operational position, and the workpiece's pick-up and place status.

[0010] Optionally, in the above scheme, determining the dynamic collaborative control conditions based on the collaborative operation status information and the operation task data includes: Based on the collaborative operation status information and the operation process parameters, the action sequence constraints are determined. The action sequence constraints are used to constrain the sequential execution relationship between the industrial robot actions and the press actions. Based on the press operation status information and the robot operation status information, action triggering constraints are determined. These constraints are used to constrain the triggering timing of industrial robot actions or press actions. Based on the workpiece status data and the process parameters, the workpiece status verification conditions are determined. The workpiece status verification conditions are used to constrain whether the workpiece status meets the requirements of press processing or robot handling. Based on the action sequence constraints, the action triggering constraints, and the workpiece state verification conditions, the dynamic collaborative control conditions that are updated as the collaborative operation state changes are determined.

[0011] Optionally, in the above scheme, generating the target cooperative control strategy based on the dynamic cooperative control conditions includes: Multiple candidate action connection schemes are generated based on the dynamic collaborative control conditions. These candidate action connection schemes are used to characterize the connection method between the action of the industrial robot and the action of the press. Based on the beat parameters, beat matching processing is performed on multiple candidate action connection schemes to obtain multiple candidate beat schemes; Based on the process parameters and the operation flow parameters, the feasibility of multiple candidate cycle time schemes is screened to obtain a set of candidate collaborative control strategies.

[0012] Optionally, in the above scheme, determining the target cooperative control strategy based on the candidate cooperative control strategy set includes: Based on the robot motion process and press motion process corresponding to each candidate collaborative control strategy, determine the operation safety evaluation information; Based on the robot waiting time, press waiting time and operation cycle time corresponding to each candidate collaborative control strategy, determine the cycle time matching evaluation information; Based on the workpiece pick-up and place status and the workpiece pre-processing status corresponding to each candidate collaborative control strategy, determine the workpiece pick-up and place stability evaluation information; Based on the operation safety evaluation information, the cycle time matching evaluation information, and the workpiece pick-and-place stability evaluation information, determine the collaborative evaluation results corresponding to each candidate collaborative control strategy; Based on the collaborative evaluation results, the target collaborative control strategy is determined from the set of candidate collaborative control strategies.

[0013] Optionally, in the above scheme, generating robot control instructions and press control instructions according to the target collaborative control strategy includes: The robot action sequence is obtained by analyzing the robot action content in the target cooperative control strategy. The robot control instructions are generated based on the robot action sequence, and the robot control instructions include at least one of the following: robot entry instruction, pick-up and place instruction, exit instruction, wait instruction, and avoidance instruction; The press machine action content in the target collaborative control strategy is analyzed to obtain the press machine action sequence; The press control command is generated based on the press action sequence, and the press control command includes at least one of the press hold command, start command, pause command and reset command; The robot control commands and the press control commands are correlated to obtain a set of coordinated control commands for executing the current work cycle.

[0014] Optionally, in the above scheme, the step of correcting the robot control command and / or the press control command based on the cooperative execution deviation information includes: The target execution status of the current work cycle is determined based on the collaborative control instruction group; The current actual execution status is determined based on the real-time changes in the collaborative operation data; The current actual execution state is compared with the target execution state to obtain the collaborative execution deviation information, which includes at least one of press execution deviation, robot execution deviation, and workpiece state deviation. The instruction correction method is determined based on the cooperative execution deviation information. The instruction correction method includes at least one of robot motion correction, press motion correction, and motion holding or motion prohibition based on workpiece state verification results. Based on the aforementioned instruction correction method, the robot control instructions and / or the press control instructions are corrected to obtain a corrected collaborative control instruction set.

[0015] Secondly, a collaborative operation control system for an industrial robot and a press, the system comprising: The data acquisition module is used to acquire collaborative operation data during the collaborative operation of the industrial robot and the press. The collaborative operation data includes press operation data, robot operation data, workpiece status data, and operation task data. The collaborative status determination module is used to determine collaborative operation status information based on the collaborative operation data. The collaborative operation status information is used to characterize the current coordination status of the press, industrial robot and workpiece in the collaborative operation process. The control condition determination module is used to determine dynamic collaborative control conditions based on the collaborative operation status information and the operation task data. The dynamic collaborative control conditions are used to constrain the coordination relationship between the industrial robot's actions and the press's actions. A control strategy generation module is used to generate a target collaborative control strategy based on the dynamic collaborative control conditions. The instruction generation module is used to generate robot control instructions and press control instructions according to the target collaborative control strategy; The deviation determination module is used to determine collaborative execution deviation information based on the real-time changes of the collaborative operation data during the process of the industrial robot and the press executing the robot control command and the press control command; The instruction correction module is used to correct the robot control instruction and / or the press control instruction based on the cooperative execution deviation information to obtain the corrected cooperative control instruction.

[0016] Compared with the prior art, this application has at least the following beneficial effects: This application, based on further analysis and research of existing technical problems, recognizes that existing technologies in the collaborative operation control of industrial robots and presses suffer from issues such as reliance on fixed timing sequences for equipment movements, limited interlocking judgment information, and insufficient adaptability to on-site fluctuations. By acquiring press operation data, robot operation data, workpiece status data, and task data during the collaborative operation of the industrial robot and press, this application enables collaborative control to move beyond relying solely on a single arrival signal or preset fixed timing sequences. Instead, it allows for the determination of the current coordination state of the press, industrial robot, and workpiece during the collaborative operation based on multi-source collaborative operation data. Furthermore, based on the collaborative operation status information and task data, dynamic collaborative control conditions are determined to constrain the coordination relationship between the industrial robot's and press's movements, allowing the coordination between the robot's and press's movements to adapt to changes in the on-site conditions. Instead of mechanically executing according to a fixed waiting time, a target collaborative control strategy is generated based on this. This strategy is then used to formulate robot control instructions and press control instructions, enabling the industrial robot and press to work collaboratively according to their current coordination state and dynamic collaborative control conditions. Simultaneously, during execution, the collaborative execution deviation information is continuously determined based on real-time changes in collaborative operation data, and the robot control instructions and / or press control instructions are corrected accordingly. This allows for timely adjustment of the collaborative control process when fluctuations occur in the press's operating state, the robot's action execution state, or the workpiece's state. This addresses the problems of existing industrial robot and press collaborative operation control, such as reliance on fixed timing for equipment actions, limited interlocking judgment information, and insufficient adaptability to on-site fluctuations. Ultimately, this improves the safety, continuity, and operational stability of industrial robot and press collaborative operations. Attached Figure Description

[0017] Figure 1 A flowchart illustrating a collaborative operation control method for an industrial robot and a press provided in one embodiment of this application; Figure 2 This is a block diagram of the modular architecture of an industrial robot and press collaborative operation control system provided in one embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0019] In one embodiment, such as Figure 1 As shown, a collaborative operation control method for an industrial robot and a press is provided. This method can be applied to automated production lines that require the cooperation of industrial robots and presses in processes such as stamping, forging, bending, and forming. The industrial robot can perform actions such as workpiece gripping, loading, placing, picking up, transferring, and stacking, while the press can perform processing actions such as slide pressing, holding pressure, return stroke, stopping, and resetting. This method can be executed by a collaborative control device, which can be communicatively connected to at least one of a robot controller, press controller, programmable logic controller, vision inspection device, workpiece inspection device, and safety control device.

[0020] In this embodiment, collaborative operation data during the joint operation of the industrial robot and the press is first acquired. This collaborative operation data includes press operation data, robot operation data, workpiece status data, and task data. Press operation data may include at least one of the following: press slider position, crankshaft angle, slider speed, slider movement direction, top dead center signal, bottom dead center signal, clutch status, brake status, press start status, press stop status, press hold status, stamping load, press alarm status, and press safety circuit status. Robot operation data may include at least one of the following: industrial robot joint angles, joint speeds, end effector pose, robot current program segment, robot target point, robot speed multiplier, robot action completion signal, robot pause signal, robot waiting signal, gripper opening / closing status, adsorption pressure, clamping force, and end effector load status. Workpiece status data may include at least one of the following: workpiece presence / absence status, workpiece gripping status, workpiece placement status, workpiece posture, workpiece position deviation, workpiece edge offset, whether the workpiece has been processed, whether the workpiece has been removed, and workpiece detection results. The task data may include at least one of the following: workpiece specifications, mold parameters, processing parameters, target production cycle time, work process parameters, safety distance parameters, robot allowed entry area, press processing trigger conditions, and exception handling rules.

[0021] After acquiring collaborative operation data, collaborative operation status information is determined based on this data. This status information characterizes the current coordination state of the press, industrial robot, and workpiece during the collaborative operation process. Specifically, based on press operation data, it can be determined whether the press is currently in a loading permission state, processing preparation state, processing execution state, return state, holding state, abnormal stop state, or reset state; based on robot operation data, it can be determined whether the industrial robot is currently in a work status such as picking up a workpiece, entering the press's working area, placing a workpiece, exiting the press's working area, waiting, removing a workpiece, or transferring a workpiece; based on workpiece status data, it can be determined whether the workpiece is stably gripped, whether it has been placed in place, whether it meets the pre-processing requirements, whether processing has been completed, and whether removal is permitted. Therefore, the collaborative operation status information comprehensively reflects the current coordination relationship between the press's actions, the robot's actions, and the workpiece's state, rather than just reflecting the arrival signal of a single device.

[0022] After determining the collaborative operation status information, dynamic collaborative control conditions are determined based on the collaborative operation status information and task data. These dynamic collaborative control conditions constrain the coordination between the industrial robot's actions and the press's actions. Specifically, the sequence of actions such as robot loading, robot withdrawal, press processing, robot material handling, and robot transfer can be determined based on the operation process parameters. Triggering conditions between press and robot actions can be determined based on press and robot operating data; for example, after the robot withdraws from the press's operating area and the workpiece placement meets processing requirements, press start-related control conditions are allowed to be generated. Workpiece status verification conditions can also be determined based on workpiece status data and process parameters; for example, the robot is prohibited from proceeding to the next action if the workpiece is not stably clamped, and the press is prohibited from starting if the workpiece is not properly placed. The dynamic collaborative control conditions can be updated as the states of the press, industrial robot, and workpiece change to adapt to cycle time fluctuations, action delays, workpiece deviations, and equipment status changes during actual production.

[0023] After determining the dynamic collaborative control conditions, a target collaborative control strategy is generated based on these conditions, and robot control instructions and press control instructions are generated according to the target collaborative control strategy. The target collaborative control strategy may include at least one of the following: robot action execution sequence, robot entry timing, robot waiting position, robot exit timing, press holding duration, press start timing, press pause conditions, workpiece status verification conditions, and abnormal avoidance methods. Robot control instructions may include at least one of the following: robot entry instruction, robot movement instruction, robot pick-up / place instruction, robot waiting instruction, robot exit instruction, and robot avoidance instruction. Press control instructions may include at least one of the following: press holding instruction, press start instruction, press pause instruction, press reset instruction, and press prohibition instruction.

[0024] During the execution of robot and press control commands by industrial robots and presses, collaborative execution deviation information is determined based on real-time changes in collaborative operation data. Specifically, the actual motion state of the press can be compared with the target motion state of the press in the target collaborative control strategy to determine the press execution deviation; the actual working position, actual execution progress, or actual motion time of the robot can be compared with the target robot execution state in the target collaborative control strategy to determine the robot execution deviation; and the actual gripping state, actual placement state, or actual pre-processing state of the workpiece can be compared with the target workpiece state in the target collaborative control strategy to determine the workpiece state deviation. Collaborative execution deviation information can be used to characterize the degree of deviation between the actual execution state on site and the expected collaborative state.

[0025] After determining the collaborative execution deviation information, the robot control commands and / or press control commands are corrected based on this information. For example, if the robot's exit time is longer than expected, the press control commands can be corrected to keep the press waiting or pause its start-up; if the workpiece placement does not meet the processing requirements, the robot control commands can be corrected to re-execute placement correction or exit the waiting state; if the press's response is slower than expected, the robot's entry timing or waiting position can be corrected; if the clamping state is abnormal, the robot can be controlled to hold, retreat, or re-grasp. Through these corrections, the collaborative control process can be adjusted according to changes in the field conditions, rather than relying entirely on a preset fixed cycle time.

[0026] This embodiment first acquires press operation data, robot operation data, workpiece status data, and task data. Then, it determines collaborative operation status information based on multi-source data and forms dynamic collaborative control conditions accordingly. This avoids relying solely on fixed timing and simple interlock signals for control. Furthermore, it generates a target collaborative control strategy based on the dynamic collaborative control conditions and corrects robot control commands and / or press control commands during execution based on collaborative execution deviation information. This improves the adaptability of the industrial robot and press collaborative operation process to on-site fluctuations, thereby balancing operational safety, production cycle time, and operational stability.

[0027] In one possible embodiment, the process of acquiring collaborative operation data may include the following steps. First, acquire the equipment operation sampling data of the press within the current operation cycle to obtain the press operation data. The current operation cycle may be a complete cycle corresponding to one feeding, one processing, and one unloading operation, or it may be the cycle corresponding to the press completing one processing action. The equipment operation sampling data may be collected by the press controller, encoder, slider position sensor, pressure sensor, load sensor, clutch status detection unit, brake status detection unit, or safety circuit detection unit.

[0028] The robot's operational data is obtained by acquiring motion execution sampling data of the industrial robot within the current work cycle. This motion execution sampling data can be collected by the robot controller, robot servo drive system, end effector detection unit, gripper status detection unit, or adsorption detection unit. The robot's operational data can be used to characterize which action step the industrial robot is currently executing, whether it is in a waiting state, whether it has entered the press's working area, whether it has completed loading or unloading, and whether it has exited the press's working area.

[0029] The system acquires detection data during the gripping, placement, processing, and removal of the workpiece to obtain workpiece status data. This data can be obtained through vision inspection devices, proximity switches, photoelectric sensors, gripper feedback signals, adsorption pressure detection signals, workpiece positioning detection devices, or post-processing inspection devices. The workpiece status data can be used to determine whether the workpiece is stably gripped, whether it is placed within the mold positioning area, whether there is any offset, whether processing is complete, and whether it has been successfully removed.

[0030] The system acquires the process parameters, cycle time parameters, and workflow parameters corresponding to the current collaborative operation to obtain the task data. Process parameters may include workpiece specifications, mold type, processing pressure, processing stroke, allowable deviation, safety distance, and processing trigger conditions. Cycle time parameters may include the target operation cycle, allowable waiting time, standard robot motion time, standard press processing time, and allowable cycle time fluctuation range. Workflow parameters may include the sequence of processes such as loading, unloading, processing, material removal, transfer, and exception handling.

[0031] By associating press operation data, robot operation data, workpiece status data, and task data according to a unified work cycle, collaborative work data is obtained. Specifically, various types of data can be matched according to timestamps, work cycle numbers, workpiece numbers, or processing batch numbers, so that the press status, robot status, workpiece status, and task requirements within the same work cycle can be processed uniformly. For data with different sampling frequencies, time alignment, state preservation, interpolation processing, or event-triggered association can be performed to form a data set that can be used for collaborative status determination.

[0032] This embodiment links press operation data, robot operation data, workpiece status data, and task data according to a unified work cycle. This enables subsequent collaborative control to no longer rely on isolated equipment signals, but to make judgments based on multi-source status information within the same work cycle. This improves the completeness and accuracy of collaborative work status identification and provides a reliable data foundation for the generation of dynamic collaborative control conditions.

[0033] In one possible embodiment, the process of determining the collaborative operation status information may include the following steps. First, extract the press motion characteristics based on the press operation data. The press motion characteristics include at least one of press motion position characteristics, motion direction characteristics, and motion response characteristics. The press motion position characteristics can be determined based on the slider position, crankshaft angle, top dead center signal, bottom dead center signal, or stroke position range, and are used to characterize the current position state of the press slider or actuator during the processing cycle. The motion direction characteristics can be determined based on the slider speed, displacement change trend, or crankshaft angle change trend, and are used to characterize whether the press is in a downward motion, upward motion, holding motion, or stopped state. The motion response characteristics may include at least one of start response characteristics, stop response characteristics, and holding response characteristics, and are used to characterize the press's motion response after receiving control commands, such as whether the start is normal, whether the stop is timely, and whether the holding state is stable.

[0034] Then, the press's operational status information is determined based on the press's motion characteristics. This operational status information characterizes the press's motion stages and response states within the current work cycle. Motion stages may include at least one of the following: processing preparation stage, material loading permitted stage, entry prohibited stage, processing execution stage, return stage, material removal permitted stage, and abnormal handling stage. Response states may include normal start response, delayed start response, normal stop response, delayed stop response, stable holding state, or abnormal holding state. Therefore, the press's operational status information can more comprehensively characterize the press's operating status within the current work cycle than a simple start signal or completion signal.

[0035] Robot motion features are extracted from robot operation data. These features include at least one of the following: robot motion progress features, work position features, and end effector status features. Robot motion progress features can be determined based on the current program segment, the percentage of motion completed, the target point arrival status, or the remaining time of the motion. Work position features can be determined based on the robot end effector pose, the robot body position, or the robot's position relative to the press's work area. End effector status features can be determined based on the gripper opening / closing state, suction pressure, clamping force, end effector load status, or pick-and-place action completion signals.

[0036] The robot's operational status information is determined based on the robot's motion characteristics and workpiece state data. This information characterizes the current interaction between the industrial robot and the workpiece. For example, when the robot is entering the press's operating area and the workpiece is being clamped, the robot is in the loading / entry state; when the robot's end effector reaches the mold area and the workpiece's position meets the placement requirements, the robot is in the placement completed state; and when the robot is in the picking position and the workpiece is stably clamped, the robot is in the picking completed state.

[0037] Based on the press operation status information and the robot operation status information, collaborative operation status information is determined. Specifically, the press operation status and the robot operation status can be combined to form a status description for collaborative control, such as "press is held and robot can enter," "robot has not exited and press is prohibited from starting," "workpiece placement completed and press is ready for processing," and "press processing completed and robot can pick up material." This collaborative operation status information is used to subsequently determine dynamic collaborative control conditions.

[0038] This embodiment extracts motion features from press operation data and robot operation data respectively, and combines them with workpiece status data to form collaborative operation status information. This can improve the collaborative control's ability to identify equipment action stages, action response status and workpiece pick-up and drop status, and reduce collaborative control misjudgments caused by insufficient judgment of a single interlock signal.

[0039] In one possible embodiment, the process of determining the robot's operational status information may further include the following steps. First, the current operational stage of the robot is determined based on the robot's motion progress characteristics. The current operational stage of the robot includes at least one of the following: loading stage, picking stage, transfer stage, and waiting stage. Specifically, based on the robot's currently executing program segment, the robot's target point, the action completion signal, and the end effector status, it can be determined whether the robot is performing workpiece gripping, moving to the press working area, placing the workpiece, exiting the press working area, retrieving the workpiece, or transferring the workpiece to a downstream station.

[0040] The current working position state of the robot is determined based on the characteristics of the working position. The current working position state of the robot characterizes its positional relationship relative to the press's working area. The press's working area can be determined based on the mold position, table position, slide movement area, robot's permitted entry area, and safety boundaries. The robot's current working position state can include at least one of the following: outside the press's working area, approaching the press's working area, entering the press's working area, located at the material handling position, exiting the press's working area, and having exited the press's working area. By determining the robot's current working position state, it can be judged whether the industrial robot may affect the press's operation, or whether the press's operation may affect the robot's operational safety.

[0041] The workpiece pick-up and placement status is determined based on the end-effector's state characteristics and workpiece state data. The workpiece pick-up and placement status characterizes whether the workpiece is gripped, placed, or removed. Specifically, when the grippers are closed and the gripping force or adsorption pressure reaches a preset requirement, the workpiece is determined to be in a gripped state. When the workpiece detection device detects that the workpiece is located within the mold positioning area and the positional deviation is within the allowable range, the workpiece is determined to be in a placed state. When the processed workpiece leaves the mold area and is stably gripped by the robot, the workpiece is determined to be in a removed state. If the workpiece deviates, falls, is not adsorbed, or is not clamped, the workpiece pick-up and placement status is determined to be abnormal.

[0042] Based on the robot's current work stage, current work position, and workpiece handling status, the robot's operational status information is determined. This information can be used to subsequently determine whether the robot is allowed to continue entering, whether placement is permitted, whether exit is permitted, whether waiting is required, and whether obstacle avoidance maneuvers are necessary.

[0043] This embodiment combines the robot's operation stage, robot's operation position status, and workpiece pick-up / placement status to determine the robot's operation status information. This expands the robot's status judgment from a simple judgment of action completion to a comprehensive judgment of the operation process, positional relationship, and workpiece status, thereby improving the stability and safety of the robot's action coordination with the press.

[0044] In one possible embodiment, the process of determining dynamic collaborative control conditions may include the following steps. First, based on the collaborative operation status information and operation flow parameters, action sequence constraints are determined. These constraints constrain the sequential execution relationship between the industrial robot's actions and the press's actions. For example, in a single work cycle, the robot may be required to first complete workpiece loading and exit the press's operating area before the press is allowed to perform processing actions; only after the press has completed processing and is in a state where material handling is permitted, is the robot allowed to enter the press's operating area to perform material handling; only after the robot has completed material handling and exited is it allowed to proceed to the next transfer or the next cycle. The action sequence constraints can be preset by the operation flow parameters or adjusted based on the current collaborative operation status information.

[0045] Based on the press operation status information and robot operation status information, action triggering constraints are determined. These constraints determine the timing of the industrial robot's or press's actions. For example, when the press operation status information indicates that the press is in a holding state and meets the robot's entry requirements, a robot entry trigger constraint can be formed; when the robot operation status information indicates that the robot has exited the press operation area and the workpiece has been placed in position, a press start trigger constraint can be formed; and when the press operation status information indicates that processing is complete and the press has returned to the allowable material-picking state, a robot material-picking trigger constraint can be formed. These action triggering constraints can be dynamically updated based on the press's action response status and the robot's operation status.

[0046] Based on workpiece status data and process parameters, workpiece status verification conditions are determined. These conditions constrain whether the workpiece status meets the requirements of press processing or robot handling. For example, before starting the press, it can be verified whether the workpiece exists, is properly positioned, meets process requirements, and its positional deviation is within allowable limits. Before robot handling, it can be verified whether the workpiece has completed processing, is in a removable state, and whether there is jamming or offset. During robot transfer, it can be verified whether the workpiece is stably clamped or adsorbed. Workpiece status verification conditions can be set according to different workpiece specifications, mold types, and processing technologies.

[0047] Based on the action sequence constraints, action triggering constraints, and workpiece status verification conditions, dynamic collaborative control conditions are determined and updated according to changes in the collaborative operation status. Specifically, when the collaborative operation status information changes, the dynamic collaborative control conditions are updated by reassessing whether the action sequence is satisfied, whether the action triggering timing has been met, and whether the workpiece status is qualified. These dynamic collaborative control conditions can serve as the basis for subsequently generating a target collaborative control strategy.

[0048] This embodiment incorporates action sequence, action triggering, and workpiece status verification into dynamic collaborative control conditions, and updates these conditions as the collaborative operation status changes. This avoids the problem that fixed timing control cannot adapt to on-site fluctuations, and also reduces the risk of erroneous actions caused by triggering actions solely based on simple interlock signals.

[0049] In one possible embodiment, the process of generating the target cooperative control strategy may include the following steps. First, multiple candidate action connection schemes are generated based on dynamic cooperative control conditions. These candidate action connection schemes characterize the connection methods between the industrial robot's actions and the press's actions. The candidate action connection schemes may include the connection methods between robot entry and press holding, robot exit and press start, press processing completion and robot material handling, robot transfer and next cycle loading, and avoidance connection methods in abnormal situations. Different candidate action connection schemes may correspond to different waiting positions, action triggering times, action holding durations, and avoidance methods.

[0050] Based on the cycle time parameters, multiple candidate action connection schemes are matched to obtain multiple candidate cycle time schemes. Specifically, based on the target work cycle, the robot's standard action time, the press's standard processing time, the allowable waiting time, and the cycle time fluctuation tolerance range, the robot waiting time, press waiting time, total cycle time, and cycle time margin corresponding to each candidate action connection scheme can be calculated. For candidate action connection schemes that do not meet the target production cycle time or have significantly excessive waiting times, cycle time adjustments can be made, such as adjusting the robot's waiting position, robot's action speed, press holding duration, or action triggering timing, thereby forming candidate cycle time schemes.

[0051] Based on process parameters and workflow parameters, multiple candidate cycle time schemes are screened for operational feasibility, resulting in a set of candidate collaborative control strategies. Operational feasibility screening may include determining whether the workpiece state meets process requirements, whether robot actions conform to the workflow sequence, whether press actions meet processing conditions, whether action connections meet safety requirements, and whether anomaly handling methods are feasible. The candidate cycle time schemes retained after screening can serve as a set of candidate collaborative control strategies for subsequent collaborative evaluation and target strategy determination.

[0052] This embodiment first generates multiple candidate action connection schemes based on dynamic collaborative control conditions, and then performs cycle time matching and operation feasibility screening. Under the premise of meeting safety and process requirements, multiple optional collaborative control strategies can be formed, thereby avoiding the problems of press idling, robot waiting or frequent abnormal shutdowns caused by single fixed cycle time control.

[0053] In one possible embodiment, the process of determining the target cooperative control strategy may include the following steps. First, based on the robot's motion process and the press's motion process corresponding to each candidate cooperative control strategy, job safety evaluation information is determined. The job safety evaluation information can be determined based on factors such as whether the robot enters the press's operating area under a prohibited state, whether the robot exits the press's operating area before the press starts, whether the press's motion meets the starting conditions, whether there is a conflict between the robot's motion and the press's motion, and whether there are avoidance or holding measures under abnormal conditions. The job safety evaluation information can be used to characterize the safety and reliability of the candidate cooperative control strategies during cooperative operations.

[0054] Based on the robot waiting time, press waiting time, and cycle time corresponding to each candidate collaborative control strategy, cycle time matching evaluation information is determined. Specifically, robot waiting time can be used to determine if the robot is idling for extended periods; press waiting time can be used to determine if the press has excessively long idle times; and cycle time can be used to determine if the candidate collaborative control strategy meets the target production cycle time. Cycle time matching evaluation information can be used to characterize the impact of candidate collaborative control strategies on production efficiency.

[0055] Based on the workpiece pick-and-place status and pre-processing status corresponding to each candidate collaborative control strategy, workpiece pick-and-place stability evaluation information is determined. This information can be determined based on factors such as workpiece gripping stability, whether the workpiece placement position meets requirements, whether the workpiece posture meets processing conditions, whether there is jamming or offset during the pick-and-place process, and whether there is a risk of workpiece falling during transfer. This stability evaluation information can be used to characterize the impact of candidate collaborative control strategies on the stability of workpiece pick-and-place and subsequent processing.

[0056] Based on the job safety evaluation information, cycle time matching evaluation information, and workpiece handling stability evaluation information, the collaborative evaluation results corresponding to each candidate collaborative control strategy are determined. The collaborative evaluation results can be represented by a grade, score, ranking value, or feasibility indicator. Job safety evaluation can be prioritized over cycle time matching evaluation; alternatively, among candidate collaborative control strategies that meet job safety requirements, the strategy with better cycle time matching and workpiece handling stability can be selected.

[0057] Based on the collaborative evaluation results, a target collaborative control strategy is determined from the set of candidate collaborative control strategies. The target collaborative control strategy can be a strategy determined from the candidate collaborative control strategies that meet safety conditions, have a high degree of cycle time matching, and have stable workpiece handling states.

[0058] This embodiment uses operational safety, cycle time matching, and workpiece handling stability as evaluation criteria for candidate collaborative control strategies. This avoids determining the collaborative strategy solely based on the sequence of actions or a single arrival signal, allowing the target collaborative control strategy to simultaneously consider operational safety, production efficiency, and workpiece state stability.

[0059] In one possible embodiment, the generation process of robot control commands and press control commands may include the following steps. First, the robot action content in the target cooperative control strategy is parsed to obtain a robot action sequence. The robot action sequence may include actions such as the robot moving to a waiting position, entering the press working area, gripping a workpiece, placing the workpiece, exiting the press working area, removing the processed workpiece, transferring the workpiece, and performing avoidance actions. The robot action sequence may further include the triggering conditions, target position, speed requirements, end effector state requirements, and action completion judgment conditions corresponding to each action.

[0060] Robot control commands are generated based on the robot's action sequence. These commands include at least one of the following: robot entry command, pick-and-place command, exit command, wait command, and avoidance command. The robot entry command controls the robot to enter the press machine's working area when dynamic cooperative control conditions are met; the pick-and-place command controls the robot to perform workpiece gripping, placement, or removal actions; the exit command controls the robot to leave the press machine's working area; the wait command controls the robot to wait at a designated location until the press machine or workpiece status meets certain conditions; and the avoidance command controls the robot to move to a safe position in abnormal situations.

[0061] The press machine's actions in the target-coordinated control strategy are analyzed to obtain the press machine action sequence. The press machine action sequence can include actions such as holding, starting processing, pausing, resetting, prohibiting starting, and abnormal stopping. The press machine action sequence can further include the triggering condition, holding time, starting condition, stopping condition, and reset condition for each action.

[0062] The press control instructions are generated based on the press action sequence. These instructions include at least one of the following: press hold instruction, start instruction, pause instruction, and reset instruction. The press hold instruction can be used to keep the press from starting when the robot has not exited or the workpiece state does not meet requirements; the start instruction can be used to control the press to perform processing when the robot has exited and the workpiece state meets processing requirements; the pause instruction can be used to pause the press action when a collaborative execution deviation or abnormal state occurs; and the reset instruction can be used to control the press to return to a preset state after the abnormality is resolved or the work cycle is completed.

[0063] The robot control commands and the press control commands are correlated to obtain a set of coordinated control commands for executing the current work cycle. This correlation can include associating the robot control commands and the press control commands according to action sequence, triggering conditions, waiting conditions, workpiece status verification conditions, and exception handling conditions, enabling the robot control commands and the press control commands to be executed in a coordinated manner within the same work cycle.

[0064] This embodiment parses the target collaborative control strategy into robot action sequences and press machine action sequences, and generates interrelated collaborative control instruction groups. This enables the robot actions and press machine actions to be executed according to dynamic collaborative control conditions, reducing problems such as unstable action connections and equipment idleness, and improving the controllability of collaborative operation execution.

[0065] In one possible embodiment, the modification process of robot control commands and / or press control commands may include the following steps. First, the target execution state of the current work cycle is determined based on the collaborative control command group. The target execution state may include the press target action state, the robot target action state, the workpiece target state, and the target time relationship corresponding to each state. For example, the target execution state may include the robot exiting the press work area before a preset time, the workpiece being placed in position before the press starts, and the press entering the start-up preparation state after the robot exits.

[0066] The current actual execution status is determined based on real-time changes in collaborative operation data. This current actual execution status can include the actual operating status of the press, the actual operating status of the robot, the actual status of the workpiece, and the actual time relationship. Specifically, it can be determined whether the press is operating according to the target execution status based on real-time collected press operation data, whether the robot is executing according to the target action sequence based on real-time collected robot operation data, and whether the workpiece is in the target state based on real-time collected workpiece status data.

[0067] The current actual execution state is compared with the target execution state to obtain collaborative execution deviation information. Collaborative execution deviation information includes at least one of the following: press machine execution deviation, robot execution deviation, and workpiece state deviation. Press machine execution deviation may include press machine start-up delay, stop delay, holding anomaly, or reset anomaly; robot execution deviation may include robot entry delay, exit delay, incomplete action, position deviation, or waiting timeout; workpiece state deviation may include workpiece not being firmly gripped, workpiece not being placed in the correct position, abnormal workpiece posture, workpiece not being removed, or workpiece detection anomaly.

[0068] The instruction correction method is determined based on the collaborative execution deviation information. The instruction correction method includes at least one of the following: robot motion correction, press motion correction, and motion holding or motion prohibition based on workpiece state verification results. Robot motion correction may include adjusting robot speed, changing robot waiting position, re-executing pick-and-place actions, controlling robot exit, or controlling robot avoidance; press motion correction may include extending press holding time, pausing press start, prohibiting press action, or controlling press reset; motion holding or motion prohibition based on workpiece state verification results may include maintaining the current motion state or prohibiting entry into the next action when the workpiece state does not meet processing or pick-and-place requirements.

[0069] Based on the instruction correction method, the robot control instructions and / or press control instructions are corrected to obtain a corrected collaborative control instruction set. The corrected collaborative control instruction set can continue to be used in the current work cycle, or it can be used to update the collaborative control strategy for the next work cycle.

[0070] This embodiment determines collaborative execution deviation information based on the difference between the current actual execution state and the target execution state, and corrects robot control commands and / or press control commands accordingly. This enables timely adjustment of the collaborative control process when fluctuations occur in press action response, robot execution progress, or workpiece state, thereby improving the adaptability of collaborative operations to changes in the field and reducing the risk of abnormal shutdowns and action conflicts.

[0071] In one possible embodiment, such as Figure 2 As shown, a collaborative operation control system for an industrial robot and a press is also provided. This system may include a data acquisition module, a collaborative state determination module, a control condition determination module, a control strategy generation module, an instruction generation module, a deviation determination module, and an instruction correction module. These modules can be deployed in the same collaborative control device, or separately in a robot controller, press controller, production line controller, edge computing device, or host computer, and interact with each other via industrial Ethernet, fieldbus, digital input / output interfaces, or secure communication interfaces.

[0072] The data acquisition module is used to acquire collaborative operation data during the collaborative operation of the industrial robot and the press. This collaborative operation data includes press operation data, robot operation data, workpiece status data, and task data. The data acquisition module can acquire press operation data from the press controller, robot operation data from the robot controller, workpiece status data from vision inspection devices, fixture inspection devices, or workpiece inspection devices, and task data from the production management system, process database, or manual configuration interface.

[0073] The collaborative operation status determination module is used to determine collaborative operation status information based on collaborative operation data. This collaborative operation status information characterizes the current coordination state of the press, industrial robot, and workpiece during the collaborative operation process. The module can determine the press's operational status information based on press operation data, and the robot's operational status information based on robot operation data and workpiece status data. Finally, it combines the press's operational status information and the robot's operational status information into the collaborative operation status information.

[0074] The control condition determination module is used to determine dynamic collaborative control conditions based on collaborative operation status information and task data. These dynamic collaborative control conditions constrain the coordination relationship between the industrial robot's actions and the press's actions. The module can determine action sequence constraints, action triggering constraints, and workpiece status verification conditions, and update the dynamic collaborative control conditions according to changes in the collaborative operation status information.

[0075] The control strategy generation module is used to generate target collaborative control strategies based on dynamic collaborative control conditions. This module can first generate multiple candidate action connection schemes, then perform cycle time matching based on cycle time parameters, and finally conduct feasibility screening and collaborative evaluation based on process parameters and workflow parameters to determine the target collaborative control strategy.

[0076] The instruction generation module generates robot control instructions and press control instructions based on the target cooperative control strategy. This module can parse the target cooperative control strategy into robot motion sequences and press motion sequences, and generate interrelated cooperative control instructions. Robot control instructions can be sent to the robot controller, and press control instructions can be sent to the press controller or press control system.

[0077] The deviation determination module is used to determine collaborative execution deviation information based on real-time changes in collaborative operation data during the execution of robot control commands and press control commands by industrial robots and presses. The deviation determination module can compare the current actual execution state with the target execution state to obtain at least one of the following: press execution deviation, robot execution deviation, and workpiece state deviation.

[0078] The instruction correction module is used to correct robot control instructions and / or press control instructions based on collaborative execution deviation information, resulting in corrected collaborative control instructions. The instruction correction module can generate correction methods such as robot motion correction, press motion correction, and motion hold or motion prohibition based on workpiece state verification results, depending on the type and degree of deviation.

[0079] Through this embodiment, the industrial robot and press collaborative operation control system can form a complete closed-loop control structure by utilizing a data acquisition module, a collaborative state determination module, a control condition determination module, a control strategy generation module, an instruction generation module, a deviation determination module, and an instruction correction module. This enables the system to determine dynamic collaborative control conditions based on multi-source collaborative operation data and correct control instructions based on collaborative execution deviation information during execution, thereby improving the safety, cycle time matching, and operational stability of the industrial robot and press collaborative operation.

[0080] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A method for controlling the collaborative operation of an industrial robot and a press, characterized in that, The method includes: The method involves acquiring collaborative operation data during the collaborative operation of an industrial robot and a press. This collaborative operation data includes press operation data, robot operation data, workpiece status data, and task data. Specifically, acquiring this collaborative operation data includes: acquiring equipment operation sampling data of the press during the current work cycle to obtain press operation data; acquiring motion execution sampling data of the industrial robot during the current work cycle to obtain robot operation data; acquiring detection data of the workpiece during gripping, placement, processing, and removal to obtain workpiece status data; acquiring process parameters, cycle time parameters, and work flow parameters corresponding to the current collaborative operation to obtain task data; and associating the press operation data, robot operation data, workpiece status data, and task data according to a unified work cycle to obtain the collaborative operation data. Based on the collaborative operation data, collaborative operation status information is determined, which is used to characterize the current coordination status of the press, industrial robot and workpiece during the collaborative operation process; Based on the collaborative operation status information and the operation task data, dynamic collaborative control conditions are determined. These dynamic collaborative control conditions are used to constrain the coordination relationship between the industrial robot's actions and the press's actions. Based on the dynamic collaborative control conditions, a target collaborative control strategy is generated, and robot control instructions and press control instructions are generated according to the target collaborative control strategy. During the process of the industrial robot and the press executing the robot control command and the press control command, the collaborative execution deviation information is determined based on the real-time changes of the collaborative operation data; Based on the cooperative execution deviation information, the robot control commands and / or the press control commands are corrected; The step of generating the target cooperative control strategy based on the dynamic cooperative control conditions includes: Multiple candidate action connection schemes are generated based on the dynamic collaborative control conditions. These candidate action connection schemes are used to characterize the connection method between the action of the industrial robot and the action of the press. Based on the beat parameters, beat matching processing is performed on multiple candidate action connection schemes to obtain multiple candidate beat schemes; Based on the process parameters and the operation flow parameters, the feasibility of multiple candidate cycle time schemes is screened to obtain a set of candidate collaborative control strategies; The target cooperative control strategy is determined based on the set of candidate cooperative control strategies. The step of determining the target cooperative control strategy based on the candidate cooperative control strategy set includes: Based on the robot motion process and press motion process corresponding to each candidate collaborative control strategy, determine the operation safety evaluation information; Based on the robot waiting time, press waiting time and operation cycle time corresponding to each candidate collaborative control strategy, determine the cycle time matching evaluation information; Based on the workpiece pick-up and place status and the workpiece pre-processing status corresponding to each candidate collaborative control strategy, determine the workpiece pick-up and place stability evaluation information; Based on the operation safety evaluation information, the cycle time matching evaluation information, and the workpiece pick-and-place stability evaluation information, determine the collaborative evaluation results corresponding to each candidate collaborative control strategy; Based on the collaborative evaluation results, the target collaborative control strategy is determined from the set of candidate collaborative control strategies.

2. The industrial robot and press collaborative operation control method according to claim 1, characterized in that, Determining the collaborative operation status information based on the collaborative operation data includes: Based on the press operation data, press motion features are extracted. The press motion features include at least one of press motion position features, motion direction features, and motion response features. The motion response features include at least one of start response features, stop response features, and hold response features. The press operation status information is determined based on the press operation characteristics. The press operation status information is used to characterize the operation stage and operation response status of the press in the current operation cycle. Robot motion features are extracted from the robot operation data, and the robot motion features include at least one of robot motion progress features, work position features, and end effector state features; The robot's operational status information is determined based on the robot's motion characteristics and the workpiece's status data. The robot's operational status information is used to characterize the current cooperation status between the industrial robot and the workpiece. The collaborative operation status information is determined based on the press operation status information and the robot operation status information.

3. The industrial robot and press collaborative operation control method according to claim 2, characterized in that, Determining the robot's operational status information based on the robot's motion characteristics and the workpiece status data includes: The current operation stage of the robot is determined based on the robot's motion progress characteristics. The current operation stage of the robot includes at least one of the following: loading stage, picking stage, transfer stage, and waiting stage. The current working position state of the robot is determined based on the working position characteristics, and the current working position state of the robot is used to characterize the positional relationship of the industrial robot relative to the working area of ​​the press. The workpiece pick-up and place status is determined based on the end-effector state characteristics and the workpiece state data. The workpiece pick-up and place status is used to characterize the state in which the workpiece is gripped, placed, or removed. The robot's operational status information is determined based on the robot's current operational stage, its current operational position, and the workpiece's pick-up and place status.

4. The industrial robot and press collaborative operation control method according to claim 2, characterized in that, The step of determining dynamic collaborative control conditions based on the collaborative operation status information and the operation task data includes: Based on the collaborative operation status information and the operation process parameters, the action sequence constraints are determined. The action sequence constraints are used to constrain the sequential execution relationship between the industrial robot actions and the press actions. Based on the press operation status information and the robot operation status information, action triggering constraints are determined. These constraints are used to constrain the triggering timing of industrial robot actions or press actions. Based on the workpiece status data and the process parameters, the workpiece status verification conditions are determined. The workpiece status verification conditions are used to constrain whether the workpiece status meets the requirements of press processing or robot handling. Based on the action sequence constraints, the action triggering constraints, and the workpiece state verification conditions, the dynamic collaborative control conditions that are updated as the collaborative operation state changes are determined.

5. The industrial robot and press collaborative operation control method according to claim 1, characterized in that, The step of generating robot control instructions and press control instructions according to the target collaborative control strategy includes: The robot action sequence is obtained by analyzing the robot action content in the target cooperative control strategy. The robot control instructions are generated based on the robot action sequence, and the robot control instructions include at least one of the following: robot entry instruction, pick-up and place instruction, exit instruction, wait instruction, and avoidance instruction; The press machine action content in the target collaborative control strategy is analyzed to obtain the press machine action sequence; The press control command is generated based on the press action sequence, and the press control command includes at least one of the press hold command, start command, pause command and reset command; The robot control commands and the press control commands are correlated to obtain a set of coordinated control commands for executing the current work cycle.

6. The industrial robot and press collaborative operation control method according to claim 5, characterized in that, The step of correcting the robot control commands and / or the press control commands based on the cooperative execution deviation information includes: The target execution status of the current work cycle is determined based on the collaborative control instruction group; The current actual execution status is determined based on the real-time changes in the collaborative operation data; The current actual execution state is compared with the target execution state to obtain the collaborative execution deviation information, which includes at least one of press execution deviation, robot execution deviation, and workpiece state deviation. The instruction correction method is determined based on the cooperative execution deviation information. The instruction correction method includes at least one of robot motion correction, press motion correction, and motion holding or motion prohibition based on workpiece state verification results. Based on the aforementioned instruction correction method, the robot control instructions and / or the press control instructions are corrected to obtain a corrected collaborative control instruction set.

7. A control system for collaborative operation of an industrial robot and a press, characterized in that, include: The data acquisition module is used to acquire collaborative operation data during the collaborative operation of the industrial robot and the press. The collaborative operation data includes press operation data, robot operation data, workpiece status data, and task data. Specifically, the data acquisition module is used to: acquire equipment operation sampling data of the press during the current work cycle to obtain press operation data; acquire motion execution sampling data of the industrial robot during the current work cycle to obtain robot operation data; acquire detection data of the workpiece during gripping, placement, processing, and removal to obtain workpiece status data; acquire process parameters, cycle time parameters, and work flow parameters corresponding to the current collaborative operation to obtain task data; and associate the press operation data, robot operation data, workpiece status data, and task data according to a unified work cycle to obtain the collaborative operation data. The collaborative status determination module is used to determine collaborative operation status information based on the collaborative operation data. The collaborative operation status information is used to characterize the current coordination status of the press, industrial robot and workpiece in the collaborative operation process. The control condition determination module is used to determine dynamic collaborative control conditions based on the collaborative operation status information and the operation task data. The dynamic collaborative control conditions are used to constrain the coordination relationship between the industrial robot's actions and the press's actions. A control strategy generation module is used to generate a target collaborative control strategy based on the dynamic collaborative control conditions. Specifically, the control strategy generation module is used to: generate multiple candidate action connection schemes according to the dynamic collaborative control conditions, wherein the candidate action connection schemes characterize the connection method between the industrial robot's actions and the press's actions; perform cycle time matching processing on the multiple candidate action connection schemes according to the cycle time parameters to obtain multiple candidate cycle time schemes; and perform operational feasibility screening on the multiple candidate cycle time schemes according to the process parameters and the operation flow parameters to obtain a set of candidate collaborative control strategies. Based on the robot's motion process and the press's motion process corresponding to each candidate collaborative control strategy, determine the operation safety evaluation information; based on the robot's waiting time, the press's waiting time, and the operation cycle time corresponding to each candidate collaborative control strategy, determine the cycle time matching evaluation information; based on the workpiece pick-up and place state and the workpiece's pre-processing state corresponding to each candidate collaborative control strategy, determine the workpiece pick-up and place stability evaluation information; based on the operation safety evaluation information, the cycle time matching evaluation information, and the workpiece pick-up and place stability evaluation information, determine the collaborative evaluation result corresponding to each candidate collaborative control strategy; based on the collaborative evaluation result, determine the target collaborative control strategy from the set of candidate collaborative control strategies. The instruction generation module is used to generate robot control instructions and press control instructions according to the target collaborative control strategy; The deviation determination module is used to determine collaborative execution deviation information based on the real-time changes of the collaborative operation data during the process of the industrial robot and the press executing the robot control command and the press control command; The instruction correction module is used to correct the robot control instruction and / or the press control instruction based on the cooperative execution deviation information to obtain the corrected cooperative control instruction.

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