CN110442046A - Control method and device for transfer machine, storage medium, and processor - Google Patents
Control method and device for transfer machine, storage medium, and processor Download PDFInfo
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- CN110442046A CN110442046A CN201910741012.2A CN201910741012A CN110442046A CN 110442046 A CN110442046 A CN 110442046A CN 201910741012 A CN201910741012 A CN 201910741012A CN 110442046 A CN110442046 A CN 110442046A
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- 238000012546 transfer Methods 0.000 title claims abstract description 220
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention discloses a control method and device of a transfer machine, a storage medium and a processor. Wherein, the method comprises the following steps: acquiring the current position of the transfer machine, and judging whether the transfer machine has position deviation or not based on the current position; generating a zero return signal when the judgment result indicates that the transfer machine has the position deviation; controlling the transfer machine to move to an initial position based on the zero returning signal so as to execute zero returning operation on the transfer machine, wherein the initial position is the mechanical zero position of the transfer machine; and controlling the transfer machine after the zero returning operation to transfer the target object to the preset position. The invention solves the technical problem that the production efficiency is reduced because the transfer machine is easy to have the phenomenon of clamping plates or clamping plates in the related technology.
Description
Technical field
The present invention relates to transfer machine control technology field, in particular to a kind of transfer machine control method and device,
Storage medium, processor.
Background technique
Transfer machine is mainly used for SMT, and AOI, the equipments such as wave-soldering carry out scoreboard use, above chip mounter two-orbit
Pcb board transfer to single track equipment above, to realize that one-to-two, two-in-one function, the production efficiency of lifting controller are being controlled
Transfer machine is the equipment of the essential sorting transport in equipment rear end in the workshop of device processed.
However, the phenomenon that will appear snap-gauge and clamping plate in the actual use process, main problem is that servo motor
By constantly moving, there is the error of position in the process of moving, error, which is constantly accumulated, to be caused in transfer machine in movement
When appearance position deviation, cause the track of equipment with the track of upper and lower machine is not concordant that pcb board is caused to transmit not between track
It is smooth, reduce the production efficiency at scene.
For above-mentioned in the related technology since transfer machine is easy to appear snap-gauge or clamping plate phenomenon, production efficiency is caused to reduce
Problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of control method and device of transfer machine, storage medium, processors, at least to solve
The technical issues of being certainly easy to appear snap-gauge or clamping plate phenomenon due to transfer machine in the related technology, production efficiency caused to reduce.
According to an aspect of an embodiment of the present invention, a kind of control method of transfer machine is provided, comprising: obtain transfer machine
Current location, and judge whether the transfer machine occurs positional shift based on the current location；Institute is indicated in judging result
In the case where stating transfer machine generation positional shift, generation returns to zero signal；The transfer machine movement is controlled based on the signal that returns to zero
To initial position, to return to zero operation to transfer machine execution, wherein the initial position is the mechanical zero of the transfer machine
Position；Target object is transferred to predetermined position by the transfer machine that control executes after returning to zero operation.
Optionally, to return to zero signal and control the transfer machine to be moved to initial position include: to be returned to zero based on described based on described
Signal calling returns to zero program, wherein the program that returns to zero is that the initial position based on the transfer machine is written and stored in advance
Program in the control system of the transfer machine；It according to described return to zero program triggering and returns to zero instruction, and return to zero instruction described
The control lower control transfer machine is moved to initial position.
Optionally, before the current location for obtaining transfer machine, the control method of the transfer machine further include: be based on the shifting
What the characteristic parameter of carrier aircraft determined the transfer machine returns to zero parameter, wherein the parameter that returns to zero includes at least one of: being returned to zero
Number returns to zero the time；By it is described return to zero parameter and be previously written described return to zero program.
Optionally, initial position is moved to based on the signal control transfer machine that returns to zero further include: described in determination
Return to zero number and/or it is described return to zero in the case that the time meets predetermined condition, based on it is described return to zero number and/or it is described return to zero when
Between generate described in return to zero signal；Based on the signal that returns to zero to transfer machine transmission signal out of service；Control the transfer
It is out of service that machine is based on the signal out of service；Based on it is described return to zero signal and control transfer machine out of service be moved to initially
Position.
Another aspect according to an embodiment of the present invention, additionally provides a kind of control device of transfer machine, comprising: obtain
Unit, for obtaining the current location of transfer machine, and it is inclined based on the current location to judge whether the transfer machine occurs position
It moves；Generation unit, in the case where judging result indicates that positional shift occurs for the transfer machine, generation to return to zero signal；The
One control unit, for being moved to initial position based on the signal control transfer machine that returns to zero, to be held to the transfer machine
Row returns to zero operation, wherein the initial position is the mechanical zero position of the transfer machine；Second control unit, for controlling
It executes the transfer machine after returning to zero operation and target object is transferred to predetermined position.
Optionally, the first control unit includes: calling module, for returning to zero journey based on the signal calling that returns to zero
Sequence, wherein the program that returns to zero is the control that the initial position based on the transfer machine is written and stored in the transfer machine in advance
Program in system processed；First control module returns to zero instruction for returning to zero program triggering according to, and returns to zero instruction described
Control under control the transfer machine and be moved to initial position.
Optionally, the control device of the transfer machine further include: determination unit, for obtain transfer machine current location it
Before, parameter is returned to zero based on what the characteristic parameter of the transfer machine determined the transfer machine, wherein the parameter that returns to zero includes following
At least one: number is returned to zero, the time is returned to zero；Writing unit, for by it is described return to zero parameter and be previously written described return to zero program.
Optionally, the first control unit further include: generation module, for returning to zero number and/or institute described in the determination
State and return to zero in the case that the time meets predetermined condition, based on it is described return to zero number and/or it is described return to zero the time generate described in return to zero
Signal；Sending module sends signal out of service to the transfer machine for returning to zero signal based on described in；Second control module,
It is out of service based on the signal out of service for controlling the transfer machine；Third control module, for being returned to zero based on described
Signal controls transfer machine out of service and is moved to initial position.
Another aspect according to an embodiment of the present invention, additionally provides a kind of storage medium, the storage medium includes
The program of storage, wherein described program execute it is any one of above-mentioned described in transfer machine control method.
Another aspect according to an embodiment of the present invention, additionally provides a kind of processor, the processor is for running
Program, wherein described program run when execute it is any one of above-mentioned described in transfer machine control method.
In embodiments of the present invention, using the current location for obtaining transfer machine, and judge that transfer machine is based on current location
No generation positional shift；In the case where judging result indicates that positional shift occurs for transfer machine, generation returns to zero signal；Based on returning to zero
Signal control transfer machine is moved to initial position, to return to zero operation to transfer machine execution, wherein initial position is the machine of transfer machine
Tool dead-center position；The mode that target object is transferred to predetermined position is controlled transfer by the transfer machine that control executes after returning to zero operation
Machine, the control method of the transfer machine provided through the embodiment of the present invention are realized by holding to the transfer machine that positional shift occurs
Row returns to zero operation, to reduce the purpose for the offset that transfer machine generates in moving process, has reached raising transfer machine transmission objectives
The reliability of object, and then solve in the related technology since transfer machine is easy to appear snap-gauge or clamping plate phenomenon, cause production to be imitated
The technical issues of rate reduces.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of the control method of transfer machine according to an embodiment of the present invention；
Fig. 2 is the flow chart of the control method of optional transfer machine according to an embodiment of the present invention；
Fig. 3 is the schematic diagram of the control device of transfer machine according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
In order to make it easy to understand, the part noun or term that occur in the embodiment of the present invention are described in detail below.
Surface mounting technology (surface mounting technology, abbreviation SMT): being surface installation technique, referred to as
Surface mount or surface mounting technique, mainly a kind of surface-assembled by no pin or the grid array packages of short leg or ball
Component is mounted on the surface of printed circuit board or the surface of other substrates, is welded by the methods of Reflow Soldering or immersed solder
The circuit load technology of assembling.
Automatic optics inspection (automated optical inspection, abbreviation AOI): be based on optical principle come pair
The equipment that the common deficiency encountered in welding production is detected.
Printed circuit board (printed circuit board, abbreviation PCB): being important electronic component, due to using electricity
Sub- art of printing production, because of referred to as printed circuit board.
Embodiment 1
According to embodiments of the present invention, a kind of embodiment of the method for the control method of transfer machine is provided, it should be noted that
Step shown in the flowchart of the accompanying drawings can execute in a computer system such as a set of computer executable instructions, and
It, in some cases, can be to be different from sequence execution institute herein and although logical order is shown in flow charts
The step of showing or describing.
Fig. 1 is the flow chart of the control method of transfer machine according to an embodiment of the present invention, as shown in Figure 1, the transfer machine
Control method includes the following steps:
Step S102, obtains the current location of transfer machine, and it is inclined based on current location to judge whether transfer machine occurs position
It moves.
Optionally, the current location of transfer machine can use the current position coordinates of transfer machine to indicate, can will acquire
The current position coordinates of transfer machine and the normal place coordinate of transfer machine be compared, to judge whether transfer machine occurs
Positional shift.
Wherein, the normal place coordinate of the current position coordinates of above-mentioned transfer machine and transfer machine is relative to same object of reference
Come the coordinate determined.The object of reference can be feeding area domain, rewinding region, it is of course also possible to for other objects of reference.
Step S104, in the case where judging result indicates that positional shift occurs for transfer machine, generation returns to zero signal.
Optionally, when judging result indicates that positional shift occurs for transfer machine, digital control system can be raw based on the offset
At returning to zero signal.The transfer machine that positional shift occurs is moved to initial position.
Step S106 is moved to initial position based on signal control transfer machine is returned to zero, to return to zero operation to transfer machine execution,
Wherein, initial position is the mechanical zero position of transfer machine.
Optionally, mechanical zero position here can be to be set based on the primary leading in transfer machine between dynamic rail and orbit determination
It sets, the reference factor for being adjusted as the position to transfer machine.
Target object is transferred to predetermined position by step S108, the transfer machine that control executes after returning to zero operation.
From the foregoing, it will be observed that obtaining the current location of transfer machine in the scheme recorded in the above embodiment of the present invention 1, and it is based on
Current location judges whether transfer machine occurs positional shift, returns to zero signal if so, generating, then control transfer based on signal is returned to zero
Machine is moved to initial position, returns to zero operation to execute to transfer machine, and returns to zero the transfer machine after operating for target using executing
Object transfer is realized by returning to zero operation to the transfer machine execution that positional shift occurs, is existed with reducing transfer machine to predetermined position
The purpose of the offset generated in moving process.
It can be seen from the above, in the technical solution disclosed in the above embodiment of the present invention, due to that can find transfer machine
When positional shift occurs, operation is returned to zero to transfer machine execution, so as to by returning to zero operation to the transfer machine to shift
Current location is corrected, and is prevented target object from occurring the abnormal phenomenon such as snap-gauge or clamping plate in transmission process, is realized and pass through
Operation is returned to zero to the transfer machine execution that positional shift occurs, to reduce the purpose for the offset that transfer machine generates in moving process,
The reliability for improving transfer machine transmission objectives object is reached.
The technical solution provided in embodiment 1 provided by the present application as a result, solves in the related technology since transfer machine holds
The technical issues of easily there is snap-gauge or clamping plate phenomenon, production efficiency caused to reduce.
According to the above embodiments of the present application, in step s 106, initial bit is moved to based on signal control transfer machine is returned to zero
Set may include: based on return to zero signal calling return to zero program, wherein return to zero program be the initial position based on transfer machine compile in advance
Write and be stored in the program in the control system of transfer machine；Instruction is returned to zero according to program triggering is returned to zero, and in the control for returning to zero instruction
The lower control transfer machine of system is moved to initial position.
In an alternative embodiment, can the initial position based on transfer machine write return to zero program in advance, and will
This returns to zero program storage in the controls, when control system discovery, which exists, returns to zero signal, can call in time and return to zero program, with
The process control transfer machine that returns to zero based on calling is moved to initial position.
According to the above embodiments of the present application, before the current location for obtaining transfer machine, the control method of the transfer machine is also
May include: to return to zero parameter based on what the characteristic parameter of transfer machine determined transfer machine, wherein return to zero parameter include it is following at least it
One: returning to zero number, return to zero the time；It parameter will be returned to zero will be previously written and return to zero program.
Optionally, the characteristic parameter of above-mentioned transfer machine can include but is not limited to following several: when the use of transfer machine
It is long, the usable total duration of transfer machine, the operating parameter of transfer machine.
Optionally, the above-mentioned number that returns to zero can be transfer machine for different target objects, during whole service, need
Execute the number for returning to zero operation, that is, this, which returns to zero number and can be based on the type of target object and quantity, estimates；It returns
Zero-time can be based on the type of target object and quantity the time for needing to return to zero transfer machine execution operation being arranged
Point, when the time point arrives, that is, need to return to zero operation to transfer machine execution.
According to the above embodiments of the present application, in step s 106, initial bit is moved to based on signal control transfer machine is returned to zero
Set can also include: determine return to zero number and/or return to zero the time and meet predetermined condition in the case where, based on return to zero number and/
Or it returns to zero time generation and returns to zero signal；Signal out of service is sent to transfer machine based on signal is returned to zero；Control transfer machine is based on stopping
Only run signal is out of service；Initial position is moved to based on returning to zero signal and controlling transfer machine out of service.
Optionally, above-mentioned predetermined condition, which can be, reaches pre-determined number when returning to zero number, or returns to zero time point arrival.When
It in the case that generation returns to zero signal, needs to return to zero operation to transfer machine execution, transfer machine needs to stop to continue to convey target at this time
Object reaches presumptive area, but the control in reset signal is moved to initial position.
It should be noted that the transfer machine provided in embodiments of the present invention is included at least with lower component: dynamic rail, that is, In
The spacing adjustable stage between orbit determination and dynamic rail, relative to the transportable track of sliding rail；Orbit determination adjusts in track spacing
Stage, the track not moved relative to sliding rail；Mould group, the component for drop target object.
With reference to the accompanying drawing to another alternative embodiment of the control method of the transfer machine provided in the embodiment of the present invention into
Row is described in detail.
Fig. 2 is the flow chart of the control method of optional transfer machine according to an embodiment of the present invention, as shown in Fig. 2, the shifting
The control method of carrier aircraft, firstly, the generation of the characteristic parameter based on transfer machine returns to zero number or returns to zero the time；Start transfer machine operation
Target object is transported to predetermined position；Transfer machine is measured in real time, judges whether transfer machine is sent out based on testing result
Raw positional shift returns to zero operation if so, executing, conversely, control transfer machine operates normally.
The control method of the transfer machine provided through the embodiment of the present invention can be by increasing in the control system of transfer machine
Add self-zeroing program, the position deviation to eliminate due to transfer machine leads to target object caused by target object snap-gauge and clamping plate
Damage problem, the snap-gauge failure for eliminating transfer equipment can also reduce operator to the maintenance time of transfer machine, accelerate life
Beat is produced, and improves production efficiency.
When target object is pcb board, the main operational principle of transfer machine adjusts dynamic rail by different pcb board types, real
Existing pcb board is transmitted in movement mould group, when pcb board in place after, mould group can be according to the transmission model of host computer in cunning
It is moved on rail, by adjusting the transmission and sorting that are moved to different position realizations to pcb board, by the controls
Increase returns to zero program, the number that setting needs to return to zero perhaps the time after number or time reach, equipment stop working into
The location error due to generating during servo motion is removed in one movement returned to zero of row, is continued after returning to zero completion
Normal program does not need artificial intervention during entire movement, it is only necessary to which the parameter returned to zero, which is arranged, can realize certainly
It is dynamic to return to zero, reduce equipment fault and downtime due to caused by movement.
Embodiment 2
Another aspect according to an embodiment of the present invention, additionally provides a kind of transfer machine for executing and recording in embodiment 1
Control method Installation practice, Fig. 3 is the schematic diagram of the control device of transfer machine according to an embodiment of the present invention, such as Fig. 3
Shown, the control device of the transfer machine includes: acquiring unit 31, generation unit 33, first control unit 35 and the second control
Unit 37.The control device of the transfer machine is described in detail below.
Acquiring unit 31 judges whether transfer machine occurs for obtaining the current location of transfer machine, and based on current location
Positional shift.
Generation unit 33, in the case where judging result indicates that positional shift occurs for transfer machine, generation to return to zero signal.
First control unit 35, for based on return to zero signal control transfer machine be moved to initial position, to be held to transfer machine
Row returns to zero operation, wherein initial position is the mechanical zero position of transfer machine.
Target object is transferred to pre-determined bit for controlling the transfer machine executed after returning to zero operation by the second control unit 37
It sets.
Herein it should be noted that above-mentioned acquiring unit 31, generation unit 33, first control unit 35 and the second control
Unit 37 corresponds to the step S102 to S108 in embodiment 1, the example and application that above-mentioned module is realized with corresponding step
Scene is identical, but is not limited to the above embodiments 1 disclosure of that.It should be noted that one as device of above-mentioned module
Divide to execute in a computer system such as a set of computer executable instructions.
From the foregoing, it will be observed that obtaining the current location of transfer machine by acquiring unit in the above embodiments of the present application, and it is based on
Current location judges whether transfer machine occurs positional shift；Then indicate that position occurs for transfer machine in judging result using generation unit
In the case where setting offset, generation returns to zero signal；First control unit is recycled to be moved to just based on signal control transfer machine is returned to zero
Beginning position, to return to zero operation to transfer machine execution, wherein initial position is the mechanical zero position of transfer machine；And utilize the
Target object is transferred to predetermined position by the transfer machine that the control of two control units executes after returning to zero operation.Through the embodiment of the present invention
The control device of the transfer machine of offer is realized by returning to zero operation to the transfer machine execution that positional shift occurs, is moved with reducing
The purpose for the offset that carrier aircraft generates in moving process has reached the reliability for improving transfer machine transmission objectives object, and then has solved
It has determined the technical issues of being easy to appear snap-gauge or clamping plate phenomenon due to transfer machine in the related technology, production efficiency is caused to reduce.
In an alternative embodiment, first control unit includes: calling module, for being called back based on returning to zero signal
Zero program, wherein returning to zero program is that the initial position based on transfer machine is written and stored in advance in the control system of transfer machine
Program；First control module returns to zero program triggering for basis and returns to zero instruction, and controls transfer under the control for returning to zero instruction
Machine is moved to initial position.
In an alternative embodiment, the control device of the transfer machine further include: determination unit, for obtaining transfer
Before the current location of machine, return to zero parameter based on what the characteristic parameter of transfer machine determined transfer machine, wherein return to zero parameter include with
It is at least one lower: to return to zero number, return to zero the time；Writing unit is previously written for will return to zero parameter and returns to zero program.
In an alternative embodiment, first control unit further include: generation module, for returning to zero number in determination
And/or return to zero in the case that the time meets predetermined condition, it generates based on returning to zero number and/or returning to zero the time and returns to zero signal；It sends
Module, for being based on returning to zero signal to transfer machine transmission signal out of service；Second control module is based on for controlling transfer machine
Signal out of service is out of service；Third control module, for being moved to based on returning to zero signal and control transfer machine out of service
Initial position.
Embodiment 3
Another aspect according to an embodiment of the present invention, additionally provides a kind of storage medium, and storage medium includes storage
Program, wherein program executes the control method of any one of above-mentioned transfer machine.
Embodiment 4
Another aspect according to an embodiment of the present invention additionally provides a kind of processor, and processor is used to run program,
Wherein, the control method of any one of above-mentioned transfer machine is executed when program is run.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-OnlyMemory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of control method of transfer machine characterized by comprising
The current location of transfer machine is obtained, and judges whether the transfer machine occurs positional shift based on the current location；
In the case where judging result indicates that positional shift occurs for the transfer machine, generation returns to zero signal；
It is moved to initial position based on the signal control transfer machine that returns to zero, to return to zero operation to transfer machine execution,
Wherein, the initial position is the mechanical zero position of the transfer machine；
Target object is transferred to predetermined position by the transfer machine that control executes after returning to zero operation.
2. the method according to claim 1, wherein being moved to based on the signal control transfer machine that returns to zero
Initial position includes:
Program is returned to zero based on the signal calling that returns to zero, wherein the program that returns to zero is the initial position based on the transfer machine
The program being written and stored in the control system of the transfer machine in advance；
It returns to zero program triggering according to described and returns to zero instruction, and control the transfer machine under the control for returning to zero instruction and be moved to
Initial position.
3. according to the method described in claim 2, it is characterized in that, before the current location for obtaining transfer machine, further includes:
Return to zero parameter based on what the characteristic parameter of the transfer machine determined the transfer machine, wherein it is described return to zero parameter include with
It is at least one lower: to return to zero number, return to zero the time；
By it is described return to zero parameter and be previously written described return to zero program.
4. according to the method described in claim 3, it is characterized in that, being moved to based on the signal control transfer machine that returns to zero
Initial position further include:
Number is returned to zero described in the determination and/or described in the case where return to zero the time and meet predetermined condition, return to zero number based on described
And/or described return to zero returns to zero signal described in time generation；
Based on the signal that returns to zero to transfer machine transmission signal out of service；
It is out of service based on the signal out of service to control the transfer machine；
Based on it is described return to zero signal and control transfer machine out of service be moved to initial position.
5. a kind of control device of transfer machine characterized by comprising
Acquiring unit judges whether the transfer machine is sent out for obtaining the current location of transfer machine, and based on the current location
Raw positional shift；
Generation unit, in the case where judging result indicates that positional shift occurs for the transfer machine, generation to return to zero signal；
First control unit, for being moved to initial position based on the signal control transfer machine that returns to zero, to the shifting
Carrier aircraft execution returns to zero operation, wherein the initial position is the mechanical zero position of the transfer machine；
Target object is transferred to predetermined position for controlling the transfer machine executed after returning to zero operation by the second control unit.
6. device according to claim 5, which is characterized in that the first control unit includes:
Calling module, for returning to zero program based on the signal calling that returns to zero, wherein the program that returns to zero is based on the transfer
The initial position of machine is written and stored in the program in the control system of the transfer machine in advance；
First control module returns to zero instruction for returning to zero program triggering according to, and controls under the control for returning to zero instruction
It makes the transfer machine and is moved to initial position.
7. device according to claim 6, which is characterized in that further include:
Determination unit, for obtain transfer machine current location before, based on the transfer machine characteristic parameter determine described in
Transfer machine returns to zero parameter, wherein the parameter that returns to zero includes at least one of: returning to zero number, returns to zero the time；
Writing unit, for by it is described return to zero parameter and be previously written described return to zero program.
8. device according to claim 7, which is characterized in that the first control unit further include:
Generation module, for return to zero described in the determination number and/or it is described return to zero the time and meet predetermined condition in the case where, be based on
It is described return to zero number and/or it is described return to zero the time generate described in return to zero signal；
Sending module sends signal out of service to the transfer machine for returning to zero signal based on described in；
Second control module, it is out of service based on the signal out of service for controlling the transfer machine；
Third control module, for based on it is described return to zero signal and control transfer machine out of service be moved to initial position.
9. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein described program right of execution
Benefit require any one of 1 to 4 described in transfer machine control method.
10. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 4 described in transfer machine control method.
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| CN201910741012.2A CN110442046A (en) | 2019-08-12 | 2019-08-12 | Control method and device for transfer machine, storage medium, and processor |
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| CN201910741012.2A CN110442046A (en) | 2019-08-12 | 2019-08-12 | Control method and device for transfer machine, storage medium, and processor |
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Application publication date: 20191112 |