流水型制造设备的组件行为协同是指,通过多个组件协同地执行动作,在符合安全操作的条件下,满足系统中多个物料的一次处理请求.组件的快速集成和替换,使其行为协同需求的频繁变更,这成为了设备研发过程的瓶颈.现有的建模工具需要显式的软硬件设计或规划状态定义,缺乏面向组件行为协同的自动化代码生成工具.利用针对流水型设备提出的实体流模型,本文首先给出了对物料安全加工条件的描述;其次,结合自动规划,设计实现了既可易于转换为零件物理指令,又可指示系统状态的规划可用动作集合,与实体流模型构成规划模型;最后,展示了银行卡个人化设备中的两个组件的行为协同自动化的案例.

The rapid integration and replacement of components in the pipelining mechatronic systems causing the frequent change of code for component behavior cooperation brings in the bottleneck of development process. Dedicated tools demand explicit design on computation or planning states, which means that it is lack of an automation tool towards component behavior cooperation in pipelining mechatronic systems. Using the entity-flow model, this paper addresses the formal descriptions of the material safety processing conditions firstly; secondly, designs a set of action available for planner, in which actions are not only easy to translate to component instructions, but also to indicate the changes of system states; finally, a case of behavior cooperation automatic generation for two components in a bank card personalization machine is illustrated.