CN104850117A - Robot automatic production line experiment platform and control method thereof - Google Patents
Robot automatic production line experiment platform and control method thereof Download PDFInfo
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- CN104850117A CN104850117A CN201510256444.6A CN201510256444A CN104850117A CN 104850117 A CN104850117 A CN 104850117A CN 201510256444 A CN201510256444 A CN 201510256444A CN 104850117 A CN104850117 A CN 104850117A
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- 238000002474 experimental method Methods 0.000 title claims abstract description 45
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000012856 packing Methods 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims description 14
- 238000012546 transfer Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000011521 glass Substances 0.000 claims description 4
- JEYCTXHKTXCGPB-UHFFFAOYSA-N Methaqualone Chemical compound CC1=CC=CC=C1N1C(=O)C2=CC=CC=C2N=C1C JEYCTXHKTXCGPB-UHFFFAOYSA-N 0.000 claims description 3
- 230000001351 cycling effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 238000011160 research Methods 0.000 abstract description 11
- 238000004088 simulation Methods 0.000 abstract description 6
- 125000004122 cyclic group Chemical group 0.000 abstract 1
- 238000012795 verification Methods 0.000 abstract 1
- 230000000007 visual effect Effects 0.000 abstract 1
- 238000013461 design Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
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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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a robot automatic production line experiment platform and a control method thereof. The robot automatic production line experiment platform is characterized in that three parallel-connected conveying belts of different conveying directions and cylinder push rods are arranged in the experiment platform to realize cyclic conveying operation of workpieces and packing boxes; image information and attitude information of the workpieces are acquired by adopting an industrial visual system; workpiece picking and packing operation is performed by adopting a robot and the grabbing hands thereof; workpiece unloading operation is performed on piece loading boxes by adopting slide stands and the grabbing hands thereof; and different settings are performed via the platform so that operation of different working modes is realized. Experiment means are provided to verification of research, simulation and control methods of different working modes on the production line, and the experiment device is also provided to the related teaching research.
Description
Technical field
The present invention relates to a kind of robot automation's production line experiment porch and control method thereof, is provide laboratory facilities for carrying out research for robot production line, is also experimental provision that relevant teaching research provides.
Background technology
Along with the development fast of modern industry, robot automation's production line is increasingly extensive in the application of field of industrial production, as in fields such as electronic manufacture, automobile making, processing and packing, goods sortings.Particularly machine vision technique utilization on a production line, drastically increases the flexibility of system, intellectuality and automatization level.Such automatic production line configures one or more robot for picking or processing usually as concrete topworks; Configure one or more travelling belt for conveying workpieces and packing box; Configuration industrial vision system is used for the different operation in the location, identification, dimensional measurement etc. of workpiece.
Along with socioeconomic development, the particularization of production and processing, specialization, randomization are had higher requirement to the production efficiency of automatic production line, production versatility, intelligent and dirigibility.Especially for the automatic production line of the modes of production such as on-fixed beat, random feed, in the early stage of formally coming into operation, need to carry out large quantifier elimination and debugging efforts to the system integration and control method.And in the research of existing production line relevant issues, in the description especially to production line carrying out practically pattern, operation, lack a physical system that is directly perceived, system basic.
Summary of the invention
The present invention is the deficiency for avoiding existing for above-mentioned prior art, a kind of robot automation's production line experiment porch and control method thereof are provided, so that for the checking of the research of production line different working modes, simulation and control method provides research technique, also for relevant teaching research provides experimental provision.
The present invention is that technical solution problem adopts following technical scheme:
The design feature of robot automation's production line experiment porch of the present invention is:
On experiment porch, place at grade and be set up in parallel three travelling belts in X direction, be followed successively by the first travelling belt, the second travelling belt and the 3rd travelling belt from side to opposite side; The direction of transfer of the first travelling belt and the second travelling belt is from left to right, and order direction of motion is from left to right descending, the direction of transfer of the 3rd travelling belt is from right to left, and order direction of motion is from right to left up, and what described first travelling belt transmitted is descending workpiece; What described second travelling belt transmitted is do not load the descending unloaded box of workpiece and/or be loaded with the descending holder box of workpiece; What described 3rd travelling belt transmitted is up holder box.
On described experiment porch, the right-hand member being in described second travelling belt is provided with the first cylinder push-rod and the first photoelectric sensor, the middle part being in described second travelling belt is provided with the 3rd photoelectric sensor, the descending unloaded box of the descending unloaded box utilizing described 3rd photoelectric sensor to detect on acquisition second travelling belt puts in place signal, control the first pneumatic gripping device according to the described descending unloaded box signal that puts in place the descending workpiece operated on the first travelling belt is cased in described descending unloaded box, after making the box-packed case of descending zero load, become descending holder box; Utilize the first photoelectric sensor to detect to obtain the descending holder box operating in descending holder box on the second travelling belt to put in place signal, utilize the described descending holder box signal that puts in place to control described first cylinder push-rod and push described descending holder box to the 3rd travelling belt and become up holder box.
On described experiment porch, the left end being in described 3rd travelling belt arranges the second cylinder push-rod and the second photoelectric sensor respectively, detected by described second photoelectric sensor and obtain the up holder box operating in up holder box on the 3rd travelling belt and to put in place signal, control the second pneumatic gripping device and the workpiece in the up holder box operated on the 3rd travelling belt carried out unloading towards the first travelling belt according to the described up holder box signal that puts in place and become descending workpiece, pushing the up holder box after unloading to second travelling belt by described second cylinder push-rod becomes descending unloaded box.
In the outside of described first travelling belt, the left position place being in described first travelling belt is fixedly installed camera support, and described camera support is separately installed with industrial camera and the camera light source of the image information for obtaining descending workpiece; In the below of described industrial camera, be in arranged outside the 4th photoelectric sensor of the first travelling belt, with described 4th photoelectric sensor, the workpiece of descending workpiece detected on the first travelling belt obtained puts in place signal, triggers with the described workpiece signal that puts in place the image information that industrial camera obtains descending workpiece.
On described experiment porch, be in the outside fixed installation robot of described first travelling belt, described first pneumatic gripping device is the pneumatic gripping device be configured in robot, and described first pneumatic gripping device is the sucked type handgrip with multiple sucker.
The design feature of robot automation's production line experiment porch of the present invention is also: at the left end of described experiment porch, across be fixedly installed above between the first travelling belt and the 3rd travelling belt in X to horizontal sliding table, described horizontal sliding table can along X to movement, the slide of described horizontal sliding table is fixedly installed can along the vertical slide unit of Z-direction movement, described second pneumatic gripping device is fixedly installed on the bottom of described vertical slide unit, and described second pneumatic gripping device is the sucked type handgrip with multiple sucker.
The design feature of robot automation's production line experiment porch of the present invention is also: on described experiment porch, be in described robot right side and be the position reached by described first pneumatic gripping device is fixedly installed packing box store platform, external packing box leaves packing box in and stores on platform.
The design feature of robot automation's production line experiment porch of the present invention is also: described camera support is set to framework, arranges in the surrounding of described framework and top the shade that filter glass forms industrial camera.
The mode of operation of robot automation's production line experiment porch of the present invention, be characterized in that arranging mode of operation one is: generate corresponding charging time point and the position that feeds intake according to the feeding mode of default, utilize the second pneumatic gripping device by Workpiece transfer to the first travelling belt in up holder box, realize the input of the descending workpiece on the first travelling belt, the workpiece utilizing the 4th photoelectric sensor to obtain descending workpiece put in place signal and arrival time point, trigger industrial camera obtain the image information of descending workpiece with the described workpiece signal that puts in place, utilize image information to obtain the posture information of descending workpiece, described first pneumatic gripping device puts according to the arrival time of described descending workpiece and posture information performs the operation of being cased in the descending unloaded box operated on the second travelling belt by the descending workpiece operated on the first travelling belt, described descending unloaded box becomes descending holder box after completing vanning, utilize the first photoelectric sensor to detect to obtain the descending holder box operating in descending holder box on the second travelling belt to put in place signal, utilize the described descending holder box signal that puts in place to control the first cylinder push-rod and push described descending holder box to the 3rd travelling belt and become up holder box, when described up holder box moves to the left end of the 3rd travelling belt, detected by the second photoelectric sensor and obtain the up holder box operating in up holder box on the 3rd travelling belt and to put in place signal, control the second pneumatic gripping device according to the described up holder box signal that puts in place the workpiece in the up holder box operated on the 3rd travelling belt is unloaded and the operation fed intake to the first travelling belt, second cylinder push-rod pushes the up holder box after unloading to second travelling belt becomes descending unloaded box, thus complete the workpiece of automatic circulating operation pattern and the cycling process of packing box.
The mode of operation of robot automation's production line experiment porch of the present invention, be characterized in that arranging mode of operation two is: the workpiece utilizing the 4th photoelectric sensor to obtain descending workpiece put in place signal and arrival time point, trigger industrial camera obtain the image information of descending workpiece with the described workpiece signal that puts in place, utilize image information to obtain the posture information of descending workpiece; Described first pneumatic gripping device puts according to described descending workpiece arrival time and posture information performs the operation of being cased in external packing box by the descending workpiece operated on the first travelling belt.
The control method of the mode of operation two of robot automation's production line experiment porch of the present invention, is characterized in carrying out according to the following procedure:
Descending workpiece is at one end carried to robot at random from the left end of the first travelling belt, and definition forward sight distance is the segment distance that robot is observed left, and namely the former apparent distance takes action as control variable, and described forward sight distance sets according to control program;
For the first travelling belt traveled at the uniform speed, described forward sight distance is converted to forward sight time t, makes T
minfor the minimum forward sight time, T
maxfor the maximum forward sight time, definition action collection D is: D=[T
min, T
max], i.e. t ∈ D;
For first pneumatic gripping device with M sucker, using the vacant amount of sucker in the first pneumatic gripping device as state X (T
n), wherein T
nbe the n-th decision-making moment, the definition decision-making moment is the moment that robot completes this operation; State space Φ is: Φ=0,1 ..., M}, i.e. X (T
n) ∈ Φ; With the t that takes action
irepresent at state X (T
nthe action should taked under)=i, wherein i=0,1 ..., M; Defining a stable tactful v is the mapping that state arrives action, then v=[t
0, t
1..., t
m]; Optimal strategy v is obtained by the Optimization Learning of system
*, at optimal strategy v
*under, action t
irepresent at state X (T
nthe optimum action should taked under)=i, t
0=0, t
mequal infinitely great;
Order on the first travelling belt, to be positioned on the left of robot and a descending workpiece the most close with robot runs the time picking position arriving robot is t
wait, at optimal strategy v
*under, at decision-making moment T
n, state X (T
nduring)=i, system is decision-making as follows:
If t
wait< t
i, robot waits arrives from picking the nearest workpiece in position the action performing and pick workpiece on the first travelling belt;
If t
wait> t
i, the workpiece captured on the first pneumatic gripping device is positioned over the action on external packing box by robot execution.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, the present invention can be the research of the different working modes on production line, simulation and control method checking and provides effective research technique, also for relevant teaching research provides experimental provision.
2, in experiment porch of the present invention, the transmission of the different direction of transfers that employing three is in parallel brings two periodic duties realizing workpiece and packing box, more can save work space and cost.
3, the present invention can switch according between the different working modes being located at single travelling belt and many travelling belts; Many travelling belts mode of operation is used for simulation production line beat-type production run, and can realize automatic circulating operation; The production run of the non-beat-type of single travelling belt mode of operation simulation production line, random feed, and the concept of robot forward sight distance is incorporated in single travelling belt mode of operation, forward sight distance Optimum Control Study can be carried out.Combined with intelligent algorithm realizes flexible production line simulation and production run optimized control.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Number in the figure: 1 first travelling belt, 2 second travelling belts, 3 the 3rd travelling belts, 4 first cylinder push-rods, 5 second cylinder push-rods, 6 first photoelectric sensors, 7 second photoelectric sensors, 8 the 3rd photoelectric sensors, 9 descending workpiece, the descending unloaded box of 10a, the descending holder box of 10b, the up holder box of 10c, 11 experiment porchs, 12 robots, 13 first pneumatic gripping devices, 14 packing boxes store platform, 15 external packing boxes, 16 camera supports, 17 industrial cameras, 18 camera light sources, 19 filter glasses, 20 the 4th photoelectric sensors, 21a horizontal sliding table, the vertical slide unit of 21b, 22 second pneumatic gripping devices.
Embodiment
See Fig. 1, in the present embodiment, the version of robot automation's production line experiment porch is:
On experiment porch 11, place at grade and be set up in parallel three travelling belts in X direction, be followed successively by the first travelling belt 1, second travelling belt 2 and the 3rd travelling belt 3 from side to opposite side; The direction of transfer of the first travelling belt 1 and the second travelling belt 2 is from left to right, and order direction of motion is from left to right descending, the direction of transfer of the 3rd travelling belt 3 is from right to left, and order direction of motion is from right to left up, and what the first travelling belt 1 transmitted is descending workpiece 9; What the second travelling belt 2 transmitted is do not load the descending unloaded box 10a of workpiece and/or be loaded with the descending holder box 10b of workpiece; That the 3rd travelling belt 3 transmits is up holder box 10c; Packing box once can hold 4 workpiece, and for ensureing that packing box can equably in the second travelling belt 2 and the 3rd travelling belt 3 cocycle conveying, arranging the second travelling belt 2 with the 3rd travelling belt 3 is identical movement velocity.
On experiment porch 11, the right-hand member being in the second travelling belt 2 is provided with the first cylinder push-rod 4 and the first photoelectric sensor 6, the middle part being in the second travelling belt 2 is provided with the 3rd photoelectric sensor 8, the descending unloaded box of the descending unloaded box 10a utilizing the 3rd photoelectric sensor 8 to detect on acquisition second travelling belt 2 puts in place signal, control the first pneumatic gripping device 13 according to the descending unloaded box signal that puts in place the descending workpiece 9 operated on the first travelling belt 1 is cased in descending unloaded box 10a, descending holder box 10b is become after descending unloaded box 10a is cased, binning process takes the mode of the descending unloaded box 10a of the first pneumatic gripping device 13 locating and tracking, utilize the first photoelectric sensor 6 to detect to obtain the descending holder box operating in descending holder box 10b on the second travelling belt 2 to put in place signal, utilize the descending holder box signal that puts in place to control the first cylinder push-rod 4 and push descending holder box 10b to the 3rd travelling belt 3 and become up holder box 10c.
On experiment porch 11, the left end being in the 3rd travelling belt 3 arranges the second cylinder push-rod 5 and the second photoelectric sensor 7 respectively, detected by the second photoelectric sensor 7 and obtain the up holder box operating in up holder box 10c on the 3rd travelling belt 3 and to put in place signal, control the second pneumatic gripping device 22 according to the up holder box signal that puts in place the workpiece in the up holder box 10c operated on the 3rd travelling belt 3 carried out unloading towards the first travelling belt 1 and becomes descending workpiece 9, push the up holder box 10c after unloading to second travelling belt 2 by the second cylinder push-rod 5 and become descending unloaded box 10a.
For realizing descending holder box 10b and up holder box 10c can be accurately pushed on another travelling belt respectively, the stroke of cylinder push-rod 4 and cylinder push-rod 5 is the width sum of the second travelling belt 2 and the 3rd travelling belt 3.
In the outside of the first travelling belt 1, the left position place being in the first travelling belt 1 is fixedly installed camera support 16, and camera support 16 is separately installed with industrial camera 17 and the camera light source 18 of the image information for obtaining descending workpiece 9; In the below of industrial camera 17, be in arranged outside the 4th photoelectric sensor 20 of the first travelling belt 1, with the 4th photoelectric sensor 20, the workpiece of descending workpiece 9 detected on the first travelling belt 1 obtained puts in place signal, triggers with the workpiece signal that puts in place the image information that industrial camera 17 obtains descending workpiece 9.
On experiment porch 11, be in the outside fixed installation robot 12 of the first travelling belt 1, robot 12 is Six-DOF industrial robot, first pneumatic gripping device 13 is configured in the pneumatic gripping device on the ring flange of robot 12 the 6th axle, the ring flange of the 6th axle is the mounting disc for installing handgrip, and the first pneumatic gripping device 13 is the sucked type handgrips with multiple sucker.
In specific embodiment, at the left end of experiment porch 11, across be fixedly installed above between the first travelling belt 1 and the 3rd travelling belt 3 in X to horizontal sliding table 21a, horizontal sliding table 21a can along X to movement, the slide of horizontal sliding table is fixedly installed can along the vertical slide unit 21b of Z-direction movement, second pneumatic gripping device 22 is fixedly installed on the bottom of vertical slide unit 21b, and the second pneumatic gripping device 22 is for having the sucked type handgrip of multiple sucker; Horizontal sliding table 21a and vertical slide unit 21b is by driven by servomotor, slide mounting means is adopted to constitute binary mechanical hook-up, this mechanical hook-up can carry out the workpiece unloading operation of up holder box in conjunction with the second pneumatic gripping device 22, and delivers descending workpiece to the first travelling belt 1 accurately.The movement travel of horizontal sliding table 21a should be greater than the width sum of three travelling belts.On experiment porch 11, be in robot 12 right side and be the position reached by the first pneumatic gripping device 13 is fixedly installed packing box store platform 14, external packing box 15 leaves packing box in and stores on platform 14; Camera support 16 is set to framework, arranges in the surrounding of framework and top the shade that filter glass 19 forms industrial camera 17.
In the present embodiment, the mode of operation of robot automation's production line experiment porch is:
Mode of operation one: generate corresponding charging time point and the position that feeds intake according to the feeding mode of default, utilize the second pneumatic gripping device 22 by Workpiece transfer to the first travelling belt 1 in up holder box 10c, realize the input of the descending workpiece 9 on the first travelling belt 1, the workpiece utilizing the 4th photoelectric sensor 20 to obtain descending workpiece 9 put in place signal and arrival time point, trigger industrial camera 17 obtain the image information of descending workpiece 9 with the workpiece signal that puts in place, utilize image information to obtain the posture information of descending workpiece 9, first pneumatic gripping device 13 puts according to the arrival time of descending workpiece 9 and posture information performs the operation of being cased in the descending unloaded box 10a operated on the second travelling belt by the descending workpiece 9 operated on the first travelling belt 1, descending unloaded box 10a becomes descending holder box 10b after completing vanning, utilize the first photoelectric sensor 6 to detect to obtain the descending holder box operating in descending holder box 10b on the second travelling belt 2 to put in place signal, utilize the descending holder box signal that puts in place to control the first cylinder push-rod 4 and push descending holder box 10b to the 3rd travelling belt 3 and become up holder box 10c, when up holder box 10c moves to the left end of the 3rd travelling belt 3, detected by the second photoelectric sensor 7 and obtain the up holder box operating in up holder box 10c on the 3rd travelling belt 3 and to put in place signal, control the second pneumatic gripping device 22 according to the described up holder box signal that puts in place the workpiece in the up holder box 10c operated on the 3rd travelling belt 3 is unloaded and the operation fed intake to the first travelling belt 1, second cylinder push-rod 5 pushes the up holder box 10c after unloading to second travelling belt 2 becomes descending unloaded box 10a, thus complete the workpiece of automatic circulating operation pattern and the cycling process of packing box.
Mode of operation two: the workpiece utilizing the 4th photoelectric sensor 20 to obtain descending workpiece 9 put in place signal and arrival time point, trigger industrial camera 17 obtain the image information of descending workpiece 9 with the workpiece signal that puts in place, utilize image information to obtain the posture information of descending workpiece 9; First pneumatic gripping device 13 puts according to descending workpiece 9 arrival time and posture information performs the operation of being cased in external packing box by the descending workpiece 9 operated on the first travelling belt 1.
In the present embodiment, the control mode of mode of operation two is:
Descending workpiece 9 is at one end carried to robot 12 at random from the left end of the first travelling belt 1, definition forward sight distance is the segment distance that robot 12 is observed left, namely the apparent distance took action as control variable in the past, and described forward sight distance sets according to control program;
For the first travelling belt 1 traveled at the uniform speed, described forward sight distance is converted to forward sight time t, makes T
minfor the minimum forward sight time, T
maxfor the maximum forward sight time, definition action collection D is: D=[T
min, T
max], i.e. t ∈ D;
For first pneumatic gripping device 13 with M sucker, using the vacant amount of sucker in the first pneumatic gripping device 13 as state X (T
n), wherein T
nbe the n-th decision-making moment, the definition decision-making moment is the moment that robot completes this operation; State space Φ is: Φ=0,1 ..., M}, i.e. X (T
n) ∈ Φ; With the t that takes action
irepresent at state X (T
nthe action should taked under)=i, wherein i=0,1 ..., M; Defining a stable tactful v is the mapping that state arrives action, then v=[t
0, t
1..., t
m]; Optimal strategy v is obtained by the Optimization Learning of system
*, at optimal strategy v
*under, action t
irepresent at state X (T
nthe optimum action should taked under)=i, t
0=0, t
mequal infinitely great;
Order on the first travelling belt 1, to be positioned on the left of robot and a descending workpiece the most close with robot runs the time picking position arriving robot is t
wait, at optimal strategy v
*under, at decision-making moment T
n, state X (T
nduring)=i, system is decision-making as follows:
If t
wait< t
i, robot 12 waits for from picking the nearest workpiece in position and arrives the action performing and pick workpiece on the first travelling belt 1;
If t
wait> t
i, robot 12 performs the action be positioned over by the workpiece captured on the first pneumatic gripping device 13 on external packing box 15.
Claims (7)
1. robot automation's production line experiment porch, is characterized in that:
, place upper at experiment porch (11) at grade and be set up in parallel three travelling belts in X direction, is followed successively by the first travelling belt (1), the second travelling belt (2) and the 3rd travelling belt (3) from side to opposite side; The direction of transfer of the first travelling belt (1) and the second travelling belt (2) is from left to right, and order direction of motion is from left to right descending, the direction of transfer of the 3rd travelling belt (3) is from right to left, and order direction of motion is from right to left up, in the upper transmission of described first travelling belt (1) is descending workpiece (9); In the upper transmission of described second travelling belt (2) is do not load the descending unloaded box (10a) of workpiece and/or be loaded with the descending holder box (10b) of workpiece; In the upper transmission of described 3rd travelling belt (3) is up holder box (10c);
On described experiment porch (11), the right-hand member being in described second travelling belt (2) is provided with the first cylinder push-rod (4) and the first photoelectric sensor (6), the middle part being in described second travelling belt (2) is provided with the 3rd photoelectric sensor (8), the descending unloaded box of the descending unloaded box (10a) utilizing described 3rd photoelectric sensor (8) to detect on acquisition second travelling belt (2) puts in place signal, control the first pneumatic gripping device (13) according to the described descending unloaded box signal that puts in place the descending workpiece (9) operated on the first travelling belt (1) is cased in described descending unloaded box (10a), descending holder box (10b) is become after descending unloaded box (10a) is cased, utilize the first photoelectric sensor (6) the to detect descending holder box of descending holder box (10b) that acquisition operates on the second travelling belt (2) puts in place signal, utilizes the described descending holder box signal that puts in place to control described first cylinder push-rod (4) and push described descending holder box (10b) to the 3rd travelling belt (3) and become up holder box (10c),
On described experiment porch (11), the left end being in described 3rd travelling belt (3) arranges the second cylinder push-rod (5) and the second photoelectric sensor (7) respectively, the up holder box detecting the up holder box (10c) that acquisition operates on the 3rd travelling belt (3) by described second photoelectric sensor (7) puts in place signal, control the second pneumatic gripping device (22) according to the described up holder box signal that puts in place the workpiece in the up holder box (10c) operated on the 3rd travelling belt (3) carried out unloading towards the first travelling belt (1) and becomes descending workpiece (9), push the up holder box (10c) after unloading to the second travelling belt (2) by described second cylinder push-rod (5) and become descending unloaded box (10a),
In the outside of described first travelling belt (1), the left position place being in described first travelling belt (1) is fixedly installed camera support (16), and described camera support (16) is separately installed with industrial camera (17) and the camera light source (18) of the image information for obtaining descending workpiece (9); Described industrial camera (17) below, be in the arranged outside the 4th photoelectric sensor (20) of the first travelling belt (1), with described 4th photoelectric sensor (20), the workpiece of descending workpiece (9) detected on the first travelling belt (1) obtained puts in place signal, triggers with the described workpiece signal that puts in place the image information that industrial camera (17) obtains descending workpiece (9);
On described experiment porch (11), be in outside fixed installation robot (12) of described first travelling belt (1), described first pneumatic gripping device (13) is configured in the pneumatic gripping device in robot (12), and described first pneumatic gripping device (13) is the sucked type handgrip with multiple sucker.
2. robot automation's production line experiment porch according to claim 1, it is characterized in that: at the left end of described experiment porch (11), across the top between the first travelling belt (1) and the 3rd travelling belt (3) be fixedly installed in X to horizontal sliding table (21a), described horizontal sliding table (21a) can along X to movement, the slide of described horizontal sliding table is fixedly installed can along the vertical slide unit (21b) of Z-direction movement, described second pneumatic gripping device (22) is fixedly installed on the bottom of described vertical slide unit (21b), described second pneumatic gripping device (22) is for having the sucked type handgrip of multiple sucker.
3. robot automation's production line experiment porch according to claim 1, it is characterized in that: upper at described experiment porch (11), to be in described robot (12) right side and be the position reached by described first pneumatic gripping device (13) is fixedly installed packing box store platform (14), external packing box (15) leaves packing box in and stores on platform (14).
4. robot automation's production line experiment porch according to claim 1, it is characterized in that: described camera support (16) is set to framework, the shade that filter glass (19) forms industrial camera (17) is set in the surrounding of described framework and top.
5. the mode of operation of robot automation's production line experiment porch according to claim 1, it is characterized in that arranging mode of operation one is: generate corresponding charging time point and the position that feeds intake according to the feeding mode of default, utilize the second pneumatic gripping device (22) by Workpiece transfer to the first travelling belt (1) in up holder box (10c), realize the input of the descending workpiece (9) on the first travelling belt (1), the workpiece utilizing the 4th photoelectric sensor (20) to obtain descending workpiece (9) put in place signal and arrival time point, trigger industrial camera (17) obtain the image information of descending workpiece (9) with the described workpiece signal that puts in place, utilize image information to obtain the posture information of descending workpiece (9), described first pneumatic gripping device (13) was put according to the arrival time of described descending workpiece (9) and posture information performs the operation of the descending workpiece (9) operated on the first travelling belt (1) vanning in the descending unloaded box (10a) operated on the second travelling belt, described descending unloaded box (10a) becomes descending holder box (10b) after completing vanning, utilize the first photoelectric sensor (6) the to detect descending holder box of descending holder box (10b) that acquisition operates on the second travelling belt (2) puts in place signal, utilizes the described descending holder box signal that puts in place to control the first cylinder push-rod (4) and push described descending holder box (10b) to the 3rd travelling belt (3) and become up holder box (10c), when described up holder box (10c) moves to the left end of the 3rd travelling belt (3), detect by the second photoelectric sensor (7) the up holder box of up holder box (10c) that acquisition operates on the 3rd travelling belt (3) to put in place signal, control the second pneumatic gripping device (22) according to the described up holder box signal that puts in place the workpiece in the up holder box (10c) operated on the 3rd travelling belt (3) is unloaded and the operation fed intake to the first travelling belt (1), second cylinder push-rod (5) pushes the up holder box (10c) after unloading to the second travelling belt (2) becomes descending unloaded box (10a), thus complete the workpiece of automatic circulating operation pattern and the cycling process of packing box.
6. the mode of operation of robot automation's production line experiment porch according to claim 1, it is characterized in that arranging mode of operation two is: the workpiece utilizing the 4th photoelectric sensor (20) to obtain descending workpiece (9) put in place signal and arrival time point, trigger industrial camera (17) obtain the image information of descending workpiece (9) with the described workpiece signal that puts in place, utilize image information to obtain the posture information of descending workpiece (9); Described first pneumatic gripping device (13) was put according to described descending workpiece (9) arrival time and posture information execution will operate in the operation of the descending workpiece (9) on the first travelling belt (1) towards the middle vanning of external packing box (15).
7. a control method for the mode of operation of robot automation's production line experiment porch according to claim 6, is characterized in that carrying out according to the following procedure:
Descending workpiece (9) is at one end carried to robot (12) at random from the left end of the first travelling belt (1), definition forward sight distance is the segment distance that robot (12) is observed left, namely the apparent distance took action as control variable in the past, and described forward sight distance sets according to control program;
For the first travelling belt (1) traveled at the uniform speed, described forward sight distance is converted to forward sight time t, makes T
minfor the minimum forward sight time, T
maxfor the maximum forward sight time, definition action collection D is: D=[T
min, T
max], i.e. t ∈ D;
For first pneumatic gripping device (13) with M sucker, using the vacant amount of sucker in the first pneumatic gripping device (13) as state X (T
n), wherein T
nbe the n-th decision-making moment, the definition decision-making moment is the moment that robot completes this operation; State space Φ is: Φ=0,1 ..., M}, i.e. X (T
n) ∈ Φ; With the t that takes action
irepresent at state X (T
nthe action should taked under)=i, wherein i=0,1 ..., M; Defining a stable tactful v is the mapping that state arrives action, then v=[t
0, t
1..., t
m]; Optimal strategy v is obtained by the Optimization Learning of system
*, at optimal strategy v
*under, action t
irepresent at state X (T
nthe optimum action should taked under)=i, t
0=0, t
mequal infinitely great;
Make upper at the first travelling belt (1), to be positioned on the left of robot and a descending workpiece the most close with robot runs the time picking position arriving robot is t
wait, at optimal strategy v
*under, at decision-making moment T
n, state X (T
nduring)=i, system is decision-making as follows:
If t
wait< t
i, robot (12) waits for from picking the nearest workpiece in position and arrives the action performing and pick workpiece on the first travelling belt (1);
If t
wait> t
i, the workpiece captured on the first pneumatic gripping device (13) is positioned over the action on external packing box (15) by robot (12) execution.
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104850117B (en) | 2017-05-17 |
| CN107422700B (en) | 2019-07-19 |
| CN107422700A (en) | 2017-12-01 |
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