CN104850117B - 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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- CN104850117B CN104850117B CN201510256444.6A CN201510256444A CN104850117B CN 104850117 B CN104850117 B CN 104850117B CN 201510256444 A CN201510256444 A CN 201510256444A CN 104850117 B CN104850117 B CN 104850117B
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- 238000002474 experimental method Methods 0.000 title claims abstract description 43
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title abstract description 17
- 238000012856 packing Methods 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000012546 transfer Methods 0.000 claims description 11
- 241000252254 Catostomidae Species 0.000 claims description 5
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- 239000011521 glass Substances 0.000 claims description 4
- 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 3
- 238000011161 development Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
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- 238000009776 industrial production Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 239000007787 solid Substances 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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- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
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- Specific Conveyance Elements (AREA)
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
It is for for machine life the present invention relates to a kind of robot automation's production line experiment porch and its control method
Producing line carries out research and provides laboratory facilities, is also experimental provision that related teaching research is provided.
Background technology
With the quick development of modern industry, robot automation's production line is increasingly wide in the application of field of industrial production
It is general, such as in electronic manufacture, automobile making, processing and packing, goods sorting field.Particularly machine vision technique is on a production line
Utilization, drastically increase the flexibility of system, intelligent and automatization level.The generally configuration one of such automatic production line
It is individual or it is multiple for the robot that picks or process as specific executing agency；One or more conveyer belt is configured for conveying work
Part and packing box；Configuration industrial vision system is used for the different operations such as positioning, identification, the dimensional measurement of workpiece.
With the development of social economy, the production of the particularization, specialization, randomization of production and processing to automatic production line
Efficiency, production versatility, intelligent and flexibility propose requirement higher.In particular for on-fixed beat, random confession
The automatic production line of the modes of production such as material, in the early stage for formally coming into operation, it is necessary to be carried out to the system integration and control method
Substantial amounts of research and debugging efforts.And in the research of existing production line relevant issues, especially to production line carrying out practically
In pattern, the description of operation, lack a physical system basis directly perceived, system.
The content of the invention
The present invention is to avoid the deficiency existing for above-mentioned prior art, there is provided a kind of robot automation's production line experiment
Platform and its control method, so that the research for production line different working modes, simulation and the checking of control method provide experiment
Means, also for related teaching research provides experimental provision.
The present invention is adopted the following technical scheme that to solve technical problem：
Robot automation's production line experiment porch of the present invention is structurally characterized in that：
On experiment porch, locate at grade and be set up in parallel three conveyer belts in X direction, from side to opposite side
It is followed successively by the first conveyer belt, the second conveyer belt and the 3rd conveyer belt；The direction of transfer of the first conveyer belt and the second conveyer belt be from
From left to right, and make the direction of motion from left to right for descending, the direction of transfer of the 3rd conveyer belt is made from dextrad for from right to left
The left direction of motion is up, and what is transmitted on first conveyer belt is descending workpiece；Transmitted on second conveyer belt
Be the descending unloaded box for not loading workpiece and/or the descending holder box for being loaded with workpiece；Transmitted on the 3rd conveyer belt
Be up holder box.
On the experiment porch, the right-hand member for being in second conveyer belt is provided with the first cylinder push-rod and the first photoelectricity
Sensor, is in the middle part of second conveyer belt and is provided with the 3rd photoelectric sensor, is examined using the 3rd photoelectric sensor
The descending unloaded box signal in place of the descending unloaded box obtained on the second conveyer belt is surveyed, according to descending unloaded box signal in place
Control the first pneumatic gripping device to operate in the descending workpiece on the first conveyer belt towards being cased in the descending unloaded box, make
Turn into descending holder box after descending unloaded box-packed case；Obtained using the detection of the first photoelectric sensor and operated on the second conveyer belt
The descending holder box of descending holder box signal in place, using the descending holder box, signal controls first cylinder push-rod in place
Push the descending holder box to the 3rd conveyer belt as up holder box.
On the experiment porch, the left end for being in the 3rd conveyer belt is respectively provided with the second cylinder push-rod and the second light
Electric transducer, the up holder of the up holder box operated on the 3rd conveyer belt is obtained by second photoelectric sensor detection
Box signal in place, according to the up holder box in place signal to control the second pneumatic gripping device to operate in upper on the 3rd conveyer belt
Workpiece in row holder box is unloaded towards the first conveyer belt and as descending workpiece, will unloaded by second cylinder push-rod
Up holder box afterwards pushes the second conveyer belt to as descending unloaded box.
In the outside of first conveyer belt, it is at the left position of first conveyer belt and camera branch is fixedly installed
Frame, is separately installed with the industrial camera and camera light source of the image information for obtaining descending workpiece on the camera support；
The lower section of the industrial camera, be in the first conveyer belt outside set the 4th photoelectric sensor, with the 4th photoelectric transfer
The workpiece signal in place of the descending workpiece on the first conveyer belt that sensor detection is obtained, with the workpiece industry of signal triggering in place
Camera obtains the image information of descending workpiece.
On the experiment porch, the outside fixed installation robot of first conveyer belt is in, described first is pneumatic
Handgrip is disposed on the pneumatic gripping device in robot, and first pneumatic gripping device is the sucked type handgrip with multiple suckers.
The design feature of robot automation's production line experiment porch of the present invention lies also in：On a left side for the experiment porch
End, across the top between the first conveyer belt and the 3rd conveyer belt be fixedly installed in X to horizontal sliding table, the level slides
Platform can be fixedly installed the vertical slide unit that can be moved along Z-direction, second gas along X to movement on the slide of the horizontal sliding table
Dynamic handgrip is fixedly installed on the bottom of the vertical slide unit, and second pneumatic gripping device is that the sucked type with multiple suckers is grabbed
Hand.
The design feature of robot automation's production line experiment porch of the present invention lies also in：On the experiment porch, place
The right side of the robot and be fixedly installed on position reached by first pneumatic gripping device packing box store it is flat
Platform, external packing box is stored in packing box and stores on platform.
The design feature of robot automation's production line experiment porch of the present invention lies also in：The camera support is set to frame
Frame, the shade that filter glass forms industrial camera is set in the surrounding of the framework and top.
The mode of operation of robot automation's production line experiment porch of the present invention, is characterized in that setting mode of operation one is：
Feeding mode according to default generates corresponding charging time point and the position that feeds intake, using the second pneumatic gripping device by up load
Workpiece transfer in part box realizes the dispensing of the descending workpiece on the first conveyer belt to the first conveyer belt；Using the 4th photoelectric transfer
Sensor obtains the workpiece of descending workpiece signal and arrival time point in place, is obtained with the workpiece industrial camera of signal triggering in place
The image information of descending workpiece, the posture information of descending workpiece is obtained using image information；First pneumatic gripping device is according to institute
The arrival time point and posture information for stating descending workpiece perform the descending workpiece that will operate on the first conveyer belt towards operating in
The operation cased in descending unloaded box on second conveyer belt；The descending unloaded box turns into descending holder after vanning is completed
Box；The descending holder box for obtaining the descending holder box operated on the second conveyer belt using the detection of the first photoelectric sensor is believed in place
Number, using the descending holder box in place signal control the first cylinder push-rod by the descending holder box push to the 3rd conveyer belt into
It is up holder box；When the up holder box runs the left end to the 3rd conveyer belt, obtained by the detection of the second photoelectric sensor
The up holder box of up holder box on the 3rd conveyer belt signal in place must be operated in, is believed in place according to the up holder box
Number the second pneumatic gripping device of control is unloaded to operating in the workpiece in the up holder box on the 3rd conveyer belt and passed to first
Send the operation that band feeds intake, the second cylinder push-rod by unloading after up holder box push the second conveyer belt to as descending unloaded box,
So as to complete the workpiece of automatic circulating operation pattern and the circulate operation process of packing box.
The mode of operation of robot automation's production line experiment porch of the present invention, is characterized in that setting mode of operation two is：
The workpiece of descending workpiece signal and arrival time point in place are obtained using the 4th photoelectric sensor, signal is touched in place with the workpiece
Hair industrial camera obtains the image information of descending workpiece, and the posture information of descending workpiece is obtained using image information；Described first
Pneumatic gripping device performs the descending work that will be operated on the first conveyer belt according to the descending workpiece arrival time point and posture information
Operation of the part towards vanning in external packing box.
The control method of the mode of operation two of robot automation's production line experiment porch of the present invention, is characterized in by as follows
Process is carried out：
Descending workpiece is conveyed at one end to robot at random from the left end of the first conveyer belt, and it is machine to define forward sight distance
The segment distance that people observes to the left, the apparent distance was action as control variables in the past, and the forward sight distance is according to control program
Set；
For the first conveyer belt for traveling at the uniform speed, the forward sight distance is converted into forward sight time t, makes TminBefore minimum
Between apparent time, TmaxIt it is the maximum forward sight time, defining action collection D is：D=[Tmin,Tmax], i.e. t ∈ D；
For with M the first pneumatic gripping device of sucker, using the vacant amount of sucker in the first pneumatic gripping device as state X
(Tn), wherein TnIt is n-th decision-making moment, defines the decision-making moment for robot completes this moment for operating；State space Φ
For：Φ={ 0,1 ..., M }, i.e. X (Tn)∈Φ；With the t that takes actioniRepresent in state X (TnThe action that should be taken under)=i, wherein i
=0,1 ..., M；It is mapping of the state to action to define a stable strategy v, then v=[t0,t1,...,tM]；By system
Optimization Learning obtain optimal policy v*, in optimal policy v*Under, take action tiRepresent in state X (TnWhat should be taken under)=i is optimal
Action, t0=0, tMEqual to infinity；
Order is on the first conveyer belt, on the left of robot and a descending workpiece closest with robot runs to
The time for picking position up to robot is twait, in optimal policy v*Under, in decision-making moment Tn, state X (TnDuring)=i, system
Decision-making as follows：
If twait＜ ti, robot to wait and pick work on the first conveyer belt from picking the nearest workpiece in position and reach to perform
The action of part；
If twait＞ ti, robot performs the workpiece that will capture on the first pneumatic gripping device and is positioned over external packing box
On action.
Compared with the prior art, the present invention has the beneficial effect that：
1st, the present invention can provide effective for the research of the different working modes on production line, simulation and control method checking
Research technique, also for related teaching research provides experimental provision.
2nd, workpiece and packaging are realized using three conveyer belts of the different direction of transfers of parallel connection in experiment porch of the present invention
Two circulation work of box, can more save working space and cost.
3rd, the present invention can be switched over according to being located between the different working modes of single conveyer belt and many conveyer belts；Many transmission
Band mode of operation is used for simulation production line beat-type production process, and can realize automatic circulating operation；Single conveyer belt mode of operation
The non-beat-type of simulation production line, the production process of random feed, and incorporate robot forward sight distance in single conveyer belt mode of operation
Concept, forward sight can be carried out apart from Optimum Control Study.Combined with intelligent algorithm come realize flexible production line simulation and produced
Journey optimized control.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Label in figure：1 first conveyer belt, 2 second conveyer belts, 3 the 3rd conveyer belts, 4 first cylinder push-rods, 5 second cylinders
Push rod, 6 first photoelectric sensors, 7 second photoelectric sensors, 8 the 3rd photoelectric sensors, 9 descending workpiece, the descending unloaded boxes of 10a,
The descending holder boxes of 10b, the up holder boxes of 10c, 11 experiment porch, 12 robots, 13 first pneumatic gripping devices, 14 packing boxes store flat
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 tables, the vertical slide units of 21b, 22 second pneumatic gripping devices.
Specific embodiment
Referring to Fig. 1, the structure type of robot automation's production line experiment porch is in the present embodiment：
On experiment porch 11, place be set up in parallel at grade and in X direction three conveyer belts, from side to another
Side is followed successively by the first conveyer belt 1, the second conveyer belt 2 and the 3rd conveyer belt 3；The sender of the first conveyer belt 1 and the second conveyer belt 2
To for from left to right, and the direction of motion for making from left to right be it is descending, the direction of transfer of the 3rd conveyer belt 3 for from right to left, and
The order direction of motion from right to left is up, and what is transmitted on the first conveyer belt 1 is descending workpiece 9；Uploaded in the second conveyer belt 2
That send is the descending unloaded box 10a for the not loading workpiece and/or descending holder box 10b for being loaded with workpiece；On the 3rd conveyer belt 3
Transmission is up holder box 10c；Packing box can once accommodate 4 workpiece, to ensure that packing box can be passed equably second
Circulation conveying on the conveyer belt 3 of band 2 and the 3rd is sent, it is identical movement velocity to set the second conveyer belt 2 and the 3rd conveyer belt 3.
On experiment porch 11, the right-hand member for being in the second conveyer belt 2 is provided with the first cylinder push-rod 4 and the first photoelectric sensing
Device 6, the middle part for being in the second conveyer belt 2 is provided with the 3rd photoelectric sensor 8, and the is obtained using the detection of the 3rd photoelectric sensor 8
The descending unloaded box of the descending unloaded box 10a on two conveyer belts 2 signal in place, according to descending unloaded box signal control in place first
Pneumatic gripping device 13 will operate in descending workpiece 9 on the first conveyer belt 1 towards being cased in descending unloaded box 10a, make descending
Turn into descending holder box 10b after unloaded box 10a vannings, binning process takes the descending unloaded box of the locating and tracking of the first pneumatic gripping device 13
The mode of 10a；The descending of the descending holder box 10b operated on the second conveyer belt 2 is obtained using the detection of the first photoelectric sensor 6
Holder box signal in place, using descending holder box, signal controls the first cylinder push-rod 4 to push descending holder box 10b the to threeth in place
Conveyer belt 3 turns into up holder box 10c.
On experiment porch 11, the left end for being in the 3rd conveyer belt 3 is respectively provided with the second cylinder push-rod 5 and the second photoelectric transfer
Sensor 7, detects that acquisition operates in the up holder box of the up holder box 10c on the 3rd conveyer belt 3 by the second photoelectric sensor 7
Signal, will operate in up on the 3rd conveyer belt 3 according to up holder box the second pneumatic gripping device 22 of signal control in place in place
Workpiece in holder box 10c is unloaded and as descending workpiece 9 towards the first conveyer belt 1, will unloading by the second cylinder push-rod 5
Up holder box 10c afterwards pushes the second conveyer belt 2 to and turns into descending unloaded box 10a.
To realize that descending holder box 10b and up holder box 10c can be accurately pushed on another conveyer belt respectively,
The stroke of cylinder push-rod 4 and cylinder push-rod 5 is the width sum of the second conveyer belt 2 and the 3rd conveyer belt 3.
In the outside of the first conveyer belt 1, it is at the left position of the first conveyer belt 1 and camera support 16 is fixedly installed,
The industrial camera 17 and camera light source 18 of the image information for obtaining descending workpiece 9 are separately installed with camera support 16；
The lower section of industrial camera 17, the 4th photoelectric sensor 20 of outside setting for being in the first conveyer belt 1, with the 4th photoelectric sensor 20
The workpiece signal in place of the descending workpiece 9 on the first conveyer belt 1 for obtaining is detected, with the workpiece industrial camera 17 of signal triggering in place
Obtain the image information of descending workpiece 9.
On experiment porch 11, the outside fixed installation robot 12 of the first conveyer belt 1 is in, robot 12 is six free
Degree industrial robot, the first pneumatic gripping device 13 is disposed on the pneumatic gripping device on the ring flange of the axle of robot 12 the 6th, the 6th axle
Ring flange be mounting disc for installing handgrip, the first pneumatic gripping device 13 is the sucked type handgrip with multiple suckers.
In specific embodiment, in the left end of experiment porch 11, across between the first conveyer belt 1 and the 3rd conveyer belt 3
Top be fixedly installed in X to horizontal sliding table 21a, horizontal sliding table 21a can be solid on the slide of horizontal sliding table along X to movement
Fixed to set the vertical slide unit 21b that moved along Z-direction, the second pneumatic gripping device 22 is fixedly installed on the bottom of vertical slide unit 21b, second
Pneumatic gripping device 22 is the sucked type handgrip with multiple suckers；Horizontal sliding table 21a and vertical slide unit 21b is driven by servomotor,
The mechanical device of two degrees of freedom is constituted using slide mounting means, the mechanical device can be carried out with reference to the second pneumatic gripping device 22
The workpiece unloading operation of row holder box, and accurately to the first conveyer belt 1 deliver descending workpiece.The motion of horizontal sliding table 21a
Stroke should be greater than three width sums of conveyer belt.On experiment porch 11, it is in the right side of robot 12 and is the first gas
Packing box is fixedly installed on position reached by dynamic handgrip 13 and stores platform 14, external packing box 15 be stored in packing box store it is flat
On platform 14；Camera support 16 is set to framework, and setting filter glass 19 in the surrounding of framework and top forms industrial camera 17
Shade.
The mode of operation of robot automation's production line experiment porch is in the present embodiment：
Mode of operation one：Feeding mode according to default generates corresponding charging time point and the position that feeds intake, and utilizes
Second pneumatic gripping device 22 by the Workpiece transfer in up holder box 10c to the first conveyer belt 1, under realizing on the first conveyer belt 1
The dispensing of row workpiece 9；The workpiece of descending workpiece 9 signal and arrival time point in place are obtained using the 4th photoelectric sensor 20, with
The workpiece industrial camera 17 of signal triggering in place obtains the image information of descending workpiece 9, and descending workpiece 9 is obtained using image information
Posture information；First pneumatic gripping device 13 is performed according to the arrival time point and posture information of descending workpiece 9 and will operate in the first biography
Send the operation towards vanning in the descending unloaded box 10a operated on the second conveyer belt with the descending workpiece 9 on 1；Descending zero load
Box 10a turns into descending holder box 10b after vanning is completed；The second transmission is operated in using the detection acquisition of the first photoelectric sensor 6
Descending holder box with the descending holder box 10b on 2 signal in place, using descending holder box, signal controls the first cylinder to push away in place
Bar 4 pushes descending holder box 10b to the 3rd conveyer belts 3 and turns into up holder box 10c；Run to the 3rd in up holder box 10c
During the left end of conveyer belt 3, detect that acquisition operates in the up holder box 10c's on the 3rd conveyer belt 3 by the second photoelectric sensor 7
Up holder box signal in place, the 3rd biography is operated according to the up holder box the second pneumatic gripping device 22 pairs of signal control in place
Send the operation for being unloaded and being fed intake to the first conveyer belt 1 with the workpiece in the up holder box 10c on 3, the second cylinder push-rod 5
Up holder box 10c after by unloading pushes the second conveyer belt 2 to and turns into descending unloaded box 10a, so as to complete automatic circulating operation
The workpiece of pattern and the circulate operation process of packing box.
Mode of operation two：The workpiece of descending workpiece 9 signal and arrival time in place is obtained using the 4th photoelectric sensor 20
Point, the image information of descending workpiece 9 is obtained with the workpiece industrial camera 17 of signal triggering in place, and descending work is obtained using image information
The posture information of part 9；First pneumatic gripping device 13 is performed according to descending workpiece 9 arrival time point and posture information and will operate in first
Descending workpiece 9 on conveyer belt 1 is towards the operation cased in external packing box.
The control mode of mode of operation two is in the present embodiment：
Descending workpiece 9 is conveyed at one end to robot 12 at random from the left end of the first conveyer belt 1, is defined forward sight distance and is
The segment distance that robot 12 is observed to the left, the apparent distance was action as control variables in the past, and the forward sight distance is according to control
Scheme processed is set；
For the first conveyer belt 1 for traveling at the uniform speed, the forward sight distance is converted into forward sight time t, makes TminBefore minimum
Between apparent time, TmaxIt it is the maximum forward sight time, defining action collection D is：D=[Tmin,Tmax], i.e. t ∈ D；
For with M the first pneumatic gripping device 13 of sucker, using the vacant amount of sucker in the first pneumatic gripping device 13 as shape
State X (Tn), wherein TnIt is n-th decision-making moment, defines the decision-making moment for robot completes this moment for operating；State space
Φ is：Φ={ 0,1 ..., M }, i.e. X (Tn)∈Φ；With the t that takes actioniRepresent in state X (TnThe action that should be taken under)=i, wherein
I=0,1 ..., M；It is mapping of the state to action to define a stable strategy v, then v=[t0,t1,...,tM]；By being
The Optimization Learning of system obtains optimal policy v*, in optimal policy v*Under, take action tiRepresent in state X (TnShould be taken most under)=i
Excellent action, t0=0, tMEqual to infinity；
Order is on the first conveyer belt 1, on the left of robot and one closest with robot descending workpiece runs
The time for picking position for reaching robot is twait, in optimal policy v*Under, in decision-making moment Tn, state X (TnDuring)=i, it is
System decision-making as follows：
If twait＜ ti, robot 12 waiting and picked on the first conveyer belt 1 from picking the nearest workpiece in position and reach to perform
The action of workpiece；
If twait＞ ti, robot 12 performs the workpiece that will have been captured on the first pneumatic gripping device 13 and is positioned over external bag
Action in mounted box 15.
Claims (4)
1. a kind of robot automation's production line experiment porch, it is characterized in that：
On experiment porch (11), locate at grade and be set up in parallel three conveyer belts in X direction, from side to opposite side
It is followed successively by the first conveyer belt (1), the second conveyer belt (2) and the 3rd conveyer belt (3)；First conveyer belt (1) and the second conveyer belt (2)
Direction of transfer for from left to right, and the direction of motion for making from left to right be it is descending, the direction of transfer of the 3rd conveyer belt (3) be from
Dextrad is left, and it is up to make the direction of motion from right to left, and what is transmitted on first conveyer belt (1) is descending workpiece (9)；
What is transmitted on second conveyer belt (2) is not load the descending unloaded box (10a) of workpiece and/or be loaded with the descending of workpiece
Holder box (10b)；What is transmitted on the 3rd conveyer belt (3) is up holder box (10c)；
On the experiment porch (11), the right-hand member for being in second conveyer belt (2) is provided with the first cylinder push-rod (4) and
One photoelectric sensor (6), is in the middle part of second conveyer belt (2) and is provided with the 3rd photoelectric sensor (8), using described
Three photoelectric sensors (8) detection obtains the descending unloaded box of the descending unloaded box (10a) on the second conveyer belt (2) signal in place,
According to the descending unloaded box, signal controls the first pneumatic gripping device (13) will to operate in descending work on the first conveyer belt (1) in place
Part (9) makes descending unloaded box (10a) turn into descending holder box after casing towards being cased in the descending unloaded box (10a)
(10b)；Operated under the descending holder box (10b) on the second conveyer belt (2) using the first photoelectric sensor (6) detection acquisition
Row holder box signal in place, using the descending holder box, signal controls first cylinder push-rod (4) will be described descending in place
Holder box (10b) pushes the 3rd conveyer belt (3) to as up holder box (10c)；
On the experiment porch (11), be in the 3rd conveyer belt (3) left end be respectively provided with the second cylinder push-rod (5) and
Second photoelectric sensor (7), is operated in up on the 3rd conveyer belt (3) by second photoelectric sensor (7) detection acquisition
The up holder box of holder box (10c) signal in place, according to the up holder box, signal controls the second pneumatic gripping device in place
(22) workpiece that will be operated in the up holder box (10c) on the 3rd conveyer belt (3) is unloaded towards the first conveyer belt (1)
And as descending workpiece (9), by second cylinder push-rod (5) by unloading after up holder box (10c) push the second transmission to
Band (2) is as descending unloaded box (10a)；
In the outside of first conveyer belt (1), it is at the left position of first conveyer belt (1) and camera branch is fixedly installed
Frame (16), is separately installed with the industrial camera of the image information for obtaining descending workpiece (9) on the camera support (16)
And camera light source (18) (17)；Lower section in the industrial camera (17), the outside for being in the first conveyer belt (1) set the 4th light
Electric transducer (20), with the descending workpiece (9) on the first conveyer belt (1) that the 4th photoelectric sensor (20) detection is obtained
Workpiece signal in place, with the workpiece, signal triggers the image information that industrial camera (17) obtains descending workpiece (9) in place；
On the experiment porch (11), the outside for being in first conveyer belt (1) fixedly mounts robot (12), described the
One pneumatic gripping device (13) is disposed on the pneumatic gripping device in robot (12), and first pneumatic gripping device (13) is that have multiple suction
The sucked type handgrip of disk.
2. robot automation's production line experiment porch according to claim 1, it is characterized in that：In the experiment porch
(11) left end, across the top between the first conveyer belt (1) and the 3rd conveyer belt (3) be fixedly installed in X to level
Slide unit (21a), the horizontal sliding table (21a) can be along X to movement, and being fixedly installed on the slide of the horizontal sliding table can be along Z-direction
Mobile vertical slide unit (21b), second pneumatic gripping device (22) is fixedly installed on the bottom of the vertical slide unit (21b), institute
It is the sucked type handgrip with multiple suckers to state the second pneumatic gripping device (22).
3. robot automation's production line experiment porch according to claim 1, it is characterized in that：In the experiment porch
(11) on, it is in the right side of the robot (12) and is fixed on position reached by first pneumatic gripping device (13)
Packing box is set and stores platform (14), external packing box (15) is stored in packing box and is stored on platform (14).
4. robot automation's production line experiment porch according to claim 1, it is characterized in that：The camera support (16)
Framework is set to, the shade that filter glass (19) forms industrial camera (17) is set in the surrounding of the framework and top.
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| CN201510256444.6A CN104850117B (en) | 2015-05-19 | 2015-05-19 | Robot automatic production line experiment platform and control method thereof |
| CN201710273913.4A CN107422700B (en) | 2015-05-19 | 2015-05-19 | A kind of control method of robot automation's production line experiment porch |
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| CN105643625B (en) * | 2016-03-07 | 2017-08-25 | 合肥工业大学 | A kind of single site based on mechanical arm is fed the method for work of production and processing system |
| CN105825743A (en) * | 2016-04-27 | 2016-08-03 | 苏州工业园区职业技术学院 | Teaching device for cartonning semispherical parts |
| CN106672346A (en) * | 2017-02-08 | 2017-05-17 | 温州职业技术学院 | Production line for conducting product inspection and packaging operation |
| CN107562025B (en) * | 2017-08-08 | 2019-10-29 | 浙江大学 | Automatic flexible assembly system and control method based on distributed moveable platform |
| CN108022500A (en) * | 2017-12-28 | 2018-05-11 | 肇庆三向教学仪器制造股份有限公司 | Teaching experimental equipment based on robot sorting task model |
| CN109048925B (en) * | 2018-10-23 | 2023-06-16 | 西安中科光电精密工程有限公司 | Flexible assembly robot and magnetic force template assembly method thereof |
| CN109542085B (en) * | 2018-11-26 | 2020-10-23 | 东北大学 | Automatic experiment platform flexible switching device with time-lag configuration function and method |
| CN109625410A (en) * | 2019-01-22 | 2019-04-16 | 昆山湖大机器人技术有限公司 | Sanitary ware packing device |
| CN110155617A (en) * | 2019-06-24 | 2019-08-23 | 镇江合力汽车紧固件有限公司 | A kind of automatic blanking discharging device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE4320706C1 (en) * | 1993-06-23 | 1994-10-06 | Protech Automation Gmbh | Duplex conveyor |
| JPH1053316A (en) * | 1996-08-08 | 1998-02-24 | Fanuc Ltd | Sliding quantity measuring method of conveyor and tracking action correcting method of robot |
| US6081324A (en) * | 1998-06-22 | 2000-06-27 | Scan Technology Co., Ltd. | Foreign matter detecting system |
| DK2018528T3 (en) * | 2006-05-19 | 2016-01-11 | Marel As | Method and system for batch formation of objects |
| CN101446817B (en) * | 2008-12-29 | 2011-06-08 | 重庆大学 | Control system based on PLC for picking, placing, loading and transporting in powder metallurgy production line |
| CN202343638U (en) * | 2011-12-09 | 2012-07-25 | 首钢莫托曼机器人有限公司 | Automatic carrying and detecting device for elastic bar stamping by using robot |
| CN103337216B (en) * | 2013-04-28 | 2016-12-28 | 江苏汇博机器人技术股份有限公司 | A kind of machine photoelectricity gas-liquid integral flexible production comprehensive training system |
| CN104050862A (en) * | 2014-06-05 | 2014-09-17 | 浙江亚龙教育装备股份有限公司 | Industrial robot training system |
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| CN107422700A (en) | 2017-12-01 |
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