CN105397813A - Robot and control method thereof - Google Patents
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- CN105397813A CN105397813A CN201610000083.3A CN201610000083A CN105397813A CN 105397813 A CN105397813 A CN 105397813A CN 201610000083 A CN201610000083 A CN 201610000083A CN 105397813 A CN105397813 A CN 105397813A
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- 238000012546 transfer Methods 0.000 claims abstract description 101
- 230000008707 rearrangement Effects 0.000 claims abstract description 29
- 230000008569 process Effects 0.000 claims description 7
- 230000002776 aggregation Effects 0.000 claims description 5
- 238000004220 aggregation Methods 0.000 claims description 5
- 238000011144 upstream manufacturing Methods 0.000 claims description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention provides an industrial robot and a control method thereof. The robot comprises a tray divided into a first interval and a second interval and used for placing a to-be-transferred workpiece; a first manipulator used for transferring the workpiece on the tray onto a transport channel; an interval state indication unit used for indicating whether a workpiece that is allowed to be taken out exists inside the first interval and the second interval or not, and then indicating a unit with the workpiece being taken out; and an interval determining unit used for determining one interval for being subjected to rearrangement or transfer and the operation thereof according to the information of a switching determining unit and the information of the interval state indication unit. When the number of workpieces inside the first and second intervals is smaller than a particular threshold, the first and second intervals are combined as a single interval. The interval determining unit enables the rearrangement or the transfer of the single interval directly based on the rearrangement or transfer information of the switching determining unit.
Description
Technical field
The present invention relates to a kind of robot with manipulator, especially control robot and the control method thereof of manipulator.
Background technology
Along with the development of science and technology, robot is so more and more that to apply industrial automation production field.Current existing utilize Industrial Robot Technology to carry out operation technique and device have a variety of: carry out the predetermined processing operation for processed product undertaken by people in the production line Deng Shangshi robot of processed goods, thus realize the efficient activity of production line.
In the production system employing robot, especially industrial robot, robot is used for the operations such as the grasping of workpiece, carrying.In the purposes of such robot, workpiece picking up system carries out each workpiece taking-up in the workpiece from the state be placed in a jumble in storage box or on pallet, and workpiece picking up system is treated by the workpiece that clamps by determining the next one with each position of two dimensional measuring instrument or three-dimensional measurement instrument measuring workpieces and indicates multi-axis robot to clamp by the workpiece determined.Then, multi-axis robot by by the work piece delivery that clamps on conveyer, perform predetermined work by the industrial robot etc. in each work station of arranging along conveyer.
In prior art, most of pipeline machine people uses the industrial robot system of operation like this.In routine techniques, when the image based on the workpiece that pallet loads cannot detect the workpiece that will be removed, shake workpiece or pallet, thus detect the workpiece allowing to be removed again.But, if repeated detection allow to be removed workpiece failure time, the take-off time of workpiece will be increased, thus cause the conveyer in downstream to lack enough workpiece, thus overall operating efficiency is reduced.
As the improvement of prior art, An Chuan Electric Co., Ltd proposes a kind of industrial robot system in the patent of invention of CN102785238B, when it has abundant workpiece on Transfer pipe, reordering operations is carried out for pallet, thus reduce the probability that workpiece in pallet cannot be allowed to taking-up, shorten total pick-up time of the workpiece on pallet.But when Transfer pipe having abundant workpiece, the workpiece in pallet is probably be in the state that can be removed, and now carries out resetting the number that not necessarily can increase the workpiece that can take out; And reordering operations not necessarily can be completely successful, due to the transfer etc. of workpiece after likely resetting, causing originally belonging to the workpiece that can take out state becomes and cannot take out, and adds the pick-up time on the contrary.
In order to solve the problem, in the patent of invention of 2015109485939, by dividing plate, pallet is divided into first interval and the second interval, workpiece on Transfer pipe reaches threshold value, but when not needing the operation carrying out rearrangement work in the current operating space carrying out transfer workpiece, the rearrangement of workpiece in another one interval can be carried out, thus avoid the loss of the overall time that unnecessary rearrangement causes.But, due to workpiece process normally in batches, in the posterior segment handling process of batch, along with the minimizing of workpiece on pallet, two intervals to be taken pictures and state is determined to need to consume the too much time, efficiency may be caused to reduce.
Summary of the invention
The invention provides a kind of industrial robot, the problems referred to above of prior art can be solved.
As one aspect of the present invention, provide a kind of industrial robot, comprising: pallet, it places the workpiece needing transfer; First manipulator, its for by the workpiece transfer on pallet to Transfer pipe; Switch determining unit, it based on the aggregation extent of the workpiece on Transfer pipe, can determine that the first manipulator performs transfer workpiece or resets the operation of workpiece; Described pallet comprises the dividing plate of disposed therein; Described pallet is separated into first interval and the second interval by described dividing plate, and described workpiece is distributed in described first interval and the second interval; Switch determining unit, it based on the aggregation extent of the workpiece on Transfer pipe, can determine that the first manipulator performs transfer workpiece or resets the operation of workpiece; State of section indicating member, it is used to indicate in described first interval and the second interval whether there is the workpiece allowing to be removed, and indicates current just at the unit of pickup; Interval determination unit, according to the information of described switching determining unit and described state of section indicating member, determines the interval of carrying out resetting or shifting and operation thereof; Described dividing plate is can the dividing plate of reduction; Described pallet is square, and its both sides arrange moveable side walls; When the chief engineer's number of packages in described first interval and the second interval is less than specific threshold, described moveable side walls is moved to centre, described dividing plate retracted downward, single interval is merged in the first interval and the second interval; After single interval is merged in described first interval and the second interval, described interval determination unit directly according to transfer or the information of rearrangement of described switching determining unit, carries out transfer or the rearrangement in this single interval.
Preferably, image acquisition unit and transfer candidate unit is also comprised; Described pallet be divided into first interval and second interval time: described image acquisition unit can obtain the image in the regional in multiple regions that the first interval or the second interval division become; Described transfer candidate unit according to the image in described regional, can be determined the workpiece that this first interval or the second interval interior next one can carry out shifting or determines there is not the workpiece allowing to be removed in this first interval or the second interval; After single interval merged into by described pallet: this single interval can be divided into multiple region by described image acquisition unit, and obtains the image in regional; Described transfer candidate unit can according to the image in this regional, determines the workpiece that the next one in this single interval can carry out shifting or determines there is not the workpiece allowing to be removed in this single interval.
Preferably, described switching determining unit, based on the number of workpiece on described Transfer pipe, determines that the first manipulator performs transfer workpiece or resets the operation of workpiece.
Preferably, when described pallet is divided into the first interval and second is interval, described interval determination unit determine reset or transmit interval time: 1) interval determination unit obtains the information of described switching determining unit, 1.1) when described switching determining unit determines the operation carrying out transfer workpiece, described interval determination unit obtains the information of described state of section indicating member; 1.1.1) if current just exist the workpiece allowing to be removed in the interval of pickup, then the transfer work piece operations in this interval is carried out; 1.1.2) if current just do not exist the workpiece allowing to be removed in the interval of pickup, then check in another one interval whether to exist allowing by the work of pickup; If another one interval exists allow by the workpiece of pickup, then carry out the transfer work piece operations in this another one interval; If another one interval does not exist allow by the workpiece of pickup yet, then the operation of resetting workpiece is carried out for current interval interval; 1.2) when described switching determining unit determines the operation carrying out resetting workpiece, described interval determination unit obtains the information of described state of section indicating member; 1.2.1) if current just do not exist the workpiece allowing to be removed in the interval of pickup, then carry out current just at the reordering operations in the interval of pickup; 1.2.2) if current just exist the workpiece allowing to be removed in the interval of pickup, then check whether another one interval exists the workpiece allowing to be removed; If this another one interval does not exist the workpiece allowing to be removed, then carry out the reordering operations in this another one interval; If this another one interval exists the workpiece allowing to be removed, then do not carry out the operation that this resets workpiece; 1.3) according to the state of section reset after workpiece, the state of unit in state of section indicating member is upgraded.
Preferably, after single interval merged into by described pallet, described interval determination unit determine reset or transmit interval time, described interval determination unit directly obtains transfer or the rearrangement information of described switching determining unit, carries out transfer or the rearrangement in this single interval.
Preferably, described first interval and the second interval arrange weight sensor respectively, can detect the quality of described first interval and the second interval interior workpiece respectively; Based on the quality of workpiece in described first interval and the second interval, determine the number of described first interval and the second interval interior workpiece.
As another aspect of the present invention, provide the control method of above-mentioned industrial robot, comprise following flow process: 1) upstream equipment is by identical workpiece placement tray first interval and the second interval; A) the total Number of Jobs in the first interval and the second interval is monitored in real time, a.1) when chief engineer's number of packages is greater than specific threshold: a.2) image acquisition unit obtains the image in and the second interval regional interval by first; A.3) transfer candidate unit is according to the image in regional, determines the workpiece that this first interval or the second interval interior next one can carry out shifting or determines there is not the workpiece allowing to be removed in this first interval or the second interval; Determination result is sent to described state of section indicating member; A.4) interval determination unit is according to state of section indicating member information: if there is the interval can carrying out workpiece transfer, carried out the transfer of workpiece, enter step a.5 by the first manipulator); If the instruction of state of section indicating member information is current there is not the interval can carrying out workpiece transfer, then, after interval determination unit indicates the first manipulator to carry out the rearrangement in the first interval and the second interval, repeat step a.1-a.4; A.5) monitor the number of workpiece on Transfer pipe in real time: a.5.1) when the number of workpiece on described Transfer pipe is less than specific threshold, switch the operation that determining unit is determined to carry out shifting workpiece, enter step a.4; A.5.2) when the number of workpiece on described Transfer pipe is greater than specific threshold, described switching determining unit determines the operation of carrying out resetting workpiece, and described interval determination unit obtains the information of described state of section indicating member; A.5.2.1) if current just do not exist the workpiece allowing to be removed in the interval of pickup, then carry out current just at the reordering operations in the interval of pickup; A.5.2.2) if current just exist the workpiece allowing to be removed in the interval of pickup, then check whether another one interval exists the workpiece allowing to be removed; If this another one interval does not exist the workpiece allowing to be removed, then carry out the reordering operations in this another one interval; If this another one interval exists the workpiece allowing to be removed, then do not carry out the operation that this resets workpiece; Enter step a.4); B) the total Number of Jobs in the first interval and the second interval is monitored in real time, b.1) when chief engineer's number of packages is greater than specific threshold: b.2) make described moveable side walls move to centre, described dividing plate retracted downward, merges into single interval by the first interval and the second interval; B.3) described interval determination unit directly obtains transfer or the rearrangement information of described switching determining unit, carries out transfer or the rearrangement in this single interval.
Accompanying drawing explanation
Fig. 1 is the block diagram of embodiment of the present invention industrial robot system control structure.
Fig. 2 is the control flow chart of embodiment of the present invention industrial robot.
Detailed description of the invention
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The industrial robot system of the embodiment of the present invention, comprising: pallet, and it places the workpiece needing transfer; First manipulator, its for by the workpiece transfer on pallet to Transfer pipe; Transfer pipe, it is for by conveying work pieces; Second manipulator, it is for obtaining workpiece by the downstream from Transfer pipe; The water operation of workpiece is repeated, until all work piece operations terminate by this system.Wherein, Transfer pipe is provided with sensor, the number of workpiece on Transfer pipe can be detected, control system according to the number of workpiece on Transfer pipe, can carry out the operation of pallet.
Pallet comprises the dividing plate of disposed therein, and pallet is separated into first interval and the second interval by it.The workpiece of upstream equipment conveying same shape is distributed in described first interval and the second interval.During pickup, the first manipulator only can carry out pickup from the single interval the first interval or the second interval at every turn; During rearrangement, the first manipulator only can be reset in single interval that is interval or the second interval for first.Control system can control the first manipulator, carries out resetting or shifting work piece operations for single interval.
First interval and the second interval arrange weight sensor respectively, can detect the quality of the first interval and the second interval interior workpiece respectively; Based on the quality of workpiece in the first interval and the second interval, determine the number of the first interval and the second interval interior workpiece.
Dividing plate is can the dividing plate of reduction; Pallet is square, and its both sides arrange moveable side walls; When the chief engineer's number of packages in the first interval and the second interval is less than specific threshold, moveable side walls is moved to centre, dividing plate retracted downward, single interval is merged in the first interval and the second interval.After single interval is merged in first interval and the second interval, interval determination unit directly according to the transfer or the information of rearrangement that switch determining unit, carries out transfer or the rearrangement in this single interval.
As shown in Figure 1, robot control system 20 comprises communication unit 21 and controller 28 to the control system of robot system of the present invention.Controller 28 carries out data interaction by communication unit 21 and the sensor 31 be arranged on Transfer pipe 30, receive the first interval of camera shooting on Work piece transfer system 10 and the image in the second interval by communication unit 21 simultaneously, indicate the first manipulator to carry out the operation shifted workpiece or reset workpiece by communication unit 21.Wherein, the operation shifting workpiece or rearrangement workpiece can use mode of operation well known in the prior art.
Controller 28 also comprises Transfer pipe detecting unit 22, switches determining unit 23, interval determination unit 24, state of section indicating member 25, transfer candidate unit 26, image acquisition unit 27.Wherein, Transfer pipe detecting unit 22 receives the Detection Information of the workpiece by Transfer pipe 30 from the sensor 31 be arranged on Transfer pipe 30, and detects the number accumulating in the workpiece in Transfer pipe 30 downstream based on this Detection Information.Switch determining unit 23, it based on the aggregation extent of the workpiece on Transfer pipe 30, can determine that the first manipulator performs transfer workpiece or resets the operation of workpiece; The determination result switching determining unit 23 sends to interval determination unit 24.
When pallet is divided into the first interval interval with second: the first interval or the second interval division can be become multiple region by image acquisition unit 27, and obtain the image in regional; Image in the regional that transfer candidate unit 26 can obtain according to image acquisition unit 27, determines the workpiece that this first interval or the second interval interior next one can carry out shifting or determines there is not the workpiece allowing to be removed in this first interval or the second interval.After single interval merged into by pallet: this single interval can be divided into multiple region by image acquisition unit 27, and obtains the image in regional; Transfer candidate unit 26 can according to the image in this regional, determines the workpiece that the next one in this single interval can carry out shifting or determines there is not the workpiece allowing to be removed in this single interval.The determination result of transfer candidate unit 26 sends to state of section indicating member 25.Any means known of the prior art can be used, as CN102785238B determines whether there is the workpiece that can be removed in interval.
When described pallet is divided into the first interval and second is interval, interval determination unit 24 receives the comformed information switching determining unit 23 and state of section indicating member 25, make following operation: 1) interval determination unit 24 obtains the information switching determining unit 23,1.1) when switching determining unit 23 determines the operation carrying out transfer workpiece, interval determination unit 24 obtains the information of state of section indicating member 25; 1.1.1) if current just exist the workpiece allowing to be removed in the interval of pickup, then the transfer work piece operations in this interval is carried out; 1.1.2) if current just do not exist the workpiece allowing to be removed in the interval of pickup, then check in another one interval whether to exist allowing by the work of pickup; If another one interval exists allow by the workpiece of pickup, then carry out the transfer work piece operations in this another one interval; If another one interval does not exist allow by the workpiece of pickup yet, then the operation of resetting workpiece is carried out for current interval interval; 1.2) when switching determining unit 23 and determining the operation carrying out resetting workpiece, interval determination unit 24 obtains the information of state of section indicating member 25; 1.2.1) if current just do not exist the workpiece allowing to be removed in the interval of pickup, then carry out current just at the reordering operations in the interval of pickup; 1.2.2) if current just exist the workpiece allowing to be removed in the interval of pickup, then check whether another one interval exists the workpiece allowing to be removed; If this another one interval does not exist the workpiece allowing to be removed, then carry out the reordering operations in this another one interval; If this another one interval exists the workpiece allowing to be removed, then do not carry out the operation that this resets workpiece; 1.3) according to the state of section reset after workpiece, the state of unit in state of section indicating member is upgraded.
After single interval merged into by described pallet, interval determination unit 24 determine reset or transmit interval time, directly obtain switch determining unit 23 transfer or rearrangement information, carry out transfer or the rearrangement in this single interval.
By the setting of technique scheme of the present invention, in the posterior segment handling process of batch, along with the minimizing of workpiece on pallet, single interval is merged in two intervals, directly this single interval is reset or shifted work piece operations, thus the efficiency of posterior segment process can be improved.
Preferably, in order to avoid always carrying out pickup in single interval, overlong time when causing this single interval workpiece number very few and need to reset, can arrange weight sensor respectively in the first interval and the second interval, can detect the quality of described first interval and the second interval interior workpiece respectively; When the described first workpiece quality difference that is interval and the second interval is greater than specific threshold, the information of state of section indicating member described in described interval determination unit, when the light interval of wherein workpiece quality exist allow the workpiece be removed time, described interval determination unit determines that the operation of workpiece is carried out shifting in interval that this workpiece quality is light.
The control method of the industrial robot of the embodiment of the present invention, as shown in Figure 2, comprises following flow process: 1) upstream equipment is by identical workpiece placement tray first interval and the second interval, after placement; A) the total Number of Jobs in the first interval and the second interval is monitored in real time, a.1) when chief engineer's number of packages is greater than specific threshold: a.2) image acquisition unit obtains the image in and the second interval regional interval by first; A.3) transfer candidate unit is according to the image in regional, determines the workpiece that this first interval or the second interval interior next one can carry out shifting or determines there is not the workpiece allowing to be removed in this first interval or the second interval; Determination result is sent to described state of section indicating member; A.4) interval determination unit is according to state of section indicating member information: if there is the interval can carrying out workpiece transfer, carried out the transfer of workpiece, enter step a.5 by the first manipulator); If the instruction of state of section indicating member information is current there is not the interval can carrying out workpiece transfer, then, after interval determination unit indicates the first manipulator to carry out the rearrangement in the first interval and the second interval, repeat step a.1-a.4; A.5) monitor the number of workpiece on Transfer pipe in real time: a.5.1) when the number of workpiece on described Transfer pipe is less than specific threshold, switch the operation that determining unit is determined to carry out shifting workpiece, enter step a.4; A.5.2) when the number of workpiece on described Transfer pipe is greater than specific threshold, described switching determining unit determines the operation of carrying out resetting workpiece, and described interval determination unit obtains the information of described state of section indicating member; A.5.2.1) if current just do not exist the workpiece allowing to be removed in the interval of pickup, then carry out current just at the reordering operations in the interval of pickup; A.5.2.2) if current just exist the workpiece allowing to be removed in the interval of pickup, then check whether another one interval exists the workpiece allowing to be removed; If this another one interval does not exist the workpiece allowing to be removed, then carry out the reordering operations in this another one interval; If this another one interval exists the workpiece allowing to be removed, then do not carry out the operation that this resets workpiece; Enter step a.4); B) the total Number of Jobs in the first interval and the second interval is monitored in real time, b.1) when chief engineer's number of packages is greater than specific threshold: b.2) make described moveable side walls move to centre, described dividing plate retracted downward, merges into single interval by the first interval and the second interval; B.3) described interval determination unit directly obtains transfer or the rearrangement information of described switching determining unit, carries out transfer or the rearrangement in this single interval.
In all documents incorporated by reference all in this application that the present invention mentions, just quoted separately as a reference as each section of document.In addition should understand; after having read above-mentioned disclosure of the present invention; protection scope of the present invention is also not only confined to above-described embodiment; those skilled in the art can make various changes or modifications the present invention; without departing from the principles of the present invention, these equivalent form of values fall within the application's appended claims limited range equally.
Claims (7)
1. an industrial robot, comprising: pallet, and it places the workpiece needing transfer; First manipulator, its for by the workpiece transfer on pallet to Transfer pipe; Switch determining unit, it based on the aggregation extent of the workpiece on Transfer pipe, can determine that the first manipulator performs transfer workpiece or resets the operation of workpiece; Described pallet comprises the dividing plate of disposed therein; Described pallet is separated into first interval and the second interval by described dividing plate, and described workpiece is distributed in described first interval and the second interval; Switch determining unit, it based on the aggregation extent of the workpiece on Transfer pipe, can determine that the first manipulator performs transfer workpiece or resets the operation of workpiece; State of section indicating member, it is used to indicate in described first interval and the second interval whether there is the workpiece allowing to be removed, and indicates current just at the unit of pickup; Interval determination unit, according to the information of described switching determining unit and described state of section indicating member, determines the interval of carrying out resetting or shifting and operation thereof; It is characterized in that: described dividing plate is can the dividing plate of reduction; Described pallet is square, and its both sides arrange moveable side walls; When the chief engineer's number of packages in described first interval and the second interval is less than specific threshold, described moveable side walls is moved to centre, described dividing plate retracted downward, single interval is merged in the first interval and the second interval; After single interval is merged in described first interval and the second interval, described interval determination unit directly according to transfer or the information of rearrangement of described switching determining unit, carries out transfer or the rearrangement in this single interval.
2. industrial robot according to claim 1, is characterized in that: also comprise image acquisition unit and transfer candidate unit; When described pallet is divided into the first interval interval with second: the first interval or the second interval division can be become multiple region by described image acquisition unit, and obtain the image in regional; Described transfer candidate unit according to the image in described regional, can be determined the workpiece that this first interval or the second interval interior next one can carry out shifting or determines there is not the workpiece allowing to be removed in this first interval or the second interval; After single interval merged into by described pallet: this single interval can be divided into multiple region by described image acquisition unit, and obtains the image in regional; Described transfer candidate unit can according to the image in this regional, determines the workpiece that the next one in this single interval can carry out shifting or determines there is not the workpiece allowing to be removed in this single interval.
3. industrial robot according to claim 2, is characterized in that: described switching determining unit, based on the number of workpiece on described Transfer pipe, determines that the first manipulator performs transfer workpiece or resets the operation of workpiece.
4. industrial robot according to claim 3, it is characterized in that: when described pallet is divided into the first interval and second is interval, described interval determination unit determine reset or transmit interval time: 1) interval determination unit obtains the information of described switching determining unit, 1.1) when described switching determining unit determines the operation carrying out transfer workpiece, described interval determination unit obtains the information of described state of section indicating member; 1.1.1) if current just exist the workpiece allowing to be removed in the interval of pickup, then the transfer work piece operations in this interval is carried out; 1.1.2) if current just do not exist the workpiece allowing to be removed in the interval of pickup, then check in another one interval whether to exist allowing by the work of pickup; If another one interval exists allow by the workpiece of pickup, then carry out the transfer work piece operations in this another one interval; If another one interval does not exist allow by the workpiece of pickup yet, then the operation of resetting workpiece is carried out for current interval interval; 1.2) when described switching determining unit determines the operation carrying out resetting workpiece, described interval determination unit obtains the information of described state of section indicating member; 1.2.1) if current just do not exist the workpiece allowing to be removed in the interval of pickup, then carry out current just at the reordering operations in the interval of pickup; 1.2.2) if current just exist the workpiece allowing to be removed in the interval of pickup, then check whether another one interval exists the workpiece allowing to be removed; If this another one interval does not exist the workpiece allowing to be removed, then carry out the reordering operations in this another one interval; If this another one interval exists the workpiece allowing to be removed, then do not carry out the operation that this resets workpiece; 1.3) according to the state of section reset after workpiece, the state of unit in state of section indicating member is upgraded.
5. industrial robot according to claim 4, it is characterized in that: after single interval merged into by described pallet, described interval determination unit determine reset or transmit interval time, described interval determination unit directly obtains transfer or the rearrangement information of described switching determining unit, carries out transfer or the rearrangement in this single interval.
6. industrial robot according to claim 5, is characterized in that: described first interval and the second interval arrange weight sensor respectively, can detect the quality of described first interval and the second interval interior workpiece respectively; Based on the quality of workpiece in described first interval and the second interval, determine the number of described first interval and the second interval interior workpiece.
7. according to the control method of the industrial robot one of claim 1-6 Suo Shu, comprise following flow process: 1) upstream equipment is by identical workpiece placement tray first interval and the second interval; A) the total Number of Jobs in the first interval and the second interval is monitored in real time, a.1) when chief engineer's number of packages is greater than specific threshold: a.2) image acquisition unit obtains the image in and the second interval regional interval by first; A.3) transfer candidate unit is according to the image in regional, determines the workpiece that this first interval or the second interval interior next one can carry out shifting or determines there is not the workpiece allowing to be removed in this first interval or the second interval; Determination result is sent to described state of section indicating member; A.4) interval determination unit is according to state of section indicating member information: if there is the interval can carrying out workpiece transfer, carried out the transfer of workpiece, enter step a.5 by the first manipulator); If the instruction of state of section indicating member information is current there is not the interval can carrying out workpiece transfer, then, after interval determination unit indicates the first manipulator to carry out the rearrangement in the first interval and the second interval, repeat step a.1-a.4; A.5) monitor the number of workpiece on Transfer pipe in real time: a.5.1) when the number of workpiece on described Transfer pipe is less than specific threshold, switch the operation that determining unit is determined to carry out shifting workpiece, enter step a.4; A.5.2) when the number of workpiece on described Transfer pipe is greater than specific threshold, described switching determining unit determines the operation of carrying out resetting workpiece, and described interval determination unit obtains the information of described state of section indicating member; A.5.2.1) if current just do not exist the workpiece allowing to be removed in the interval of pickup, then carry out current just at the reordering operations in the interval of pickup; A.5.2.2) if current just exist the workpiece allowing to be removed in the interval of pickup, then check whether another one interval exists the workpiece allowing to be removed; If this another one interval does not exist the workpiece allowing to be removed, then carry out the reordering operations in this another one interval; If this another one interval exists the workpiece allowing to be removed, then do not carry out the operation that this resets workpiece; Enter step a.4); B) the total Number of Jobs in the first interval and the second interval is monitored in real time, b.1) when chief engineer's number of packages is greater than specific threshold: b.2) make described moveable side walls move to centre, described dividing plate retracted downward, merges into single interval by the first interval and the second interval; B.3) described interval determination unit directly obtains transfer or the rearrangement information of described switching determining unit, carries out transfer or the rearrangement in this single interval.
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| CN201610000083.3A CN105397813B (en) | 2016-01-01 | 2016-01-01 | Robot and its control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666494A (en) * | 2016-04-09 | 2016-06-15 | 王玮 | Robot control method and robot system |
| CN106272421A (en) * | 2016-04-09 | 2017-01-04 | 王玮 | A kind of program control industrial robot |
| CN108227642A (en) * | 2016-12-14 | 2018-06-29 | 欧姆龙株式会社 | production system, control device and control method |
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| CN105666494A (en) * | 2016-04-09 | 2016-06-15 | 王玮 | Robot control method and robot system |
| CN106272421A (en) * | 2016-04-09 | 2017-01-04 | 王玮 | A kind of program control industrial robot |
| CN105666494B (en) * | 2016-04-09 | 2017-07-14 | 福州环亚众志计算机有限公司 | Robot control method and robot system |
| CN106272421B (en) * | 2016-04-09 | 2018-07-13 | 广州佳帆计算机有限公司 | A kind of program-controlled industrial robot |
| CN108227642A (en) * | 2016-12-14 | 2018-06-29 | 欧姆龙株式会社 | production system, control device and control method |
Also Published As
| Publication number | Publication date |
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| CN105397813B (en) | 2017-03-29 |
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