CN105397813B - Robot and its control method - Google Patents
Robot and its control method Download PDFInfo
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- CN105397813B CN105397813B CN201610000083.3A CN201610000083A CN105397813B CN 105397813 B CN105397813 B CN 105397813B CN 201610000083 A CN201610000083 A CN 201610000083A CN 105397813 B CN105397813 B CN 105397813B
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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
Industrial robot and its control method, including：Pallet, is divided into first interval and second interval, and placing needs the workpiece of transfer；First mechanical hand, for by the workpiece transfer on pallet to Transfer pipe；State of section indicating member, allows the workpiece being removed for indicating to whether there is in first interval and second interval, and indicates currently just in the unit of pickup；Interval determination unit, according to switching determining unit and the information of state of section indicating member, it is determined that entering the interval and its operation of rearrangement or transfer；When the chief engineer's number of packages in first interval and second interval is less than specific threshold, first interval and second interval are merged into into single interval, interval determination unit transfer or rearrangement information directly according to switching determining unit, carries out the single interval transfer or rearrangement.
Description
Technical field
The present invention relates to the robot and its controlling party of a kind of robot with mechanical hand, especially control machinery hand
Method.
Background technology
With the development of science and technology, robot is more and more must to apply industrial automation production field.Current existing profit
The technique and device that operation is carried out with Industrial Robot Technology has many kinds：Carry out in the production line Deng Shangshi robots of processed goods
By people carry out for the predetermined processing operation of processed product, so as to realize the efficient activity of production line.
Having used robot, especially in the production system of industrial robot, robot is used for the grasping of workpiece, is removed
The operation such as fortune.In the purposes of such robot, workpiece picking up system is for from being placed in storage box in a jumble or pallet
On state workpiece in carry out each workpiece taking-up, workpiece picking up system is by being surveyed with two dimensional measuring instrument or three-dimensional measurement instrument
Each position of amount workpiece is determining that the next one treats clamped workpiece and indicate the multi-axis robot work that is determined of clamping
Part.Then, multi-axis robot is sent to clamped workpiece on transporter, by each work arranged along transporter
Industrial robot in standing etc. performs predetermined work.
In prior art, most of pipeline machine people use the industrial robot system of such operation.In conventional skill
In art, when the image of the workpiece loaded on based on pallet cannot detect workpiece to be removed, shake workpiece or pallet,
So as to detect the workpiece for allowing to be removed again.But, if repeated detection allows the workpiece being removed to fail, it will increase
The take-off time of workpiece, so as to the transporter for causing downstream lacks enough workpiece, so that the work efficiency drop of entirety
It is low.
Used as the improvement of prior art, An Chuan Electric Co., Ltd proposes one kind in the patent of invention of CN102785238B
Industrial robot system, when which has enough workpiece on Transfer pipe, for pallet carries out reordering operations, so as to reduce
In pallet, workpiece cannot be allowed to the probability for taking out, and shorten total pick-up time of the workpiece on pallet.But, work as Transfer pipe
When above with enough multi-work pieces, the workpiece in pallet is likely to be the state in being removed, and now enters rearrangement not
The number of the workpiece that can be taken out can necessarily be increased；And reordering operations can not necessarily be completely successful, it is possible to after rearrangement due to
Transfer of workpiece etc., causes to belong to originally the workpiece that can take out state and becomes to take out, and increased the pick-up time on the contrary.
In order to solve the above problems, in 2015109485939 patent of invention, pallet is divided into by the firstth area by dividing plate
Between and second interval, the workpiece on Transfer pipe reaches threshold value, but is not required in the operating range for currently carrying out shift workpiece
During the operation entered by rearrangement work, the rearrangement of workpiece in another interval can be carried out, so as to avoid unnecessary weight
The loss of overall time caused by row.But, as workpiece process is typically in batches, to process in the posterior segment of a batch
In flow process, with the reduction of workpiece on pallet, two intervals are taken pictures and state is determined the time for needing consumption excessive, can
Efficiency can be caused to reduce.
The content of the invention
The invention provides a kind of industrial robot, can solve the problem that the problems referred to above of prior art.
As one aspect of the present invention, there is provided a kind of industrial robot, including：Pallet, which is placed needs transfer
Workpiece；First mechanical hand, which is used for the workpiece transfer on pallet to Transfer pipe；Switching determining unit, which can be based on
The aggregation extent of the workpiece on Transfer pipe, determines that the first mechanical hand performs transfer workpiece or resets the operation of workpiece；It is described
Pallet include being disposed therein between dividing plate；The pallet is separated into first interval and second interval, the work by the dividing plate
Part is distributed in the first interval and second interval；Switching determining unit, which can be based on the poly- of the workpiece on Transfer pipe
Collection degree, determines that the first mechanical hand performs transfer workpiece or resets the operation of workpiece；State of section indicating member, which is used to refer to
Show with the presence or absence of the workpiece for allowing to be removed in the first interval and second interval, and indicate currently just in the list of pickup
Unit；Interval determination unit, according to the switching determining unit and the information of the state of section indicating member, it is determined that carrying out weight
Row or the interval and its operation shifted；The dividing plate is the dividing plate for being capable of reduction；The pallet is square, and its both sides is arranged can
Mobile side wall；When the chief engineer's number of packages in the first interval and second interval is less than specific threshold, the moveable side walls are made
To middle movement, first interval and second interval are merged into single interval by the dividing plate retracted downward；The first interval and
After second interval merges into single interval, interval determination unit transfer or weight directly according to the switching determining unit
Row's information, carries out the single interval transfer or rearrangement.
Preferably, also including image acquisition unit and transfer candidate unit；The pallet be divided into first interval and
During second interval：Described image acquiring unit can obtain each for multiple regions that first interval or second interval are divided into
Image in region；The transfer candidate unit can according to the image in the regional, determine the first interval or
In person's second interval, the workpiece that can be shifted of the next one or determine does not exist fair in the first interval or second interval
Permitted the workpiece being removed；After the pallet merges into single interval：Described image acquiring unit can be by this single interval point
Into multiple regions, and obtain the image in regional；The transfer candidate unit can be according in the regional
Image, determines next one can be shifted in the single interval workpiece or determine in the single interval there is no permission quilt
The workpiece of taking-up.
Preferably, the switching number of the determining unit based on workpiece on the Transfer pipe, determines that the first mechanical hand is held
The operation of row transfer workpiece or rearrangement workpiece.
Preferably, when the pallet is divided into first interval and second interval, the interval determination unit is it is determined that reset
Or transmission it is interval when：1）The information of the interval determination unit acquisition switching determining unit, 1.1）When the switching determines
Unit determines the operation for carrying out shifting workpiece, and the interval determination unit obtains the information of the state of section indicating member；
1.1.1) if current just allow the workpiece being removed in the interval presence of pickup, the transfer work piece operations in the interval are carried out；
1.1.2) if current just do not have the workpiece for allowing to be removed in the interval of pickup, check in another interval whether deposit
Allowing by the work of pickup；If another interval is present allowed by the workpiece of pickup, another is interval to carry out this
Transfer work piece operations；If another interval does not have permission by the workpiece of pickup yet, for currently interval
The operation of rearrangement workpiece is entered in interval；1.2) when the switching determining unit determines the operation into rearrangement workpiece, the area
Between determining unit obtain the information of the state of section indicating member；1.2.1) if currently just do not existed in the interval of pickup fair
Permitted the workpiece being removed, then carried out currently just in the reordering operations in the interval of pickup；1.2.2) if current just in the area of pickup
Between exist and allow the workpiece that is removed, then check another interval with the presence or absence of the workpiece for allowing to be removed；If this is in addition
There is no the workpiece for allowing to be removed in one interval, then carry out another interval reordering operations；If this another
It is interval to there is the workpiece for allowing to be removed, then do not carry out this operation for resetting workpiece；1.3）According to the interval reset after workpiece
State, updates the state of unit in state of section indicating member.
Preferably, after the pallet merges into single interval, the interval determination unit is it is determined that resetting or transmitting
It is interval when, switch the transfer of determining unit described in the interval determination unit direct access or reset information, carry out the list
The transfer or rearrangement in one interval.
Preferably, the first interval and second interval are respectively provided with weight sensor, can detect described first respectively
The quality of workpiece in interval and second interval；Based on the quality of workpiece in the first interval and second interval, described is determined
The one interval number with workpiece in second interval.
As another aspect of the present invention, there is provided the control method of above-mentioned industrial robot, including following flow process：1）
Upstream is equipped identical workpiece placement tray first interval and second interval；a）In monitor in real time first interval and second interval
Total workpiece number, a.1) when chief engineer's number of packages be more than specific threshold when：a.2）Image acquisition unit obtain first interval and
Image in second interval regional；a.3）Transfer candidate unit determines firstth area according to the image in regional
Between or second interval in the workpiece that can be shifted of the next one or determine do not deposit in the first interval or second interval
In the workpiece for allowing to be removed；To determine that result sends the state of section indicating member to；a.4）Interval determination unit according to
State of section indicating member information：If there is the interval that can carry out workpiece transfer, workpiece is carried out by the first mechanical hand
Transfer, into step a.5）；If state of section indicating member information indicates to there is currently no the area that can carry out workpiece transfer
Between, then after interval determination unit indicates that the first mechanical hand carries out the rearrangement of first interval and second interval, repeat step is a.1-
a.4；a.5）The number of workpiece on monitor in real time Transfer pipe：a.5.1）When the number of workpiece on the Transfer pipe is less than specific
Threshold value, switches determining unit and determines the operation for carrying out shifting workpiece, into step a.4；A.5.2) when work on the Transfer pipe
The number of part is more than specific threshold, and the switching determining unit determines the operation into rearrangement workpiece, the interval determination unit
Obtain the information of the state of section indicating member；A.5.2.1) allow to be removed if currently just do not existed in the interval of pickup
Workpiece, then carry out it is current just the interval of pickup reordering operations；A.5.2.2) if current be just present in the interval of pickup
The workpiece being removed is allowed, then checks another interval with the presence or absence of the workpiece for allowing to be removed；If another area
Between there is no the workpiece for allowing to be removed, then carry out another interval reordering operations；If another interval is deposited
In the workpiece for allowing to be removed, then this operation for resetting workpiece is not carried out；Into step a.4）；B) the firstth area of monitor in real time
Between and second interval in total workpiece number, b.1) when chief engineer's number of packages be more than specific threshold when：B.2 the moveable side walls) are made
To middle movement, first interval and second interval are merged into single interval by the dividing plate retracted downward；B.3) the interval
Switch the transfer of determining unit described in determining unit direct access or reset information, carry out the single interval transfer or weight
Row.
Description of the drawings
Fig. 1 is the block diagram of embodiment of the present invention industrial robot system's control structure.
Fig. 2 is the control flow chart of embodiment of the present invention industrial robot.
Specific embodiment
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
The industrial robot system of the embodiment of the present invention, including：Pallet, which places the workpiece for needing transfer；First is mechanical
Handss, which is used for the workpiece transfer on pallet to Transfer pipe；Transfer pipe, which is used for conveying work pieces；Second mechanical hand,
Which is used to obtain workpiece from the downstream of Transfer pipe；The water operation of workpiece is repeated by the system, until all works
Part operation terminates.Wherein, sensor is provided with Transfer pipe, be able to detect that the number of workpiece on Transfer pipe, control system
System can carry out the operation of pallet according to the number of workpiece on Transfer pipe.
Pallet include being disposed therein between dividing plate, pallet is separated into first interval and second interval by which.Upstream is equipped
The workpiece of conveying same shape is distributed in the first interval and second interval.During pickup, the first mechanical hand only can every time
Single interval from first interval or second interval carries out pickup；During rearrangement, the first mechanical hand only can be for the firstth area
Between or the single interval of second interval enter rearrangement.Control system can control the first mechanical hand, for single interval is carried out
Reset or shift work piece operations.
First interval and second interval are respectively provided with weight sensor, can be detected in first interval and second interval respectively
The quality of workpiece；Based on the quality of workpiece in first interval and second interval, workpiece in first interval and second interval is determined
Number.
Dividing plate is the dividing plate for being capable of reduction；Pallet is square, and its both sides arranges moveable side walls；When first interval and second
When chief engineer's number of packages in interval is less than specific threshold, moveable side walls are made to middle mobile, dividing plate retracted downward, by first interval
Single interval is merged into second interval.After first interval and second interval merge into single interval, interval determination unit is direct
According to transfer or the rearrangement information of switching determining unit, the single interval transfer or rearrangement are carried out.
The control system of robot system of the present invention is as shown in figure 1, robot control system 20 includes 21 He of communication unit
Controller 28.Controller 28 carries out data interaction with the sensor 31 being arranged on Transfer pipe 30 by communication unit 21, together
When by communication unit 21 receive Work piece transfer system 10 on photographing unit shoot first interval and second interval image, pass through
Communication unit 21 indicates that the first mechanical hand is carried out shifting workpiece or resets the operation of workpiece.Wherein, workpiece or rearrangement are shifted
The operation of workpiece can use mode of operation well known in the prior art.
Controller 28 also includes Transfer pipe detector unit 22, switching determining unit 23, interval determination unit 24, interval shape
State indicating member 25, transfer candidate unit 26, image acquisition unit 27.Wherein, Transfer pipe detector unit 22 is from being arranged on
Sensor 31 on Transfer pipe 30 receives the detection information of the workpiece by Transfer pipe 30, and is examined based on the detection information
Survey accumulates in the number of the workpiece in 30 downstream of Transfer pipe.Switching determining unit 23, which can be based on the work on Transfer pipe 30
The aggregation extent of part, determines that the first mechanical hand performs transfer workpiece or resets the operation of workpiece；Switching determining unit 23 is really
Determine result and be sent to interval determination unit 24.
When pallet is divided into first interval and second interval：Image acquisition unit 27 can be by first interval or the secondth area
Between be divided into multiple regions, and obtain the image in regional；Transfer candidate unit 26 can obtain single according to image
The image in regional that unit 27 obtains, determines the work that the next one can be shifted in the first interval or second interval
Part determines in the first interval or second interval there is no the workpiece for allowing to be removed.Single interval is merged in pallet
Afterwards：The single interval can be divided into multiple regions by image acquisition unit 27, and obtain the image in regional；Transfer
Candidate unit 26 can determine the workpiece that the single interval interior next one can be shifted according to the image in the regional
Or determine in the single interval there is no the workpiece for allowing to be removed.The determination result of transfer candidate unit 26 is sent to area
Between state indication unit 25.Any means known of the prior art, such as CN102785238B can be used to determine whether deposit in interval
In the workpiece that can be removed.
When the pallet is divided into first interval and second interval, interval determination unit 24 receive switching determining unit 23 with
And the determination information of state of section indicating member 25, make following operation：1）Interval determination unit 24 obtains switching determining unit
23 information, 1.1）When switching determining unit 23 determines the operation for carrying out shifting workpiece, interval determination unit 24 obtains interval shape
The information of state indicating member 25；1.1.1) if current just allow the workpiece being removed in the interval presence of pickup, carry out this
Interval transfer work piece operations；1.1.2) if current just do not have the workpiece for allowing to be removed in the interval of pickup, check
With the presence or absence of permission by the work of pickup in another interval；If another interval is present allowed by the workpiece of pickup,
The transfer work piece operations in another interval are carried out then；If there is no permission by the workpiece of pickup in another interval yet,
Then for the operation of rearrangement workpiece is entered in currently interval interval；1.2) when switching determining unit 23 is determined into rearrangement work
During the operation of part, interval determination unit 24 obtains the information of state of section indicating member 25；1.2.1) if current just in pickup
Interval there is no the workpiece for allowing to be removed, then carry out it is current just the interval of pickup reordering operations；1.2.2) if worked as
It is front just to allow the workpiece being removed in the interval presence of pickup, then check another interval with the presence or absence of the work for allowing to be removed
Part；If another interval does not have the workpiece for allowing to be removed, another interval reordering operations are carried out；Such as
Really another interval presence allows the workpiece being removed, then do not carry out this operation for resetting workpiece；1.3）According to rearrangement
State of section after workpiece, updates the state of unit in state of section indicating member.
The pallet merge into it is single interval after, interval determination unit 24 it is determined that reset or transmit it is interval when,
Information is reset in the transfer of direct access switching determining unit 23, carries out the single interval transfer or rearrangement.
By the setting of above-mentioned technical proposal of the present invention, in the posterior segment handling process of a batch, with pallet
Single interval is merged in two intervals by the reduction of workpiece, directly enters rearrangement or transfer work piece operations to the single interval,
So as to improve the efficiency of posterior segment process.
Preferably, in order to avoid always it is single interval in carry out pickup, cause the single interval workpiece number very few and need
Overlong time when resetting, can be respectively provided with weight sensor in first interval and second interval, can detect described respectively
The quality of workpiece in first interval and second interval；When the workpiece quality difference of the first interval and second interval is more than certain threshold
During value, the information of state of section indicating member described in the interval determination unit, when the light interval presence of wherein workpiece quality is permitted
When being permitted the workpiece being removed, the interval determination unit determines that the light interval of the workpiece quality carries out shifting the operation of workpiece.
The control method of the industrial robot of the embodiment of the present invention, as shown in Fig. 2 including following flow process：1）Upstream is equipped
By identical workpiece placement tray first interval and second interval, after placement is finished；a）Monitor in real time first interval and the secondth area
Interior total workpiece number, a.1) when chief engineer's number of packages is more than specific threshold：a.2）Image acquisition unit is obtained first interval
And the image in second interval regional；a.3）Transfer candidate unit according to the image in regional, determine this
Workpiece or determine in the first interval or second interval that in one interval or second interval, the next one can be shifted
There is no the workpiece for allowing to be removed；To determine that result sends the state of section indicating member to；a.4）Interval determination unit
According to state of section indicating member information：If there is the interval that can carry out workpiece transfer, work is carried out by the first mechanical hand
The transfer of part, into step a.5）；If state of section indicating member information indicates there is currently no to carry out workpiece transfer
Interval, then after interval determination unit indicates that the first mechanical hand carries out the rearrangement of first interval and second interval, repeat step
A.1-a.4；a.5）The number of workpiece on monitor in real time Transfer pipe：a.5.1）When the number of workpiece on the Transfer pipe it is little
In specific threshold, switch determining unit and determine the operation for carrying out shifting workpiece, into step a.4；A.5.2) when the transmission is logical
On road, the number of workpiece is more than specific threshold, and the switching determining unit determines the operation into rearrangement workpiece, described interval true
Order unit obtains the information of the state of section indicating member；A.5.2.1) if currently just there is no permission in the interval of pickup
The workpiece being removed, then carried out currently just in the reordering operations in the interval of pickup；A.5.2.2) if current just in the area of pickup
Between exist and allow the workpiece that is removed, then check another interval with the presence or absence of the workpiece for allowing to be removed；If this is in addition
There is no the workpiece for allowing to be removed in one interval, then carry out another interval reordering operations；If this another
It is interval to there is the workpiece for allowing to be removed, then do not carry out this operation for resetting workpiece；Into step a.4）；B) monitor in real time
Total workpiece number in first interval and second interval, b.1) when chief engineer's number of packages is more than specific threshold：B.2) make described removable
First interval and second interval are merged into single interval to middle movement, the dividing plate retracted downward by dynamic side wall；B.3) institute
Transfer or the rearrangement information for switching determining unit described in interval determination unit direct access is stated, the single interval transfer is carried out
Or reset.
The all documents referred in the present invention all incorporated by reference in this application, are individually recited just as each document
It is such as reference.In addition, it is to be understood that after the above disclosure for having read the present invention, protection scope of the present invention is not
Above-described embodiment is limited only to, those skilled in the art can be made various changes or modifications to the present invention, without departing from the present invention
Under the premise of principle, these equivalent form of values equally fall within the application appended claims limited range.
Claims (6)
1. a kind of industrial robot, including：Pallet, which places the workpiece for needing transfer；First mechanical hand, which is used for pallet
Workpiece transfer on Transfer pipe；Switching determining unit, its can based on the aggregation extent of the workpiece on Transfer pipe, it is determined that
First mechanical hand performs transfer workpiece or resets the operation of workpiece；The pallet include being disposed therein between dividing plate；It is described
The pallet is separated into first interval and second interval by dividing plate, and the workpiece is distributed in the first interval and second interval
It is interior；Switching determining unit, based on the aggregation extent of the workpiece on Transfer pipe, which can determine that the first mechanical hand performs transfer work
The operation of part or rearrangement workpiece；State of section indicating member, its be used to indicate in the first interval and second interval be
No presence allows the workpiece being removed, and indicates currently just in the unit of pickup；Interval determination unit, it is true according to the switching
Order is first and the information of the state of section indicating member, it is determined that entering the interval and its operation of rearrangement or transfer；Which is special
Levy and be：The first interval and second interval are respectively provided with weight sensor, can detect the first interval and respectively
The quality of two interval interior workpiece；Based on the quality of workpiece in the first interval and second interval, determine the first interval and
The number of workpiece in second interval；The dividing plate is the dividing plate for being capable of reduction；The pallet is square, and its both sides arranges removable
Side wall；When the chief engineer's number of packages in the first interval and second interval is less than specific threshold, the moveable side walls are made in
Between move, first interval and second interval are merged into single interval by the dividing plate retracted downward；The first interval and second
After single interval is merged in interval, interval determination unit transfer or rearrangement letter directly according to the switching determining unit
Breath, carries out the single interval transfer or rearrangement.
2. industrial robot according to claim 1, it is characterised in that：Also include image acquisition unit and transfer phenology
Menu unit；When the pallet is divided into first interval and second interval：Described image acquiring unit can by first interval or
Second interval is divided into multiple regions, and obtains the image in regional；The transfer candidate unit can be according to institute
The image in regional is stated, the workpiece or true that the next one can be shifted in the first interval or second interval is determined
There is no the workpiece for allowing to be removed in the fixed first interval or second interval；After the pallet merges into single interval：
The single interval can be divided into multiple regions by described image acquiring unit, and obtain the image in regional；Described turn
Move thing candidate unit and the work that the single interval interior next one can be shifted can be determined according to the image in the regional
Part determines in the single interval there is no the workpiece for allowing to be removed.
3. industrial robot according to claim 2, it is characterised in that：The switching determining unit is logical based on the transmission
The number of workpiece on road, determines that the first mechanical hand performs transfer workpiece or resets the operation of workpiece.
4. industrial robot according to claim 3, it is characterised in that：When the pallet is divided into first interval and the secondth area
Between when, the interval determination unit it is determined that reset or transmit it is interval when：1）It is true that interval determination unit obtains the switching
The information of order unit, 1.1）When the switching determining unit determines the operation for carrying out shifting workpiece, the interval determination unit is obtained
Take the information of the state of section indicating member；1.1.1) if current just allow the work being removed in the interval presence of pickup
Part, then carry out the transfer work piece operations in the interval；1.1.2) allow what is be removed if currently just do not existed in the interval of pickup
Workpiece, then check in another interval with the presence or absence of permission by the work of pickup；If another interval is present allows quilt
The workpiece of pickup, then carry out the transfer work piece operations in another interval；If there is no permission quilt in another interval yet
The workpiece of pickup, then for currently just entering the operation of rearrangement workpiece in the interval of pickup；1.2) when the switching determining unit
It is determined that when entering the operation of rearrangement workpiece, the interval determination unit obtains the information of the state of section indicating member；
1.2.1) if current just do not have the workpiece for allowing to be removed in the interval of pickup, carry out current just in the interval of pickup
Reordering operations；1.2.2) if current just allow the workpiece being removed in the interval presence of pickup, check that another is interval
With the presence or absence of the workpiece for allowing to be removed；If another interval does not have the workpiece for allowing to be removed, this is carried out another
An outer interval reordering operations；If another interval presence allows the workpiece being removed, this rearrangement is not carried out
The operation of workpiece；1.3）According to the state of section reset after workpiece, the state of unit in state of section indicating member is updated.
5. industrial robot according to claim 4, it is characterised in that：After the pallet merges into single interval, institute
State interval determination unit it is determined that reset or transmit it is interval when, switching determination described in the interval determination unit direct access
Information is reset in the transfer of unit, carries out the single interval transfer or rearrangement.
6. the control method of industrial robot according to claim 5, including following flow process：1）Upstream is equipped identical
Workpiece placement tray first interval and second interval；a）Total workpiece number in monitor in real time first interval and second interval,
A.1) when chief engineer's number of packages is more than specific threshold：a.2）Image acquisition unit is obtained first interval and each area of second interval
Image in domain；a.3）Transfer candidate unit determines the first interval or second interval according to the image in regional
Workpiece that the interior next one can be shifted determines not exist in the first interval or second interval and allows what is be removed
Workpiece；To determine that result sends the state of section indicating member to；a.4）Interval determination unit indicates single according to state of section
Metamessage：If there is the interval that can carry out workpiece transfer, the transfer of workpiece is carried out by the first mechanical hand, into step
a.5）；If state of section indicating member information indicates to there is currently no the interval that can carry out workpiece transfer, interval to determine
After unit indicates that the first mechanical hand carries out the rearrangement of first interval and second interval, repeat step is a.1-a.4；a.5）Supervise in real time
The number of workpiece on control Transfer pipe：a.5.1）When the number of workpiece on the Transfer pipe is less than specific threshold, switching determines
Unit determines the operation for carrying out shifting workpiece, into step a.4；A.5.2) when the number of workpiece on the Transfer pipe is more than
Specific threshold, the switching determining unit determine the operation into rearrangement workpiece, and the interval determination unit obtains the interval
The information of state indication unit；A.5.2.1) if current just do not have the workpiece for allowing to be removed in the interval of pickup, enter
Just in the reordering operations in the interval of pickup before the trade；A.5.2.2) if current just allow what is be removed in the interval presence of pickup
Workpiece, then check another interval with the presence or absence of the workpiece for allowing to be removed；If there is no permission in another interval
The workpiece being removed, then carry out another interval reordering operations；If another interval presence allows to be removed
Workpiece, then do not carry out this reset workpiece operation；Into step a.4）；B) monitor in real time first interval and second interval
Interior total workpiece number, b.1) when chief engineer's number of packages is more than specific threshold：B.2 the moveable side walls) are made to middle movement,
First interval and second interval are merged into single interval by the dividing plate retracted downward；B.3) interval determination unit is direct
Obtain the transfer of the switching determining unit or reset information, carry out the single interval transfer or rearrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610000083.3A CN105397813B (en) | 2016-01-01 | 2016-01-01 | Robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610000083.3A CN105397813B (en) | 2016-01-01 | 2016-01-01 | Robot and its control method |
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| Publication Number | Publication Date |
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| CN105397813A CN105397813A (en) | 2016-03-16 |
| CN105397813B true CN105397813B (en) | 2017-03-29 |
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| CN201610000083.3A Active CN105397813B (en) | 2016-01-01 | 2016-01-01 | Robot and its control method |
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| 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 |
| 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 |
| JP2018097661A (en) * | 2016-12-14 | 2018-06-21 | オムロン株式会社 | Production system, control apparatus and control method |
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| JPH1115504A (en) * | 1997-06-26 | 1999-01-22 | Mitsubishi Electric Corp | Industrial robot device for carriage of liquid crystal glass substrate |
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| CN102785238A (en) * | 2011-05-17 | 2012-11-21 | 株式会社安川电机 | Robot system |
| CN104057446A (en) * | 2013-03-18 | 2014-09-24 | 株式会社安川电机 | Robot System, Control Apparatus, And Method Of Manufacturing Work Piece |
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| EP0104270A1 (en) * | 1982-09-23 | 1984-04-04 | Kabushiki Kaisha Sankyo Seiki Seisakusho | Robot control apparatus |
| JPH1115504A (en) * | 1997-06-26 | 1999-01-22 | Mitsubishi Electric Corp | Industrial robot device for carriage of liquid crystal glass substrate |
| CN201329585Y (en) * | 2008-11-21 | 2009-10-21 | 深圳市大族激光科技股份有限公司 | Feeding-blanking manipulator system |
| CN102785238A (en) * | 2011-05-17 | 2012-11-21 | 株式会社安川电机 | Robot system |
| CN104057446A (en) * | 2013-03-18 | 2014-09-24 | 株式会社安川电机 | Robot System, Control Apparatus, And Method Of Manufacturing Work Piece |
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