CN105619414A - Program-controlled robot system - Google Patents
Program-controlled robot system Download PDFInfo
- Publication number
- CN105619414A CN105619414A CN201610215803.8A CN201610215803A CN105619414A CN 105619414 A CN105619414 A CN 105619414A CN 201610215803 A CN201610215803 A CN 201610215803A CN 105619414 A CN105619414 A CN 105619414A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- storage portion
- electromagnet assembly
- robot system
- robots arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000008602 contraction Effects 0.000 claims description 9
- 230000008707 rearrangement Effects 0.000 abstract description 2
- 230000001960 triggered effect Effects 0.000 abstract 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 239000010941 cobalt Substances 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a program-controlled robot system. The program-controlled robot system is used for transporting workpieces in a workpiece storage part into a target part, wherein when a target selection part determines that workpieces capable of being taken out do not exist in the workpiece storage part, a specific rearrangement device is triggered and the workpieces in the workpiece storage part are rearranged, so that the workpieces capable of being taken out are formed, and a subsequent workpiece transportation flow is continued.
Description
Technical field
The present invention relates to a kind of robot, especially relate to a kind of program control transportation industrial robot.
Background technology
Background technology
Along with the development of science and technology, robot is so more and more that to apply industrial automation production field. Currently existing utilize industrial robot technology to carry out operation technique and device have a variety of: the production line Deng Shangshi robot at processed goods carries out the predetermined processing operation for processed product undertaken by people, thus realizes 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 is for carrying out each workpiece taking-up from being placed in the workpiece of the state in storage box or on pallet in a jumble, and workpiece picking up system is by determining, with each position of two-dimensional measurement instrument or three-dimensional measurement instrument measuring workpieces, the workpiece that the next one is waited to be clamped and indicates multi-axis robot to clamp the workpiece determined. Then, the work piece delivery that clamped on transport unit, is performed predetermined work by the industrial robot etc. in each workstation of arranging along transport unit by multi-axis robot.
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 loaded on pallet cannot detect the workpiece to be removed, it is necessary to carry out reordering operations thus form the workpiece that can be removed. Existing reordering operations by being by again shaking storage box or stir workpiece by directly mechanical manipulator being stretched into storage box, thus change the arrangement of workpiece, proceed follow-up workpiece handling work, as described in the inventions such as 201210154170.6,201610000083.3.
But, in existing solution, again shake storage box be the rearrangement to workpiece all in storage box, and in fact need reset may be only the workpiece being positioned at storage box upper strata. And mechanical manipulator is stretched in storage box, owing to the combination of workpiece under different situations is different, clear and definite Robot Path cannot be determined, consequently, it is possible to cause mechanical manipulator may touch storage box or make workpiece interact cause workpiece damage.
Summary of the invention
The present invention provides the program control transportation industrial robot system of a kind of improvement, by improving the rearranged form of workpiece in this system, solves the problems referred to above of prior art.
As an aspect of the present invention, it provides a kind of program control robot system, comprising: workpiece storage portion, for placing the workpiece needing carrying; Image sensor, for gathering the workpiece image in workpiece storage portion; Target selection portion, it determines the workpiece to be taken out from workpiece storage portion based on the image gathered; Robots arm, for carrying the workpiece that described target selection portion determines; Workpiece target portion, for receiving the workpiece of described robots arm carrying; Described robots arm top arranges clamping device, and described clamping device comprises Ji Tai and is arranged at one on Ji Tai to fingers, it is possible to by the distance that changes between described fingers and holding workpiece; Storage portion determination portion, it can determine in workpiece storage portion whether workpiece; Controller, it controls the running of each element of described robot system; Described Ji Tainei also arranges contraction track, and described fingers can return to described Ji Tainei along described contraction Orbital contraction; Described Ji Tai both sides arrange electromagnet assembly; When described target selection portion determines there is not, in workpiece storage portion, the workpiece that can take out, trigger described storage portion determination portion and determine whether there is workpiece in workpiece storage portion; When described storage portion determination portion determines to there is workpiece in workpiece storage portion, described controller triggers described fingers and shrinks back described Ji Tainei, is energized by described electromagnet assembly simultaneously such that it is able to adsorb the element in described workpiece storage portion; After described electromagnet assembly adsorbs the element in described workpiece storage portion, described controller, by described electromagnet assembly power-off, makes described element return in described workpiece storage portion.
Preferably, described workpiece comprise magneticsubstance at least partially.
Preferably, described storage portion determination portion comprises weight sensor, and it is by comparing the light mass of the real-time weight in the workpiece detected storage portion with workpiece storage portion, thus judges whether there is workpiece in described workpiece storage portion.
Preferably, described electromagnet assembly comprises the electro-magnet on top and the magnetizer of bottom.
Preferably, described workpiece target portion is streamline or transport unit.
Preferably. Described electromagnet assembly is with after the first current electrifying, described storage portion determination portion judges whether have workpiece to be adsorbed on described electromagnet assembly according to the weight that described weight sensor detects, if not having workpiece to be adsorbed on described electromagnet assembly, the electrical current that described controller controls described electromagnet assembly increases to the 2nd electric current, there is workpiece when the 2nd electric current and is adsorbed on described electromagnet assembly.
Preferably, after adsorbing workpiece on electromagnet assembly, described image sensor gathers the image of described absorption workpiece, and described controller judges whether to there is the workpiece being vertically adsorbed in described electromagnet assembly according to the image gathered; If there is the workpiece being vertically adsorbed in described electromagnet assembly, the electrical current that described controller controls described electromagnet assembly is increased to the 3rd electric current, when described 3rd electric current the described workpiece being vertically adsorbed in described electromagnet assembly by Level Adsorption on described electromagnet assembly.
Optionally, described electro-magnet comprises the first electro-magnet and the 2nd electro-magnet, and it is arranged at described Ji Tai both sides respectively; Described controller can control described first electro-magnet and the electrical current of the 2nd electro-magnet.
Preferably, also comprise height determination portion, the workpiece height of different positions in described workpiece storage portion can be determined by height determination portion; Described controller is when being energized to electro-magnet, and the electro-magnet nearest to described first electro-magnet and described 2nd electro-magnet middle distance workpiece maximum height is energized.
Preferably, described height determination portion comprises ultrasonic sensing device, by the measurement for the hyperacoustic reflection launched to workpiece storage portion, it is determined that the workpiece height of different positions in workpiece storage portion.
Optionally, described image sensor can obtain the graphic information in described workpiece storage portion with the angle being greater than 30 degree of angles with vertical plane, and the graphic information that described height determination portion passes through to obtain determines the workpiece height of different positions in workpiece storage portion.
As another aspect of the present invention, it provides a kind of program control robot system, comprising: workpiece storage portion, for placing the workpiece needing carrying; Image sensor, for gathering the workpiece image in workpiece storage portion; Target selection portion, it determines the workpiece to be taken out from workpiece storage portion based on the image gathered; Robots arm, for carrying the workpiece that described target selection portion determines; Workpiece target portion, for receiving the workpiece of described robots arm carrying; Described robots arm top arranges clamping device, and described clamping device comprises Ji Tai and is arranged at one on Ji Tai to fingers, it is possible to by the distance that changes between described fingers and holding workpiece; When wherein determining there is not, in workpiece storage portion, the workpiece that can take out in described target selection portion, reset the workpiece in described workpiece storage portion by described robots arm.
Accompanying drawing explanation
Fig. 1 is the structure iron of embodiment of the present invention robot system.
Fig. 2 is the longitudinal cross-section view on the robots arm top of embodiment of the present invention robot system.
Embodiment
In order to be illustrated more clearly in the technical scheme of the present invention, carry out simply introducing to the present invention by use embodiment below, apparently, in the following describes is only one embodiment of the present of invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, it is also possible to obtain other technical scheme according to these embodiments, also belong to the open scope of the present invention.
The program control robot system of the embodiment of the present invention, as depicted in figs. 1 and 2, comprises workpiece storage portion 1, and robots arm 2, workpiece target portion (not shown), image sensor 3, target selection portion 4, storage portion determination portion 5, controller 6. Workpiece storage portion 1 needs the workpiece of carrying for placing, and it can be container or platform. The workpiece placed in workpiece storage portion 1, workpiece comprises magneticsubstance at least partially, and this magneticsubstance can be iron, nickel, cobalt etc.
Robots arm 2 is for transferring to workpiece target portion by workpiece from workpiece storage portion 1 such that it is able to carry out follow-up operation for workpiece. Workpiece target portion can be streamline or transport unit. The workpiece image of image sensor 3 for gathering in workpiece storage portion 1, it can be arranged on robots arm 2. Preferably, the height of image sensor 3 and angle are adjustable. Image sensor 3 can be CCD camera or CMOS camera. Target selection portion 4, the image detection gathered based on image sensor 3 allows the workpiece from the taking-up of workpiece storage portion 1. And, when the workpiece allowing to be removed being detected, robot system instruction robots arm 2 take out workpiece, with by workpiece transfer to workpiece target portion.
The top of robots arm 2 arranges clamping device, this clamping device comprise base platform 21 and be arranged on base platform 21 one to fingers 22. When the workpiece running and being removed being detected in target selection portion 4, robot system generates the actuating signal of robots arm 2, and robots arm 2 stretches in workpiece storage portion 1 according to actuating signal, the holding workpiece by the distance between change fingers 22.
Being provided with contraction track in the base platform 21 of robots arm 2, fingers 22 can return in base platform 21 along this contraction Orbital contraction; The both sides of base platform 21 arrange electromagnet assembly 23. Electromagnet assembly 23 comprises the electro-magnet on top and the magnetizer 232 of bottom.
Storage portion determination portion 5, it can determine whether there is workpiece in workpiece storage portion 1. Can arranging weight sensor in the bottom in workpiece storage portion 1, the real-time weight in the workpiece storage portion 1 that weight sensor is detected by storage portion determination portion 5 compares with the light mass in workpiece storage portion 1, thus judges whether there is workpiece in workpiece storage portion 1.
Controller 6 is for controlling the running of each element of described robot system. When the image that target selection portion 4 gathers based on image sensor 3, it is determined that when there is not, in workpiece storage portion 1, the workpiece that can take out, controller 6 triggers storage portion determination portion 5 and determines whether there is workpiece in workpiece storage portion 1. When storage portion determination portion 5 determines to there is workpiece in workpiece storage portion 1, the fingers 22 that controller 6 triggers robots arm 2 shrinks back in base platform 21, is energized by electromagnet assembly 23 simultaneously such that it is able to the element in absorption workpiece storage portion 1. The weight that storage portion determination portion 5 can be detected in real time by weight sensor, judges whether have workpiece to be adsorbed on electromagnet assembly 23. If electromagnet assembly 23 is with after the first current electrifying, storage portion determination portion 5 determines do not have workpiece to be adsorbed on electromagnet assembly 23, the electrical current that controller 6 controls electromagnet assembly 23 increases to the 2nd electric current, there is workpiece when the 2nd electric current and is adsorbed on electromagnet assembly 23. Preferably, when the 2nd electric current, more than one workpiece is adsorbed on electromagnet assembly 23.
After electromagnet assembly 23 adsorbs workpiece, it is possible to adsorbed the image of workpiece by image sensor collection, controller 6 judges whether to there is the workpiece being vertically adsorbed in electromagnet assembly 23 according to the image gathered; If there is the workpiece being vertically adsorbed in electromagnet assembly 23, the electrical current of controller control 6 electromagnet assembly 23 processed is increased to the 3rd electric current, the workpiece that this is vertically adsorbed in described electromagnet assembly when described 3rd electric current by Level Adsorption on electromagnet assembly 23. After electromagnet assembly 23 adsorbs the element in workpiece storage portion 1, controller 6, by electromagnet assembly 23 power-off, makes the element of absorption return in workpiece storage portion 1.
Preferably, as shown in Figure 2, electro-magnet can comprise the first electro-magnet 231 and the 2nd electro-magnet 233, and it is arranged at base platform 21 both sides respectively, and controller 6 can control the first electro-magnet 231 and the electrical current of the 2nd electro-magnet 233. The workpiece height of different positions in workpiece storage portion 1 can be determined by height determination portion; Controller 6 is when being energized to electro-magnet 221, and the electro-magnet nearest to the first electro-magnet 2211 and the 2nd electro-magnet 2212 middle distance workpiece maximum height is energized.
Preferably, height determination portion can comprise ultrasonic sensing device, by the measurement for the hyperacoustic reflection launched to workpiece storage portion 1, it is determined that the workpiece height of different positions in workpiece storage portion 1. Optionally, image sensor 3 can be greater than the graphic information in the angle acquisition workpiece storage portion 1 of 30 degree of angles with vertical plane, and the graphic information that height determination portion passes through to obtain determines the workpiece height of different positions in workpiece storage portion 1.
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 the above-mentioned disclosure having read the present invention; protection scope of the present invention is also not only confined to above-described embodiment; the present invention can be made various changes or modifications by those skilled in the art; 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. a program control robot system, comprising: workpiece storage portion, for placing the workpiece needing carrying; Image sensor, for gathering the workpiece image in workpiece storage portion; Target selection portion, it determines the workpiece to be taken out from workpiece storage portion based on the image gathered; Robots arm, for carrying the workpiece that described target selection portion determines; Workpiece target portion, for receiving the workpiece of described robots arm carrying; Described robots arm top arranges clamping device, and described clamping device comprises Ji Tai and is arranged at one on Ji Tai to fingers, it is possible to by the distance that changes between described fingers and holding workpiece; It is characterized in that: also comprise storage portion determination portion, it can determine in workpiece storage portion whether workpiece; Controller, it controls the running of each element of described robot system; Described Ji Tainei also arranges contraction track, and described fingers can return to described Ji Tainei along described contraction Orbital contraction; Described Ji Tai both sides arrange electromagnet assembly; When described target selection portion determines there is not, in workpiece storage portion, the workpiece that can take out, trigger described storage portion determination portion and determine whether there is workpiece in workpiece storage portion; When described storage portion determination portion determines to there is workpiece in workpiece storage portion, described controller triggers described fingers and shrinks back described Ji Tainei, is energized by described electromagnet assembly simultaneously such that it is able to adsorb the element in described workpiece storage portion; After described electromagnet assembly adsorbs the element in described workpiece storage portion, described controller, by described electromagnet assembly power-off, makes described element return in described workpiece storage portion.
2. program control robot system according to claim 1, it is characterised in that: described workpiece comprise magneticsubstance at least partially.
3. program control robot system according to claim 2, it is characterized in that: described storage portion determination portion comprises weight sensor, it is by comparing the light mass of the real-time weight in the workpiece detected storage portion with workpiece storage portion, thus judges whether there is workpiece in described workpiece storage portion.
4. program control robot system according to claim 3, it is characterised in that: described electromagnet assembly comprises the electro-magnet on top and the magnetizer of bottom.
5. program control robot system according to claim 4, it is characterised in that: described workpiece target portion is streamline or transport unit.
6. program control robot system according to claim 5, it is characterized in that: described electromagnet assembly is with after the first current electrifying, described storage portion determination portion judges whether have workpiece to be adsorbed on described electromagnet assembly according to the weight that described weight sensor detects, if not having workpiece to be adsorbed on described electromagnet assembly, the electrical current that described controller controls described electromagnet assembly increases to the 2nd electric current, there is workpiece when the 2nd electric current and is adsorbed on described electromagnet assembly.
7. a program control robot system, comprising: workpiece storage portion, for placing the workpiece needing carrying; Image sensor, for gathering the workpiece image in workpiece storage portion; Target selection portion, it determines the workpiece to be taken out from workpiece storage portion based on the image gathered; Robots arm, for carrying the workpiece that described target selection portion determines; Workpiece target portion, for receiving the workpiece of described robots arm carrying; Described robots arm top arranges clamping device, and described clamping device comprises Ji Tai and is arranged at one on Ji Tai to fingers, it is possible to by the distance that changes between described fingers and holding workpiece; It is characterized in that: when determining there is not, in workpiece storage portion, the workpiece that can take out in described target selection portion, reset the workpiece in described workpiece storage portion by described robots arm.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610786453.0A CN106272421B (en) | 2016-04-09 | 2016-04-09 | A kind of program-controlled industrial robot |
| CN201610215803.8A CN105619414B (en) | 2016-04-09 | 2016-04-09 | A kind of programmable robot's system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610215803.8A CN105619414B (en) | 2016-04-09 | 2016-04-09 | A kind of programmable robot's system |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610786453.0A Division CN106272421B (en) | 2016-04-09 | 2016-04-09 | A kind of program-controlled industrial robot |
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| Publication Number | Publication Date |
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| CN105619414A true CN105619414A (en) | 2016-06-01 |
| CN105619414B CN105619414B (en) | 2017-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610215803.8A Active CN105619414B (en) | 2016-04-09 | 2016-04-09 | A kind of programmable robot's system |
| CN201610786453.0A Active CN106272421B (en) | 2016-04-09 | 2016-04-09 | A kind of program-controlled industrial robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610786453.0A Active CN106272421B (en) | 2016-04-09 | 2016-04-09 | A kind of program-controlled industrial robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994829A (en) * | 2017-06-06 | 2018-12-14 | 精工爱普生株式会社 | control device and robot system |
| CN109465812A (en) * | 2018-11-26 | 2019-03-15 | 广东工业大学 | A kind of magnetic bodies and non-magnetic object stacking mechanical arm and control method |
| WO2021062616A1 (en) * | 2019-09-30 | 2021-04-08 | 上海成业智能科技股份有限公司 | Method for lifting product by means of magnetic attraction, and lifting device |
| GB2606991A (en) * | 2021-03-31 | 2022-11-30 | Alumatlq As | Electrolytic cell lid handling system and method of use |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129489B (en) * | 2017-01-07 | 2021-11-26 | 汇韩科技(常州)有限公司 | Program-controlled industrial transfer robot and control method |
| CN110524539B (en) * | 2019-08-08 | 2021-05-28 | 北京航空航天大学 | Electromagnetic suction type carrying stacking device based on vision multi-sensing |
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- 2016-04-09 CN CN201610786453.0A patent/CN106272421B/en active Active
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| CN108994829A (en) * | 2017-06-06 | 2018-12-14 | 精工爱普生株式会社 | control device and robot system |
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| GB2606991A (en) * | 2021-03-31 | 2022-11-30 | Alumatlq As | Electrolytic cell lid handling system and method of use |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106272421A (en) | 2017-01-04 |
| CN105619414B (en) | 2017-07-07 |
| CN106272421B (en) | 2018-07-13 |
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Address after: 315400 Zhejiang Yuyao Ningbo Economic Development Zone East New District Patentee after: Zhejiang Zhi Chang Robot Technology Co., Ltd. Address before: 315400 Zhejiang Yuyao Ningbo Economic Development Zone East New District Patentee before: Zhejiang wisdom industry Co., Ltd. |
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| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 315400 Zhejiang Yuyao Ningbo Economic Development Zone East New District Patentee after: Zhichang Technology Group Co.,Ltd. Address before: 315400 Zhejiang Yuyao Ningbo Economic Development Zone East New District Patentee before: ZHEJIANG EMERGEN ROBOT TECHNOLOGY Co.,Ltd. |