CN106239512B - A kind of robot palletizer control method based on Formula type - Google Patents
A kind of robot palletizer control method based on Formula type Download PDFInfo
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- CN106239512B CN106239512B CN201610733290.XA CN201610733290A CN106239512B CN 106239512 B CN106239512 B CN 106239512B CN 201610733290 A CN201610733290 A CN 201610733290A CN 106239512 B CN106239512 B CN 106239512B
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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
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The robot palletizer control method based on Formula type that the present invention relates to a kind of, the teaching step including carrying out crucial taught point teaching to robot；By stacking form data, stacking position data, the typing step of stacking formulation data typing robot control system；From control system access code stack position set, stacking form, the selection step of stacking formula；Algorithm steps that actual code stack position is set are obtained with stacking algorithm according to above-mentioned steps the data obtained.The present invention has the advantages that this palletizing system develops several code form formula in advance, then the case where client only need to be according to its practical production technology, code form formula needed for selection, simultaneously by the quantity of the specification of product, crawl product, the setting and the stacking number of plies that cardboard is placed are input to the stacking that corresponding product can be realized in control system；The degree of automation of robot palletizing system and the simplicity of operation solve labor cost.
Description
Technical field
The present invention relates to a kind of palletizing technology field, in particular to a kind of robot palletizer controlling party based on Formula type
Method.
Background technique
Palletizing system belongs to the rear road system of automatic packaging machinery, effect be will case simultaneously the later carton of joint sealing with
Certain code form formula is stored.According to the degree of automation of palletizing system, palletizing system is divided into hand stowage system and oneself
Dynamicization palletizing system.
With the continuous development of China's economy and labor cost be continuously increased and labourer that various regions occur is waste,
Equipment of the enterprise more consideration is given to automation is used is forced, to improve speed of production, recruitment cost is reduced, pursues the maximum of interests
Change, currently, robot palletizing system is the first choice of enterprise in the enterprise of some large labor intensities.
Robot palletizing system is complicated for operation, and client is substantially stationary for the substantive requirements of form of the stacking in rear road but same
Its product specification size category of code form formula can be more, and the quantity of crawl product can also change every time, and client is at any time
The specification of palletized products may be increased according to the requirement of its production technology, therefore this just needs us to develop one kind to be based on
The robot palletizing system of formulation selection.
Summary of the invention
The technical problem to be solved in the present invention is to provide it is a kind of can be adjusted according to user demand stacking and stacking technology based on matching
The robot palletizer control method of square.
In order to solve the above technical problems, the technical solution of the present invention is as follows: a kind of robot palletizer control based on Formula type
Method, innovative point are: including
The teaching step of crucial taught point teaching is carried out to robot；
By stacking form data, stacking position data, the typing step of stacking formulation data typing robot control system；
From control system access code stack position set, stacking form, the selection step of stacking formula；
Algorithm steps that actual code stack position is set are obtained with stacking algorithm according to above-mentioned steps the data obtained.
Further, the teaching step is specific as follows:
(1) teaching carton is placed on carton pipeline, robot hand is moved to and inhales carton taught point, records and works as
The position pick-base of preceding taught point；
(2) carton is picked up, robot hand is moved into stacking position, carton is placed into first time stacking position, record
The position put-base of current taught point down.
Further, the logging data in the typing step can be the real-time typing of requirement according to site technique
It can be the innovation data or downloading data of prior typing.
Further, the stacking formulation data includes crawl carton number, carton size, the stacking number of plies, cardboard placement
The number of plies and pallet height.
Further, the typing carrier of the typing step is AB touch screen.
Further, the algorithm steps are specific as follows:
(1) be defined as follows variable: the long-base_box_length of teaching carton, the wide-base_box_width of teaching carton,
Teaching carton height-base_box_height, inhale carton number-num, place the number of plies-paper1 of cardboard ,-paper2 ,-
Paper3 and-paper4, the stacking number of plies-layer, stacking position-position, practical stacking carton long-box_length, reality
Wide-the box_width of border stacking carton, practical stacking carton height-box_height, carton taught point-pick1_base, 1# code are inhaled
Stack position carton places taught point-put1_base, 2# stacking position carton places taught point-put2_base, length difference-dl, width
Difference-dw, difference in height-dh.Wherein, dl=box_length-base_box_length, dw=box_width- base_box_
Width, dh=box_height- base_box_width；
(2) according to the setting principle of robot world's coordinate system, calculate robot carton suction point actual coordinate
Xpick_point1.x=pick1_base.x-dl, three-dimensional coordinate Xputbox.x=put1_ of first time stacking position
Base.x, Xputbox.y=put1_base.y-dwl, three-dimensional coordinate Xputbox.x=put1_ of second of stacking position
Base.x, Xputbox.y=put1_base.y-dwl+box_length；
(3) physical location of the real coordinate position and first layer of second layer stacking only increases a box_ in height
Height, x that one, quadratic code stack position are set, x, y value of y-coordinate value stacking position corresponding with first layer stacking are consistent；
(4) and so on, the real coordinate position of n-th layer stacking increases (n-1) * box_height in height, one,
X, y value that quadratic code stack position is set are consistent with first layer stacking position.
The present invention has the advantages that
(1) this palletizing system develops several code form formula in advance, and then client only need to be according to its practical production technology
The case where, required code form formula is selected, while by the quantity of the specification of product, crawl product, the setting that cardboard is placed
And the stacking number of plies is input to the stacking that corresponding product can be realized in control system；The degree of automation of robot palletizing system and
The simplicity of operation solves labor cost.
(2) in the form of every kind of stacking in a determining carton as teaching benchmark, after teaching completion, for same
The carton of kind stacking form, only need to input the parameters such as corresponding product size and the stacking number of plies, the automatic of robot can be realized
Stacking.
(3) operator can modify these formulation parameters at any time according to the requirement of site technique；It is formulated in interface herein,
User can directly download the formula having built up, and perhaps modify or create new code according to the requirement of actual production technique
Pile formula.
(4) AB touch screen is used, load parameter is facilitated.
(5) among the code form write-in robot stacking algorithm that the algorithm in advance arrives various possible applications, machine is improved
The degree of automation of device people's palletizing system and the simplicity of operation, improve production efficiency, reduce the incidence of equipment fault.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of the robot palletizer control method based on Formula type of the present invention.
Fig. 2 is a kind of robot palletizer control method based on Formula type of the present invention.
Specific embodiment
The robot palletizer control method based on Formula type that the invention discloses a kind of, including
The teaching step of crucial taught point teaching is carried out to robot；
By stacking form data, stacking position data, the typing step of stacking formulation data typing robot control system；
From control system access code stack position set, stacking form, the selection step of stacking formula；
Algorithm steps that actual code stack position is set are obtained with stacking algorithm according to above-mentioned steps the data obtained.
This robot is using a determining carton in every kind of stacking pile type as teaching benchmark, after teaching completion,
For the carton of stacking pile type of the same race, the parameters such as corresponding product size and the stacking number of plies only need to be inputted, robot can be realized
Automatic stacking.
Wherein teaching step is specific as follows:
(1) teaching carton is placed on carton pipeline, robot hand is moved to and inhales carton taught point, records and works as
The position pick-base of preceding taught point；
(2) carton is picked up, robot hand is moved into stacking position, carton is placed into first time stacking position, record
The position put-base of current taught point down；
Different stacking and stacking technologies is selected in order to facilitate user, we developed based on formula in the selection step
The stacking and stacking technology selection mode of form, in this recipe, we by stacking form, crawl carton number, carton size, stacking layer
Number, cardboard place the number of plies and pallet height as formulation parameter, and operator can modify this at any time according to the requirement of site technique
A little parameters, realize the real-time typing of process data, while being formulated in attribute and possessing recipe name option, and operator can be by every kind
Stacking and stacking technology is solidified using corresponding name of product as standard, in this way, need to only select in formula table after operator
The selection of corresponding stacking and stacking technology parameter can be completed in corresponding name of product.
It is formulated in interface herein, user can execute typing step by AB touch screen, directly download matching of having built up
Side, perhaps modifies or creates new stacking formula according to the requirement of actual production technique.
We are provided with " stacking position ", " the stacking number of plies ", " stacking number " at automatic running interface simultaneously and " carton is
The parameters such as accumulation quantity ", user re-start stacking after can realizing manual intervention stacking by modifying these parameters
Function.
We carry out the elaboration of stacking algorithm by taking stacking form as follows as an example, according to robot world's coordinate system
Setting principle, as shown in Figure 1, algorithm steps are specific as follows by taking the 1# stacking position 2 in a stacking and stacking technology as an example:
(1) be defined as follows variable: the long-base_box_length of teaching carton, the wide-base_box_width of teaching carton,
Teaching carton height-base_box_height, inhale carton number-num, place the number of plies-paper1 of cardboard ,-paper2 ,-
Paper3 and-paper4, the stacking number of plies-layer, stacking position-position, practical stacking carton long-box_length, reality
Wide-the box_width of border stacking carton, practical stacking carton height-box_height, carton taught point-pick1_base, 1# code are inhaled
Stack position carton places taught point-put1_base, 2# stacking position carton places taught point-put2_base, length difference-dl, width
Difference-dw, difference in height-dh.Wherein, dl=box_length-base_box_length, dw=box_width- base_box_
Width, dh=box_height- base_box_width；
(2) according to the setting principle of robot world's coordinate system, calculate robot carton suction point 1 actual coordinate
Xpick_point1.x=pick1_base.x-dl, three-dimensional coordinate Xputbox.x=put1_ of first time stacking position 32
Base.x, Xputbox.y=put1_base.y-dwl, three-dimensional coordinate Xputbox.x=put1_ of second of stacking position 31
Base.x, Xputbox.y=put1_base.y-dwl+box_length；
(3) physical location of the real coordinate position and first layer of second layer stacking only increases a box_ in height
Height, x that one, quadratic code stack position are set, x, y value of y-coordinate value stacking position corresponding with first layer stacking are consistent；
(4) and so on, the real coordinate position of n-th layer stacking increases (n-1) * box_height in height, one,
X, y value that quadratic code stack position is set are consistent with first layer stacking position.
Other stacking positions calculate the meter similar to above-mentioned stacking position such as the stacking coordinate value of 2# stacking position 3 in figure
It calculates.
According to above-mentioned control method, robot palletizer programming system framework is developed, since what robot palletizer executed appoints
It is engaged in more, control logic is complicated, and software programming naturally will be difficult, so Software Architecture Design is extremely important.In hardware work
Make normally and line it is correct under the premise of, software programming decision task can by it is more stable, more quickly complete.Robot palletizer
It needs to walk along preset track, turn, grab product, put down the various motions such as product, if program structure uses sequence
Structure, it is clear that it is unworkable, therefore robot palletizer main program system architecture is executed using branched structure, so that system program is compiled
Journey becomes simply, and in order, main program structure figure is as shown in Figure 2, wherein " 1# stacking form ", " 2# stacking form " ... " M#
Stacking form " is stacking form；" position 1# ", " position 2# " are stacking position；" N1 ", " N2 " ... " Nn+i+k " are corresponding every
Kind robot stacking formula, it is specific as follows to execute step:
(1) initialization program, into lower step；
(2) stacking formal character continues to select if non-selected, if selected, enters lower step；
(3) stacking position selects, if non-selected, continues to select, if selected, enters lower step；
(4) stacking formulation selection continues to select if non-selected, if selected, robot enters execution.
It is to close side by side that robot stacking program, which further includes the relationship of tutorial program, wherein tutorial program and main program, simultaneously
System, tutorial program is mainly used for teaching step, and main program is then the execution program of stacking.
Basic principles and main features of the invention have been shown and described above.It should be understood by those skilled in the art that
The present invention is not limited to the above embodiments, and the above embodiments and description only illustrate the principle of the present invention,
Without departing from the spirit and scope, various changes and improvements may be made to the invention, these changes and improvements are all fallen
Enter in scope of the claimed invention.The scope of the present invention is defined by the appended claims and its equivalents.
Claims (5)
1. a kind of robot palletizer control method based on Formula type, it is characterised in that: including carrying out crucial teaching to robot
The teaching step of point teaching；By stacking form data, stacking position data, stacking formulation data typing robot control system
Typing step；From control system access code stack position set, stacking form, the selection step of stacking formula；According to above-mentioned steps institute
It obtains data application stacking algorithm and obtains the algorithm steps that actual code stack position is set；The algorithm steps are specific as follows:
(1) it is defined as follows variable: teaching carton long-base_box_length, the wide-base_box_width of teaching carton, teaching
Carton height-base_box_height, the number of plies-the paper1 ,-paper2 ,-paper3 for inhaling carton number-num, placing cardboard
And-paper4, the stacking number of plies-layer, stacking position-position, practical stacking carton long-box_length, practical stacking
Wide-the box_width of carton, practical stacking carton height-box_height, carton taught point-pick1_base, 1# stacking position paper are inhaled
Case places taught point-put1_base, 2# stacking position carton places taught point-put2_base, length difference-dl, width difference-dw,
Difference in height-dh；
Wherein, dl=box_length-base_box_length, dw=box_width- base_box_width, dh=box_
height- base_box_width；
(2) according to the setting principle of robot world's coordinate system, calculate robot carton suction point actual coordinate
Xpick_point1.x=pick1_base.x-dl, three-dimensional coordinate Xputbox.x=put1_ of first time stacking position
Base.x, Xputbox.y=put1_base.y-dwl, three-dimensional coordinate Xputbox.x=put1_ of second of stacking position
Base.x, Xputbox.y=put1_base.y-dwl+box_length；
(3) physical location of the real coordinate position and first layer of second layer stacking only increases a box_ in height
Height, x that one, quadratic code stack position are set, x, y value of y-coordinate value stacking position corresponding with first layer stacking are consistent；
(4) and so on, the real coordinate position of n-th layer stacking increases (n-1) * box_height in height, and first and second
X, y value of stacking position are consistent with first layer stacking position.
2. a kind of robot palletizer control method based on Formula type according to claim 1, it is characterised in that: described to show
Teach step specific as follows:
(1) teaching carton is placed on carton pipeline, robot hand is moved to and inhales carton taught point, records and currently shows
Teach the position pick-base of point；
(2) carton is picked up, robot hand is moved into stacking position, carton is placed into first time stacking position, records and works as
The position put-base of preceding taught point.
3. a kind of robot palletizer control method based on Formula type according to claim 1, it is characterised in that: the record
Enter the innovation number for being also possible to prior typing for the real-time typing of requirement that the logging data in step can be according to site technique
According to or downloading data.
4. a kind of robot palletizer control method based on Formula type according to claim 1, it is characterised in that: the record
Enter step uses AB touch screen.
5. a kind of robot palletizer control method based on Formula type according to claim 1, it is characterised in that: the code
Pile formulation data includes crawl carton number, carton size, the stacking number of plies, the cardboard placement number of plies and pallet height.
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| CN201610733290.XA CN106239512B (en) | 2016-08-27 | 2016-08-27 | A kind of robot palletizer control method based on Formula type |
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| CN106658971A (en) * | 2016-12-27 | 2017-05-10 | 广州市泰立机电设备有限公司 | Printed wiring board intelligent pick-and-place method |
| CN107491028A (en) * | 2017-07-26 | 2017-12-19 | 江苏新美星包装机械股份有限公司 | Pile type edit methods and device |
| CN109318225A (en) * | 2017-08-01 | 2019-02-12 | 中达电子零组件(吴江)有限公司 | For controlling the method, apparatus and system of robot palletizer |
| CN107433592B (en) * | 2017-08-31 | 2020-09-01 | 广州泰行智能科技有限公司 | Stacking piece layout method and device based on mechanical arm |
| CN107720237B (en) * | 2017-08-31 | 2020-02-07 | 广州泰行智能科技有限公司 | Stacking layout method and device based on space coordinate system |
| CN107696031A (en) * | 2017-08-31 | 2018-02-16 | 广州泰行智能科技有限公司 | A kind of construction method and device of the space coordinates based on mechanical arm |
| CN107696032A (en) * | 2017-08-31 | 2018-02-16 | 广州泰行智能科技有限公司 | A kind of construction method and device of the space coordinates based on mechanical arm |
| CN107538491B (en) * | 2017-08-31 | 2020-05-08 | 广州泰行智能科技有限公司 | Construction method of space coordinate system based on mechanical arm |
| CN107571258A (en) * | 2017-08-31 | 2018-01-12 | 广州泰行智能科技有限公司 | A kind of operating path planning method and device based on mechanical arm |
| CN107512591B (en) * | 2017-08-31 | 2019-12-17 | 广州泰行智能科技有限公司 | stacking piece layout method and device based on mechanical arm |
| CN107671856A (en) * | 2017-08-31 | 2018-02-09 | 广州泰行智能科技有限公司 | A kind of robotic arm path planning method and device based on space coordinates |
| CN108748136A (en) * | 2018-04-10 | 2018-11-06 | 上海新时达机器人有限公司 | Robot stacking program creating method, storage medium and teaching machine |
| CN109132582A (en) * | 2018-08-23 | 2019-01-04 | 广州泽亨实业有限公司 | A kind of the stacking control method and device of barcode scanning identification |
| CN110377355A (en) * | 2019-06-13 | 2019-10-25 | 珠海格力电器股份有限公司 | Stacking control method and device, electronic equipment and storage medium |
| CN111591775A (en) * | 2020-05-15 | 2020-08-28 | 珠海格力智能装备有限公司 | Method and device for stacking movable equipment, storage medium and processor |
| CN112520431A (en) * | 2020-11-23 | 2021-03-19 | 配天机器人技术有限公司 | Stacking calibration method and related device for stacking robot |
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