CN106829516A - A kind of control method for robot stacking laser scanning automatic feeding system - Google Patents
A kind of control method for robot stacking laser scanning automatic feeding system Download PDFInfo
- Publication number
- CN106829516A CN106829516A CN201710218565.0A CN201710218565A CN106829516A CN 106829516 A CN106829516 A CN 106829516A CN 201710218565 A CN201710218565 A CN 201710218565A CN 106829516 A CN106829516 A CN 106829516A
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- Prior art keywords
- pallet
- robot
- plc
- displacement sensor
- scanning
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Classifications
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- 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
Abstract
The invention discloses a kind of control method for robot stacking laser scanning automatic feeding system, the laser scanning automatic feeding system includes four axle robots, robot teaching box, material grasping fixture, laser displacement sensor and the robot PLC control cabinet being arranged in the four axles robot, and the control method comprises the following steps：The rule that A, material follow the procedure is positioned on pallet；B, pallet detection electrooptical device have detected pallet, and robot opens laser displacement sensor and laser displacement sensor is lifted into level altitude simultaneously, and laser displacement sensor starts scanning imaging system；The order that C, laser displacement sensor press scanning constant completes scanning, send data to PLC, PLC recognizes that each layer pallet lacks material number and output signal feed supplement by internal sequential operation, recognizing the placement order of discharging simultaneously has inerrancy and output alarm signal, by the number and automatic feeding of automatic identification institute of the present invention achievable robot code pallet feeding.
Description
Technical field
The present invention relates to a kind of control method for robot stacking laser scanning automatic feeding system.
Background technology
With robot use more and more extensively, robot is also increasingly to popularize in stacking industry, from simple
Technological process changes to highly difficult technological process, changes to full-automation from semi-automation, and gradually overcoming some has row
The stacking occasion of industry feature.Such as in chemical fibre industry, for the product got off from process equipment, due to industrial nature, product
Plant many, periodically short, total output is big, the situation of hand stowage is not completely disengaged from also, it is necessary to artificial fast package and stacking, subtract
Small storage pressure.This may result in, and, also without a code complete pallet, at this moment product just without being accomplished by waiting until for each kind
This kind continues up code sometimes again next time, and traditional robot palletizer there is no method to accomplish automatic feeding this work(
Energy.
The content of the invention
Present invention aim to overcome that above-mentioned the deficiencies in the prior art, there is provided it is a kind of flexibly, fast and efficiently robot code
The control method of pile laser scanning automatic feeding system.
The technical scheme is that：A kind of control method for robot stacking laser scanning automatic feeding system,
The laser scanning automatic feeding system includes four axle robots, the robot teaching box being arranged in the four axles robot, sets
It is placed in the material grasping fixture that the four axles robotic goes up on hand, the laser displacement sensor and machine that are arranged above the fixture
Device people's PLC control cabinet, is additionally provided with material detection electrooptical device and pallet detection electrooptical device, the pallet detection on stacking machine pallet
Electrooptical device and the laser displacement sensor are connected with the PLC in the PLC control cabinet, and the PLC is communicated by Canopen
It is connected with the robot demonstrator, the control method comprises the following steps：
The rule that A, material follow the procedure is positioned on pallet；
B, pallet detection electrooptical device have detected pallet, and laser displacement sensor is opened by robot, while by laser position
Displacement sensor is lifted to the level altitude set on pallet, and laser displacement sensor starts scanning imaging system；
The order that C, laser displacement sensor press scanning constant completes scanning, sends data to PLC, and PLC is by inside
Sequential operation lack material number and output signal feed supplement recognizing each layer pallet, while recognizing the placement order of discharging has inerrancy,
And output order places error alarm signal, workman is reminded to reappose.
Further, in step C, when every layer of material on pallet is even number, the position of each material plane is used as machine
One point of people's scanning, four values are determined by laser displacement sensor scanning, and PLC inside program by comparing this four values
To determine a value of pallet peak, this value calculates the current pallet number of plies, further according to machine divided by the height of single material
The order of people's scanning constant, relatively determine further according to the size of individual four values from this layer since which feed supplement.
Further, in step C, when every layer of material on pallet is odd number, depending on every layer of cross-superimposed situation, laser position
Sequencing and position of the displacement sensor during scanning first according to odd-level each material placement take a value, further according to
The placement sequencing of even level each material and position take a value, are divided into two groups of data totally 10 values, and PLC is by inside program
Compare and take a maximum, maximum divided by the height of single material determine current layer number for it is several layers of and whether be odd-level still
Even level, if odd-level, then obtain 5 of scan mode according to odd-level are worth and compare into inside line program PLC, and drawing needs
Will since which material feed supplement, even level is similarly；When placement need not be intersected for every layer with reference to the controlling party of the even number bed of material
Method.
The beneficial effects of the invention are as follows：By the number of achievable automatic identification institute of the robot code pallet feeding of the present invention with
Automatic feeding, makes robot working at high speed, accelerates rhythm of production, completes feed supplement of frequently reloading, and realizes removing the complete pallet of code
Pull away outer whole-course automation.
Brief description of the drawings
Fig. 1 is the structural representation of robot of the present invention；
Fig. 2 is control principle frame diagram of the present invention.
Specific embodiment
Below by embodiment, technical scheme is described in further detail.
A kind of control method for robot stacking laser scanning automatic feeding system, with reference to shown in Fig. 1 and Fig. 2, should
Laser scanning automatic feeding system includes four axle robots 1, the robot teaching box being arranged in the four axles robot 1, sets
The material grasping fixture 2 being placed on the manipulator of four axles robot 1, the laser displacement sensor 3 for being arranged at the top of the fixture 2
With robot PLC control cabinet, material detection electrooptical device and pallet detection electrooptical device, the laser are additionally provided with stacking machine pallet
Displacement transducer 3 is connected with the PLC in the PLC control cabinet, and the PLC is communicated and the robot teaching by Canopen
Device is connected.
The control method comprises the following steps：
A kind of control method for robot stacking laser scanning automatic feeding system, the laser scanning automatic feeding system
System includes four axle robots, the robot teaching box being arranged in the four axles robot, is arranged at the four axles machine man-machine
Material grasping fixture that tool is gone up on hand, the laser displacement sensor being arranged above the fixture and robot PLC control cabinet, described four
Pallet detection electrooptical device is additionally provided with axle robot, the pallet detects electrooptical device and the laser displacement sensor and institute
The PLC connections in PLC control cabinet are stated, the PLC is communicated by Canopen and is connected with the robot demonstrator, the control
Method comprises the following steps：
The rule that A, material follow the procedure is positioned on pallet；
B, pallet detection electrooptical device have detected pallet, and laser displacement sensor is opened by robot, while by laser position
Displacement sensor is lifted to the level altitude set on pallet, and laser displacement sensor starts scanning imaging system；
C, robot stop 1 second time in the top of each material, it is ensured that the stability of gathered data, laser displacement sensor
It is scanned by scanning constant order, while sending data to PLC, every layer of the material that PLC is calculated on current pallet is even
When several, the position of each material plane determines four as a point of Robot Scanning by laser displacement sensor scanning
Individual value, PLC determines a value of pallet peak, height of this value divided by single material by comparing this four values inside program
Degree, calculates the current pallet number of plies, and further according to the order of robot scanning constant, the size further according to individual four values is relatively come really
It is fixed from this layer since which feed supplement；
When every layer of the material that PLC calculates on current pallet is odd number, depending on every layer of cross-superimposed situation, laser displacement is passed
Sequencing and position of the sensor during scanning first according to odd-level each material placement take a value, further according to even number
The placement sequencing of layer each material and position take a value, are divided into two groups of data totally 10 values, and PLC passes through to compare inside program
A maximum is taken, maximum determines that whether current layer number is several layers of and is odd-level or even number divided by the height of single material
Layer, if odd-level, then obtain 5 of scan mode according to odd-level are worth and compare into inside line program PLC, draw needs from
Which material starts feed supplement, and even level is similarly；When placement need not be intersected for every layer with reference to the control method of the even number bed of material.
After the completion of scanning, PLC recognizes that the placement order of discharging has inerrancy simultaneously, and output order places false alarm letter
Number, remind workman to reappose.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (3)
1. a kind of control method for robot stacking laser scanning automatic feeding system, it is characterised in that：The laser scanning
Automatic feeding system includes four axle robots, the robot teaching box being arranged in the four axles robot, is arranged at described four
Material grasping fixture that axle robotic goes up on hand, the laser displacement sensor being arranged above the fixture and robot PLC controls
Cabinet processed, is additionally provided with material detection electrooptical device and pallet detection electrooptical device on stacking machine pallet, the pallet detects electrooptical device
It is connected with the PLC in the PLC control cabinet with the laser displacement sensor, the PLC is communicated and the machine by Canopen
Device people teaching machine is connected, and the control method comprises the following steps：
The rule that A, material follow the procedure is positioned on pallet；
B, pallet detection electrooptical device have detected pallet, and laser displacement sensor is opened by robot, while laser displacement is passed
Sensor is lifted to the level altitude set on pallet, and laser displacement sensor starts scanning imaging system；
The order that C, laser displacement sensor press scanning constant completes scanning, sends data to PLC, and PLC is by internal journey
Sequence computing lacks material number and output signal feed supplement recognizing each layer pallet, while recognizing the placement order of discharging has inerrancy, and it is defeated
Go out order and place error alarm signal, remind workman to reappose.
2. a kind of control method for robot stacking laser scanning automatic feeding system according to claim 1, its
It is characterised by：In step C, when every layer of material on pallet is even number, the position of each material plane is used as Robot Scanning
One point, four values are determined by laser displacement sensor scanning, and PLC determines stack by comparing this four values inside program
One value of plate peak, this value calculates the current pallet number of plies divided by the height of single material, is fixed further according to robot and swept
The order retouched, relatively determine further according to the size of individual four values from this layer since which feed supplement.
3. a kind of control method for robot stacking laser scanning automatic feeding system according to claim 2, its
It is characterised by：In step C, when every layer of material on pallet is odd number, depending on every layer of cross-superimposed situation, laser displacement sensor
Sequencing and position during scanning first according to odd-level each material placement take a value, every further according to even level
The placement sequencing of individual material and position take a value, are divided into two groups of data totally 10 values, and PLC takes one by comparing inside program
Whether individual maximum, maximum determines current layer number for several layers of and be odd-level or even level divided by the height of single material,
If odd-level, then obtain 5 of scan mode according to odd-level are worth and compare into inside line program PLC, draw needs from the
Several material start feed supplement, and even level is similarly；When placement need not be intersected for every layer with reference to the control method of the even number bed of material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710218565.0A CN106829516A (en) | 2017-04-05 | 2017-04-05 | A kind of control method for robot stacking laser scanning automatic feeding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710218565.0A CN106829516A (en) | 2017-04-05 | 2017-04-05 | A kind of control method for robot stacking laser scanning automatic feeding system |
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| CN106829516A true CN106829516A (en) | 2017-06-13 |
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| CN201710218565.0A Pending CN106829516A (en) | 2017-04-05 | 2017-04-05 | A kind of control method for robot stacking laser scanning automatic feeding system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108195289A (en) * | 2017-12-29 | 2018-06-22 | 上海华太信息技术有限公司 | A kind of method measured using line laser to workpiece specific position parameter |
| CN113443444A (en) * | 2021-06-22 | 2021-09-28 | 新乡北新建材有限公司 | Gypsum board finished product conveying and stacking system and adjusting method |
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| US4419035A (en) * | 1982-04-21 | 1983-12-06 | Stobb, Inc. | Method and apparatus for moving bundles of sheets |
| DE3705802A1 (en) * | 1987-02-24 | 1988-09-01 | Adolf Stambera | Device for palletising cuboidal articles |
| CN102837971A (en) * | 2012-09-18 | 2012-12-26 | 海南英利新能源有限公司 | Method and system for photovoltaic subassembly sorting and stacking |
| CN102923489A (en) * | 2012-10-22 | 2013-02-13 | 南通通用机械制造有限公司 | Four-station compact robotic stacking system |
| CN205381738U (en) * | 2016-02-01 | 2016-07-13 | 苏州弗兰克自动化设备有限公司 | Automatic hacking machine of dish washer |
| CN106081534A (en) * | 2016-08-29 | 2016-11-09 | 广东万事泰集团有限公司 | A kind of automated transport system being applied to cooker intelligence manufacture |
| CN205708902U (en) * | 2016-06-02 | 2016-11-23 | 深圳市鸿圆机械电器设备有限公司 | A kind of automatic stacking machine |
| CN106348028A (en) * | 2016-11-15 | 2017-01-25 | 赵铭竹 | PLC for product stacking and product stacking method |
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2017
- 2017-04-05 CN CN201710218565.0A patent/CN106829516A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4419035A (en) * | 1982-04-21 | 1983-12-06 | Stobb, Inc. | Method and apparatus for moving bundles of sheets |
| DE3705802A1 (en) * | 1987-02-24 | 1988-09-01 | Adolf Stambera | Device for palletising cuboidal articles |
| CN102837971A (en) * | 2012-09-18 | 2012-12-26 | 海南英利新能源有限公司 | Method and system for photovoltaic subassembly sorting and stacking |
| CN102923489A (en) * | 2012-10-22 | 2013-02-13 | 南通通用机械制造有限公司 | Four-station compact robotic stacking system |
| CN205381738U (en) * | 2016-02-01 | 2016-07-13 | 苏州弗兰克自动化设备有限公司 | Automatic hacking machine of dish washer |
| CN205708902U (en) * | 2016-06-02 | 2016-11-23 | 深圳市鸿圆机械电器设备有限公司 | A kind of automatic stacking machine |
| CN106081534A (en) * | 2016-08-29 | 2016-11-09 | 广东万事泰集团有限公司 | A kind of automated transport system being applied to cooker intelligence manufacture |
| CN106348028A (en) * | 2016-11-15 | 2017-01-25 | 赵铭竹 | PLC for product stacking and product stacking method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108195289A (en) * | 2017-12-29 | 2018-06-22 | 上海华太信息技术有限公司 | A kind of method measured using line laser to workpiece specific position parameter |
| CN113443444A (en) * | 2021-06-22 | 2021-09-28 | 新乡北新建材有限公司 | Gypsum board finished product conveying and stacking system and adjusting method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170531 Address after: 312000 Zhejiang Province, Shaoxing city Keqiao district town Anchang village Jiuding Lou spoon Applicant after: Shaoxing Jicheng Packaging Machinery Co.,Ltd. Address before: 312000, Zhejiang, Shaoxing province Shaoxing County rock street, clear bay village, Cheng Wan No. 42-2 Applicant before: Ma Yongqiang |
|
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170613 |
|
| RJ01 | Rejection of invention patent application after publication |