CN107512591A - A kind of pile part Nesting and device based on mechanical arm - Google Patents
A kind of pile part Nesting and device based on mechanical arm Download PDFInfo
- Publication number
- CN107512591A CN107512591A CN201710775730.2A CN201710775730A CN107512591A CN 107512591 A CN107512591 A CN 107512591A CN 201710775730 A CN201710775730 A CN 201710775730A CN 107512591 A CN107512591 A CN 107512591A
- Authority
- CN
- China
- Prior art keywords
- stock layout
- individual layer
- pile part
- pile
- layout technique
- 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
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Abstract
The invention discloses a kind of pile part Nesting based on mechanical arm, reads the dimension information of pile part first and piles up the dimension information in region, calculates feasible individual layer stock layout technique；Then the pile part sum of user's input and the individual layer stock layout technique and selecting sequence of user's selection are read, the individual layer stock layout technique arrangement selected according to user carries out circulation stock layout, obtains multilayer stock layout technique；Then the mechanical arm is controlled to pile up pile part according to the individual layer stock layout technique；The quantity of the current pile part piled up of finally detection, when completing individual layer stock layout technique, is adjusted, and return to previous step to the altitude datum of the mechanical arm；Otherwise direct return to step previous step.The invention also discloses a kind of pile part patterning device based on mechanical arm, precision and security that pile part is piled up can be effectively improved.
Description
Technical field
The present invention relates to mechanical arm control field, more particularly to a kind of pile part Nesting and device based on mechanical arm.
Background technology
Carry and palletizing operation occupies critical role in the logistics management of modern enterprise.In stacking work, stacking peace
Full property is particularly important.The Nesting to palletizing mechanical arm is usually using the different stock layout of odd even layer in the prior art.Work as pile
Number of packages amount is more, and pile part stack the number of plies it is higher when, the different stock layout of odd even layer easily occur pile heap tilt even pile heap collapse
Accident.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of pile part Nesting based on mechanical arm, can effectively improve pile part code
The precision and security put.
To achieve the above object, the embodiments of the invention provide a kind of pile part Nesting based on mechanical arm, including step
Suddenly：
S1, the dimension information for reading pile part and the dimension information for piling up region, calculate feasible individual layer stock layout technique；
S2, the pile part sum for reading user's input and user's selection individual layer stock layout technique and selecting sequence, according to user
The individual layer stock layout technique arrangement multilayer stock layout technique of selection；
S3, the control mechanical arm pile up pile part according to the individual layer stock layout technique；
S4, the current pile part piled up of detection quantity, when completing individual layer stock layout technique, to the mechanical arm
Altitude datum is adjusted, and return to step S3；Otherwise direct return to step S3.
As the improvement of such scheme, the step S1 includes：
S11, the dimension information for reading pile part and the dimension information in region is piled up, calculate and described pile up region individual layer and can hold
The individual layer maximum quantity of the pile part carried；
S12, the individual layer of reading user's input pile up quantity, and piling up quantity according to the individual layer calculates feasible individual layer row
Sampling technology.
As the improvement of such scheme, the individual layer stock layout technique includes piling up posture, piling up position and pile up for pile part
Order.
As the improvement of such scheme, the step S3 includes：
S31, the pickup portion of the control mechanical arm capture pile part from pickup position, and will according to the multilayer stock layout technique
The precalculated position that the pile part is moved on the pallet；
S32, according to the multilayer stock layout technique, the pile part is placed on the pallet with predetermined posture described in
Precalculated position.
As the improvement of such scheme, step S32 is also included the pose adjustment of the pile part to the predetermined posture.
Compared with prior art, a kind of pile part Nesting based on mechanical arm provided by the invention, according to the pile part
Dimension information and the dimension information for piling up region, calculate the individual layer maximum quantity that can be piled up；Then it is defeated according to user
The individual layer entered piles up quantity and exports feasible individual layer stock layout technique, and the multiple individual layer stock layout techniques selected according to user
Arrange out multilayer stock layout technique；Control the mechanical arm to carry out pile part according to the multilayer stock layout technique and pile up work.The present invention
The pile part Nesting provided, on the basis of the firm pile part is piled up, by way of multilayer difference stock layout technique,
Increase the intercycle of the individual layer stock layout technique, reduce the error accumulation of individual layer stock layout technique, improve pile part and pile up
Precision and security.
The embodiment of the present invention additionally provides a kind of pile part patterning device based on mechanical arm, including individual layer stock layout calculates mould
Block, for reading the dimension information of pile part and piling up the dimension information in region, calculate feasible individual layer stock layout technique；Multilayer is arranged
Sample generation module, the pile part sum of user's input and the individual layer stock layout technique and selecting sequence of user's selection are read, according to user
The individual layer stock layout technique arrangement multilayer stock layout technique of selection；Stacking control module, for controlling the mechanical arm according to institute
State individual layer stock layout technique and pile up pile part.
Compared with prior art, a kind of pile part patterning device based on mechanical arm provided by the invention, the individual layer stock layout
Dimension information and the dimension information of piling up region of the computing module according to the pile part, it is maximum to calculate the individual layer that can be piled up
Quantity；The individual layer that the multilayer stock layout generation module inputs according to user piles up quantity and exports feasible individual layer stock layout technique, and
And the multiple individual layer stock layout techniques selected according to user arrange out multilayer stock layout technique；The stacking control module controls institute
State mechanical arm and work is piled up according to multilayer stock layout technique progress pile part.The pile part Nesting provided by the invention,
On the basis of the firm pile part is piled up, by way of multilayer difference stock layout technique, make the circulation of the individual layer stock layout technique
Interval increase, reduces the error accumulation of individual layer stock layout technique, improves precision and security that pile part is piled up.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the pile part Nesting based on mechanical arm in the embodiment of the present invention.
Fig. 2 is a kind of flow chart of the pile part Nesting step S1 based on mechanical arm in the embodiment of the present invention.
Fig. 3 is a kind of flow chart of the pile part Nesting step S3 based on mechanical arm in the embodiment of the present invention.
Fig. 4 is a kind of structural representation of the pile part patterning device based on mechanical arm in the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
A kind of pile part Nesting based on mechanical arm provided in an embodiment of the present invention, the mechanical arm include pickup portion and
Motion portion.The pickup portion is used to pick and place pile part, and the motion portion is used to drive the pickup portion of the mechanical arm to move.Institute
State mechanical arm to pile up the pile part on pallet, the pallet is common square stacking pallet, including but not limited to flat
Sheet tray, Post Pallets and box pallet.
Referring to Fig. 1 to Fig. 3, a kind of pile part Nesting based on mechanical arm that the embodiment of the present invention 1 provides includes step：
S1, the dimension information for reading pile part and the dimension information for piling up region, calculate feasible individual layer stock layout technique.Tool
Body, step S1 includes：
S11, the dimension information for reading pile part and the dimension information in region is piled up, calculate and described pile up region individual layer and can hold
The individual layer maximum quantity of the pile part carried.
In this step, the region of piling up can be the pallet, other carriers or ground for stacking, in order to retouch
State conveniently, be described in the present embodiment using pallet as example.Specifically, the area and shape number for piling up region are read
According to being piled up with reference to the single pile part in the area occupied and shape data piled up on region, calculate and described pile up area
The individual layer maximum quantity for the pile part that domain can carry.
S12, the individual layer of reading user's input pile up quantity, and piling up quantity according to the individual layer calculates feasible individual layer code
Pile technique.
Specifically, the individual layer for reading user's input piles up quantity, and piling up quantity when the individual layer is less than or equal to the maximum
During quantity, by heuritic approach, such as ant group algorithm or approximate data, it can also be calculated by the method for exhaustion by multiple institutes
State pile part and pile up and pile up all feasible postures and position on region described, and arbitrarily piled up for multiple pile parts additions
Sequentially, posture will be piled up described in multiple pile parts, described piles up position and the combination for piling up order is recorded as individual layer
Stock layout technique, obtain multiple individual layer stock layout techniques；Otherwise prompting user re-enters the individual layer and piles up quantity.
S2, the pile part sum for reading user's input and user's selection individual layer stock layout technique and selecting sequence, according to user
The individual layer stock layout technique arrangement of selection carries out circulation stock layout, obtains multilayer stock layout technique.
Specifically, the stock layout and selecting sequence of the individual layer stock layout technique of user's selection are read, and according to the row first selected
The stock layout technique that sampling technology is placed on low layer, selects afterwards is placed on high level and arranged, and obtains multilayer stock layout technique.
Assuming that the pile part sum of user's input is 51, it is 4 that individual layer, which piles up quantity, and user have selected the first individual layer successively
Stock layout technique, the second individual layer stock layout technique and the 3rd individual layer stock layout technique.Number is piled up by the total and described individual layer of the pile part
Gauge, which calculates, needs altogether 13 layers of stock layout technique；The first individual layer stock layout technique is read, is set to first layer stock layout technique；Read
Second individual layer stock layout technique, is set to second layer stock layout technique；The 3rd individual layer stock layout technique is read, is set to third layer stock layout technique,
Then the first individual layer stock layout technique, the second individual layer stock layout technique and the 3rd individual layer stock layout technique are repeated in, as the 4th
Layer is completed multilayer stock layout technique and set to the 13rd layer of stacking and stacking technology.In other cases or according to rear selection
The stock layout technique that stock layout technique is placed on low layer, first selects is placed on low layer and arranged, and obtains the multilayer stock layout technique, no
Influence the beneficial effect that the present invention obtains.
S3, the control mechanical arm pile up pile part according to the individual layer stock layout technique.Specifically, step S3 includes：
S31, the pickup portion of the control mechanical arm capture pile part from pickup position, and will according to the multilayer stock layout technique
The precalculated position that the pile part is moved on the pallet.
For convenience of description, in the present embodiment, the pile part is transported using streamline, the mechanical arm is from the streamline
The upper course of work for capturing the pile part and piling up the pallet is described as an example.
The pickup portion of the mechanical arm is controlled to capture pile part from the streamline, it is assumed that the pile part currently captured is
First pile part piled up, is set to No. 1 pile part.Read 1 number and put 1 number corresponding to order and put position, obtain institute
State the coordinate that 1 number puts position.Control the pickup portion crawl pile part of the mechanical arm to be moved to 1 number and put position,
The precalculated position on i.e. described pallet.
S32, according to the multilayer stock layout technique, the pile part is placed on the pallet with predetermined posture described in
Precalculated position.
1 number is obtained from the stock layout technique put 1 number corresponding to order and put posture；Simultaneously according to described
1 number puts the posture for No. 1 pile part that pickup portion adjustment described in gesture stability currently captures.By the appearance of No. 1 pile part
State adjusts to being put with 1 number that posture is consistent, the pile part currently captured is placed on the pallet, completion is currently grabbed
The pile part taken piles up work.
S4, when completing individual layer stock layout technique, the altitude datum of the mechanical arm is adjusted, and return to step S3；
Otherwise direct return to step S3.
For example, it is necessary to which carry out second layer stock layout technique piles up work after first layer stock layout technique is completed.Read institute
The shape information of pile part is stated, the height piled up posture, obtain the pile part of the pile part with reference to described in the first layer stock layout technique
Angle value.The altitude datum of the mechanical arm is adjusted, will the mechanical arm altitude datum improve equivalent to the height
The height of angle value, to prevent from piling up the course of work carry out the second layer stock layout technique, due to first layer stock layout work
The completion pile part of piling up of skill collides, the hair for causing the pile part to damage or cause pile part to stack phenomena such as unstable
It is raw.
A kind of pile part Nesting based on mechanical arm provided by the invention, according to the dimension information of the pile part and described
The dimension information in region is piled up, calculates the individual layer maximum quantity that can be piled up；Then the individual layer inputted according to user piles up quantity
Feasible individual layer stock layout technique is exported, and the multiple individual layer stock layout techniques selected according to user arrange out multilayer stock layout work
Skill；Control the mechanical arm to carry out pile part according to the multilayer stock layout technique and pile up work.The pile part row provided by the invention
Quadrat method, on the basis of the firm pile part is piled up, by way of multilayer difference stock layout technique, make the individual layer stock layout work
The intercycle increase of skill, reduces the error accumulation of individual layer stock layout technique, improves precision and security that pile part is piled up.
Referring to Fig. 4, the embodiment of the present invention additionally provides a kind of pile part patterning device 1 based on mechanical arm, including individual layer row
Sample computing module 11, for reading the dimension information of pile part and piling up the dimension information in region, calculate feasible individual layer stock layout
Technique；Multilayer stock layout generation module 12, read the pile part sum of user's input and individual layer stock layout technique and the selection of user's selection
Sequentially, the individual layer stock layout technique selected according to user arranges multilayer stock layout technique；Stacking control module 13, for controlling
State mechanical arm and pile part is piled up according to the individual layer stock layout technique.
The operation principle and mistake of a kind of pile part patterning device modules based on mechanical arm provided in an embodiment of the present invention
Journey refers to a kind of pile part Nesting based on mechanical arm of above-described embodiment, will not be described here.
Compared with prior art, a kind of pile part patterning device based on mechanical arm provided by the invention, the individual layer stock layout
Dimension information and the dimension information of piling up region of the computing module according to the pile part, it is maximum to calculate the individual layer that can be piled up
Quantity；The individual layer that the multilayer stock layout generation module inputs according to user piles up quantity and exports feasible individual layer stock layout technique, and
And the multiple individual layer stock layout techniques selected according to user arrange out multilayer stock layout technique；The stacking control module controls institute
State mechanical arm and work is piled up according to multilayer stock layout technique progress pile part.The pile part Nesting provided by the invention,
On the basis of the firm pile part is piled up, by way of multilayer difference stock layout technique, make the circulation of the individual layer stock layout technique
Interval increase, reduces the error accumulation of individual layer stock layout technique, improves precision and security that pile part is piled up.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (6)
1. a kind of pile part Nesting based on mechanical arm, it is characterised in that including step：
S1, the dimension information for reading pile part and the dimension information for piling up region, calculate feasible individual layer stock layout technique；
S2, the pile part sum for reading user's input and user's selection individual layer stock layout technique and selecting sequence, are selected according to user
The individual layer stock layout technique arrangement carry out circulation stock layout, obtain multilayer stock layout technique；
S3, the control mechanical arm pile up pile part according to the individual layer stock layout technique；
S4, the current pile part piled up of detection quantity, when completing individual layer stock layout technique, to the benchmark of the mechanical arm
Highly it is adjusted, and return to step S3；Otherwise direct return to step S3.
2. pile part Nesting as claimed in claim 1, it is characterised in that the step S1 includes：
S11, the dimension information for reading pile part and the dimension information in region is piled up, calculate and described pile up what region individual layer can carry
The individual layer maximum quantity of the pile part；
S12, the individual layer of reading user's input pile up quantity, and piling up quantity according to the individual layer calculates feasible individual layer stock layout work
Skill.
3. pile part Nesting as claimed in claim 1, it is characterised in that the individual layer stock layout technique includes piling up for pile part
Posture, pile up position and pile up order.
4. pile part Nesting as claimed in claim 3, it is characterised in that the step S3 includes：
S31, the pickup portion of the control mechanical arm capture pile part from pickup position, and according to the multilayer stock layout technique by described in
The precalculated position that pile part is moved on the pallet；
S32, according to the multilayer stock layout technique, the pile part is placed into predetermined posture described predetermined on the pallet
Position.
5. pile part Nesting as claimed in claim 4, it is characterised in that step S32 is also included the posture of the pile part
It is adjusted to the predetermined posture.
A kind of 6. pile part patterning device based on mechanical arm, it is characterised in that including：
Individual layer stock layout computing module, for reading the dimension information of pile part and piling up the dimension information in region, calculate feasible
Individual layer stock layout technique；
Multilayer stock layout generation module, for reading the pile part sum of user's input and individual layer stock layout technique and the selection of user's selection
Sequentially, the individual layer stock layout technique selected according to user arranges multilayer stock layout technique；
Stacking control module, for controlling the mechanical arm to pile up pile part according to the individual layer stock layout technique.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710775730.2A CN107512591B (en) | 2017-08-31 | 2017-08-31 | stacking piece layout method and device based on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710775730.2A CN107512591B (en) | 2017-08-31 | 2017-08-31 | stacking piece layout method and device based on mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107512591A true CN107512591A (en) | 2017-12-26 |
| CN107512591B CN107512591B (en) | 2019-12-17 |
Family
ID=60723934
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710775730.2A Active CN107512591B (en) | 2017-08-31 | 2017-08-31 | stacking piece layout method and device based on mechanical arm |
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| Country | Link |
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| CN (1) | CN107512591B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436813A (en) * | 2018-10-25 | 2019-03-08 | 中船动力有限公司 | Special-shaped furniture board piles up method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61136825A (en) * | 1984-12-01 | 1986-06-24 | Murata Mach Ltd | Palletizing for articles by robot |
| JPH04327423A (en) * | 1991-04-30 | 1992-11-17 | Lion Corp | Loading method |
| CN101823626A (en) * | 2009-03-04 | 2010-09-08 | 克罗内斯股份公司 | Be used to create system, method and the operating unit of the mixolimnion of pallet |
| CN106239512A (en) * | 2016-08-27 | 2016-12-21 | 南通通机股份有限公司 | A kind of robot palletizer control method based on Formula type |
| CN106743710A (en) * | 2015-11-20 | 2017-05-31 | 发那科株式会社 | The position that article is piled up in setting stows mode computing device |
-
2017
- 2017-08-31 CN CN201710775730.2A patent/CN107512591B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61136825A (en) * | 1984-12-01 | 1986-06-24 | Murata Mach Ltd | Palletizing for articles by robot |
| JPH04327423A (en) * | 1991-04-30 | 1992-11-17 | Lion Corp | Loading method |
| CN101823626A (en) * | 2009-03-04 | 2010-09-08 | 克罗内斯股份公司 | Be used to create system, method and the operating unit of the mixolimnion of pallet |
| CN106743710A (en) * | 2015-11-20 | 2017-05-31 | 发那科株式会社 | The position that article is piled up in setting stows mode computing device |
| CN106239512A (en) * | 2016-08-27 | 2016-12-21 | 南通通机股份有限公司 | A kind of robot palletizer control method based on Formula type |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436813A (en) * | 2018-10-25 | 2019-03-08 | 中船动力有限公司 | Special-shaped furniture board piles up method |
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| Publication number | Publication date |
|---|---|
| CN107512591B (en) | 2019-12-17 |
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