CN108147143A - A kind of automatic stacking machine people's control system - Google Patents
A kind of automatic stacking machine people's control system Download PDFInfo
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- CN108147143A CN108147143A CN201711376962.7A CN201711376962A CN108147143A CN 108147143 A CN108147143 A CN 108147143A CN 201711376962 A CN201711376962 A CN 201711376962A CN 108147143 A CN108147143 A CN 108147143A
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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
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
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Abstract
The present invention provides a kind of automatic stacking machine people's control system, including teaching machine module, robot program's language parsing module, motion-control module, I/O module, motor decoder module；Teaching machine module includes input unit and display unit；Robot program's language parsing module parses robot language, constructs corresponding syntax tree and symbol table；Motion-control module includes communication unit and algorithm unit；Communication unit carries out data exchange for motion-control module and other modules；Algoritic module is used to carry out real-time track planning to robot motion；The track interpolated data that algorithm unit calculates is switched to motor output by motor decoder module；I/O module is for robot and the signal interaction of other equipment.User only needs to input the relevant data of stacking according to stacking scene in this programme, and robot meets the robot program of stacking demand with regard to that can automatically generate；A kind of robot trajectory planning's algorithm of real-time high-efficiency is proposed, ensure that the path accuracy of robot.
Description
Technical field
The present invention relates to robot palletizer technical field more particularly to a kind of automatic stacking machine people's control systems.
Background technology
With the rising of human cost, industrial robot automatic stacking is more and more paid attention to.Domestic at present four
Axis robot palletizer market is mainly occupied by the ABB of Switzerland, German KUCA, Japanese peace river and Fa Nake.
Robot control system is robot core component, is responsible for the operation of dispatch robot.The machine of domestic independent research
The ratio of application that device people's control system has put goods on the market is considerably less, and most of company of robot is all using external mature system.
External general robot control system, does not carry out deep development, it is therefore desirable to which operator is to the work(of robot for stacking
Can especially it be familiar with.For the relatively other industrial equipments of robot, function is complicated, and programming is needed to realize palletization operations, grasps machine
The use function threshold of device people is higher.
Invention content
It in view of this, can the technical problem to be solved in the present invention is to provide a kind of automatic stacking machine people's control system
Reduce robot use threshold, it is simple, convenient and practical, meet factory, workshop automatic stacking demand.
The technical proposal of the invention is realized in this way：
A kind of automatic stacking machine people's control system, including teaching machine module, robot program's language parsing module, fortune
Dynamic control module, I/O module, motor decoder module；
The teaching machine module includes input unit and display unit；The input unit includes the basic behaviour of robot
Make instruction and automatic stacking sets interface；The display unit is used to show the working condition of the robot palletizer, including watching
The operation information of the states of clothes, I/O state and relevant device；
Robot program's language parsing module is used for the syntactic structure of self-defined robot programming language；Check machine
The syntax error of device people's program language；To meeting the robot program of proper syntax rule, corresponding symbol table and grammer are generated
Tree；
The motion-control module includes communication unit, algorithm unit；The communication unit is used to carry out with other modules
Data exchange；The algorithm unit is used to carry out the interpolation of DH model foundations, the solution of joint angles forward and reverse solution and trajectory planning
Operation；
The motor decoder module is used for the interpolated data calculated according to the trajectory planning program and the algorithm unit
Control motor output；
The I/O module is used for input signal mouth state, distribution of machine people output state to the teaching machine module.
Preferably, the teaching machine module includes basic user's input, robotary output and sets stacking automatically
Interface：
User's input includes：Robot program programs frame, robot manipulation orders input, rocking bar operates, robot location
Teaching, workpiece coordinate system teaching, robot school zero, user authority setting, time setting；
The state output of robot includes：The current cartesian coordinate value of robot, joint angles, servo condition, machine
People's operation information；
Automatic stacking setting interface includes：Signal message, stack position information, kind information；User inputs stacking information ginseng
Number, is sent to motion-control module in the form of file stream, and generation meets the robot program at stacking scene.
Preferably, robot program's language parsing module includes front end, middle layer and rear end；
The front end is used for scanning imaging system character string, and character string is labeled as constant, variable, program function name, data class
Type name, keyword；
The middle layer is used to program language forming complete syntax tree and symbol table；
The rear end is used to receive user instructions, and traverses or blocks or exit, syntax tree and the corresponding symbol table of lookup,
Gradually perform or hang up or exit the robot program of middle layer generation；
For palletizing system, permanent variable, safe Aligning control, light curtain signal monitoring function are designed on resolver.
Preferably, the motion-control module is equipped with the trajectory planning algorithm of heavy load robot motion.
Preferably, the I/O module, is communicated using R485；In order to ensure the reliability of I/O communication, add on communication data
Check bit is entered；For filtering clutter signal, windowing operation has been carried out to data extraction.
Automatic stacking machine people's control system proposed by the present invention, programming unit are packaged with trajectory planning program in advance, when
After teaching machine module input stacking machine device people's running parameter, the stacking of trajectory planning routine plan robot can be automatically generated
Track is programmed without operator, can reduce the threshold that uses of robot, simple, convenient and practical, is met
Factory, the automatic stacking demand in workshop.
Description of the drawings
Fig. 1 is the structure diagram for automatic stacking machine people's control system that the embodiment of the present invention proposes；
Fig. 2 is the structure flow chart of automatically generating program.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes.
As shown in Figure 1, the embodiment of the present invention proposes a kind of automatic stacking machine people's control system, including teaching machine mould
Block 1, robot program's language parsing module 2, motion-control module 3, I/O module 4, motor decoder module 5；
Teaching machine module 1 includes input unit and display unit；Input unit is manually made to join for inputting stacking machine device
Number；Display unit is used to show the working condition of robot palletizer；
For other industrial equipments, operation has certain complexity, is typically compiled by teaching for robot
Journey completes the roundtrip operation of robot motion.User is needed to be familiar with the programming language of robot, syntax format.Then it uses
The logical relation of entire palletizing operation is accurately reacted to program by robot program's language.In order to reduce operation door
Sill, the present invention are provided with automatic stacking input interface in teaching machine input terminal.User set stacking parameter, as signal setting,
Stack position setting, kind setting etc., these are sent to motion-control module by teaching machine with the form of xml document.Motion control mould
Block parses xml files, obtains the relevant parameter of stacking.According to the crawl of palletizing operation, raise, rotate, place etc. it is substantially dynamic
Make flow, setting signal, pile type etc..Track action ensures robot according to crawl point position, set-point position reasonable computation
Operational efficiency it is higher.The Structure and Process of automatically generating program is as shown in Figure 2.
Wherein process definition is exactly each subfunction definition, including opening handgrip, closing handgrip, pallet data definition, product
Data definition obtains product, places product, counting, returns to the stackings flows such as crawl line, preferential crawl point setting.
It is by capturing a height wherein in the determining of trajectory location points of acquisition product, placement product, return crawl line
The information such as degree, the height of material, the workpiece coordinate system height of placement tray, the number of plies are calculated.Determining track is opposite in this way
More reasonable in the track of manual programming, the speed of whole stacking can become faster.The logic of automatically generating program is sealed in tree structure
Dress, this avoid the logic errors that manual programming is likely to occur.In addition, for a user, it is only necessary to input the one of stacking
A little parameters just can generate stacking program, save a large amount of time.
Robot program's language parsing module 2 is configured to corresponding grammer for being parsed to robot program's language
Tree and symbol table；
Scanning imaging system character string is responsible in front end, and character string is labeled as constant, variable, program function name, data type
Name, keyword etc..
Program language is formed complete syntax tree and symbol table by middle layer.The logical construction of program language is tied using tree
Structure represents that each submodule is exactly the branch set.The logical construction of the syntax tree of different control structures is different, such as recycles
WHILE structures：WHILE is labeled as keyword by front end, generates a tree node, and type is labeled as recycling, then check
Expression formula behind WHILE, be stored as under cyclic node one of expression formula judge type child node；Then front end mark is checked
Note the DO for keyword, the program behind DO is stored as the child node of a procedural type under cyclic node.It is related to node
In numerical information inquired by the symbol table of generation, build from level to level in this way, the logical framework of entire program just passes through language
The structure of method tree stores.
For palletizing system, some special function forms, such as movePallet, moveHomeSafe can also be designed,
SetLoadWeight etc..MovePallet is system function, and meaning is mobile pallet, when user needs to change kind, is adjusted
With this function, pallet data just empty automatically, very convenient use.MoveHomeSafe is safe Aligning control, and user calls
This functional machine people is with regard to automatic Aligning control.Palletizing system often needs to remember previous data, and such as next shift needs to continue
Last shift continues stacking, and robot just needs the function of the last shift data of power down preservation.By that power down will be needed to preserve
Data, be labeled as persistentInt.Front end is labeled as the data of persistentInt types, stores hereof, so
Symbol table takes out corresponding data by finding corresponding document afterwards.Change persistentInt data in the implementation procedure of rear end,
It writes in disk file accordingly.
Data in syntax tree and symbol table that rear end is built by middle layer are traversed according to the instruction that teaching machine inputs
Or hang up or exit syntax tree, it execution or pause step by step or shuts down procedure.
Motion-control module 3 includes communication unit, programming unit and algorithm unit；Communication unit is used for and teaching machine mould
Block, robot program's language parsing module, I/O module and motor decoder module carry out data exchange；Programming unit encapsulates in advance
There is track planning procedure, for according to robot palletizer running parameter programming movement track；Algorithm unit is used to carry out DH models
The interpolation of foundation, the solution of joint angles forward and reverse solution and trajectory planning；
Motion control arithmetic includes the foundation of DH models, and joint angle forward and reverse solution solves and trajectory planning algorithm.It was realized
Journey is as follows：
Establish DH parameters such as following table：
Wherein：T60=T10*T21*T32*T43*T54*T65
Then have as follows
Wherein:
px=c1a5+c1c23a3+c1c2a2+c1a1
py=s1a5+s1c23a3+s1c2a2+s1a1
pz=-s23a3-s2a2+d1-d6
Wherein Px, Py, Pz are exactly ending coordinates value.
L=T01*T60=T61=R
T61=T31*T63
According to R (2,4)=0.It obtains：
-s1px+c1py=0 (1)
So
θ1=arctan (py/px)+npi
According to：L (1,4)=R (1,4) L (3,4)=R (3,4) is available：
c23a3+c2a2=c1px+s1py-a1-a5 (2)
s23a3+s2a2=d1-pz-d6 (3)
According to (2) square+(3) square+(1) square can solve：
2a2a3c3=(c1px+s1py-a1-a5)2+(d1-pz-d6)2-a3 2-a2 2
It obtains：
According to：L=T03*T60=T63=R
T03=T23*T12*T01
T63=T43*T54*T65
According to L (Isosorbide-5-Nitrae)=R (Isosorbide-5-Nitrae), L (2,4)=R (2,4) obtains following two formula：
c23c1Px+c23s1Py-s23Pz+s23d1-c23a1-c3a2=c23a5+s23d6+a3 (4)
-s23c1Px-s23s1Py-c23Pz+c23d1+s23a1+s3a2=-s23a5+c23d6 (5)
It is as follows to solve equation：
θ2=arccos (K)-θ3
On chat forward and reverse solution preocess for robot.
All-purpose robot control algolithm generally with time optimal or energetic optimum, carries out data training to track, obtains
Optimal interpolated data.This method training data time is longer, is difficult to meet real-time within the data interaction period of 4ms
It is required that.In order to meet real-time, also have and estimation planning is carried out using cubic spline curve, this algorithm advantage is to calculate speed
Degree is fast, but only speed, acceleration are limited, and does not consider the vibrations of mechanical end.Robot palletizer is big because of loading,
End inertia is bigger, so vibrations inhibition must be carried out to end, the present invention proposes a kind of vibrations restrainable algorithms.Vibration
The decision parameter of inhibition is the rigidity of machinery and the change rate of acceleration of motion, designs Quintic spline curve thus, ensures machine
People's speed, acceleration, the reciprocal of jerk, jerk in starting point and end point are all 0.
During robot trajectory planning, it is able to know that the position of starting point and distal point, is converted into solution positioning
It moves, determines Jerk, solve the process of peak acceleration and speed.It is η=a to set acceleration-deceleration ratiodown/aup(0 ＜ η≤1), it is first
First clearer and more definite, speed is continuous, and every section of acceleration is also continuous.Setting displacement is L.Setting peak acceleration be
amax, maximum speed vmax, first according to distance L, solve acceleration.
It is equal according to speed, different acceleration-deceleration ratios is selected, then the j of acceleration-deceleration is also different.
From above formula it can be seen that, then the jerk of deceleration has reformed into the η of acceleration Jerk2Times.
A：Calculate in L whether peak acceleration can be reached first；
：
If amaxWhether ＞ a, calculating speed have surpassed maximum speed
If vmax＞ v, the then acceleration for showing to calculate are allowed.If being unsatisfactory for above-mentioned condition, show have at the uniform velocity
Section.The peak acceleration and given peak acceleration calculated according to maximum speed chooses a smaller value am, then calculate even
The fast section time.At the uniform velocity the section time calculates:
Entire thinking is as follows：
a：Pass through given vmax, calculate a that can reach peak accelerationmax1,
It enables；amax1=min (amax1,am)
b：According to distance L, the acceleration a without at the uniform velocity section is calculatedmax2；
c：If amax2＜ amax1, show without at the uniform velocity section；
d：If amax2＞ amax1, show to have at the uniform velocity section, the at the uniform velocity section time is
It ensure that speed in the motion process that algorithm above ensures, acceleration, jerk are less than certain value, and even
It is continuous to lead；
When movement stops, jerk values are 0, and effectively disappeared impact force.
The algorithm has numerical solution, disclosure satisfy that be robot real-time interpolation requirement, further for heavy load stacking machine
Device people, the multistage numerical value reciprocal of kinematic parameter all controls in a certain range, and it is all 0 to move head and the tail kinematics parameters value,
Curve movement is smooth, is very suitable for the movement of heavy load robot.
In embodiments of the present invention, it in order to realize closed-loop control, as soon as robot often reaches a point, is decoded by motor
Practical motor encoder data of device feedback, and according to the real data of encoder calculate physical location and theoretical position
Then in the implementation procedure of next sentence, error is compensated for error, ensures the precision of movement.
I/O module 4 carries out I/O data interaction for robot and external equipment.I O board communication is adopted using R485 per 20ms
Collect input port value, distribution of machine people state to delivery outlet.In order to ensure validity, tabled look-up verification mode using CRC.For
I/O signal, interference signal, filters I/O signal in order to prevent, and windowing operation, window step have specifically been carried out to signal
A length of 3, signal is consistent in window, if there is clutter just filters out.In order to ensure the reliability of data and real-time, school is devised
Test mechanism, retransmission mechanism, drop mechanism, request mechanism etc..
Motor decoder module 5 is used to algorithm calculating data changing into motor output；Motor decoder module is inserted according to algorithm
Value Data according to mechanical reduction than the precision with motor, is converted into the output of motor.In this process, it is ensured that each joint
The synchronization of axis and error compensation.It is synchronous to be ensured using Ethercat bus communications pattern.For example, 4ms is an interaction week
Phase.The data that algorithm is sent to motor are unlikely to be the integer value of motor driver minimum scale, to solve error problem, electricity
Machine decoder safeguards a data base, and the numerical value of each insufficient minimum scale is added up, then carries out error preservation.Cause
It is 4ms for robot data interaction cycle, by network communication, algorithm cannot send the data to motor decoding deck in time.
The data of the stack storage of motor decoding deck, are effectively guaranteed the requirement of real-time property, ensure that robot is not in number
The problem of according to interrupting.
As it can be seen that automatic stacking machine people's control system that the embodiment of the present invention proposes, when teaching machine module inputs stacking machine
After device people's running parameter, the stacking track of trajectory planning routine plan robot can be automatically generated, without operator into
Row programming, can reduce robot use threshold, it is simple, convenient and practical, meet factory, workshop automatic stacking need
It asks.
A kind of efficient, smooth trajectory planning algorithm is proposed for the trajectory planning of robot palletizer, reduces machine
The vibration of people.Ensure the collaboration of each motor shaft using Ethercat bus communications pattern, ensure the precision of track.
For stacking scene, some special functions and language format are added in robot program's language parser, this
It is the debugging and use that scene is facilitated not available for all-purpose robot a bit.
It is last it should be noted that：The foregoing is merely the real technical solutions of the present invention, are not intended to limit the present invention
Protection domain.Any modification, equivalent substitution, improvement and etc. done all within the spirits and principles of the present invention, are all contained in
In protection scope of the present invention.
Claims (5)
1. a kind of automatic stacking machine people's control system, which is characterized in that user inputs the information parameter of stacking, automatically generates code
Pile program；Robot carries out online trajectory planning, realizes steady Effec-tive Function according to the robot program automatically generated；System
Including teaching machine module, robot program's language parsing module, motion-control module, I/O module, motor decoder module；
The teaching machine module includes input unit and display unit；The basic operation that the input unit includes robot instructs
Interface is set with automatic stacking；The display unit is used to show the working condition of the robot palletizer, the shape including servo
The operation information of state, I/O state and relevant device；
Robot program's language parsing module is used for the syntactic structure of self-defined robot programming language；Inspection machine people's journey
The syntax error of sequence language；To meeting the robot program of proper syntax rule, corresponding symbol table and syntax tree are generated；
The motion-control module includes communication unit, algorithm unit；The communication unit is used to carry out data with other modules
It exchanges；The algorithm unit is used to carry out the interpolation arithmetic of DH model foundations, the solution of joint angles forward and reverse solution and trajectory planning；
The motor decoder module is used to be controlled according to the interpolated data that the trajectory planning program and the algorithm unit calculate
Motor exports；
The I/O module is used for input signal mouth state, distribution of machine people output state to the teaching machine module.
2. automatic stacking machine people's control system as described in claim 1, which is characterized in that the teaching machine module includes base
This user's input, robotary output and automatic setting stacking interface：
User's input includes：Robot program program frame, robot manipulation order input, rocking bar operation, robot location's teaching,
Workpiece coordinate system teaching, robot school zero, user authority setting, time setting；
The state output of robot includes：Current cartesian coordinate value, joint angles, servo condition, the robot fortune of robot
Row information；
Automatic stacking setting interface includes：Signal message, stack position information, kind information；User inputs stacking information parameter, with text
The form of part stream is sent to motion-control module, and generation meets the robot program at stacking scene.
3. automatic stacking machine people's control system as described in claim 1, which is characterized in that robot program's language solution
It analyses module and includes front end, middle layer and rear end；
The front end be used for scanning imaging system character string, by character string be labeled as constant, variable, program function name, data type name,
Keyword；
The middle layer is used to program language forming complete syntax tree and symbol table；
The rear end traverses for receiving user instructions or blocks or exit, syntax tree and the corresponding symbol table of lookup are gradually held
Row or the robot program for hanging up or exiting middle layer generation；
For palletizing system, permanent variable, safe Aligning control, light curtain signal monitoring function are designed on resolver.
4. automatic stacking machine people's control system as described in claim 1, which is characterized in that the motion-control module is equipped with
Heavy load robot motion's trajectory planning algorithm.
5. automatic stacking machine people's control system as described in claim 1, which is characterized in that the I/O module, using R485
Communication；Check bit is added on communication data, for ensureing the reliability of I/O communication；Data are extracted and carry out windowing operation, are used
In filtering clutter signal.
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| CN110842897A (en) * | 2019-12-10 | 2020-02-28 | 江苏汇博机器人技术股份有限公司 | Palletizing robot system for practical training and assessment method thereof |
| CN111209169A (en) * | 2019-12-19 | 2020-05-29 | 珠海格力电器股份有限公司 | IO module display control method, computer readable storage medium and robot |
| CN111209169B (en) * | 2019-12-19 | 2021-11-30 | 珠海格力电器股份有限公司 | IO module display control method, computer readable storage medium and robot |
| CN112276911A (en) * | 2020-11-10 | 2021-01-29 | 安徽省六安恒源机械有限公司 | Grab arm type trash cleaning robot motion control system |
| CN113561173A (en) * | 2021-07-06 | 2021-10-29 | 西安航天精密机电研究所 | Motion controller based on WINCE platform and coding, decoding and trajectory planning method thereof |
| CN113561173B (en) * | 2021-07-06 | 2022-09-16 | 西安航天精密机电研究所 | Coding, decoding and track planning method of motion controller based on WINCE platform |
| CN114153464A (en) * | 2022-02-10 | 2022-03-08 | 广东天太机器人有限公司 | Industrial robot programming and analyzing method and storage medium |
| WO2023169144A1 (en) * | 2022-03-11 | 2023-09-14 | 科达制造股份有限公司 | Simple palletizing control system and method for robot |
| CN114890149A (en) * | 2022-04-26 | 2022-08-12 | 江西嘉鑫陶瓷有限公司 | Mud bar stacker crane operating system |
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