CN108381559A - Manage part mechanical arm, Li Jian robots and its control method - Google Patents
Manage part mechanical arm, Li Jian robots and its control method Download PDFInfo
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- CN108381559A CN108381559A CN201810296650.3A CN201810296650A CN108381559A CN 108381559 A CN108381559 A CN 108381559A CN 201810296650 A CN201810296650 A CN 201810296650A CN 108381559 A CN108381559 A CN 108381559A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000012384 transportation and delivery Methods 0.000 claims abstract description 62
- 230000033001 locomotion Effects 0.000 claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims abstract description 38
- 239000003463 adsorbent Substances 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 claims description 4
- 238000013507 mapping Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 210000000707 wrist Anatomy 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 210000003857 wrist joint Anatomy 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
Classifications
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- 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
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Abstract
This application discloses a kind of reason part mechanical arm, Li Jian robots and its control methods, including symmetrical reason part mechanical arm, the mechanical arm is made of three right angle mobile units and wrist mechanism, and the control method includes mobile single armed and rotation control, both arms overturning Cooperation controlling, multi-robotic task distribution and dispatching method.According to technical solution provided by the embodiments of the present application, one or more groups of Li Jian robots are arranged by gantry mechanism above transmission belt, the express delivery in transmission belt is rotated, is translated and the operations such as the overturning of certain surface.Spaces compact of the present invention, motion control decoupling, and with the fitnesss such as transmission belt it is higher, can rapid deployment Li Jian robots and control method.
Description
Technical field
The present disclosure relates generally to field of express delivery, more particularly to reason part mechanical arm, Li Jian robots and its control method.
Background technology
In logistics sorting field, by artificial or robot by express mail overturn so that it is specific up, be sequentially placed in biography
It is defeated to take, then pass through high speed barcode scanning and automated sorting equipment.Part operation is managed in robot assisted express delivery, includes specifically express mail
It is horizontal carry, rotation process in horizontal plane, the turning operation etc. in certain surface.
In the prior art, the operation of reason part mostly uses industrial machine arm, and not only space is big, and situ configuration is complicated；Theoretically work
Industry robotic arm can adapt to express mail carrying, rotation and the turning operation perpendicular to gripping surface, but can not achieve and be parallel to crawl
The turning operation in face；Tandem type mechanical arm is more sensitive for loading, and different business scene need to configure different shaped according to load section
Number mechanical arm, Presence Extensions and adaptability are inadequate；Industrial machinery arm rotates and translational motion coupling, objectively increases control
Difficulty.
Invention content
In view of drawbacks described above in the prior art or deficiency, be intended to provide a kind of reason part mechanical arm, Li Jian robots and its
Control method.
In a first aspect, a kind of reason part mechanical arm, including first movement unit are provided, the company of sliding on the first movement unit
It is connected to the second mobile unit, the glide direction of second mobile unit is vertical with the glide direction of first movement unit,
Third mobile unit is connected in second mobile unit, the third mobile unit is scalable slide bar, and the third is moved
The direction of motion of moving cell and the glide direction of second mobile unit and the first movement unit are vertical；
The sliding end of the third mobile unit is connected with the first rotary unit, the rotary shaft of first rotary unit with
The third mobile unit overlaps, and the second rotary unit is rotatably connected on first rotary unit, and second rotation is single
The rotary shaft of member is vertical with the rotary shaft of the first rotary unit, and third rotation is rotatably connected on second rotary unit
Unit, the rotary shaft of the third rotary unit are vertical with the rotary shaft of the second rotary unit.
Second aspect provides a kind of Li Jian robots, including above-mentioned two reason part mechanical arms, and two are managed machinery described in parts
The third mobile unit of arm is arranged in parallel.
The third aspect provides a kind of reason part robot control method, including step：
Express delivery on scan transfer band determines that the current state of the express delivery, the current state are St1=[Rt1,pt1,dt1,
S], wherein Rt1Spin matrix for express mail relative to reference coordinate, pt1Position for express mail geometric center relative to reference frame
Set appropriate, dt1For description express mail length, the offset vector of width, height, s is express mail classification；
The task sequence of Li Jian robots is determined according to the mapping relations of the dbjective state of the express delivery and current state.
According to technical solution provided by the embodiments of the present application, by managing the straight of three directions of setting on part mechanical arm at one
The wrist joint in angle joint and three angles, and can two reason part mechanical arms collaboration operated, to fast in transmission belt
The operations such as progressive row rotation, translation and the overturning of certain surface are operated specifically for express delivery reason part, compact-sized and right
It is more in the operational motion of express delivery；Further the operation for needing to carry out is determined by scanning the state of express delivery, according to express delivery
State carries out mission planning, judges that the quantity of reason part mechanical arm and Li Jian robots needed, dynamic adjust Li Jian robots
State with meet express delivery adjustment the needs of, to express delivery adjustment it is more adaptable.
Description of the drawings
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is that part mechanical arm structural schematic diagram is managed in the embodiment of the present invention；
Fig. 2 is that part robot architecture's schematic diagram is managed in the embodiment of the present invention；
Fig. 3 is individually to manage part robot control method flow chart in the embodiment of the present invention；
Fig. 4 is to carry out operating front and back state diagram to a kind of express delivery in the embodiment of the present invention；
Fig. 5 is to carry out operating front and back state diagram to another kind of express delivery in the embodiment of the present invention；
Fig. 6 is multiple Li Jian robots work structure diagram in the embodiment of the present invention；
Fig. 7 is multiple Li Jian robots control block diagram in the embodiment of the present invention；
Fig. 8 is multiple reason part robot control method flow charts in the embodiment of the present invention.
Specific implementation mode
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, is illustrated only in attached drawing and invent relevant part.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Referring to FIG. 1, a kind of reason part mechanical arm of offer of the embodiment of the present invention, including first movement unit 11, described first
The second mobile unit 12 is slidably connected in mobile unit 11, the glide direction of second mobile unit 12 is moved with described first
The glide direction of moving cell 11 is vertical, and third mobile unit 13, the third movement are connected in second mobile unit 12
Unit 13 is scalable slide bar, the direction of motion of the third mobile unit 13 and second mobile unit 12 and described first
The glide direction of mobile unit 11 is vertical；
The sliding end of the third mobile unit 13 is connected with the first rotary unit 14, the rotation of first rotary unit 14
Shaft is overlapped with the third mobile unit 13, and the second rotary unit 15, institute are rotatably connected on first rotary unit 14
The rotary shaft for stating the second rotary unit 15 is vertical with the rotary shaft of first rotary unit 14, on second rotary unit 15
It is rotatably connected to third rotary unit 16, the rotation of the rotary shaft of the third rotary unit 16 and second rotary unit 15
Axis is vertical.
The right angle joint in three directions is provided on the reason part mechanical arm provided in the present embodiment, by the way that first movement is arranged
Unit, the second mobile unit and third mobile unit realize the operation for being parallel to gripping surface, single additionally by the first rotation of setting
The wrist joint of member, the second rotary unit and third rotary unit these three angles, and gone here and there with the right angle joint in three directions
In addition connection can also realize parallel and gripping surface turning operation.
Further, adsorbent equipment 18 is installed, the adsorbent equipment 18 and described the on the third rotary unit 16
Pressure sensor 19 is equipped between three rotary units 16.In the present embodiment adsorbent equipment is mounted in third rotary unit one end,
It can realize the absorption to express delivery so that express delivery will not be easily when controlling express delivery and carrying out the operation such as overturning for reason part mechanical arm
It falls and causes operation error, adsorbent equipment can be the structure of sucker class, while the reason part mechanical arm passes through
Sucker is arranged can easily carry out the express delivery of light and thin type turning operation such as envelope, soft package article.In addition, in third
It is additionally provided with pressure sensor between rotary unit and adsorbent equipment, part mechanical arm synergistic effect is managed when two and carries out turning over for express delivery
When turning to wait operation, the detection that reason part mechanical arm is applied to the power of express delivery is carried out by the pressure sensor of setting, and pass through ratio
It is detected compared with the pressure size that pressure sensor detects to whether the position of express delivery generates offset, in order to be adjusted；
In addition, being detected to pressure size by pressure sensor for the ease of reason part mechanical arm, while being also prevented from adsorbent equipment pair
Pressure sensor impacts, and substrate 17 is arranged between adsorbent equipment and pressure sensor, and adsorbent equipment is arranged in the base
On plate 17 so that interaction will not have an impact between each unit.
Further, the direction of motion of second mobile unit 12 and the direction of motion of the first movement unit 11 with
It is parallel that express delivery runs plane.By the way that the adjusting to express delivery state is realized in right angle joint and the series connection of wrist joint in the present embodiment,
Wherein specific first movement unit motion direction is to be parallel to transmission belt, and be arranged along transmission belt traffic direction, the second movement
Unit motion is oriented parallel to transmission belt, is vertically arranged with transmission belt traffic direction, and third mobile unit is moved with above-mentioned two
Unit is vertical, i.e., is vertically arranged with transmission belt, and third mobile unit is arranged between the second mobile unit and transmission belt, and
Third mobile unit is set as retractable structure, and not connected one end can carry out operation close to or far from conveyer belt and realize behaviour
Make moving up and down for position.In addition, the first rotary unit in the present embodiment drives the second rotary unit and third rotary unit
It being rotated around third mobile unit, the second rotary unit drives third rotary unit to be rotated around the axis for being parallel to first movement unit,
Third rotary unit is rotated around the axis for being parallel to the second mobile unit, realizes three angular adjustments, meets and express delivery is adjusted
Demand.
As shown in Fig. 2, the embodiment of the present invention additionally provides a kind of Li Jian robots, including above-mentioned two reason part mechanical arms
1,2, the third mobile unit of two reason part mechanical arms is arranged in parallel.Li Jian robots provided in this embodiment include
There are two part mechanical arm is managed, when the express delivery encountered has more than two operating surfaces and needs to carry out turning operation, two are needed
Reason part mechanical arm collaboration is operated；Third unit is arranged in parallel, the operations such as opposite overturning for realizing express delivery in two wrist joints.
Further, further include portal frame, the portal frame includes being arranged in the first frame body 3 of 5 both sides of transmission belt and
Second mobile unit of two frame bodies 4, two reason part mechanical arms is arranged at first frame body 3 and second frame body 4
Between.Two reason part mechanical arms are mounted on the portal frame of transmission belt both sides in the present embodiment and realize fixation, mounted two
A reason part mechanical arm is respectively positioned on the operation realized right over conveyer belt to express delivery, while can also realize the control to express delivery path,
So that express delivery is moved along certain path on a moving belt, convenient for control.
Further, the second mobile unit integrally connected of two reason part mechanical arms.Two are managed in the present embodiment
Second mobile unit integrally connected of part mechanical arm is configured, such as the two first movement units and third for managing part mechanical arm
Mobile unit is mounted in same second mobile unit, is configured using a crossbeam, is on the one hand economized on resources, on the other hand
Running track in second mobile unit of two reason part mechanical arms is identical so that two reason part mechanical arms translate express delivery
Or more stablize when the operations such as overturning.
The step that different express delivery structures carries out needed for reason part adjusting is given below and provides two as shown in Figure 4 and Figure 5
The rigid packages express mails such as kind express delivery object, such as carton shown in Fig. 4, have three pairs of operating surfaces, can be denoted as1.2.
3. opposite face serial number is identical, it is abbreviated as A classes；Envelope shown in fig. 5, flexible package class package only there are two operating surfaces, can remember
For1. being abbreviated as B classes.For A class express delivery objects, the turning operation of arbitrary face at least needs rotation process twice, (a)
For original state, make sideIt is needed upward by turning operation twice, the first reason part mechanical arm is by facePick up express mail, second
Rotary unit arrives state (b) after being rotated by 90 °, 3. the second reason part mechanical arm is by contacting the express mail, active force and the first reason part machinery
Arm is equal in magnitude, direction is on the contrary, so latter two reason part mechanical arm third rotary unit is rotated by 90 ° makes simultaneouslyIt reaches upward most
Whole state (c).It is (d) original state of B class express mails for B class express delivery objects,Upward, the first reason part unlike
Mechanical arm is rotated 90 degree and is made 1. upward by 1. face locking express mail state (e), then the second rotary unit of the reason part mechanical arm, until
This B class express mail turning operation is completed to reach end-state (f).
As shown in figure 3, the embodiment of the present invention also provides a kind of reason part robot control method, including step：Scan transfer
The express delivery taken determines that the current state of the express delivery, the current state are St1=[Rt1,pt1,dt1, s], wherein Rt1For express mail
Relative to the spin matrix of reference coordinate, pt1For express mail geometric center relative to the position of reference frame appropriate, dt1For description
The offset vector of express mail length, width, height, s are express mail classification；
The task sequence of Li Jian robots is determined according to the mapping relations of the dbjective state of the express delivery and current state.
Control method in the present embodiment scans the state of current express delivery by scanning means first, according to current state
The operation i.e. task sequence reached needed for dbjective state is calculated, Li Jian robots are operated according to task sequence, until fast
It is delivered to and reaches dbjective state, dbjective state St2=[Rt2,pt2,dt1, s], relative to reference coordinate after being adjusted including express mail
Spin matrix, express mail geometric center is appropriate relative to the position of reference frame after adjustment, behind two parameters remain unchanged.Appoint
Business sequence indicated with parameter sequence, sequence=[action1:k], actionk∈ Action, wherein
N=1 in above-mentioned formula, 2, indicate different reason part mechanical arms,
WhereinFor do-nothing operation；
Trans (n, DIR, d), n-th of reason part mechanical arm is along direction DIR translation distances d；
Rot (n, DIR, θ), n-th of reason part mechanical arm is around direction DIR rotation angles θ；
Dual_trans (DIR, d), two reason part mechanical arms keep tool to sit along direction DIR synchronizing moving distance d
Mark system is opposing stationary；
Dual_rot (DIR, θ), two reason part mechanical arm tool coordinates systems are protected simultaneously around direction DIR synchronous rotary angle θ
It is opposing stationary to hold tool coordinates system；
Dual_exchange (n1, n2, POS, DIR), reason part mechanical arm n1Article is turned in position POS, along direction DIR
Give reason part mechanical arm n2。
Wherein express delivery is moved forward in transmission belt with certain rate, therefore two reason part machines on portal frame
Tool arm is also moved forward with identical rate along first movement unit, is ensured reason part mechanical arm and is needed to protect between the express delivery adjusted
Opposing stationary state is held, the adjustment of express delivery state is convenient for.
Further, determine that the task sequence of Li Jian robots specifically includes：Determine that the express delivery reaches needed for dbjective state
Reason part mechanical arm quantity；
If required reason part mechanical arm quantity is 1, it is determined that each mobile unit of a reason part mechanical arm and rotary unit
Movement locus；
If required reason part mechanical arm quantity is 2, it is determined that two reason part mechanical arms in a Ge Lijian robots are each
The movement locus of mobile unit and rotary unit.The operating procedure to managing part mechanical arm is needed to plan in the present embodiment, it is first
First it needs to be determined that the reason part mechanical arm quantity needed, different express deliveries, the reason part of the different operation needs of express delivery of same type
Mechanical arm quantity is different from, and then determines the movement locus, that is, concrete operations of each unit in different reason part mechanical arms again,
The quantity that required reason part mechanical arm is included at least in the task sequence of generation and the operation needed for each reason part mechanical arm, often
Operation needed for a reason part mechanical arm includes at least six parameters, i.e. first movement unit, the second mobile unit, third movement is single
The displacement distance of member and the rotation angle of the first rotary unit, the second rotary unit, third rotary unit.
Further, however, it is determined that required reason part mechanical arm quantity is 2, then the pressure sensor difference of two reason part mechanical arms
Pressure detecting is carried out, if the pressure value of detection is different, two reason part mechanical arms carry out position tune according to pressure difference value to express delivery
It is whole.When two reason part mechanical arm collaborations being needed to be operated during part is managed in express delivery, the pressure on two reason part mechanical arms passes
Sensor carries out the detection of pressure respectively, judges the position of express delivery by comparing the numerical value of two pressure sensors, if soon
It passs position to shift, then the adjustment for carrying out position by corresponding reason part mechanical arm compensates.
The calculating for carrying out judgement and required operation in the present embodiment by the original state to express delivery, can dynamically adjust reason
The state of part robot meets required condition, realizes the quick reason part to express delivery.
Further, further include：It is small to detect unit in the reason part rate and transmission belt of single Li Jian robots unit hour
When arrive part rate, if single Li Jian robots reason part rate, which is more than the transmission, takes part rate to, improve transmission belt operation
Rate manages part rate to match the Li Jian robots；
It drives transmission to take part rate to if the single Li Jian robots reason part rate is less than, reduces the transmission belt operation
Rate manages part rate to match the Li Jian robots, or multiple reason part machines that control is arranged along the transmission belt traffic direction
Device people, which cooperates, manages part.The rate that rate and robot in the present embodiment also to express delivery conveying manage part is monitored and detects progress
The control of flow so that the two speed matches so that the load of Li Jian robots more balances, the control for Li Jian robots
System is more reasonable.Both if the reason part rate of single Li Jian robots is very fast, the operating rate by improving transmission belt makes
Speed matched, opposite situation can by reduce transmission belt operating rate or increase the quantity of Li Jian robots into
The matching of both rows speed, multiple Li Jian robots operating diagram is as shown in fig. 6, multiple reason part Robot transmission belts are run
Direction serial arrangement has stronger autgmentability, and the selection mission planning of quantity is carried out according to on-site actual situations, can be more preferable
Adaptation transmission belt on different workload, control block diagram as shown in fig. 7, the Li Jian robots being wherein arranged in transmission belt number
Amount can determine that the Li Jian robots of different number are arranged in different application scenarios according to actual conditions, if individual machine people is single
Position hour processing express mail M, transmission belt unit hour piece uploading amount is P, then N number of machine can be arranged along transmission belt traffic direction
People, by carrying out task distribution and whole flow control to N number of robot so that N*M>=P, while transmission can also be adjusted
The transmission rate of band so that the piece uploading rate P ' after regulation and control<=N*M.
Above-mentioned A class express deliveries carry out the calculating of task sequence and are operated by Li Jian robots, the task sequence of formation
Be classified as sequence_A=[trans (1, x, d1), rot (1, z, 90), dual_rot (y, 90), dual_exchange (1,2,
POS, y), trans (2, x, d2)] it needs to be operated by two reason part mechanical arm collaborations；What above-mentioned B class express deliveries were formed appoints
Business sequence is sequence_B=[trans (1, x, d1), rot (1, z, 90), dual_exchange (1,2, POS, y), rot
(2, z, 90), trans (2, x, d2)].
When the transmission belt both sides multiple Li Jian robots of setting carry out reason part operation, need multiple Li Jian robots
Operation carry out reason part mission planning so that multiple robot cooperated reason parts of reason part, as shown in figure 8, giving a kind of multiple reasons
The flow chart of the robot cooperated control of part, wherein it is various there are many methods and pattern that are controlled multiple Li Jian robots,
Fig. 8 only gives one way in which, after being detected to the state of express delivery in transmission belt, appoints to multiple Li Jian robots
Business planning Task [k] inquires n-th of Li Jian robots current task remaining time tn, next task ready time tnp；
Work as tn<tnp, robot n is added toward reason part machine human sequence List can be distributed；
Work as tnp>tn, robot n is deleted from reason part machine human sequence List can be distributed；
When List is empty, piece uploading rate is adjusted so that P '<N*M；
When List non-emptys, task task [k] is distributed into the Li Jian robots corresponding to List [0], and delete current
Element.
Reason part mechanical arm and Li Jian robots provided by the invention rotate the express delivery in transmission belt, translates and special
Determine the operations such as the overturning in face, is operated specifically for express delivery reason part, compact-sized and for express delivery operational motion is more.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical solutions of arbitrary combination and formation.Such as features described above has similar work(with (but not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (10)
1. a kind of reason part mechanical arm, which is characterized in that including first movement unit, slidably connected on the first movement unit
Second mobile unit, the glide direction of second mobile unit is vertical with the glide direction of first movement unit, described
Third mobile unit is connected in second mobile unit, the third mobile unit is scalable slide bar, and the third movement is single
The direction of motion and the glide direction of second mobile unit and the first movement unit of member are vertical；
The sliding end of the third mobile unit is connected with the first rotary unit, the rotary shaft of first rotary unit with it is described
Third mobile unit overlaps, and the second rotary unit is rotatably connected on first rotary unit, second rotary unit
Rotary shaft is vertical with the rotary shaft of the first rotary unit, and it is single that third rotation is rotatably connected on second rotary unit
Member, the rotary shaft of the third rotary unit are vertical with the rotary shaft of the second rotary unit.
2. reason part mechanical arm according to claim 1, which is characterized in that be equipped with absorption dress on the third rotary unit
It sets, pressure sensor is equipped between the adsorbent equipment and the third rotary unit.
3. reason part mechanical arm according to claim 1, which is characterized in that the direction of motion of second mobile unit and institute
The direction of motion for stating first movement unit is parallel with express delivery operation plane.
4. a kind of Li Jian robots, which is characterized in that including any two reason part mechanical arms of 1-3, two reason parts
The third mobile unit of mechanical arm is arranged in parallel.
5. Li Jian robots according to claim 4, which is characterized in that further include portal frame, the portal frame includes setting
The first frame body and the second frame body in transmission belt both sides are set, the second mobile unit of two reason part mechanical arms is arranged at institute
It states between the first frame body and second frame body.
6. Li Jian robots according to claim 4, which is characterized in that the second movement of two reason part mechanical arms is single
First integrally connected.
7. a kind of reason part robot control method, which is characterized in that including step：
Express delivery on scan transfer band determines that the current state of the express delivery, the current state are St1=[Rt1,pt1,dt1, s],
Wherein Rt1Spin matrix for express mail relative to reference coordinate, pt1Position for express mail geometric center relative to reference frame
In right amount, dt1For description express mail length, the offset vector of width, height, s is express mail classification；
The task sequence of Li Jian robots is determined according to the mapping relations of the dbjective state of the express delivery and current state.
8. reason part robot control method according to claim 7, which is characterized in that determine the task sequence of Li Jian robots
Row specifically include：Determine that the express delivery reaches the reason part mechanical arm quantity needed for dbjective state；
If required reason part mechanical arm quantity is 1, it is determined that the fortune of reason part mechanical arm each a mobile unit and rotary unit
Dynamic rail mark；
If required reason part mechanical arm quantity is 2, it is determined that two reason each movements of part mechanical arm in a Ge Lijian robots
The movement locus of unit and rotary unit.
9. reason part robot control method according to claim 7, which is characterized in that if it is determined that required reason part mechanical arm number
Amount is 2, then the pressure sensor of two reason part mechanical arms carries out pressure detecting respectively, if the pressure value of detection is different, two
It manages part mechanical arm and position adjustment is carried out to express delivery according to pressure difference value.
10. reason part robot control method according to claim 7, which is characterized in that further include：The single reason part machine of detection
Unit hour arrives part rate in the reason part rate and transmission belt of device people's unit hour, if the single Li Jian robots manage part rate
Part rate is taken to more than the transmission, then improves transmission belt operating rate to match the Li Jian robots and manage part rate；
It drives transmission to take part rate to if the single Li Jian robots reason part rate is less than, reduces the transmission belt operating rate
Part rate is managed to match the Li Jian robots, or multiple Li Jian robots that control is arranged along the transmission belt traffic direction
Cooperation reason part.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109399127A (en) * | 2018-10-31 | 2019-03-01 | 芜湖市海洋物流有限公司 | A kind of logistics quantitatively reason part storing unit |
| TWI742990B (en) * | 2021-01-19 | 2021-10-11 | 財團法人工業技術研究院 | Robotic arm system, control method thereof and computer program product thereof |
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