CN108748136A - Robot stacking program creating method, storage medium and teaching machine - Google Patents
Robot stacking program creating method, storage medium and teaching machine Download PDFInfo
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- CN108748136A CN108748136A CN201810318007.6A CN201810318007A CN108748136A CN 108748136 A CN108748136 A CN 108748136A CN 201810318007 A CN201810318007 A CN 201810318007A CN 108748136 A CN108748136 A CN 108748136A
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- robot
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of robot stacking program creating method, storage medium and teaching machines, wherein this method includes：Receive user palletized products parameter, pallet parameter, pile shape parameter and pile heap are originated discharge position position coordinates it is specified；Calculate the position coordinates of remaining each discharge position of the pile heap in addition to originating discharge position；The joint angles of robot palletizer are calculated according to the position coordinates of each discharge position of pile heap, and calculated joint angles are compared with preset joint angles limit threshold value, if it exceeds joint angles limit threshold value, then sends out prompt user and change the specified prompt message；If calculated joint angles are less than joint angles limit threshold value, stacking program is generated.The present invention, which does not need the complicated teaching process of user's progress, can automatically generate the stacking program of robot.
Description
Technical field
The present invention relates to robot palletizing technology more particularly to robot stacking program creating methods and device.
Background technology
Stacking industrial robot is widely used in the fields such as food, 3C, parts machining, and different application scenarios is to machine
The requirement of people's stacking is not quite similar.The stacking scheme realization for capableing of custom parameter has the feasibility of robot application scheme
Vital effect, either can neatly be used in which industry use.
For the programming aspect of industrial robot, the mode of teaching playback is typically used, this mode needs to debug work
Each robot coordinate point teaching one time is included the xyz coordinates and attitude parameter of robot, what is done so asks by Cheng Shi
Topic is that workload complexity is heavy, as long as and there are one taught point inaccuracy, will influence the effect of robot stacking, in recent years
Widely there is off-line programming technique in industrial robot field, and company of robot ABB, Fanuc etc. advanced in the world is all
It develops as RobotStudio, off-line programming software outstanding RobotGuide etc., the benefit of this technology is can to allow engineering
Teacher simulates the method for operation of robot on computers, is used in combination mouse-keyboard writing into line code, early period that need not be showed
The debugging of field.This plays the role of the feasibility verification of scheme that this is fairly good, but this method is for the precision of CAD model
It is required that it is very high, it otherwise still obtains and is adjusted according to the physical location of robot and workpiece at the scene.
Invention content
Technical problem to be solved by the present invention lies in a kind of robot stacking program creating method is provided, need not use
Family, which carries out complicated teaching process, can automatically generate the stacking program of robot.
One side according to the ... of the embodiment of the present invention provides a kind of robot stacking program creating method comprising with
Lower step：
Receive the position seat that user originates palletized products parameter, pallet parameter, pile shape parameter and pile heap discharge position
Target is specified；
Calculate the position coordinates of remaining each discharge position of the pile heap in addition to originating discharge position；
The joint angles of robot palletizer are calculated according to the position coordinates of each discharge position of pile heap, and will be calculated
Joint angles are compared with preset joint angles limit threshold value, if it exceeds joint angles limit threshold value, then send out prompt
User changes the specified prompt message；
If calculated joint angles are less than joint angles limit threshold value, stacking program is generated.
Another aspect according to the ... of the embodiment of the present invention provides a kind of storage medium, and storage medium includes the program of storage,
Wherein, above-mentioned robot stacking program creating method is executed when program is run.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of teaching machine, including memory, processor and storage
Program on the memory, wherein processor implements above-mentioned robot stacking program creating method when executing described program.
Since present invention employs above technical solution, having the technical effect that for generating is apparent：
1, compared with the prior art needs user to carry out key point teaching and input the mode of instruction one by one, the present invention only needs
User originates palletized products parameter, pallet parameter, pile type, pile heap the parameters such as the position coordinates of discharge position and is simply set
It sets, the executable stacking program of robot can be automatically generated, and can meet the needs of User Defined pile type, greatly be promoted
The debugging efficiency of stacking program, while alleviating the labor intensity of staff；
2, the program automatically generated manually enters instruction compared to people, and the probability of error is zero, so as to improve debugging
Safety also reduces the professional requirement to staff in addition, user-friendly.
Description of the drawings
Fig. 1 shows the flow diagram of robot stacking program creating method according to the ... of the embodiment of the present invention.
Fig. 2 shows the schematic diagrames of robot palletizer system.
Fig. 3 shows the functional block diagram of teaching machine according to the ... of the embodiment of the present invention.
Specific implementation mode
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Fig. 1 shows the flow diagram of robot stacking program creating method according to an embodiment of the invention.It please join
Fig. 1 and Fig. 2 are read, a kind of robot stacking program creating method according to an embodiment of the invention includes the following steps：
Step a, receive user and discharge position is originated to palletized products parameter, pallet parameter, pile shape parameter and pile heap
Position coordinates are specified；
Step b, the position coordinates of remaining each discharge position of the pile heap in addition to originating discharge position are calculated；
Step c, the joint angles of robot palletizer are calculated according to the position coordinates of each discharge position of pile heap, and will meter
The joint angles of calculating are compared with preset joint angles limit threshold value, if it exceeds the joint angles limit threshold value,
It then sends out prompt user and changes the specified prompt message；
If step d, calculated joint angles are less than the joint angles limit threshold value, stacking program is generated.
In above-mentioned step a, palletized products parameter includes the dimension information of palletized products and the offset of product, support
Disk parameter includes the dimension information and pallet coordinate system of pallet, and user can in advance survey according to the design requirement of stacking work station
Measure the dimension information of palletized products and pallet.The pile shape parameter of stacking can be previously set specifies so that user carries out selection,
Or make user's progress self-defined.Pile shape parameter include X, Y, Z-direction placed product number, stacking sequence is (by coordinate system
Direction is set), pallet information, pile heap rotation information etc. whether placed in the middle.It is to place first stacking that pile heap, which originates discharge position,
The position coordinates of the position of product, pile heap starting discharge position are obtained by user's teaching.The product of stacking for example can be
Chest, but not limited to this.
In above-mentioned step b, for the space of same layer, the calculation of discharge position can by matrix operation come
It obtains.Assuming that the coordinate of first product of stacking is (X0,Y0,Z0), and the size of product is a (length), b (width), h (height), is appointed
A product of anticipating assumes to be respectively X along the distance of tri- direction translations of X, Y, Z△、Y△、Z△, which rotates to be θ, that
The vector P of coordinate after product translation1It can be expressed as：
P1=Dx(q)P0Wherein：
P0Indicate the vector in product home position, Dx(q) translation matrix is represented.
Since θ is the product rotation that direction carries out about the z axis, then being represented by plus the discharge position after rotation:
P2=Rz(θ)Dx(q)P0Wherein：
Rz(θ) indicates spin matrix.
During calculating, it will usually define the offset distance of product with the length of product and wide integral multiple.Assuming that
There is m double-lengths, n times wide products can replace X with ma and nb then when calculating offset△、Y△, Z△With
Current floor height replaces, and can thus accurately calculate the discharge position of each product in pile heap.
Step c tests primarily directed to the accessibility of robot, to ensure the robot stacking journey subsequently generated
The correctness of sort run.This process is the process of solution of inverting, and by taking 6 axis robots as an example, joint end is relative to basis coordinates
Transition matrix is as follows：
Wherein,Indicate spatial pose relationship of i-th of joint relative to i-1 joint, for example,Indicate first
The spatial pose relationship of joint opposed robots' pedestal,The pose that the 6th joint is indicated with respect to the 5th joint space closes
System.Assuming that the angle in each joint is θi(i=1 ... 6).So we just need to find out the actual angle in each joint against solution：
According to this angle, θi, then be compared with the joint angles limit threshold value in robot configuration file, if inverse
The angle of solution has been more than the limitation of joint angles limit threshold value, then just being prompted：The position is unreachable, and otherwise robot will
It can report an error in actual motion.User needs to remodify stacking setting, to ensure the accessibility of stacking position.
In above-mentioned step d, the stacking program automatically generated includes the control program of all discharge positions.
Fig. 2 shows the schematic diagrames of robot palletizer system.The robot palletizer system includes robot control cabinet 1, machine
Device human body 2, teaching machine 3 and end effector of robot 4.It also schematically shows in Fig. 2 and is made of 6 chests 51
Pile heap 5.
Referring to FIG. 3, teaching machine 3 according to the ... of the embodiment of the present invention includes memory 31, processor 32 and is stored in this and deposits
Program on reservoir 31, wherein processor 32 implements above-mentioned robot stacking program creating method when executing described program.
Before executing the present processes, user can be first to the relative position of the product at stacking scene, pallet, robot
It measures, it is contemplated that layout type, coordinate system, the tool etc. of good pile heap, and the normal data quantified.Then user by this
In a little palletized products parameters, pallet parameter and pile type information input to teaching machine 3, and the initial tapping point of stacking is shown
Then religion carries out the detection of each product set-point of stacking, can be into the life of line program if examining can pass through
At.The placement point that the robot stacking program of generation contains entire pile executes sentence, these directive statements can be edited,
Wish according to user is changed, the final trial operation for carrying out robot and production.Also, the robot stacking program can spirit
The stacking mode of palletized products is defined livingly, and pile type, inlet point, the offset information of each layer of product can be carried out personalization and set
It sets, meets the needs of under different scenes.In the whole process, user need not carry out cumbersome teaching and statement editing function,
It only needs to carry out writing for top level control logic, the running orbit of each product can be planned and be generated automatically, convenient fast
It is prompt.
The embodiments of the present invention also provide a kind of storage medium, storage medium includes the program of storage, wherein described
Program executes above-mentioned robot stacking program creating method when running.
Above description is the further explanation done to the present invention in conjunction with specific implementation mode and attached drawing.But it is of the invention
Obviously can implement in a variety of other methods different from this description, those skilled in the art can be without prejudice in the present invention
It promoted, deduced according to actual use situation in the case of appearance, therefore, the content of above-mentioned specific embodiment should not limit this hair
Specify fixed protection domain.
Claims (5)
1. a kind of robot stacking program creating method, which is characterized in that include the following steps：
Receive the position coordinates that user originates palletized products parameter, pallet parameter, pile shape parameter and pile heap discharge position
It is specified；
Calculate the position coordinates of remaining each discharge position of the pile heap in addition to originating discharge position；
The joint angles of robot palletizer are calculated according to the position coordinates of each discharge position of pile heap, and by calculated joint
Angle is compared with preset joint angles limit threshold value, if it exceeds the joint angles limit threshold value, then sends out prompt
User changes the specified prompt message；
If calculated joint angles are less than the joint angles limit threshold value, stacking program is generated.
2. a kind of robot stacking program creating method according to claim 1, which is characterized in that the palletized products ginseng
Number includes the dimension information of palletized products and the offset of product, and the pallet parameter includes the dimension information and support of pallet
Disk coordinate system, the pile shape parameter include the product number placed of X, Y, Z-direction, stacking sequence, pallet letter whether placed in the middle
Breath and pile heap rotation information.
3. a kind of robot stacking program creating method according to claim 1, which is characterized in that pile heap originates blowing position
The position coordinates set are obtained by user's teaching.
4. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein run in described program
Robot stacking program creating methods of the Shi Zhihang as described in any one of claims 1 or 2.
5. a kind of teaching machine, including memory, processor and the program being stored on the memory, which is characterized in that the place
Manage the robot stacking program creating method implemented when device executes described program as described in any one of claims 1 or 2.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810318007.6A CN108748136A (en) | 2018-04-10 | 2018-04-10 | Robot stacking program creating method, storage medium and teaching machine |
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| CN201810318007.6A CN108748136A (en) | 2018-04-10 | 2018-04-10 | Robot stacking program creating method, storage medium and teaching machine |
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| CN201810318007.6A Pending CN108748136A (en) | 2018-04-10 | 2018-04-10 | Robot stacking program creating method, storage medium and teaching machine |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109353833A (en) * | 2018-11-27 | 2019-02-19 | 深圳市汇川技术股份有限公司 | Robot stacking point generation method, equipment and computer-readable memory |
| CN110255168A (en) * | 2019-06-28 | 2019-09-20 | 广东利元亨智能装备股份有限公司 | A kind of workpiece dislocation grasping means |
| CN110377355A (en) * | 2019-06-13 | 2019-10-25 | 珠海格力电器股份有限公司 | A kind of stacking control method, device, electronic equipment and storage medium |
| CN110422521A (en) * | 2019-07-17 | 2019-11-08 | 上海新时达机器人有限公司 | The robot side de-stacking method and device thereof of irregular random material |
| CN110480615A (en) * | 2019-08-30 | 2019-11-22 | 河南省机械设计研究院有限公司 | Robot de-stacking positioning correction method |
| 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 |
| CN111498214A (en) * | 2019-05-31 | 2020-08-07 | 牧今科技 | Robot system with packaging mechanism |
| CN112520431A (en) * | 2020-11-23 | 2021-03-19 | 配天机器人技术有限公司 | Stacking calibration method and related device for stacking robot |
| US10953549B2 (en) | 2019-05-31 | 2021-03-23 | Mujin, Inc. | Robotic system with error detection and dynamic packing mechanism |
| US11077554B2 (en) | 2019-05-31 | 2021-08-03 | Mujin, Inc. | Controller and control method for robotic system |
| CN113547525A (en) * | 2021-09-22 | 2021-10-26 | 天津施格机器人科技有限公司 | Control method of robot controller special for stacking |
| CN113878574A (en) * | 2021-09-28 | 2022-01-04 | 浙江大学 | Robot stacking process programming method |
| US11319166B2 (en) | 2019-05-31 | 2022-05-03 | Mujin, Inc. | Robotic system with packing mechanism |
| CN114474062A (en) * | 2022-02-21 | 2022-05-13 | 乐聚(深圳)机器人技术有限公司 | Robot control method, robot control device, robot, and storage medium |
| US11472640B2 (en) | 2019-05-31 | 2022-10-18 | Mujin, Inc. | Robotic system for palletizing packages using real-time placement simulation |
| US11488323B2 (en) | 2019-05-31 | 2022-11-01 | Mujin, Inc. | Robotic system with dynamic packing mechanism |
| US11591168B2 (en) | 2019-05-31 | 2023-02-28 | Mujin, Inc. | Robotic system for processing packages arriving out of sequence |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109353833A (en) * | 2018-11-27 | 2019-02-19 | 深圳市汇川技术股份有限公司 | Robot stacking point generation method, equipment and computer-readable memory |
| CN111498214A (en) * | 2019-05-31 | 2020-08-07 | 牧今科技 | Robot system with packaging mechanism |
| US11794346B2 (en) | 2019-05-31 | 2023-10-24 | Mujin, Inc. | Robotic system with error detection and dynamic packing mechanism |
| US11591168B2 (en) | 2019-05-31 | 2023-02-28 | Mujin, Inc. | Robotic system for processing packages arriving out of sequence |
| US11488323B2 (en) | 2019-05-31 | 2022-11-01 | Mujin, Inc. | Robotic system with dynamic packing mechanism |
| US11077554B2 (en) | 2019-05-31 | 2021-08-03 | Mujin, Inc. | Controller and control method for robotic system |
| US11472640B2 (en) | 2019-05-31 | 2022-10-18 | Mujin, Inc. | Robotic system for palletizing packages using real-time placement simulation |
| US11319166B2 (en) | 2019-05-31 | 2022-05-03 | Mujin, Inc. | Robotic system with packing mechanism |
| US10953549B2 (en) | 2019-05-31 | 2021-03-23 | Mujin, Inc. | Robotic system with error detection and dynamic packing mechanism |
| CN111498214B (en) * | 2019-05-31 | 2021-05-07 | 牧今科技 | Robot system with packaging mechanism |
| CN110377355A (en) * | 2019-06-13 | 2019-10-25 | 珠海格力电器股份有限公司 | A kind of stacking control method, device, electronic equipment and storage medium |
| CN110255168B (en) * | 2019-06-28 | 2021-01-15 | 广东利元亨智能装备股份有限公司 | Workpiece dislocation grabbing method |
| CN110255168A (en) * | 2019-06-28 | 2019-09-20 | 广东利元亨智能装备股份有限公司 | A kind of workpiece dislocation grasping means |
| CN110422521B (en) * | 2019-07-17 | 2021-06-01 | 上海新时达机器人有限公司 | Robot side unstacking method and device for irregular random materials |
| CN110422521A (en) * | 2019-07-17 | 2019-11-08 | 上海新时达机器人有限公司 | The robot side de-stacking method and device thereof of irregular random material |
| CN110480615B (en) * | 2019-08-30 | 2020-11-10 | 河南省机械设计研究院有限公司 | Robot unstacking positioning correction method |
| CN110480615A (en) * | 2019-08-30 | 2019-11-22 | 河南省机械设计研究院有限公司 | Robot de-stacking positioning correction method |
| 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 |
| CN112520431A (en) * | 2020-11-23 | 2021-03-19 | 配天机器人技术有限公司 | Stacking calibration method and related device for stacking robot |
| CN113547525A (en) * | 2021-09-22 | 2021-10-26 | 天津施格机器人科技有限公司 | Control method of robot controller special for stacking |
| CN113547525B (en) * | 2021-09-22 | 2022-01-14 | 天津施格机器人科技有限公司 | Control method of robot controller special for stacking |
| CN113878574A (en) * | 2021-09-28 | 2022-01-04 | 浙江大学 | Robot stacking process programming method |
| CN113878574B (en) * | 2021-09-28 | 2023-09-29 | 浙江大学 | Robot palletizing process programming method |
| CN114474062A (en) * | 2022-02-21 | 2022-05-13 | 乐聚(深圳)机器人技术有限公司 | Robot control method, robot control device, robot, and storage medium |
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