CN109205305B - Control method of object suction manipulator - Google Patents
Control method of object suction manipulator Download PDFInfo
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- CN109205305B CN109205305B CN201810892635.5A CN201810892635A CN109205305B CN 109205305 B CN109205305 B CN 109205305B CN 201810892635 A CN201810892635 A CN 201810892635A CN 109205305 B CN109205305 B CN 109205305B
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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Abstract
The invention relates to the technical field of manipulators, in particular to a control method of an object suction manipulator. According to the control method of the object suction manipulator, the adsorption power of the adsorption device is set to be a plurality of gears with different sizes, the vibration power of the vibration device is set to be a plurality of gears with different sizes, the adsorption power of the gears is combined with the vibration power of the gears to obtain a plurality of different power combinations, and the manipulator under the power combinations is used for adsorbing objects to be adsorbed according to the sequence from small to large of the adsorption power, so that the objects to be adsorbed can be adsorbed one by one approximately according to the sequence from small to large, and the objects easy to bounce and the objects with small quantity are also adsorbed, so that the problems that the object suction manipulator in the prior art screens and counts small objects with different physical properties are inaccurate are solved.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a control method of an object suction manipulator.
Background
With the development of science and technology, the screening of small objects is more and more automated. Screening is often accomplished by vibrating small objects with a vacuum suction motor.
In one application scenario, objects to be screened are objects with non-standard shapes, and counting is performed while screening, so that one object is successfully sucked after each sucking action. If the single-power object suction manipulator is used for screening various small objects with different sizes, shapes and surface finishments in a vibrating manner, the applicable types of the objects are few, and the situation that vibration fails or a plurality of objects are sucked at one time is easy to occur, so that great difficulty is brought to counting.
Therefore, a control method of the suction manipulator is urgently needed to solve the problems of screening and counting of small objects.
Disclosure of Invention
The invention aims to provide a control method of an object suction manipulator, which aims to solve the problem that the object suction manipulator in the prior art is inaccurate in screening and counting aiming at small objects with different physical properties.
The invention provides a control method of an object suction manipulator, which comprises the following steps:
the adsorption power of the adsorption device is set to be a plurality of gears with different sizes, the vibration power of the vibration device is set to be a plurality of gears with different sizes, the adsorption power of the gears and the vibration power of the gears are combined to obtain a plurality of different power combinations, and the adsorption power is sequentially absorbed by the mechanical arms under the power combinations from small to large.
Furthermore, the control method of the object suction manipulator comprises a plurality of circulation processes, in each circulation process, the adsorption power is sequentially combined with the maximum gear of the vibration power from small to large to suck the objects, and then the vibration power is sequentially combined with the maximum gear of the adsorption power from large to small to suck the objects.
Further, in each cycle, judging the suction result of each power combination; if the article suction is judged to be successful, the cycle process is ended; if the article absorption is judged to fail, switching to the next power combination to continue the cycle process; and if the suction failure is still judged for the power combination of the adsorption power of the maximum gear and the vibration power of the minimum gear, further judging that the result of the circulation process is abnormal.
Further, the suction is performed multiple times at each power combination.
Further, the lowest gear of the adsorption power corresponds to the power capable of successfully adsorbing the smallest object.
Further, the power corresponding to the lowest gear of the vibration power is zero.
Further, the highest gear of the adsorption power corresponds to the original power of the adsorption device.
Further, the highest gear of the vibration power corresponds to the original power of the vibration device.
Further, a power interval between the adsorption power of the highest gear and the adsorption power of the lowest gear is equally divided to obtain a plurality of power values, and the plurality of power values correspond to the plurality of gears one to one.
Further, when the result of the circulation process is judged to be abnormal, an alarm prompt is sent out.
According to the control method of the object suction manipulator, the adsorption power of the adsorption device is set to be a plurality of gears with different sizes, the vibration power of the vibration device is set to be a plurality of gears with different sizes, the adsorption power of the gears is combined with the vibration power of the gears to obtain a plurality of different power combinations, and the manipulator under the power combinations is used for adsorbing objects to be adsorbed according to the sequence from small to large of the adsorption power, so that the objects to be adsorbed can be adsorbed one by one approximately according to the sequence from small to large, and the objects easy to bounce and the objects with small quantity are also adsorbed, so that the problems that the object suction manipulator in the prior art screens and counts small objects with different physical properties are inaccurate are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an article suction robot device used in a method for controlling an article suction robot according to an embodiment of the present invention.
In the figure: 1-vacuum suction motor; 2-a suction part; 3, a main board; 4-vibrating the bin; 5-a vibration motor; 6-damping sleeve; 7-suction cup.
Detailed Description
It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a suction robot device adopted in a method for controlling a suction robot according to an embodiment of the present invention. As can be seen from the figure, the upper part of the suction manipulator is a suction device which comprises a vacuum suction motor 1, a suction part 2 and a sucker 7, wherein the vacuum suction motor 1 is communicated with the sucker 7 through a sealing pipe, and the sucker 7 is positioned in the suction part 2. The lower part of the object suction manipulator is provided with a vibration device which comprises a vibration bin 4, a vibration motor 5 and a damping sleeve 6, wherein the vibration motor 5 drives the vibration bin 4 to vibrate. The suction manipulator is also provided with a main board 3 for controlling the operation of the suction manipulator. It should be noted that the suction cup 7 can reciprocate in the up-down direction, and after the suction starts, the suction cup 7 moves downward from the initial position until the suction succeeds or the set maximum suction cup stroke is reached, and thereafter, the suction cup 7 moves upward and returns to the initial position. The suction cup 7 moves down from the initial position and returns to the initial position, so that a suction operation is performed. When adsorbing, the adsorption device and the vibration device run simultaneously, and the adsorption device and the vibration device are matched with each other to complete screening and counting.
The control method of the object suction manipulator provided by the embodiment of the invention comprises the following steps:
the adsorption power of the vacuum suction motor 1 is set to be a plurality of gears with different sizes, the vibration power of the vibration motor 5 is set to be a plurality of gears with different sizes, the adsorption power of the gears and the vibration power of the gears are combined to obtain a plurality of different power combinations, and the adsorption power is adsorbed on the adsorption object by using the mechanical arms under the power combinations in a small-to-large sequence.
Specifically, the adsorption power is sequentially set to N gears of N1 gear and N2 gear … … Nn gear from small to large, and the vibration power is sequentially set to M gears of M1 gear and M2 gear … … Mm gear from small to large; combining the absorption power with the vibration power and absorbing the object sequentially according to the sequence from N1 gear, N2 gear … … to Nn gear. In the case of the aforementioned power combinations, at most n × m groups of power combinations are possible, and in practical use, by selecting appropriate power combinations, less power combinations than n × m groups can be used for achieving the adsorption purpose.
The suction manipulator device and the control method of the suction manipulator in the embodiment are applied to the field of medicine dispensing, and the purpose is to suck different types of medicines to meet the medicine dispensing requirement, so that one unit of medicine, such as one tablet or one capsule, needs to be successfully sucked in each adsorption process. Because the shapes, weights, surface smoothness, surface viscosity and the like of different medicines are different, the medicines can be finished by corresponding medicine suction power and vibration power. Tests and analysis show that the adsorption characteristics of the medicines with different physical shapes are as follows: generally, the larger the adsorption power, the larger the weight of the medicine that can be adsorbed; in general, the larger the vibration power is, the more favorable the medicine suction is; as the first exception, the weight of the capsule is large, the shell is elastic, and the capsule is easy to bounce when the vibration power is large, but is not beneficial to adsorption; as a second exception, when the amount of the medicine in the vibration chamber 4 is small, the medicine is easy to bounce, and the excessive vibration power is not favorable for successful adsorption. In addition, since the suction robot is controlled in the order of decreasing the weight of the medicine, the medicine with a small remaining amount is generally a medicine with a large weight in the second exception.
In the method for controlling the suction robot provided in this embodiment, the suction power is sequentially combined with the vibration power in the order from N1 th, N2 th … … th to Nn th, and the suction is performed. In the process of increasing the adsorption power from low power to high power and adsorbing, the medicine with small weight is adsorbed firstly, and can be adsorbed one piece at a time, and then the medicine with large weight can also be adsorbed one piece at a time. Different gear vibration powers are selected to be matched while the adsorption power is adjusted, and the adsorption requirements in the first exceptional condition and the second exceptional condition can be met, so that the adsorption of the object medicines with physical shapes such as different shapes, weights, surface smoothness, surface viscosity and the like in a one-piece mode is guaranteed.
It can be understood that the control method for the suction manipulator provided in this embodiment may also be used for adsorbing other kinds of objects, thereby solving the problem that the suction manipulator in the prior art is inaccurate in screening and counting small objects with different physical properties.
Preferably, the control method of the object suction manipulator in this embodiment includes a plurality of cycle processes, and in each cycle process, the adsorption power is sequentially combined with the maximum gear of the vibration power from small to large to suck the object, and then the vibration power is sequentially combined with the maximum gear of the adsorption power from large to small to suck the object.
Specifically, the procedure for aspiration is as follows: fixing the vibration power to Mm gear, combining the adsorption power with the vibration power of Mm gear in sequence according to the gear sequences of N1 and N2 … … Nn to suck the object, fixing the adsorption power to Nn gear, and combining the vibration power with the adsorption power of Nn gear in sequence according to the gear sequences of Mm and M (M-1) … … M1 to suck the object. Thus, the adsorption power is combined with the vibration power of the Mm gear in turn according to the gear sequence of N1 and N2 … … Nn to adsorb the substances, so that the requirement of successfully adsorbing the medicines from small to large in weight under the normal condition is met; the adsorption power is fixed to be Nn gear, the vibration power is sequentially combined with the adsorption power of the Nn gear according to the gear sequence of Mm and M (M-1) … … M1 to suck the objects, the adsorption power meeting the requirements of the first exceptional condition and the second exceptional condition can be found in the process, and therefore the adsorption requirements of capsules with large weight and high elasticity and medicines with large weight and small quantity are met.
The setting sequence of the power combination provided in the embodiment can cover the power combination range required by the normal situation and the exceptional situation, and is reasonable in sequence, less in steps and beneficial to improving the screening and counting efficiency.
Preferably, in the present embodiment, during each cycle, the aspiration result of each power combination is determined; if the article suction is judged to be successful, the cycle process is ended; if the article absorption is judged to fail, switching to the next power combination to continue the cycle process; and if the suction failure is still judged for the power combination of the adsorption power of the maximum gear and the vibration power of the minimum gear, further judging that the result of the circulation process is abnormal.
Specifically, the specific sucking steps of the sucking manipulator in this embodiment are as follows:
s1, sucking the object for multiple times by using an adsorption power N1 gear and a vibration power Mm gear, judging the object sucking result, finishing the cycle process if the object sucking is successful, and turning to the next step if the object sucking is unsuccessful;
s2, sucking the object for multiple times by using the suction power N2 and the vibration power Mm, finishing the cycle process if the object is successfully sucked, and turning to the next step if the object is not successfully sucked;
……
sn. absorbing the object for multiple times by the absorption power Nn gear and the vibration power Mm gear, judging the object absorption result, if the object absorption is successful, ending the cycle process, if the object absorption is unsuccessful, turning to the next step;
s (n +1), sucking the object for multiple times by using the suction power Nn and the vibration power M (M-1), judging the object suction result, finishing the cycle process if the object suction is successful, and turning to the next step if the object suction is unsuccessful;
s (n +2), sucking the object for multiple times by using the suction power Nn and the vibration power M (M-2), judging the object suction result, finishing the cycle process if the object suction is successful, and turning to the next step if the object suction is unsuccessful;
……
and S (n + M), sucking the object for multiple times by using the suction power Nn and the vibration power M1, judging the object suction result, finishing the cycle process if the object suction is successful, and judging that the cycle process result is abnormal if the object suction is unsuccessful.
In the present embodiment, the success or failure of suction is determined by detecting the current level of the vacuum suction motor 1. When the suction is successful, the current of the vacuum suction motor 1 is changed.
In the control method of the object suction manipulator of the embodiment, when the object suction is successful, the cycle process is ended, and the next cycle process is continued from S1, so that the universality of the control method is enhanced, and the accuracy of the whole control method is ensured; if the result of the cyclic process is judged to be abnormal, the situation that the object cannot be adsorbed is proved to exist after all the set power combinations are used and the object cannot be adsorbed is proved to exist, and special treatment is needed by an operator for the situation.
It should be noted that the situation that the object to be adsorbed is completely adsorbed can be handled as a situation that the adsorption result is abnormal, or can be handled separately by detecting the pressure of the vibration chamber, and the like.
Preferably, in this embodiment, the suction is performed a plurality of times at each power combination. As described in the foregoing steps S1-S (n + m), the suction cup 7 performs a plurality of descending and ascending processes in each step with each power combination. Because the medicine is in a vibration state in the adsorption process, the vibration state of the medicine is not identical every time the sucking disc 7 descends, accidental factors caused by the vibration state of the medicine can be eliminated through multiple times of material suction, errors caused by single adsorption can be avoided, and the adsorption and counting accuracy in the method can be improved.
The times of sucking the materials under each power combination can be the same or different, and the times of sucking the materials can be set according to the test. For example, in the adsorption method of the present embodiment, the adsorption power is divided into class i, class ii, class iii, and class iv, wherein the adsorption power of class iv is the maximum. The vibration power is divided into 0 gear, 1 gear, 2 gear and 3 gear. A drug inhalation cycle comprising the steps of:
a, (I, 3) sucking medicine for 4 times, if the medicine sucking is successful, ending the cycle process, and turning to the next step unsuccessfully;
b, (II, 3) sucking the medicine for 4 times, if the medicine is sucked successfully, ending the cycle process, and turning to the next step unsuccessfully;
c, (III, 3) sucking the medicine for 4 times, if the medicine is sucked successfully, ending the cycle process, and turning to the next step unsuccessfully;
d, (IV gear, 3 gear) medicine suction is carried out for 4 times, if the medicine suction is successful, the circulation process is finished, and the next step is not successfully carried out;
e, (IV gear, 2 gear) medicine suction is carried out for 6 times, if the medicine suction is successful, the circulation process is finished, and the next step is not successfully carried out;
f, (IV gear, 1 gear) medicine suction is carried out for 1 time, if the medicine suction is successful, the circulation process is ended, and the medicine is not successfully rotated (IV gear, 0 gear); sucking medicine for 1 time by the power combination of (IV gear, 0 gear), finishing the cycle process if the medicine is sucked successfully, and turning to (IV gear, 1 gear) if the medicine is not sucked successfully; if the material is not successfully sucked after the process is repeated for 5 times in the step, judging that the result of the circulation process is abnormal.
Preferably, in this embodiment, the lowest gear of the suction power corresponds to the power capable of successfully sucking the smallest object. Therefore, the object suction manipulator can only suck the smallest object at the lowest gear, and the accuracy of the whole control method is ensured.
Preferably, in this embodiment, the highest gear of the adsorption power corresponds to the original power of the adsorption device. The method is based on the idea that gear division is performed on the basis of the original power of the adsorption device, and the original power of the adsorption device is the rated power of the adsorption device before gear division. The standard power of the vacuum motor is set as IV gear, the power is set as I after a certain amplitude of reduction, and the standard power is divided into II gear and III gear in equal parts. The difference of power gears is realized by controlling the rotating speed of the vacuum motor. Thus, the inherent performance of the vacuum suction motor can be fully utilized.
Preferably, similar to the absorbed power, the highest gear of the vibration power also corresponds to the original power of the vibration device. Thus, the inherent performance of the vibration device can be fully utilized.
Preferably, the lowest gear of the vibration power corresponds to a case where the vibration power is 0. Therefore, the coverage range of the power combination is wider, and the accuracy of the control method is favorably ensured.
Preferably, a power interval between the adsorption power of the highest gear and the adsorption power of the lowest gear is equally divided to obtain a plurality of power values, and the plurality of power values are in one-to-one correspondence with the plurality of gears. The division can ensure that a plurality of more reasonable power values can be obtained in a certain power interval. It is to be understood that in other embodiments of the present invention, the manner of dividing the power is not limited thereto.
Preferably, when the result of the cyclic process is judged to be abnormal, an alarm prompt is given. The alarm prompt is sent out by the main board 3 controlling an alarm device (not shown) in the form of sound and light, etc., so as to show that the operator can deal with the abnormal situation in time.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A control method of a suction robot is characterized by comprising the following steps:
setting the adsorption power of an adsorption device into a plurality of gears with different sizes, setting the vibration power of a vibration device into a plurality of gears with different sizes, combining the adsorption power of the plurality of gears with the vibration power of the plurality of gears to obtain a plurality of different power combinations, and adsorbing an object to be adsorbed by using a manipulator under the plurality of power combinations according to the sequence of the adsorption power from small to large;
including a plurality of cyclic processes, every in the cyclic process, earlier adsorb power from little to big in proper order with the biggest gear of vibrations power makes up and inhales the thing, will afterwards vibrations power from big to little in proper order with the biggest gear of adsorbing power makes up and inhales the thing.
2. The method of claim 1, wherein the aspiration result for each power combination is determined during each cycle; if the article suction is judged to be successful, the cycle process is ended; if the article absorption is judged to fail, switching to the next power combination to continue the cycle process; and if the suction failure is still judged for the power combination of the adsorption power of the maximum gear and the vibration power of the minimum gear, further judging that the result of the circulation process is abnormal.
3. The method of claim 2, wherein the suction robot suctions multiple times at each power combination.
4. The method for controlling a suction robot according to claim 1, wherein the lowest position of the suction power corresponds to a power capable of successfully sucking a smallest object.
5. The method for controlling the suction robot as claimed in claim 1, wherein the power corresponding to the lowest gear of the vibration power is zero.
6. The method for controlling the suction robot according to claim 1, wherein a highest level of the suction power corresponds to an original power of the suction device.
7. The method for controlling the suction robot as claimed in claim 1, wherein the highest level of the vibration power corresponds to an original power of the vibration device.
8. The method according to claim 1, wherein a power interval between the suction power of the highest gear and the suction power of the lowest gear is equally divided to obtain a plurality of power values, and the plurality of power values are in one-to-one correspondence with the plurality of gears.
9. The method for controlling a suction robot according to claim 2, wherein an alarm is given when it is determined that the result of the cyclic process is abnormal.
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| CN201810892635.5A CN109205305B (en) | 2018-08-07 | 2018-08-07 | Control method of object suction manipulator |
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| CN105726317A (en) * | 2016-03-23 | 2016-07-06 | 王志宏 | Automatic medicine dispensing device |
| CN107582403A (en) * | 2017-10-01 | 2018-01-16 | 临沂大学 | Multifunctional domestic dispensing machine |
| CN108189033A (en) * | 2017-12-29 | 2018-06-22 | 深圳市越疆科技有限公司 | Adjusting method, mechanical arm and execution structure |
| CN108189042A (en) * | 2017-12-28 | 2018-06-22 | 重庆柚瓣家科技有限公司 | Endowment robot with intelligent medicine box |
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2018
- 2018-08-07 CN CN201810892635.5A patent/CN109205305B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61281935A (en) * | 1985-06-03 | 1986-12-12 | エルベカ アパラテバウ ゲ−エムベ−ハ− | Holder |
| KR20060051419A (en) * | 2004-09-30 | 2006-05-19 | 동경 엘렉트론 주식회사 | Substrate transfer apparatus |
| KR20140081120A (en) * | 2012-12-21 | 2014-07-01 | 주식회사 성우하이텍 | Vacuum pad unit |
| CN104041229A (en) * | 2014-06-06 | 2014-09-17 | 江苏大学 | Self-adaption inclined vibration seed disc mechanism and control method |
| CN105726317A (en) * | 2016-03-23 | 2016-07-06 | 王志宏 | Automatic medicine dispensing device |
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