CN109436821B - Method for realizing custom stacking of polygonal objects - Google Patents
Method for realizing custom stacking of polygonal objects Download PDFInfo
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- CN109436821B CN109436821B CN201811213309.3A CN201811213309A CN109436821B CN 109436821 B CN109436821 B CN 109436821B CN 201811213309 A CN201811213309 A CN 201811213309A CN 109436821 B CN109436821 B CN 109436821B
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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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Abstract
The invention relates to a method for realizing customized stacking of polygonal objects, which comprises the following steps: inputting object stacking information in a demonstrator, and judging whether the object stacking information is consistent with the odd-even layer placement; establishing a tray coordinate system Crs1 by teaching 3 basic points on the tray; acquiring a position p4 of the robot in a world coordinate system in real time, and converting the position into a position p5 in a tray coordinate system Crs 1; if the odd-even layer is placed consistently, only the placing mode of the odd-even layer needs to be taught, and if the odd-even layer is placed inconsistently, the placing mode of the even-even layer needs to be taught; saving the position information of the taught object; and loading a tray coordinate system Crs1, calculating according to the serial number of the object, and calling the position information of the object to discharge. The invention does not have excessive requirements on the shape of the object, only needs to input the height of the object, has strong universality and can be transplanted to other multi-joint robots for application.
Description
Technical Field
The invention relates to the technical field of industrial robot application, in particular to a method for realizing custom stacking of polygonal objects.
Background
At present, in the automatic application of robots, stacking functions are increasingly applied to the automatic placement of regular objects such as boxes and packaging bags, and workers are liberated from single heavy work. With the increase of diversification of application requirements of stacking functions, the regular objects cannot meet the field application requirements more and more in a stacking mode according to preset stacking shapes one by one, and therefore a stacking method capable of adapting to polygonal objects is urgently needed.
Disclosure of Invention
In order to avoid and solve the technical problems, the invention provides a method for realizing the custom stacking of polygonal objects.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a method for realizing the custom stacking of polygonal objects comprises the following steps:
step S101: inputting object stacking information in a demonstrator, and judging whether the object stacking information is consistent with the odd-even layer placement;
step S201: establishing a tray coordinate system Crs1 by teaching 3 basic points on the tray;
step S301: acquiring the position p4 of the robot in World coordinate system World in real time, and converting the point into a position p5 in a tray coordinate system Crs 1;
step S401: if the odd-even layer is placed consistently, only the placing mode of the odd-even layer needs to be taught, and if the odd-even layer is placed inconsistently, the placing mode of the even-even layer needs to be taught;
step S501: saving the position information of the object taught in step S401;
step S601: and loading a tray coordinate system Crs1, calculating according to the serial number of the object, and calling the position information of the object to discharge.
Further, in the step S101, the object stacking information includes an object height h, a stacking layer number n1, and a number m of objects per layer.
Further, in the step S201, the 3 basic points include p1, p2, p 3; a tray coordinate system Crs1 is established by taking p1 as a coordinate origin, a connecting line Lp12 between p1 and p2 as a Y coordinate axis and a connecting line Lp13 between p1 and p3 as an X coordinate axis.
The invention has the beneficial effects that: compared with the prior art, the invention has the following advantages:
1. the invention does not have excessive requirements on the shape of the object, and only needs to input the height of the object.
2. The placing modes of the objects can be freely arranged according to the site, and the placing modes of odd layers and even layers can be different.
3. The invention does not need complex algorithm, the whole process is simple to operate, and the teaching can be completed.
4. The position stored by the invention is the position of the object in the tray coordinate system, and when fine adjustment is needed, the offset of the object in the tray coordinate system can be directly modified, so that the modification is more visual.
5. The method has strong universality and can be transplanted to other multi-joint robots for application.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a flow chart of an embodiment of the method of the present invention;
FIG. 2 is a teaching of 3 basic points of the pallet coordinate system of the present invention;
FIG. 3 is a representation of point P in the world coordinate system and the pallet coordinate system, respectively, according to the present invention;
FIG. 4 is a schematic diagram of the position of an object on an odd-numbered level according to the present invention;
FIG. 5 is a schematic view of the position of an object in an even number of layers according to the present invention;
FIG. 6 illustrates the position of a recording object on an odd-numbered layer of a tray according to the present invention;
fig. 7 shows the positions of the recording objects on the even-numbered layers of the tray in the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1 to 7, a method for realizing customized stacking of polygonal objects includes the following steps:
step S101: inputting object stacking information in a demonstrator, and judging whether the object stacking information is consistent with the odd-even layer placement; the object stacking information comprises an object height h, a stacking layer number n1 and an object number m of each layer, and is used for calculating the total stacking quantity through n1 and m, and in the operation process, in order to ensure the stability of object placement, the placing modes of odd and even layers are inconsistent, so that the mark of stacking completion and the object to be placed on the layer number need to be judged;
when the stacking is judged, the stacking completion mark can be judged according to the stacking sequence number, and if the stacking sequence number n2> = n1 × m, the stacking is completed; the object to be discharged is at the second layer, and can be calculated according to (n2/m + 1).
Description of step S101 above: the stacking completion mark and the number of layers of the object to be placed can be deduced through the stacking serial number n2, and manual judgment is not needed.
Step S201: teaching 3 basic points on the tray, and establishing a tray coordinate system Crs 1;
wherein the 3 cardinal points include p1, p2, p 3; then, a tray coordinate system Crs1 is established by taking p1 as a coordinate origin, a connecting line Lp12 between p1 and p2 as a Y coordinate axis and a connecting line Lp13 between p1 and p3 as an X coordinate axis.
Step S301: acquiring the position p4 of the robot in World coordinate system World in real time, and converting the point into a position p5 in a tray coordinate system Crs 1;
the specific process is as follows: converting the position of the robot tip under World coordinate system World to a position in pallet coordinate system Crs1, wherein;
the position of the robot end in World coordinate system World is P4(x, y, z, a, b, c);
the tray coordinate system is Crs1(x, y, z, a, b, z);
the position of the robot tip under the tray coordinate system Crs1 is P5(x, y, z, a, b, c);
the 3 positions are respectively converted into corresponding matrixes for description: p4_ Matrix, Crs1_ Matrix, P5_ Matrix, the relationship between the three is:
P5_Matrix＝Crs1_Matrix-1*P4_Matrix
the P5_ Matrix is again converted into a location description: p5(x, y, z, a, b, c);
through the step 3, the position of the tail end of the robot in the tray coordinate system Crs1 can be obtained in real time during teaching, and therefore if some deviation of the position is found after trial operation, the position of the object in the tray coordinate system Crs1 can be directly modified.
Step S401: whether the odd-even layer placing modes are the same or not is selected, and if so, the teaching of the position of the first layer object on the tray coordinate system Crs1 is finished and the first layer object is stored; if not, after the teaching of the first layer object is finished, the operation is repeated, and the teaching of the position of the second layer object is finished and stored.
In the teaching process, the objects can be placed on the tray one by one according to the shapes of the objects and the application requirements on the site, and after the objects on the first layer or the second layer are placed one by one, the stack shape is also determined, so that the stack shape self-defining function is realized in the teaching process.
Step S501: storing the position information of the object taught in the step S401, that is, the position information is stored in a controller memory card of the teach pendant in a file form, and is stored on an interface of the teach pendant after the recording is completed, wherein the position information is placed on a bottom layer for calculation or is performed in programming of the teach pendant; the specific process comprises the following steps:
1) the position information of the object at the odd layer is stored;
1 st: oPart1(x, y, z, a, b, c)
The m < th >: oPartm (x, y, z, a, b, c)
2) The position information of the object at the even layer is stored;
1 st: ePart1(x, y, z, a, b, c)
The m < th >: ePartm (x, y, z, a, b, c)
3) Deducing the position information of the object in the odd layer or the even layer;
the position information of the object serial number n2 on the m2 th layer is as follows: part _ n2(x, y, z, a, b, c)
The serial number of the object serial number n2 at the m2 layer is Nr = n2 modm;
if (m2mod2 = 0) the/even layers
Part_n2.x = ePart_Nr.x;
Part_ n2.y = ePart_Nr.y;
Part_n2.a = ePart_Nr.a;
Part_n2.b = ePart_Nr.b;
Part_n2.c = ePart_Nr.c;
Else// odd layer
Part_n2.x = oPart_Nr.x;
Part_n2.y = oPart_Nr.y;
Part_n2.a = oPart_Nr.a;
Part_n2.b = oPart_Nr.b;
Part_n2.c = oPart_Nr.c;
End_if
Part_n2.z = h + (m2 – 1)*h
Step S601: and loading a tray coordinate system Crs1, calculating according to the serial number of the object, and calling the position information of the object to discharge.
The robot loads and operates a tray coordinate system Crs1, inputs an object serial number n2 for starting stacking, calls out position information Part _ n2(x, y, z, a, b and c) of the object in the tray, discharges materials according to the position information, and accumulates the stacking serial number by 1 after discharging is finished.
And then the robot automatically calls the corresponding position information according to the serial number of the object to be placed until all the objects are placed.
In summary, the present invention determines the placing rule by a method of teaching an object placed on a first layer or a second layer on a tray, and after the teaching is completed, the object placing stack type is determined, that is, the stack type is self-defined by a teaching method, and in practical application, there is no special regularization requirement for the shape of the object, and only the following parameters need to be input: the height of the object, the total number of placed layers and the number of objects in each layer are judged and selected, whether the odd and even layers are the same or not is judged and selected, then point positions of the object are taught and stored, finally, in the application, the serial number of the object to be stacked is input, and the robot calls the pose information of the object to place the object after calculation.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. A method for realizing the custom stacking of polygonal objects is characterized in that: the method comprises the following steps:
step S101: inputting object stacking information in a demonstrator, and judging whether the object stacking information is consistent with the odd-even layer placement; the object stacking information comprises an object height h, a stacking layer number n1 and an object number m of each layer, and is used for calculating the total stacking quantity through n1 and m, and in the operation process, in order to ensure the stability of object placement, the placing modes of odd and even layers are inconsistent, so that the mark of stacking completion and the object to be placed on the layer number need to be judged;
when the stacking is judged, the stacking completion mark can be judged according to the stacking serial number, and if the stacking serial number n2> -n 1 m, the stacking is completed; the object to be discharged is positioned at the second layer and can be calculated according to (n2/m + 1);
description of step S101 above: the stacking completion mark and the number of layers of the object to be placed can be deduced through the stacking serial number n2 without manual judgment;
step S201: teaching 3 basic points on the tray, and establishing a tray coordinate system Crs 1;
wherein the 3 cardinal points include p1, p2, p 3; then establishing a tray coordinate system Crs1 by taking p1 as a coordinate origin, a connecting line Lp12 between p1 and p2 as a Y coordinate axis and a connecting line Lp13 between p1 and p3 as an X coordinate axis;
step S301: acquiring the position p4 of the robot in World coordinate system World in real time, and converting the point into a position p5 in a tray coordinate system Crs 1;
the specific process is as follows: converting the position of the robot tip under World coordinate system World to a position in pallet coordinate system Crs1, wherein;
the position of the robot end in World coordinate system World is P4(x, y, z, a, b, c);
the tray coordinate system is Crs1(x, y, z, a, b, z);
the position of the robot tip under the tray coordinate system Crs1 is P5(x, y, z, a, b, c);
the 3 positions are respectively converted into corresponding matrixes for description: p4_ Matrix, Crs1_ Matrix, P5_ Matrix, the relationship between the three is:
P5_Matrix＝Crs1_Matrix-1*P4_Matrix
the P5_ Matrix is again converted into a location description: p5(x, y, z, a, b, c);
through the step 301, the position of the tail end of the robot in the tray coordinate system Crs1 can be obtained in real time during teaching, so that the position of an object in the tray coordinate system Crs1 can be directly modified if some deviation of the position is found after trial operation;
step S401: whether the odd-even layer placing modes are the same or not is selected, and if so, the teaching of the position of the first layer object on the tray coordinate system Crs1 is finished and the first layer object is stored; if not, repeating the operation after the teaching of the first layer object is finished, and finishing and storing the position of the second layer object;
in the teaching process, the objects can be placed on the tray one by one according to the shapes of the objects and the on-site application requirements, and after the objects on the first layer or the second layer are placed one by one, the stack shape is also determined, so that the stack shape self-defining function is realized in the teaching process;
step S501: storing the position information of the object taught in the step S401, that is, the position information is stored in a controller memory card of the teach pendant in a file form, and is stored on an interface of the teach pendant after the recording is completed, wherein the position information is placed on a bottom layer for calculation or is performed in programming of the teach pendant; the specific process comprises the following steps:
1) the position information of the object at the odd layer is stored;
2) the position information of the object at the even layer is stored;
3) deducing the position information of the object in the odd layer or the even layer;
the position information of the object serial number n2 on the m2 th layer is as follows: part _ n2(x, y, z, a, b, c)
The serial number of the object serial number n2 in the m2 layer is Nr ═ n2 modm;
if (m2mod2 ═ 0) the/even layers
Part_n2.x＝ePart_Nr.x；
Part_n2.y＝ePart_Nr.y；
Part_n2.a＝ePart_Nr.a；
Part_n2.b＝ePart_Nr.b；
Part_n2.c＝ePart_Nr.c；
Else// odd layer
Part_n2.x＝oPart_Nr.x；
Part_n2.y＝oPart_Nr.y；
Part_n2.a＝oPart_Nr.a；
Part_n2.b＝oPart_Nr.b；
Part_n2.c＝oPart_Nr.c；
End_if
Part_n2.z＝h+(m2–1)*h
Step S601: loading a running tray coordinate system Crs1, calculating according to the serial number of the object and calling the position information of the object to discharge;
the robot loads and operates a tray coordinate system Crs1, inputs an object serial number n2 for starting stacking, calls out position information Part _ n2(x, y, z, a, b and c) of the object in the tray, discharges materials according to the position information, and accumulates the stacking serial number by 1 after discharging is finished;
and then the robot automatically calls the corresponding position information according to the serial number of the object to be placed until all the objects are placed.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111086888B (en) * | 2020-01-19 | 2021-04-06 | 浙江工业大学 | Automatic stacking method and system of manipulator |
| CN111017583A (en) * | 2020-02-13 | 2020-04-17 | 青岛新松机器人自动化有限公司 | Loading stacking method and electronic equipment |
| CN113387189A (en) * | 2021-08-17 | 2021-09-14 | 天津施格自动化科技有限公司 | Stacking stack type automatic generation method |
| CN114735487A (en) * | 2022-05-10 | 2022-07-12 | 北自所(北京)科技发展股份有限公司 | Flexible stacking method and system for various carton models |
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