CN109927996B - Method for monitoring double-layer packing material grabbing and releasing process of full-automatic box dismantling machine - Google Patents
Method for monitoring double-layer packing material grabbing and releasing process of full-automatic box dismantling machine Download PDFInfo
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- CN109927996B CN109927996B CN201711369102.0A CN201711369102A CN109927996B CN 109927996 B CN109927996 B CN 109927996B CN 201711369102 A CN201711369102 A CN 201711369102A CN 109927996 B CN109927996 B CN 109927996B
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- 239000000463 material Substances 0.000 title claims abstract description 183
- 238000012856 packing Methods 0.000 title claims abstract description 149
- 238000012544 monitoring process Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000008569 process Effects 0.000 title claims abstract description 22
- 230000000903 blocking effect Effects 0.000 claims description 35
- 230000005622 photoelectricity Effects 0.000 claims description 28
- 230000009471 action Effects 0.000 claims description 21
- 238000012545 processing Methods 0.000 claims description 9
- 239000005022 packaging material Substances 0.000 claims description 4
- 239000010410 layer Substances 0.000 description 25
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
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- 230000007547 defect Effects 0.000 description 1
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Abstract
The invention discloses a monitoring method for a double-layer packing material grabbing and releasing process of a full-automatic box dismantling machine, which comprises the following steps of: s1: establishing a monitoring area; s2: grabbing the double-layer packing material; s3: grabbing and monitoring; s4: grabbing judgment; s5: moving; s6: placing; s7: placing and monitoring; s8: and (6) judging placement. The invention has the advantages of real-time high efficiency, stability and reliability, and can prevent the phenomena of package material impact damage and servo motor overload.
Description
Technical Field
The invention mainly relates to the field of food and pharmaceutical packaging, in particular to a method for monitoring a double-layer packing material grabbing and releasing process of a full-automatic unpacking machine.
Background
In a full-automatic box unpacking machine, the following conditions may occur in the whole process that a manipulator grabs a box packing material from an opened carton and places the box packing material on a conveying track: the manipulator does not successfully grab the box packing materials in the carton, so that the servo motor is overloaded when the manipulator grabs the carton next time; the manipulator is not firm in grabbing the box packing materials, the packing materials fall or incline in the moving process, the grabbing station possibly breaks down due to the falling of the packing materials, and the mechanical structure possibly collides and the servo motor is overloaded in the moving process due to the inclination of the packing materials; the box packing material that last time placed on the delivery track does not remove, and the manipulator is directly pressed on the box packing material that last time did not remove after this snatching, can lead to box packing material to damage, servo motor overload.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for monitoring the grabbing and releasing process of double-layer packing materials of a full-automatic box dismantling machine, which is real-time, efficient, stable and reliable and can prevent the phenomena of collision damage of the packing materials and overload of a servo motor.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for monitoring a double-layer packing material grabbing and placing process of a full-automatic box dismantling machine comprises the following steps:
s1: establishing a monitoring area: diffuse reflection photoelectricity is established on a manipulator and a placing station of the full-automatic box unpacking machine, and a monitoring area formed from top to bottom during diffuse reflection photoelectricity monitoring on the manipulator is set to be matched with the thickness of the double-layer packing material in a normal grabbing state; setting a monitoring area formed from bottom to top during diffuse reflection photoelectric monitoring on a placing station to be respectively matched with the thickness of the single packing material of the upper layer and the lower layer;
s2: grabbing the double-layer packing material: the manipulator descends into the lower carton to grab the double-layer packing materials;
s3: grabbing and monitoring: after the manipulator finishes the grabbing action, diffuse reflection photoelectricity on the manipulator monitors from top to bottom and feeds back a packing material blocking signal and a packing material inclination signal in real time, a packing material identifier is set according to the packing material blocking signal and the packing material inclination signal, and a packing material identifier is set according to the packing material blocking signal and the packing material inclination signal;
s4: and (3) grabbing judgment: judging according to the acquired identifier, if the acquired identifier of the packing material exists, continuing the subsequent action of the manipulator, if the acquired identifier of the packing material does not exist, stopping the action of the manipulator and sending an alarm signal, and processing according to the alarm signal to enable the packing material to be in a normal grabbing state;
s5: moving: the manipulator moves the packing material to a placing station, and monitoring and judging are carried out according to the rules of the steps S3 and S4 in the moving process;
s6: placing: the packing material is lowered to a placing station by the manipulator;
s7: placing and monitoring: after the manipulator finishes the package material placing action, the diffuse reflection photoelectricity of the placing station monitors from bottom to top and feeds back the package material blocking signals of the upper layer and the lower layer in real time, a package material identifier is set according to the package material blocking signal of any layer, and a package material identifier is set according to the package material blocking signal of both layers;
s8: placing and judging: and judging according to the identifier acquired in the step S7, if the identifier of the packing material is acquired, stopping the mechanical arm before the next placement and sending an alarm signal, processing according to the alarm signal to remove the packing material at the placement station and then placing, and if the identifier of the packing material is not acquired, continuing the placement by the mechanical arm.
As a further improvement of the above technical solution:
respectively establishing diffuse reflection photoelectricity matched with the quantity at the manipulator and the placing station according to the quantity of the double-layer packing materials, in step S3, setting the diffuse reflection photoelectricity as a packing material identifier when all diffuse reflection photoelectricity on the manipulator correspondingly feeds back a packing material blocking signal and a packing material inclination signal, and setting the diffuse reflection photoelectricity as a packing material identifier when any diffuse reflection photoelectricity correspondingly feeds back a packing material blocking signal and a packing material inclination signal; in step S7, when any one of the placement stations performs the diffuse reflection photoelectric correspondence feedback to generate a wrapping material blocking signal, the placement station is set to have a wrapping material identifier, and when all the diffuse reflection photoelectric correspondence feedback is generated by no wrapping material blocking signal, the placement station is set to have no wrapping material identifier.
In steps S3 and S7, the corresponding diffuse reflection photoelectric monitor feeds back the diffuse reflection photoelectric blocking signal and the wrapping tilt signal at the corresponding positions in real time.
In steps S3 and S7, a package identifier is set by the PLC control unit according to the diffuse reflection photoelectric blocking signal and the package inclination signal of the corresponding position fed back by the corresponding diffuse reflection photoelectric monitor; and the PLC control unit identifies the identifier and controls the manipulator to stop acting and send out an alarm signal or continue acting according to the identifier.
Compared with the prior art, the invention has the advantages that:
the invention relates to a method for monitoring the grabbing and releasing process of double-layer packing materials of a full-automatic box dismantling machine, which is adopted, after a mechanical arm grabs a box packing material, the diffuse reflection photoelectricity on the mechanical arm is used for monitoring and feeding back in real time, the packing material identifier is displayed all the time if the box packing material is successfully grabbed or the box packing material is grabbed firmly and not inclined, the mechanical arm continues to perform subsequent placing action according to the obtained packing material identifier, after the box packing material is completely placed, the diffuse reflection photoelectricity on a placing station is used for monitoring and feeding back in real time, if the packing material identifier is obtained, the mechanical arm stops acting and sends out an alarm signal before the next placing, the processing is performed according to the alarm signal to move the packing material on the placing station away, and then the box packing material is placed again, and if the packing material identifier is not obtained, the mechanical arm continues to be placed; if the grabbing is unsuccessful or the grabbing is inclined, and the package material is dropped and inclined during moving, displaying the identifier without the package material, stopping the action of the manipulator and sending an alarm signal according to the acquired identifier without the package material, manually processing and resetting according to the alarm signal to enable the package material to be in a normal grabbing state, and continuing the subsequent placing action, wherein the placing action is carried out according to the monitoring and judging result of the previous placing station. The method adopts the grabbing state of the diffuse reflection photoelectric monitoring manipulator and the placing state of the placing station, can quickly feed back and reasonably control whether the packing material exists, whether the packing material inclines or not, whether the packing material falls or not and whether the packing material exists or not at the placing station, is real-time and efficient in the whole process, is stable and reliable, and can prevent the phenomena of packing material impact damage and servo motor overload.
Drawings
FIG. 1 is a schematic flow diagram of the present invention.
Fig. 2 is a schematic diagram of a grasping state in the embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a placement state in a specific application of the present invention.
The reference numerals in the figures denote:
1. a manipulator; 2. packaging materials; 3. a carton; 4. placing a station; 5. a diffuse reflection photoelectric monitor; 6. and a PLC control unit.
Detailed Description
The invention will be described in further detail below with reference to the drawings and specific examples.
As shown in fig. 1 to 3, the monitoring method for the double-layer packing material grabbing and placing process of the full-automatic unpacking machine of the embodiment includes the following steps:
s1: establishing a monitoring area: diffuse reflection photoelectricity is established on a manipulator 1 and a placing station 4 of the full-automatic box unpacking machine, and a monitoring area formed from top to bottom during diffuse reflection photoelectricity monitoring on the manipulator 1 is set to be matched with the thickness of the double-layer packing material 2 in a normal grabbing state; setting a monitoring area formed from bottom to top during diffuse reflection photoelectric monitoring on the placing station 4 to be respectively matched with the thickness of the single packing material 2 on the upper layer and the lower layer;
s2: grabbing the double-layer packing material 2: the manipulator 1 descends into the lower carton 3 to grab the double-layer packing material 2;
s3: grabbing and monitoring: after the manipulator 1 finishes the grabbing action, diffuse reflection photoelectricity on the manipulator 1 monitors from top to bottom and feeds back a blocking signal of the packing material 2 and an inclination signal of the packing material 2 in real time, a packing material 2 identifier is set according to the blocking signal of the packing material 2 and the inclination signal of the packing material 2, and a packing material 2 identifier is set according to the blocking signal of the packing material 2 and the inclination signal of the packing material 2;
s4: and (3) grabbing judgment: judging according to the acquired identifier, if the identifier of the packing material 2 is acquired, continuing the subsequent action of the manipulator 1, if the identifier of the packing material 2 is not acquired, stopping the action of the manipulator 1 and sending an alarm signal, and processing according to the alarm signal to enable the packing material 2 to be in a normal grabbing state;
s5: moving: the manipulator 1 moves the packing material 2 to the placing station 4, and monitoring and judging are carried out according to the rules of the steps S3 and S4 in the moving process;
s6: placing: the manipulator 1 descends the packing material 2 to a placing station 4;
s7: placing and monitoring: after the manipulator 1 finishes the placing action of the packing materials 2, the diffuse reflection photoelectricity of the placing station 4 monitors from bottom to top and feeds back the blocking signals of the upper and lower layers with the packing materials 2 in real time, the identifier of the packing material 2 is set according to the blocking signal of the packing material 2 in any layer, and the identifier of the packing material 2 is set according to the blocking signal of the packing material 2 in both layers;
s8: placing and judging: judging according to the identifier acquired in the step S7, if the identifier of the wrapping material 2 is acquired, stopping the operation of the manipulator 1 before the next placement and sending an alarm signal, performing processing according to the alarm signal to remove the wrapping material 2 at the placement station 4 and then placing, and if the identifier of the wrapping material 2 is not acquired, continuing the placement by the manipulator 1.
By adopting the method, after the manipulator 1 grabs the box packing material 2, the diffuse reflection photoelectricity on the manipulator 1 is used for monitoring and feeding back in real time, if the grabbing is successful or the grabbing is firm and not inclined, the identifier of the packing material 2 is always displayed, the manipulator 1 continues to perform subsequent placing actions according to the acquired identifier of the packing material 2, after the placing is completed, the diffuse reflection photoelectricity of the placing station 4 is used for monitoring and feeding back in real time, if the identifier of the packing material 2 is acquired, the manipulator 1 stops acting and sends out an alarm signal before the next placing, the manipulator 1 is processed according to the alarm signal to move the packing material 2 of the placing station 4 away and then places, and if the identifier of the packing material 2 is acquired, the manipulator 1 continues to place; if the grabbing is unsuccessful or the grabbing is inclined, and the package material 2 falls and inclines during moving, displaying the identifier of the package material 2, stopping the action of the manipulator 1 and sending an alarm signal according to the acquired identifier of the package material 2, carrying out manual processing reset according to the alarm signal to enable the package material 2 to be in a normal grabbing state, and continuing the subsequent placing action, wherein the placing action is carried out according to the monitoring and judging result of the previous placing station 4. The method adopts the grabbing state of the diffuse reflection photoelectric monitoring manipulator 1 and the placing state of the placing station 4, can quickly feed back and reasonably control whether the packing material 2 exists, whether the packing material 2 inclines or not, whether the packing material 2 falls or not and whether the packing material 2 exists or not in the placing station 4, is real-time and efficient in the whole process, is stable and reliable, and can prevent the phenomena of collision damage of the packing material 2 and overload of a servo motor.
In this embodiment, diffuse reflection photoelectricity corresponding to the number of the double-layer packing materials 2 is respectively established in the manipulator 1 and the placing station 4, and in step S3, when all diffuse reflection photoelectricity corresponding feedbacks on the manipulator 1 are a packing material 2 blocking signal and a packing material 2 inclination signal, a packing material 2 identifier is set, and when any diffuse reflection photoelectricity corresponding feedback is a packing material 2 blocking signal and a packing material 2 inclination signal, a packing material 2 identifier is set; in step S7, when any one of the placement stations 4 gives the diffuse reflection photoelectric correspondence feedback as the wrapping material 2 presence signal, the identifier is set as the wrapping material 2 presence identifier, and when all the diffuse reflection photoelectric correspondence feedback is the wrapping material 2 absence signal, the identifier is set as the wrapping material 2 absence identifier. In order to improve the quantity of the packing materials 2 to be grabbed and placed, the quantity of the double-single-layer packing materials 2 can be set to be multiple, so that diffuse reflection photoelectricity matched with the quantity of the packing materials 2 is established, each packing material 2 is guaranteed to be monitored in place, and the phenomenon that any packing material 2 is not crushed and the overload of a servo motor is prevented is guaranteed.
In this embodiment, in steps S3 and S7, the diffuse reflection photoelectric monitor 5 feeds back the blocking signal of the wrapping material 2 and the tilt signal of the wrapping material 2 at the corresponding positions in real time. The diffuse reflection photoelectric monitor 5 emits diffuse reflection light, and feeds back whether the diffuse reflection light has a packing material 2 blocking signal and whether the packing material 2 inclination signal in real time, so that the real-time monitoring of the operation state of the grabbing and releasing is realized, and the feedback and the control of the operation state of the grabbing and releasing can be rapidly carried out in real time.
In this embodiment, in steps S3 and S7, the presence or absence of the identifier of the packing material 2 is set by the PLC control unit 6 according to the diffuse reflection photoelectric presence or absence blocking signal and the presence or absence of the inclination signal of the packing material 2, which are fed back by the corresponding diffuse reflection photoelectric monitor 5, at the corresponding position; the PLC control unit 6 recognizes the identifier and controls the manipulator 1 to stop acting and send out an alarm signal or continue acting according to the identifier. The PLC control unit 6 acquires a feedback signal of the diffuse reflection photoelectric monitor 5, designs a corresponding identifier according to the signal, controls the operation or stop of the manipulator 1 according to the identifier to realize the automatic detection and control of the whole process, and sends an alarm signal by the PLC control unit 6 to prompt an operator to process the signal so as to continue the subsequent action.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (4)
1. A method for monitoring the grabbing and releasing process of double-layer packing materials of a full-automatic box dismantling machine is characterized by comprising the following steps: the method comprises the following steps:
s1: establishing a monitoring area: diffuse reflection photoelectricity is established on a manipulator (1) and a placing station (4) of the full-automatic box unpacking machine, and a monitoring area formed from top to bottom during diffuse reflection photoelectricity monitoring on the manipulator (1) is set to be matched with the thickness of the double-layer packing material (2) in a normal grabbing state; setting a monitoring area formed from bottom to top during diffuse reflection photoelectric monitoring on the placing station (4) to be respectively matched with the thickness of the single packing materials (2) of the upper layer and the lower layer;
s2: grabbing the double-layer packing material (2): the manipulator (1) descends into the lower carton (3) to grab the double-layer packing material (2);
s3: grabbing and monitoring: after the manipulator (1) finishes the grabbing action, diffuse reflection photoelectricity on the manipulator (1) is monitored from top to bottom and feeds back a blocking signal of the packing material (2) and an inclination signal of the packing material (2) in real time, an identifier of the packing material (2) is set according to the blocking signal of the packing material (2) and the inclination signal of the packing material (2), and an identifier of the packing material (2) is set according to the blocking signal of the packing material (2) and the inclination signal of the packing material (2);
s4: and (3) grabbing judgment: judging according to the acquired identifier, if the identifier of the packing material (2) is acquired, continuing the subsequent action of the manipulator (1), if the identifier of the packing material (2) is not acquired, stopping the action of the manipulator (1) and sending an alarm signal, and processing according to the alarm signal to enable the packing material (2) to be in a normal grabbing state;
s5: moving: the manipulator (1) moves the packing material (2) to the placing station (4), and monitoring and judging are carried out according to the rules of the steps S3 and S4 in the moving process;
s6: placing: the packing material (2) is descended by the manipulator (1) and placed on the placing station (4);
s7: placing and monitoring: after the manipulator (1) finishes the placing action of the packing materials (2), the diffuse reflection photoelectricity of the placing station (4) monitors from bottom to top and feeds back blocking signals of the packing materials (2) on the upper layer and the lower layer in real time, identifiers of the packing materials (2) are set according to the blocking signals of the packing materials (2) on any layer, and identifiers of the packing materials (2) are set according to the blocking signals of the packing materials (2) on two layers;
s8: placing and judging: and judging according to the identifier acquired in the step S7, if the identifier of the packing material (2) is acquired, stopping the operation of the mechanical arm (1) before the next placement and sending an alarm signal, processing according to the alarm signal to remove the packing material (2) of the placement station (4) and then placing, and if the identifier of the packing material (2) is not acquired, continuing the placement of the mechanical arm (1).
2. The method for monitoring the grabbing and releasing process of the double-layer packing materials of the full-automatic unpacking machine according to claim 1, characterized by comprising the following steps: diffuse reflection photoelectricity matched with the quantity is respectively established on the mechanical arm (1) and the placing station (4) according to the quantity of the double-layer packing materials (2), in step S3, when all diffuse reflection photoelectricity on the mechanical arm (1) correspondingly feed back a blocking signal of the packing materials (2) and an inclination signal of the packing materials (2), an identifier of the packing materials (2) is set, and when any diffuse reflection photoelectricity correspondingly feeds back a blocking signal of the packing materials (2) and an inclination signal of the packing materials (2), an identifier of the packing materials (2) is set; in step S7, when any one of the diffuse reflection photoelectric correspondences of the placement stations (4) is fed back as a wrapping material (2) blocking signal, the placement station is set as a wrapping material (2) identifier, and when all the diffuse reflection photoelectric correspondences are fed back as a wrapping material (2) blocking signal, the placement station is set as a wrapping material (2) identifier.
3. The method for monitoring the double-layer packing material grabbing and releasing process of the full-automatic unpacking machine according to claim 2, characterized by comprising the following steps: in steps S3 and S7, the diffuse reflection photoelectric monitor (5) feeds back the blocking signal of the diffuse reflection photoelectric wrapping material (2) and the inclination signal of the wrapping material (2) at the corresponding position in real time.
4. The method for monitoring the grabbing and placing process of the double-layer packing material of the full-automatic box unpacking machine as claimed in claim 3, is characterized in that: in steps S3 and S7, the PLC control unit (6) feeds back the blocking signal of the diffuse reflection photoelectric packaging material (2) and the inclination signal of the packaging material (2) at the corresponding position according to the corresponding diffuse reflection photoelectric monitor (5) to set the identifier of the packaging material (2); the PLC control unit (6) identifies the identifier and controls the manipulator (1) to stop acting and send out an alarm signal or continue acting according to the identifier.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711369102.0A CN109927996B (en) | 2017-12-18 | 2017-12-18 | Method for monitoring double-layer packing material grabbing and releasing process of full-automatic box dismantling machine |
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| CN201711369102.0A CN109927996B (en) | 2017-12-18 | 2017-12-18 | Method for monitoring double-layer packing material grabbing and releasing process of full-automatic box dismantling machine |
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| CN109927996B true CN109927996B (en) | 2021-07-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8501178D0 (en) * | 1985-01-17 | 1985-02-20 | Emi Ltd | Control system for robotic gripper/sensing device |
| JPH07330286A (en) * | 1994-06-10 | 1995-12-19 | Nippon Steel Corp | How to monitor the grasping status of tongs |
| CN100391801C (en) * | 2004-12-06 | 2008-06-04 | 云南昆船设计研究院 | Cigarette carton automatic unpacking equipment with unpacking jig |
| CN104401556B (en) * | 2014-10-20 | 2016-08-24 | 国网重庆市电力公司电力科学研究院 | A kind of box opening device and method automatically |
| CN105303758B (en) * | 2015-10-21 | 2017-11-21 | 贵州久联民爆器材发展股份有限公司 | A kind of apparatus and method of blasting charge drop alarm prompting |
| CN106003455B (en) * | 2016-05-24 | 2018-06-29 | 苏州工业职业技术学院 | A kind of full-automatic control system for the cooling of tire plant sheet rubber |
| CN106597983B (en) * | 2016-12-30 | 2023-07-28 | 昆明昆船逻根机场物流系统有限公司 | Conveying line article drop detection system |
| CN107062912B (en) * | 2017-05-09 | 2019-04-05 | 湖北恒嘉科技有限公司 | A kind of bar vision positioning method |
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