CN109932996B - Method for monitoring single-layer packing material grabbing and releasing process of full-automatic unpacking machine - Google Patents
Method for monitoring single-layer packing material grabbing and releasing process of full-automatic unpacking machine Download PDFInfo
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- CN109932996B CN109932996B CN201711369086.5A CN201711369086A CN109932996B CN 109932996 B CN109932996 B CN 109932996B CN 201711369086 A CN201711369086 A CN 201711369086A CN 109932996 B CN109932996 B CN 109932996B
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Abstract
The invention discloses a monitoring method for a single-layer packing material grabbing and releasing process of a full-automatic unpacking machine, which comprises the following steps of: s1: establishing a monitoring area; s2: grabbing the single-layer packing material; s3: grabbing and monitoring; s4: grabbing judgment; s5: moving; s6: and (4) placing. 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 single-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 monitoring method for a single-layer packing material grabbing and releasing process of a full-automatic unpacking machine, which is real-time, efficient, stable and reliable and can prevent the phenomena of packing material impact damage and servo motor overload.
In order to solve the technical problems, the invention adopts the following technical scheme:
a monitoring method for a single-layer packing material grabbing and placing process of a full-automatic box dismantling machine comprises the following steps:
s1: establishing a monitoring area: establishing diffuse reflection photoelectricity on a manipulator of the full-automatic box unpacking machine, and setting a monitoring area formed from top to bottom during diffuse reflection photoelectricity monitoring to be matched with the thickness of the packing material in a normal grabbing state;
s2: grabbing the single-layer packing material: the manipulator descends into the lower carton to grab the single-layer packing material;
s3: grabbing and monitoring: after the manipulator finishes the grabbing action, the diffuse reflection photoelectricity is monitored 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 manipulator descends the packing material to be placed on the placing station.
As a further improvement of the above technical solution:
in step S1, a diffuse reflection photoelectric sensor is also established at the placement station, a monitoring area formed from bottom to top during diffuse reflection photoelectric monitoring is set to match the thickness of the wrapping material, the diffuse reflection photoelectric sensor monitors from bottom to top and feeds back a wrapping material blocking signal in real time, a wrapping material identifier is set according to the wrapping material blocking signal, a wrapping material non-identifier is set according to the wrapping material blocking signal, in step S6, the judgment is performed according to the identifier obtained at the placement station, if the wrapping material identifier is obtained, the manipulator stops operating and sends out an alarm signal, the wrapping material at the placement station is moved away according to the alarm signal and then is placed, and if the wrapping material identifier is obtained, the manipulator continues to place.
Respectively establishing diffuse reflection photoelectricity matched with the quantity at the manipulator and the placing station according to the quantity of the single-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 or a packing material inclination signal; in step S6, 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 S6, 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 S6, 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 discloses a monitoring method for a single-layer packing material grabbing and placing process of a full-automatic box dismantling machine, which comprises the steps of monitoring box packing materials by diffuse reflection photoelectricity after a mechanical arm grabs the box packing materials and feeding back the signals in real time, successfully grabbing or firmly grabbing the box packing materials without inclining, displaying a packing material identifier all the time, continuing subsequent placing actions by the mechanical arm according to the obtained packing material identifier, displaying no packing material identifier if the grabbing is unsuccessful or the box packing materials are grabbed to incline, dropping and inclining the box packing materials in moving, stopping the mechanical arm and sending an alarm signal according to the obtained packing material identifier, manually processing and resetting the box packing materials according to the alarm signal to enable the packing materials to be in a normal grabbing state, and continuing the. The method adopts diffuse reflection photoelectric monitoring to monitor the grabbing state of the manipulator, can quickly feed back and reasonably control whether the packing material exists, whether the packing material inclines or not and whether the packing material falls off in real time, 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 and overload of a servo motor.
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.
Fig. 1 to 3 show an embodiment of the monitoring method for the single-layer packing material grabbing and placing process of the full-automatic unpacking machine, which comprises the following steps:
s1: establishing a monitoring area: establishing diffuse reflection photoelectricity on a manipulator 1 of the full-automatic box unpacking machine, and setting a monitoring area formed from top to bottom during diffuse reflection photoelectricity monitoring to be matched with the thickness of the packing material 2 in a normal grabbing state;
s2: grabbing by the single-layer packing material 2: the manipulator 1 descends into the lower carton 3 to grab the single-layer packing material 2;
s3: grabbing and monitoring: after the manipulator 1 finishes the grabbing action, the diffuse reflection photoelectricity is monitored from top to bottom, whether a blocking signal of the packing material 2 exists or not and whether a tilting signal of the packing material 2 exists or not are fed back in real time, an identifier of the packing material 2 is set according to the blocking signal of the packing material 2 and the tilting signal of the packing material 2, and an identifier of the packing material 2 does not exist according to the blocking signal of the packing material 2 and the tilting 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 lowers the packing material 2 onto the placing station 4.
According to the method, after the manipulator 1 grabs the box packing material 2, the diffuse reflection photoelectricity is used for monitoring and feeding back in real time, the manipulator 1 is successful in grabbing or grabbing firmly but not inclining, 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, if the grabbing is unsuccessful or the grabbing inclining is performed and the manipulator falls and inclines during moving, the identifier of the packing material 2 is displayed, the manipulator 1 stops acting and sends out an alarm signal according to the acquired identifier of the packing material 2, manual processing and resetting are performed according to the alarm signal, so that the packing material 2 is in a normal grabbing state, and then the subsequent placing actions are continued. The method adopts the grabbing state of the diffuse reflection photoelectric monitoring manipulator 1, can quickly feed back and reasonably control whether the packing material 2 exists, whether the packing material 2 inclines or not and whether the packing material 2 falls or not in real time, is real-time and efficient in the whole process, is stable and reliable, and can prevent the packing material 2 from being impacted and damaged and prevent the servo motor from being overloaded.
In this embodiment, in step S1, a diffuse reflection photoelectric sensor is also established at the placement station 4, a monitoring area formed from bottom to top during the diffuse reflection photoelectric monitoring is set to match the thickness of the wrapping material 2, the diffuse reflection photoelectric sensor monitors from bottom to top and feeds back a wrapping material 2 blocking signal in real time, a wrapping material 2 identifier is set according to the wrapping material 2 blocking signal, in step S6, the determination is performed according to the identifier obtained at the placement station 4, if the wrapping material 2 identifier is obtained, the manipulator 1 stops operating and sends out an alarm signal, the wrapping material 2 placed at the placement station 4 is moved away according to the alarm signal, and if the wrapping material 2 identifier is obtained, the manipulator 1 continues to place. Set up like this, make by the diffuse reflection photoelectricity of placing station 4 monitor and real-time feedback, if it has wrapping material 2 identifier to acquire, then manipulator 1 stops the action and sends alarm signal before placing next time, handle according to alarm signal and make and place again after placing wrapping material 2 of station 4 and move away from, if it does not have wrapping material 2 identifier to acquire, then manipulator 1 continues to place, adopt diffuse reflection photoelectricity further to monitor the state of placing station 4, can be real-time quick have or not wrapping material 2 to make the feedback and make reasonable control to placing station 4, whole process is real-time high-efficient, and is stable and reliable, can prevent that wrapping material 2 from striking damage and servo motor overload phenomenon.
In this embodiment, diffuse reflection photoelectricity corresponding to the number of single-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 or a packing material 2 inclination signal, a packing material 2 identifier is set; in step S6, 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 grasping and placing amount of the packing materials 2, the number of the single-layer packing materials 2 can be set to be multiple, so that diffuse reflection photoelectricity matched with the number of the packing materials 2 is established, each packing material 2 is guaranteed to be monitored in place, and the phenomenon that any one packing material 2 is not crushed and the overload of a servo motor is prevented is guaranteed.
In this embodiment, in steps S3 and S6, 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 S6, 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 (5)
1. A monitoring method for a single-layer packing material grabbing and releasing process 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: establishing diffuse reflection photoelectricity on a manipulator (1) of the full-automatic box unpacking machine, and setting a monitoring area formed from top to bottom during diffuse reflection photoelectricity monitoring to be matched with the thickness of the packing material (2) in a normal grabbing state;
s2: grabbing the single-layer packing material (2): the manipulator (1) descends into the lower carton (3) to grab the single-layer packing material (2);
s3: grabbing and monitoring: after the manipulator (1) finishes a grabbing action, diffuse reflection photoelectricity is monitored from top to bottom, whether a packaging material (2) blocking signal exists or not and whether a packaging material (2) inclination signal exists or not are fed back in real time, a packaging material (2) identifier is set according to the packaging material (2) blocking signal and the packaging material (2) inclination signal, and a packaging material (2) identifier is set according to the packaging material (2) blocking signal or the packaging material (2) inclination signal;
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 the placing station (4).
2. The monitoring method for the single-layer packing material grabbing and releasing process of the full-automatic unpacking machine according to claim 1, characterized by comprising the following steps: in step S1, diffuse reflection photoelectricity is also established at the placing station (4), a monitoring area formed from bottom to top during diffuse reflection photoelectricity monitoring is set to be matched with the thickness of the packing material (2), the diffuse reflection photoelectricity carries out monitoring from bottom to top and feeds back whether a blocking signal of the packing material (2) exists or not in real time, the identifier of the packing material (2) is set according to the blocking signal of the packing material (2), the identifier of the non-packing material (2) is set according to the blocking signal of the non-packing material (2), in the step S6, the judgment is made according to the identifier obtained by the placing station (4), if the identifier of the packing material (2) is obtained, the mechanical arm (1) stops acting and sends out an alarm signal, the packing material (2) of the placing station (4) is placed after being moved away according to the alarm signal, if the identifier of the wrapping material (2) is not acquired, the manipulator (1) continues to carry out placement.
3. The monitoring method for the single-layer packing material grabbing and releasing process of the full-automatic unpacking machine according to claim 2 is characterized in that: respectively establishing diffuse reflection photoelectricity matched with the quantity on the manipulator (1) and the placing station (4) according to the quantity of the single-layer packing materials (2), and in step S3, setting the identifier of the packing material (2) as the identifier when all diffuse reflection photoelectricity on the manipulator (1) correspondingly feeds back a blocking signal of the packing material (2) and an inclination signal of the packing material (2), and setting the identifier of the packing material (2) as the identifier of the packing material (2) when any diffuse reflection photoelectricity correspondingly feeds back a blocking signal of the packing material (2) or an inclination signal of the packing material (2); in step S6, 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.
4. The method for monitoring the single-layer packing material grabbing and placing process of the full-automatic box unpacking machine according to claim 3, characterized in that: in steps S3 and S6, 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.
5. The method for monitoring the single-layer packing material grabbing and placing process of the full-automatic box unpacking machine according to claim 4, characterized in that: in steps S3 and S6, 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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| CN102560764A (en) * | 2009-11-04 | 2012-07-11 | 铜陵市松宝机械有限公司 | Doffing trolley traveling and sliding device |
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