CN109969807B - Automatic deviation correction clamp for stacking, robot palletizer and pallet method for correcting error - Google Patents
Automatic deviation correction clamp for stacking, robot palletizer and pallet method for correcting error Download PDFInfo
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- CN109969807B CN109969807B CN201910454256.2A CN201910454256A CN109969807B CN 109969807 B CN109969807 B CN 109969807B CN 201910454256 A CN201910454256 A CN 201910454256A CN 109969807 B CN109969807 B CN 109969807B
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
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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
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
Abstract
The invention discloses automatic deviation correction clamp for stacking, robot palletizer and pallet method for correcting error, fixture includes opposite two groups of opposed crotch；The rotary joint that two groups of crotch pass through active control respectively is connect with robot arm, fixed sensing element and mobile sensor element are fixedly installed on crotch, fixed sensing element is fixed at the middle position of crotch, as two groups of moving toward one another for crotch detect material tray close to two parallel side positions of two groups of crotch respectively, mobile sensor element is located at the two sides of fixed sensing element, and relative to the mobile setting of fixed sensing element, the mobile sensor element moved towards on crotch detects other two parallel side position of material tray respectively；Fixed sensing element and mobile sensor element and rotary joint and robot arm control unit feedback link.Robot palletizer drives automatic deviation correction clamp for stacking to carry out automatic stacking by the truss robot with three-axis moving system, and high reliablity is at low cost, and correction precision is higher.
Description
Technical field
The invention belongs to intelligent industrial robot technology, and in particular to a kind of automatic deviation correction clamp for stacking, robot palletizer
And pallet method for correcting error.
Background technique
Band material tray material carries out in palletization, is all to be put material tray together together with material by haulage equipment
The discharge position of coming of setting is set, robot palletizer has only needed the material position since to be set to starting point, together together with material by material tray
Automatic stacking is carried out according to the route of setting.The discharge position of coming of material tray is required to put necessary essence during automatic stacking
Standard just can guarantee the neat of subsequent code pile and stablize.But in actual application, due to the operating error of haulage equipment,
The discharge position of coming of setting can not accurately be put completely by carrying the material tray position to come, thus need stacking machine
People itself has the ability of automatic deviation correction.
Such as application No. is a kind of rock wool board of 201711465429.8 patent application publication is automatic for traditional correction mode
Palletizing apparatus, or such as a kind of channel for filter stick shelf magazine application No. is 201721143227.7 patent application publication
Tray salver deviation correcting device is all to push directly on material using the correction guide rail of correction frame or cylinder driving to rectify a deviation.But this
Kind correction mode is all used in the material on conveyer belt, utilizes the object that the error-correction structure according to certain rule setting is mobile to active
Material carries out adaptability correction, is not particularly suited for the correction with material tray material of fixed placement, and large-scale band material tray
Material size is big, and weight is general even to be reached tonne, is difficult to push directly on material and carry out secondary supplied materials positioning, using direct
The correction mode of material is pushed to be easy to cause to shift to the material on material tray, there are security risks for the pile shape after stacking.
In addition correction mode also utilizes machine vision technique by the way of six-joint robot+Machine Vision Detection
The practical placement posture of material tray is judged, is then compared with the accurate placement posture of setting, judges machine
People needs the parameter rectified a deviation, and this mode is influenced by the different accuracies of machine vision technique, and correction precision is unstable,
It is at high cost using advanced machine vision equipment to the more demanding of machine vision equipment.
Summary of the invention
Technical problem solved by the present invention is being entangled for above-mentioned existing for the existing automatic stacking with material tray material
Inclined defect provides a kind of novel automatic deviation correction clamp for stacking, robot palletizer and pallet method for correcting error.
The present invention adopts the following technical scheme that realization:
Automatic deviation correction clamp for stacking, including opposite two groups of opposed crotch；
The rotary joint that crotch described in two groups passes through active control respectively is connect with robot arm, from two sides to material support
It is lifted pan bottom；
Fixed sensing element and mobile sensor element are fixedly installed on the crotch, the fixed sensing element fixation is set
Set in the middle position of crotch, with two groups of crotch to move toward one another detection material tray respectively flat close to two of two groups of crotch
Row lateral location, the mobile sensor element is located at the two sides of fixed sensing element, and sets relative to the movement of fixed sensing element
It sets, the mobile sensor element moved towards on crotch detects other two parallel side position of material tray respectively；
The control unit of the fixed sensing element and mobile sensor element and rotary joint and robot arm, which is fed back, to be connected
It connects.
Further, the crotch is provided with sensing mounting rod, and the fixed sensing element is fixed at sensing installation
The middle position of bar, two groups of mobile sensor elements are individually directed on the sensing mounting rod for being assemblied in fixed sensing element two sides, and
And the test side extension elongation of mobile sensor element is more than fixed sensing element.
Further, the mobile sensor element is drivingly connected with the servo motor with encoder, realizes mobile sensor
The edge sensing mounting rod of element moves driving and moving distance detection.
Further, the mobile sensor element is assemblied on sensing mounting rod by sensing moving trolley, the sensing
Guiding assembly is rolled by sensing shifting roller between moving trolley and sensing mounting rod, and passes through linear transmission mechanism and sensing
It is sequentially connected between mounting rod, the servo motor is mounted in sensing moving trolley, and the servo motor passes through Linear transmission
Mechanism driving sensing moving trolley is moved along sensing mounting rod.
Further, the sensing mounting rod on crotch described in two groups moves toward one another direction cloth parallel to each other perpendicular to crotch
It sets.
Further, the rotary joint is rotated using Serve Motor Control with encoder.
The invention also discloses a kind of robot palletizers, including truss robot and this hair with three-axis moving system
Bright automatic deviation correction clamp for stacking；The rotary joint and truss machine that the crotch of the automatic deviation correction clamp for stacking passes through active control
The vertical lifting mould group of device people connects.
Further, the truss robot includes horizontal according to X-axis vertical shift mould group, the Y-axis of rectangular space coordinate axis distribution
Shifting formwork group and Z axis lift mould group；
The X-axis vertical shift mould group is two groups of parallel arrangement, and the two supports of the traversing mould group of Y-axis are in X-axis vertical shift mould
In group, and the X-axis that the driving traversing mould group of Y-axis moves along the x axis is equipped between X-axis vertical shift mould group and the traversing mould group of Y-axis and is driven
Dynamic component；
The Z axis lifting mould group is two groups of parallel arrangement, traversing in Y-axis by the mobile setting of Y-axis driving assembly respectively
In mould group, the rotary joint that crotch described in two groups passes through active control respectively is docked with the bottom of two groups of Z axis lifting mould groups, described
Z axis lifts the Z axis driving assembly that mould group has driving crotch lifting.
Further, the Z axis lifting mould group is connect by crotch moving trolley with the traversing mould group of Y-axis, the Z axis lifting
Mould group is assemblied in crotch moving trolley along Z-direction guiding, and the crotch moving trolley is oriented to along the y axis is assemblied in Y-axis
In traversing mould group, the Y-axis driving assembly and Z axis driving assembly are mounted in crotch moving trolley, wherein the Y-axis is driven
Dynamic Component driver crotch moving trolley lifts mould group together with Z axis and crotch is traversing in the Y-axis direction, and the Z axis driving assembly drives
Dynamic Z axis lifting mould group and crotch are gone up and down in the Z-axis direction.
Further, the X-axis vertical shift mould group, the traversing mould group of Y-axis and Z axis lifting mould group be parallel arrangement guide rail and
The combined guided structure of rack gear；The X-axis driving assembly, Y-axis driving assembly and Z axis driving assembly include with encoder watch
Take the gear and the idler wheel that guiding assembly is rolled with guide rail that motor driven is engaged with rack.
The invention also discloses a kind of pallet method for correcting error for above-mentioned robot palletizer, using multiple groups sensing element from
Initial position is approached perpendicular to Tray side to pallet, until all sensing elements stop after detecting pallet surrounding side respectively
Only, by comparison between the mobile actual range of the sensing element and with the initial position of sensing element to pallet standard
The fixed vertical distance of position, be calculated pallet actual size size and pallet placement location opposing tray normal place away from
From deviation, interpolation numerical value is provided to the mobile correction of pallet for robot palletizer.
Further, the pallet length direction in pallet normal place and width direction setting plane X-Y axis are sat respectively
Mark system, coordinate origin are the tray center in pallet normal place, respectively correspond the initial of the sensing element of pallet surrounding side
Position is arranged symmetrically relative to X-axis and Y-axis；
Using six groups of sensing elements, wherein the first fixed sensing element and the second fixed sensing element are distinguished along the y axis
Pallet two of them parallel side is carried out to approach movement, and the actual range Δ y1 and Δ y2 mobile to two groups of sensing elements
It is mutually compared, first movement sensing element, the second mobile sensor element, third mobile sensor element and the 4th mobile sensor
Element respectively along the x axis carries out four positions of other two side of pallet to approach movement two-by-two respectively, and moves to first
Move the mobile actual range of sensing element, the second mobile sensor element, third mobile sensor element and the 4th mobile sensor element
Δ x3, Δ x4, Δ x5, Δ x6 are mutually compared；
As Δ y1 ≠ Δ y2, Δ x3=Δ x4, Δ x5=Δ x6 and Δ x3 ≠ Δ x5, pallet is relative to normal place
Shift state, at this time pallet
Y direction size=2c- Δ y1- Δ y2,
X-direction size=2b- Δ x3- Δ x5,
The correction interpolation numerical value that robot palletizer carries out pallet in two axis direction of X, Y are as follows:
The tray center interpolation numerical value of Y direction=(Δ y1- Δ y2)/2,
The tray center interpolation numerical value of X-direction=(Δ x3- Δ x5)/2；
As Δ y1 ≠ Δ y2, Δ x3 ≠ Δ x4, Δ x5 ≠ Δ x6, pallet is deflection state relative to normal place, this
When pallet deflection angle be defined as α=arctan [(Δ x6- Δ x5)/(2c-2a- Δ y1- Δ y2)],
The Y direction size of pallet=(2c- Δ y1- Δ y2) * cos α,
The X-direction size of pallet=(2b- Δ x3- Δ x5) * cos α,
The correction interpolation numerical value that robot palletizer carries out pallet in two axis direction of X, Y are as follows:
The tray center interpolation numerical value of Y direction=[(Δ y1- Δ y2) * cos α]/2,
The tray center interpolation numerical value of X-direction=[(Δ x3- Δ x5) * cos α]/2,
To deflection interpolation angle=- α of pallet；
Wherein, the initial position of the first fixed sensing element and the second fixed sensing element arrives coordinate original in the Y-axis direction
The vertical range of point is c, and first movement sensing element, the second mobile sensor element, third mobile sensor element and the 4th are mobile
The vertical range that the initial position of sensing element arrives coordinate origin in the X-axis direction is b, the first fixed sensing element initial position
It is a with the range difference of the first movement sensing element and the second mobile sensor element initial position of the same side in the Y-axis direction.
Automatic deviation correction clamp for stacking of the invention fixes sensing element and mobile sensor element with the shifting of crotch using multiple groups
It moves and judges the opposite design of the practical posture of material tray supplied materials using moving distance to detect the lateral location of material tray
Whether normal place shifts or deflects, the mobile computing obtained then in conjunction with fixed sensing element and mobile sensor element
The deviation data of the practical posture relative standard position of material tray out, then in conjunction with the fortune of the robot arm of robot palletizer
Moving cell carries out translational motion interpolation to the error of offset, the angle of the moving cell of the rotary joint connected in conjunction with crotch to deflection
Interpolation is rotated in degree error, realizes the accurate secondary positioning of material tray, finally stacking machine again through the invention
People carries out accurate stacking according to the stacking route of setting.
The pallet method for correcting error that the present invention uses detects the perimeter sides of material tray using the mobile sensing element of multiple groups
Face position, judged using moving distance material tray supplied materials physical location and opposite design pallet normal place whether
Shift or deflect, then in conjunction with sensing element senses to moving distance calculate the actual size size of material tray
And the position deviation data of relative standard position, then in conjunction with robot palletizer robot arm motor element to offset
Error carry out translational motion or rotary motion interpolation, the pallet of offset or deflection is corrected to pallet normal place, is realized
The accurate secondary positioning of pallet, it is final to recycle robot palletizer practical according to the stacking route of setting and the pallet detected
Size carries out accurate stacking, eliminates the influence of supplied materials tray position and dimensional discrepancy to correct stacking.
A kind of pallet method for correcting error for robot palletizer of the invention, is compared and is rectified a deviation using machine vision technique,
Cost is lower；Position detection, the precision of correction are carried out simultaneously using four sides of the multiple groups detection sensing element to pallet simultaneously
It is higher, thus should be of the invention pallet method for correcting error robot palletizer especially suitable for the heavy weight band pallet object of large scale
The automation palletization operations of material.
What the present invention used is all position-detection sensor, the machine vision technique that compares correction, and cost is lower；It adopts simultaneously
Position detection is carried out simultaneously with four sides of the multiple groups position detection sensing element to pallet, the precision of correction is higher, therefore this
The automatic deviation correction clamp for stacking and robot palletizer of invention are heavy weight with the automatic of pallet material especially suitable for large scale
Change palletization operations.
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Detailed description of the invention
Fig. 1 is the automatic deviation correction clamp for stacking top view in embodiment one.
Fig. 2 is the automatic deviation correction clamp for stacking side view in embodiment one.
Fig. 3 is the assembling schematic diagram of the mobile sensor element in embodiment one.
Fig. 4 is material tray detection schematic diagram of the automatic deviation correction clamp for stacking in embodiment one to positional shift.
Fig. 5 is material tray detection schematic diagram of the automatic deviation correction clamp for stacking in embodiment one to location deflection.
Fig. 6 is the robot palletizer schematic perspective view in embodiment two.
Fig. 7 is the robot palletizer main view in embodiment two, the specific Z axis lifting mould group for showing robot palletizer with from
Assembly signal between dynamic correction clamp for stacking and the traversing mould group of Y-axis.
Fig. 8 is located at the status diagram of initial position for all sensing elements in embodiment.
Fig. 9 is the schematic diagram that all sensing elements in embodiment detect the pallet in pallet normal place.
Figure 10 is the schematic diagram that the pallet that the sensing element in embodiment deviates opposing tray normal place is detected.
Figure 11 is the schematic diagram that the pallet that the sensing element in embodiment deviates opposing tray normal place is detected.
Figure label:
The first crotch of 1-, the sensing mounting rod of 10- first, the fixed sensing element of 11- first, 12- first movement sensing element,
13- the second mobile sensor element, 14- sense moving trolley, and 15- senses shifting roller, and 16- senses mobile actuator, 17- first
Crotch connects column, the first rotary joint of 18-, the first joint 19- rotary drive；
The second crotch of 2-, the sensing mounting rod of 20- second, the fixed sensing element of 21- second, 22- third mobile sensor element,
The 4th mobile sensor element of 23-, the second crotch of 27- connect column, the second rotary joint of 28-, the rotation driving of 29- second joint
Part；
The first Z axis of 31- lifts mould group, 311- the first crotch moving trolley, and the second Z axis of 32- lifts mould group, and 321- second is pitched
Frame moving trolley；
The traversing mould group of 4-Y axis；
5-X axis vertical shift mould group, 51-X are pivotally supported column；
6-X axis driving assembly；
71- the first Y-axis driving assembly, 72- the second Y-axis driving assembly；
81- the first Z axis driving assembly, 82- the second Z axis driving assembly；
9- material tray,
10- normal place center origin.
Specific embodiment
Embodiment one
Referring to Fig. 1-3, the automatic deviation correction clamp for stacking in diagram is one embodiment of the invention, is specifically included
First crotch 1 and the second crotch 2, wherein the first crotch 1 be equipped with the fixed sensing element 11 of the first sensing mounting rod 10, first,
First movement sensing element 12, the second mobile sensor element 13, sensing moving trolley 14, sensing shifting roller 15, sensing movement
Actuator 16, the first crotch connect column 17, the first rotary joint 18, the first joint rotary drive 19, set on the second crotch 2
Have the fixed sensing element 21 of the second sensing mounting rod 20, second, third mobile sensor element 22, the 4th mobile sensor element 23,
Second crotch connects column 27, the second rotary joint 28, second joint rotary drive 29.
Specific the first crotch 1 and the second crotch 2 are opposite opposed as shown in fig. 1, insert by the way that robot arm is traversing in opposite directions
The left and right sides bottom for entering material tray 9, lifts material tray 9, is respectively equipped on the first crotch 1 and the second crotch 2
First crotch connection column 17 connects column 27 with the second crotch, and the first crotch connects column 17 and connects column 27 with the second crotch
Top pass through respectively the first rotary joint 18 and the second rotary joint 28 and robot palletizer the first Z axis lifting mould group 31 and
Second Z axis 0 lifts mould group 32 and connects.Mould group 31 is lifted by the first Z axis of robot palletizer and the second Z axis lifts mould group 32 together
It walks and drives the first crotch 1 and the lifting of the second crotch 2 and opposite traversing, the progress integral translation of material tray 9 to lifting, the first rotation
Turn joint 18 and the second rotary joint 28 to control by the first joint rotary drive 19 and second joint rotary drive 29 respectively
System rotation can adjust the swing that corresponding crotch carries out certain angle, carry out deflection adjustment to the material tray 9 lifted.Rotation is closed
The specific constructive form of section can refer to the rotary joint setting of articulated robot, and joint rotary drive is watched using angle is controllable
Take motor driven.
It is disposed with three groups of sensing elements detected to material tray boundary position on first crotch 1, respectively first
Fixed sensing element 11, first movement sensing element 12 and the second mobile sensor element 13, wherein the first fixed sensing element 11
The middle position of first crotch 1 is set and opposite first crotch 1 is fixedly installed, the first crotch 1 is with the first fixed sensing element
Part 11 is mobile to the left side of material tray, after the first crotch 1 is inserted into 9 bottom of material tray, the first fixed sensing element 11
It contacting with the left lateral sides of material tray 9, the first fixed sensing element 11 detects 9 left lateral sides position of material tray at this time,
Then the first crotch of feedback control 1 stops movement.First movement sensing element 12 and the second mobile sensor element 13 are located at
On first crotch 1 of the first fixed 11 two sides of sensing element, and relative to the first fixed mobile setting of sensing element 11, the
One crotch 1 to material tray 9 it is mobile during, between first movement sensing element 12 and the second mobile sensor element 13 away from
From being greater than with a distance from 9 front and back sides of material tray, after the first crotch 1 stops in place, first movement sensing element 12 and
Two mobile sensor elements 13 are moved towards to contacting respectively with the front and back sides in the close left side of material tray 9, first are moved at this time
Dynamic sensing element 12 and the second mobile sensor element 13 detect material tray 9 close to the position of the front and back sides of the first crotch respectively
It sets.
Further, the first sensing mounting rod 10 is fixedly installed on the first crotch 1, for installing the first fixed sensing
Element 11, first movement sensing element 12 and the second mobile sensor element 13.Wherein, the first sensing mounting rod 10 is perpendicular to first
The direction that moves toward one another of crotch 1 and the second crotch 2 arranges that the first fixed sensing element 11 is fixed by threaded connectors such as screws
It is mounted on the middle position of the first sensing mounting rod 10, first movement sensing element 12 and the second mobile sensor element 13 are led respectively
To on the first sensing mounting rod 10 for being assemblied in the first fixed 11 two sides of sensing element, the first fixed sensing element 11, first is moved
Dynamic sensing element 12 and the second mobile sensor element 13 stretch out setting towards the side of material tray 9, in order to guarantee the first shifting
Dynamic sensing element 12 and the second mobile sensor element 13 can accurately touch the front and back sides of material tray 9, should also incite somebody to action
The extension elongation of first movement sensing element 12 and the second mobile sensor element 13 is more than the first fixed sensing element 11.
In order to accurately measure to obtain the moving distance of first movement sensing element 12 and the second mobile sensor element 13,
First movement sensing element 12 and the second mobile sensor element 13 are drivingly connected by the servo motor with encoder respectively, real
The edge sensing mounting rod of existing mobile sensor element moves driving and moving distance detection.Specific assembling structure is as shown in figure 3, the
One mobile sensor element 12 and the second mobile sensor element 13 are assemblied in the installation of the first sensing by sensing moving trolley 14 respectively
On bar 10, senses and guiding assembly is rolled by sensing shifting roller 15 between moving trolley 14 and the first sensing mounting rod 10, pass
Feel and also being connected by linear transmission mechanism between moving trolley 14 and the first sensing mounting rod 10, rolling can be used in linear transmission mechanism
Screw mechanism or gear and rack teeth mechanism are mounted on sensing moving trolley 14 as the servo motor for sensing mobile actuator 16
On, the servo motor is by ball wire rod mechanism or gear and rack teeth mechanism driving sensing moving trolley 14 along the first sensing installation
Bar 10 is mobile, final to realize first movement sensing element 12 and the second mobile sensor element 13 on the first sensing mounting rod 10
Guiding movement.The servo motor of mobile actuator 16 is sensed by the kinetic control system of robot palletizer and to inductive sensing movement
Mobile sensor cell feeds back signal control on trolley.
Likewise, being disposed with three groups of sensing elements detected to material tray boundary position on the second crotch 2, respectively
Sensing element 21, third mobile sensor element 22 and the 4th mobile sensor element 23 are fixed for second, wherein the second fixed sensing
The middle position of the second crotch 2 is arranged in element 21 and opposite second crotch 2 is fixedly installed, and the second crotch 2 is fixed with second
Sensing element 21 is mobile to the right side of material tray, after the second crotch 2 is inserted into 9 bottom of material tray, the second fixed sensing
Element 21 is contacted with the right side side of material tray 9, and the second fixed sensing element 21 detects 9 right side side of material tray at this time
Position, then the second crotch of feedback control 2 stops movement.Third mobile sensor element 22 and the 4th mobile sensor element 23 difference
It is arranged on the second crotch 2 of the second fixed 21 two sides of sensing element, and relative to the second fixed movement of sensing element 21,
During the second crotch 2 is mobile to material tray 9, between third mobile sensor element 22 and the 4th mobile sensor element 23
Distance be greater than the distances of 9 front and back sides of material tray, after the second crotch 2 stops in place, third mobile sensor element 22
It moves towards with the 4th mobile sensor element 23 to being contacted respectively with the front and back sides on the close right side of material tray 9, at this time
Three mobile sensor elements 22 and the 4th mobile sensor element 23 detect material tray 9 close to the front and back sides of the second crotch respectively
Position.
Further, the second sensing mounting rod 20 is fixedly installed on the second crotch 2, for installing the second fixed sensing
Element 21, third mobile sensor element 22 and the 4th mobile sensor element 23.Wherein, the first sensing mounting rod 10 is perpendicular to second
The direction that moves toward one another of crotch 2 and first support 1 arranges that the second fixed sensing element 21 is fixed by threaded connectors such as screws
It is mounted on the middle position of the second sensing mounting rod 20, third mobile sensor element 22 and the 4th mobile sensor element 23 are led respectively
To on the second sensing mounting rod 20 for being assemblied in the second fixed 21 two sides of sensing element, the second fixed sensing element 21, third are moved
Dynamic sensing element 22 and the 4th mobile sensor element 23 stretch out setting towards the side of material tray 9, in order to guarantee that third is moved
Dynamic sensing element 22 and the 4th mobile sensor element 23 can accurately touch the front and back sides of material tray 9, should also incite somebody to action
The extension elongation of third mobile sensor element 22 and the 4th mobile sensor element 23 is more than the second fixed sensing element 21.
Third mobile sensor element 22 and the 4th mobile sensor element 23 the second sensing mounting rod 20 assembling structure with
The assembly knot of first movement sensing element 12 shown in Fig. 3 and the second mobile sensor element 13 on the first sensing mounting rod 10
Structure is identical, and this will not be repeated here.
In the actual implementation process, the first fixed sensing element 11, first movement sensing element 12, the second mobile sensor member
Part 13, second fixes sensing element 21, third mobile sensor element 22, the 4th mobile sensor element 23 and is all made of microswitch,
Position detection is reliable, at low cost.
It is specifically described below in conjunction with correction mode of the Fig. 4 and Fig. 5 to the automatic deviation correction clamp for stacking of the present embodiment.
As shown in figure 4, the location A where material tray 9 is the pallet normal place for designing supplied materials, robot palletizer is direct
Material tray is lifted into mobile progress stacking from the position, no longer carries out correction operation.It is put when material tray 9 is handled upside down equipment
When B location in figure, the whole angle of the material tray 9 of B location is identical as the material tray of location A, is only sitting anyhow
Mark direction shifts.When the material tray 9 to B location is rectified a deviation, the first crotch 1 and the second crotch 2 are separated to initially
Position, the third on first movement sensing element 12 and the second mobile sensor element 13 and the second crotch 2 on the first crotch 1
Mobile sensor element 22 and the 4th mobile sensor element 23, which are divided equally, reaches maximum position；Then by the mechanical arm control of robot palletizer
It is mobile to material tray 9 to make the first crotch 1 and the second crotch 2, when the first fixed sensing element 11 and the second fixed sensing element
21 are successively moved to and contact respectively with the left and right side of material tray 9, and feedback control the first crotch 1 and the second crotch 2 stop, so
It is controlled respectively between first movement sensing element 12 and the second mobile sensor element 13 afterwards and 22 He of third mobile sensor element
It is moved towards between 4th mobile sensor element 23, when first movement sensing element 12, the second mobile sensor element 13, third are moved
Dynamic sensing element 22, the 4th mobile sensor element 23 are moved respectively to successively contact with the front and back sides of the material tray of B location 9
Stop movement afterwards.So far the border detection for completing material tray 9, is then measured by the mechanical arm servo motor of robot palletizer
The moving distance of first fixed sensing element 11 and the second fixed sensing element 21, by the servo motor for sensing mobile actuator
First movement sensing element 12, the second mobile sensor element 13, third mobile sensor element 22, the 4th mobile sensor are measured respectively
The moving distance of element 23, the material tray 9 for calculating B location are staggered relatively between the position of the material tray 9 of location A
Abscissa deviation and ordinate deviation, then the mechanical arm of feedback control robot palletizer is lifted the translational movement of material tray 9 and is arrived
After pallet normal place, then carry out subsequent automatic stacking.
As shown in figure 5, when material tray is handled upside down the material tray position 9B that equipment has been placed in figure, material tray 9
Whole angle and the material tray 9 of location A deflect, while also shifting in vertical and horizontal coordinate direction.To material support
When disk 9 is rectified a deviation, the first crotch 1 and the second crotch 2 are separated to initial position, the first movement sensing element on the first crotch 1
Part 12 and third mobile sensor element 22 and the 4th mobile sensor element on the second mobile sensor element 13 and the second crotch 2
23 respectively reach maximum position；Then the first crotch 1 and the second crotch 2 are controlled to material tray from the mechanical arm of robot palletizer
9 is mobile, when the first fixed sensing element 11 and the second fixed sensing element 21 are moved to the left and right side with material tray 9 respectively
Contact, and feedback control the first crotch 1 and the second crotch 2 stop, and then control first movement sensing element 12 and second respectively
It is moved towards between mobile sensor element 13 and between third mobile sensor element 22 and the 4th mobile sensor element 23, when
One mobile sensor element 12, the second mobile sensor element 13, third mobile sensor element 22, the 4th mobile sensor element 23 difference
It is moved to and is successively contacted with the front and back sides of material tray 9.So far the border detection for completing material tray 9, then passes through stacking
The moving distance of mechanical arm servo motor the measurement first fixed sensing element 11 and the second fixed sensing element 21 of robot, leads to
The servo motor for crossing the mobile actuator of sensing measures first movement sensing element 12, the second mobile sensor element 13, third respectively
The moving distance of mobile sensor element 22, the 4th mobile sensor element 23, the material tray 9 for calculating B location are staggered relatively in A
Deflection angle and abscissa deviation and ordinate deviation between the position of the material tray 9 of position, then feedback control code
The mechanical arm of pile robot lifts material tray 9, rotates corresponding angle compensation by the first rotary joint and the second rotary joint
Then the deflection angle of material tray 9 is moved in translation by robot palletizer to after pallet normal place, then carry out it is subsequent from
Activity code pile.
Embodiment two
Referring to Fig. 6 and Fig. 7, the robot palletizer in the present embodiment is for automatic deviation correction clamp for stacking in embodiment one
Specific embodiment, the robot body using the truss robot with three-axis moving system as robot palletizer.
The truss robot of the present embodiment uses Cartesian robot, i.e., with the purlin of space right-angle three-axis moving system
Frame robot.Thirdly axis motion system includes the traversing mould group 4 of Y-axis, X-axis vertical shift mould group 5 and the first Z axis lifting mould group 31 and the
Two Z axis lift mould group 32, wherein two groups of Z axis lifting mould groups 31 parallel arrangement and as truss robot respectively with the first crotch 1
With the mechanical arm of the second crotch 2 connection, the first crotch 1 and the second crotch 2 pass through the first rotary joint 18 and the second rotation respectively
Joint 28 is connect with the bottom that the first Z axis lifts mould group 31 and the second Z axis lifting mould group 32, and wherein the traversing mould group 4 of Y-axis, X-axis are vertical
Shifting formwork group 5 and two groups of Z axis lift the respective Y direction of mould groups, X-direction and Z-direction and arrange in rectangular space coordinate, wherein
X-direction and Y direction are in the horizontal plane that material tray is placed, and the length with the material tray of supplied materials normal place respectively
Degree is parallel with width direction, and Z-direction lifts direction along material platform.
Specifically, X-axis vertical shift mould group 5 is two groups of parallel arrangement, it is located at the material support in supplied materials normal place
At left and right sides of disk, the both ends of X-axis vertical shift mould group 5 pass through X-axis supporting upright post 51 respectively and are erected at aerial, Y higher than stacking height
The two supports of the traversing mould group 4 of axis are in two groups of X-axis vertical shift mould groups 5, and between X-axis vertical shift mould group 5 and the traversing mould group 4 of Y-axis
The X-axis driving assembly 6 moved along the x axis equipped with the driving traversing mould group of Y-axis.
First Z axis lifts mould group 31 and the second Z axis lifting mould group 32 is arranged in parallel, and mobile respectively to be assemblied in Y-axis traversing
Specific as shown in Figure 7 in mould group 4, the first Z axis lifts mould group 31 and passes through the first crotch moving trolley 311 and the traversing mould group of Y-axis
4 connections, wherein the first Z axis lifts mould group 31 and is assemblied in the first crotch moving trolley 311 along Z-direction guiding, the first crotch
Moving trolley 311 is oriented to along the y axis to be assemblied in the traversing mould group 4 of Y-axis, is provided with simultaneously in the first crotch moving trolley 311
First Y-axis driving assembly 71 and the first Z axis driving assembly 81, the first Y-axis driving assembly 71 drive the first crotch moving trolley to connect
Traversing in the Y-axis direction with the first Z axis lifting mould group and the first crotch, the first Z axis driving assembly 81 drives the first Z axis to lift mould
Group and the first crotch are gone up and down in the Z-axis direction.
Likewise, the second Z axis lifting mould group 32 is connect by the second crotch moving trolley 321 with the traversing mould group 4 of Y-axis,
In, the second Z axis lifts mould group 32 and is assemblied in the second crotch moving trolley 321 along Z-direction guiding, the second crotch moving trolley
321 along the y axis guiding be assemblied in the traversing mould group 4 of Y-axis, in the second crotch moving trolley 321 simultaneously be provided with the second Y-axis drive
Dynamic component 72 and the second Z axis driving assembly 82, the second Y-axis driving assembly 72 drive the second crotch moving trolley together with the second Z axis
It lifts mould group and the second crotch is traversing in the Y-axis direction, the second Z axis driving assembly 82 drives the second Z axis to lift mould group and second
Crotch is gone up and down in the Z-axis direction.
In the present embodiment, the traversing mould group 4 of X-axis vertical shift mould group 5, Y-axis and the first Z axis lifting mould group 31 and the second Z axis
Mould group 32 is lifted using the guide rail of parallel arrangement and the combined guided structure of rack gear；X-axis driving assembly 6, the first Y-axis driving assembly
71, the second Y-axis driving assembly 72, the first Z axis driving assembly 81 and the second Z axis driving assembly 82 include servo with encoder
The gear and roll the idler wheel that guiding is assembled with guide rail that motor driven is engaged with rack, servo motor uses servo-driver control
System driving, by idler wheel guiding and gear-rack drive guarantee fixture lift material tray carry out automatic stacking process high speed remove
The stationarity of fortune.
The three-axis moving control system of truss robot is controlled using PLC controller or motion controller, the input of parameter
The man-machine interface of output uses touch screen or all-in-one machine.Control system has PORT COM and client's host computer is communicated to pass
Delivery data.
The course of work of robot palletizer in the present embodiment described further below:
After startup self-detection, three-axis moving control system drives each kinematic axis to initial zero position: the zero-bit of X-axis the south (with
Material supplied materials place-centric is overlapped), Y-axis zero-bit is at both ends, end mobile sensor member of the Z axis zero-bit in extreme lower position, fixture
For part in outermost end, Z axis lifts the mould group bottom position vertical with Z axis face in crotch with the rotary joint zero-bit of corresponding crotch, and
Master system is waited to send material signal and stacking coordinates of targets in place.Host computer material is received in place after signal, control system
System drives two groups of Z axis lifting mould groups along the traversing mould group of Y-axis toward medial movement and by the coding on Y-axis driving assembly servo motor
Device signal feedback count until on two crotch the first fixed sensing element and the second fixed sensing element touch object respectively
Material torr disk left and right sides；Then the private that control senses mobile actuator takes four configured on motor driven crotch and is operated alone
Mobile sensor element toward medial movement and by the encoder to count on corresponding servo motor until four mobile sensor elements
All encounter the front and back sides of material tray.Kinetic control system is touching material tray boundary to two sensing elements respectively
Motor movement stroke parameter is calculated left to get the actual size of material tray out and the front and back of opposite supplied materials normal place
Right offset and deflection angle angle value.
According to the above offset and deflection angle angle value for calculating feedback, XYZ tri- of the kinetic control system to truss robot
Rotary joint under axis and Z axis carries out feedback control and carries out interpolation correction, after rectifying a deviation to the supplied materials normal place of setting and drives
Material tray is transported to the carrying coordinates of targets that host computer is sent and carries out stacking by truss robot.
Below in conjunction with referring to Fig. 8-11, the automatic deviation correction clamp for stacking in diagram includes four of square shaped pallet 9 respectively
Side carries out six groups of sensing elements of detection and localization, the respectively first fixed sensing element 11, first movement sensing element 12, the
Two mobile sensor elements 13, second fix sensing element 21, third mobile sensor element 22, the 4th mobile sensor element 23,
In the first fixed sensing element 11, first movement sensing element 12 and the second mobile sensor element 13 be distributed in the supplied materials of pallet
The left side of normal place, the second fixed sensing element 21, third mobile sensor element 22 and the 4th mobile sensor element 23 are divided equally
It is distributed in the right side of the supplied materials normal place of pallet.
Be accurately positioned in normal place the pallet 9 of placement length direction and width direction where plane be arranged X-Y
Axial plane coordinate system, the coordinate origin of the X-Y axial plane coordinate system are the normal place center origin 10 of pallet, wherein Y-axis edge
The lateral length direction of pallet 9, longitudinal direction of the X-axis along pallet 9.The first fixed sensing element on the left of pallet normal place
Part 11, first movement sensing element 12 and the second mobile sensor element 13 are separately mounted on the first sensing mounting rod 10, and first
It senses mounting rod 10 to arrange perpendicular to Y-axis is mobile, wherein the first fixed sensing element 11 is fixedly mounted on the first sensing mounting rod
10 middle position, first movement sensing element 12 and the second mobile sensor element 13 are mobile respectively to be assemblied in the first fixed sensing
On two section of first separated sensing mounting rod of element 11.
Likewise, the second fixed sensing element 21,22 and of third mobile sensor element being located on the right side of pallet normal place
4th mobile sensor element 23 is separately mounted on the second sensing mounting rod 20, and the second sensing mounting rod 20 is mobile perpendicular to Y-axis
Arrangement, wherein the second fixed sensing element 21 is fixedly mounted on the middle position of the second sensing mounting rod 20, third mobile sensor
Element 22 and the 4th mobile sensor element 23 move respectively is assemblied in two section of second separated sensing of the second fixed sensing element 21
On mounting rod.
First sensing mounting rod 10 and the second sensing mounting rod 20 can directly be fixed at two groups and move towards to pallet
On the crotch lifted, movement of the sensing element thereon in Y-axis is driven.In the X-Y axial plane coordinate system of Fig. 9, the
One fixed sensing element 11 and the second fixed sensing element 21 are respectively with the first sensing mounting rod 10 and the second sensing mounting rod 20
Along Y-axis, opposite and vertical tray left side and right side are moved and are approached, until the first fixed sensing element 11 and second is fixed
Sensing element 21 detects that the left side of pallet and the mechanical arm of feedback control crotch after the physical location of right side stop moving respectively
It is dynamic, and pass through the fixed sensing element 11 of the servo motor with encoder of mechanical arm detection first and the second fixed sensing element
21 moving distance.
In order to accurately measure to obtain the sensing of the first sensing mounting rod 10 and the second mobile assembly of sensing mounting rod 20
The moving distance of element, by first movement sensing element 12, the second mobile sensor element 13, third mobile sensor element 22 and
Four mobile sensor elements 23 respectively by with encoder servo motor be drivingly connected, realize sensing element along corresponding biography
Feel the mobile driving and moving distance detection of mounting rod.The sensing element of mobile assembly is assemblied in by sensing moving trolley guiding
Guiding assembly is rolled by sensing shifting roller between moving trolley and sensing mounting rod to sensing on inductive sensing mounting rod, is passed
Feel and also being connected by linear transmission mechanism between moving trolley and sensing mounting rod, ball-screw machine can be used in linear transmission mechanism
Structure or gear and rack teeth mechanism are mounted in sensing moving trolley as the servo motor for sensing mobile actuator, servo electricity
Machine is mobile along sensing mounting rod (X-direction) by ball wire rod mechanism or gear and rack teeth mechanism driving sensing moving trolley,
Specially first movement sensing element 12, third mobile sensor element 22 are respectively from the trailing flank end positions of pallet along X-axis side
It is approached to the movement of the trailing flank of vertical tray 9, until first movement sensing element 12, third mobile sensor element 22 detect respectively
The respective servo motor of feedback control stops movement behind the position of trailing flank to pallet 9 or so two, and passes through servo motor
Encoder detects the moving distance of respective first movement sensing element 12, third mobile sensor element 22；Second mobile sensor member
Part 13 and the 4th mobile sensor element 23 are respectively from the leading flank of the leading flank end positions of pallet vertical tray 9 along the x axis
Movement approaches, until the second mobile sensor element 13, the 4th mobile sensor element 23 detect leading flank of pallet 9 or so respectively
The respective servo motor of feedback control stops movement behind two positions, and detects respective second by the encoder of servo motor and move
The moving distance of dynamic sensing element 13, the 4th mobile sensor element 23.
Since the front and back sides sensing element on ipsilateral sensing mounting rod is first synchronous along Y-axis with the fixed sensing element in a left side second
It is mobile, the front and back sides of pallet can be accurately touched in order to guarantee front and back sides sensing element when moving along the x-axis,
It should be more than the extension elongation of the fixed sensing element in a left side second by the extension elongation of the front and back sides sensing element of the same side.
Referring again to Fig. 8, the mobile initial position phase cloth of the first fixed sensing element 11 and the second fixed sensing element 21
It sets in the Y-axis of X-Y axial plane coordinate system, and opposite X-axis is symmetrical, the fixed sensing element 11 of setting first and the second fixed biography
The vertical range of normal place center origin 10 of the initial position of sensing unit 21 from Y direction to pallet is c, first movement
The initial bit of sensing element 12, the second mobile sensor element 13, third mobile sensor element 22 and the 4th mobile sensor element 23
It sets in four quadrants for being located at X-Y axial plane coordinate system, and is arranged symmetrically respectively with respect to X-axis and Y-axis, first movement sensing
The vertical range of center for standard origin 10 of the initial position of element 12 and the second mobile sensor element 13 from X-direction to pallet
And center for standard of the initial position of third mobile sensor element 22 and the 4th mobile sensor element 23 from X-direction to pallet
The vertical range of origin 10 is b, and the initial position of first movement sensing element 12 and the second mobile sensor element 13 with
Between the initial position of first fixation sensing element 11 and the initial position and the 4th of third mobile sensor element 22 moves biography
Range difference between the initial position of sensing unit 23 in Y-axis is a；
It can be counted by each sensing element from four sides all around mobile actual range and a, b, c of pallet
The actual size for calculating material torr disk, by the first fixed sensing element 11 and the second fixed sensing element 21 it is mobile it is practical away from
Judge whether pallet shifts in the Y-axis direction from comparison, by in left side or with the leading flank sensing element on right side
It is inclined that the practical moving distance comparison of part and the movement of trailing flank sensing element may determine that whether pallet occurs in the X-axis direction
It moves, may determine that whether pallet occurs angle by the mobile actual range comparison of two groups of sensing elements with the rear side behind front side
The deflection of degree.
The specific method that the present embodiment realizes pallet correction is described in detail below in conjunction with Fig. 8-11.
It is drawn close first by four sides of six groups of sensing elements of detection device always material torr disk, control system record six
The displacement data of the corresponding six encoder for servo motor feedback of group sensing element.
Under theory state as shown in figure 9, under theory state, supplied materials pallet 9 is just placed in supplied materials normal place, support
The center of disk and normal place center origin 10 are without offset, angle also zero deflection.When detecting, the first fixed 11 He of sensing element
Second fixed sensing element 21 will touch the Y-axis of pallet or so two sides, the Y-axis of pallet after mobile same distance
Size is 2c- Δ y1- Δ y2=2*(c- Δ y1), and Δ y1=Δ y2；In X axis, first movement sensing element 12, second is mobile
Sensing element 13, third mobile sensor element 22, the 4th mobile sensor element 23 also will touch support after mobile same distance
Former and later two sides of the X axis of disk, the X axis size of pallet are 2b- Δ x3- Δ x5=2*(b- Δ x3), and Δ x3=Δ x4=Δ
x5=Δx6。
During practical stacking, the specific size of the pallet of supplied materials and placement position and normal place are devious,
Robot palletizer is needed to carry out movement interpolation correction when carrying out stacking.This deviation is divided into two kinds of situations.
The first situation is supplied materials pallet relative standard position there are there is offset at least one direction of X-axis Y-axis, acerous
Degree deflection, 9 placement position of pallet as shown in Figure 10,9 relative standard position of pallet exist inclined in X-axis and Y direction
It moves.
The first fixed sensing element 11 and the second fixed sensing element 21 in six groups of sensing elements is right respectively along the y axis
The left and right side of pallet 9 carries out approaching movement, and to the reality of the first fixed sensing element 11 and the second fixed sensing element 21
Distance, delta y1 and Δ y2 are mutually compared, first movement sensing element 12, the second mobile sensor element 13, third mobile sensor
Element 22, the 4th mobile sensor element 23 two-by-two respectively along the x axis to four positions of 9 other two side of pallet respectively into
Row approaches movement, and is mutually compared to the mobile actual range Δ x3 of four groups of sensing elements, Δ x4, Δ x5, Δ x6；
In this case, six groups of sensing elements moving distance when contacting pallet meets following rule:
Δ y1 ≠ Δ y2, Δ x3=Δ x4, Δ x5=Δ x6 and Δ x3 ≠ Δ x5,
At this point, the actual size of pallet 9 is as follows:
The size of Y-axis=2c- Δ y1- Δ y2,
The size of X axis=2b- Δ x3- Δ x5.
Robot needs to carry out correction interpolation, the numerical value of interpolation to position deviation value from X-axis and Y-axis both direction when stacking
Are as follows:
The tray center interpolation numerical value of Y direction=(Δ y1- Δ y2)/2,
The tray center interpolation numerical value of X-direction=(Δ x3- Δ x5)/2.
Here the interpolation numerical value calculated is the tray center relative standard position tray center of inflection point respectively in X
Displacement deviation on axis and Y-axis, the kinetic control system of robot palletizer is according to the interpolation Numerical Control pallet grippers pair come out
Pallet correction, the pallet actual size obtained then in conjunction with measurement carry out accurate stacking.As shown in Figure 11, second situation is
The placement position relative standard position of supplied materials pallet 9 exists simultaneously the deviation of offset distance and deflection angle.
In this case, move distance of six groups of sensing elements when being respectively contacted pallet boundary meets following rule
Rule:
Δy1≠Δy2；Δx3≠Δx4≠Δx5≠Δx6；
At this point, pallet 9 and normal place are except in addition to X-axis and Y direction have deviation, angle also has deflection.
Deflection angle is defined as α=arctan [(Δ x6- Δ x5)/(2c-2a- Δ y1- Δ y2)]；
At this point, the actual size of pallet 9 is as follows:
The size of Y-axis=(2c- Δ y1- Δ y2) * cos α；
The size of X axis=(2b- Δ x3- Δ x5) * cos α；
Robot needs to carry out correction interpolation, the numerical value of interpolation to position deviation value from X-axis and Y-axis both direction when stacking
Are as follows:
The tray center interpolation numerical value of Y direction=[(Δ y1- Δ y2) * cos α]/2,
The tray center interpolation numerical value of X-direction=[(Δ x3- Δ x5) * cos α]/2.
Here the interpolation numerical value calculated is the tray center relative standard position tray center of inflection point respectively in X
Displacement deviation on axis and Y-axis, the kinetic control system of robot palletizer is according to the interpolation Numerical Control pallet grippers pair come out
Pallet correction further needs exist for the rotation of the rotary joint connected between mechanical arm and fixture by robot palletizer control pallet
Gyration carries out correction interpolation；The interpolation numerical value of rotary joint is the angle-α.
Above-mentioned only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form.Although of the invention
It has been disclosed in a preferred embodiment above, however, it is not intended to limit the invention.Anyone skilled in the art is not taking off
In the case where from technical solution of the present invention range, all technical solution of the present invention is made perhaps using the technology contents of the disclosure above
Mostly possible changes and modifications or equivalent example modified to equivalent change.Therefore, all without departing from technical solution of the present invention
Content, technical spirit any simple modifications, equivalents, and modifications made to the above embodiment, should all fall according to the present invention
In the range of technical solution of the present invention protection.
Claims (10)
1. automatic deviation correction clamp for stacking, it is characterised in that: including opposite two groups of opposed crotch；
The rotary joint that crotch described in two groups passes through active control respectively is connect with robot arm, from two sides to material tray bottom
It is lifted in portion；
Fixed sensing element and mobile sensor element are fixedly installed on the crotch, the fixed sensing element is fixed at
The middle position of crotch, as two groups of moving toward one another for crotch detect material tray close to two parallel sides of two groups of crotch respectively
Face position, the mobile sensor element are located at the two sides of fixed sensing element, and relative to the mobile setting of fixed sensing element, fork
The mobile sensor element moved towards on frame detects other two parallel side position of material tray respectively；
The control unit feedback link of the fixed sensing element and mobile sensor element and rotary joint and robot arm.
2. automatic deviation correction clamp for stacking according to claim 1, the crotch is provided with sensing mounting rod, the fixed biography
Sensing unit is fixed at the middle position of sensing mounting rod, and two groups of mobile sensor elements, which are individually directed, is assemblied in fixed sensing element
On the sensing mounting rod of part two sides, and the test side extension elongation of mobile sensor element is more than fixed sensing element；
The mobile sensor element is drivingly connected with the servo motor with encoder, realizes the edge sensing peace of mobile sensor element
Fill the mobile driving and moving distance detection of bar.
3. automatic deviation correction clamp for stacking according to claim 2, the mobile sensor element passes through sensing moving trolley dress
It fits on sensing mounting rod, guiding dress is rolled by sensing shifting roller between the sensing moving trolley and sensing mounting rod
Match, and by being sequentially connected between linear transmission mechanism and sensing mounting rod, the servo motor is mounted on sensing moving trolley
On, the servo motor drives sensing moving trolley to move along sensing mounting rod by linear transmission mechanism.
4. automatic deviation correction clamp for stacking according to claim 2 or 3, sensing mounting rod on crotch described in two groups perpendicular to
Crotch moves toward one another direction arrangement parallel to each other.
5. automatic deviation correction clamp for stacking according to claim 4, the rotary joint uses servo motor with encoder
Control rotation.
6. robot palletizer, it is characterised in that: including in truss robot and claim 1-5 with three-axis moving system
The automatic deviation correction clamp for stacking of any one；Rotary joint and purlin of the crotch of the automatic deviation correction clamp for stacking by active control
The vertical lifting mould group of frame robot connects；
The truss robot includes lifting according to the X-axis vertical shift mould group, the traversing mould group of Y-axis and Z axis of rectangular space coordinate axis distribution
Rising mould group；
The X-axis vertical shift mould group be parallel arrangement two groups, the two supports of the traversing mould group of Y-axis in X-axis vertical shift mould group,
And the X-axis driving group that the driving traversing mould group of Y-axis moves along the x axis is equipped between X-axis vertical shift mould group and the traversing mould group of Y-axis
Part；
The Z axis lifting mould group is two groups of parallel arrangement, is arranged respectively by the way that Y-axis driving assembly is mobile in the traversing mould group of Y-axis
On, the rotary joint that crotch described in two groups passes through active control respectively is docked with the bottom of two groups of Z axis lifting mould groups, the Z axis
Lift the Z axis driving assembly that mould group has driving crotch lifting.
7. robot palletizer according to claim 6, the Z axis lifting mould group is traversing by crotch moving trolley and Y-axis
The connection of mould group, the Z axis lifting mould group are assemblied in crotch moving trolley along Z-direction guiding, and the crotch moving trolley is along Y
Axis direction guiding is assemblied in the traversing mould group of Y-axis, and it is small that the Y-axis driving assembly and Z axis driving assembly are mounted on crotch movement
Che Shang, wherein the Y-axis driving assembly driving crotch moving trolley lifts mould group together with Z axis and crotch is horizontal in the Y-axis direction
It moves, the Z axis driving assembly driving Z axis lifting mould group and crotch are gone up and down in the Z-axis direction.
8. robot palletizer according to claim 6, the X-axis vertical shift mould group, the traversing mould group of Y-axis and Z axis lift mould group
It is the guide rail of parallel arrangement and the combined guided structure of rack gear；The X-axis driving assembly, Y-axis driving assembly and Z axis driving group
Part includes the gear and the idler wheel that guiding assembly is rolled with guide rail that servo motor driving with encoder is engaged with rack.
9. pallet method for correcting error, it is characterised in that using the automatic deviation correction clamp for stacking of any one of claim 1-5, using more
Group sensing element is approached perpendicular to Tray side to pallet from initial position, until all sensing elements detect pallet four respectively
Stop behind all sides, by comparison between the mobile actual range of the sensing element and with the initial position of sensing element
To the fixed vertical distance of pallet normal place, pallet actual size size and pallet placement location opposing tray mark is calculated
The range deviation that level is set provides interpolation numerical value to the mobile correction of pallet for robot palletizer.
10. according to the pallet method for correcting error in claim 9, the pallet length direction in pallet normal place and width respectively
Plane X-Y axis coordinate system is arranged in direction, and coordinate origin is the tray center in pallet normal place, respectively corresponds four side of pallet
The initial position of the sensing element in face is arranged symmetrically relative to X-axis and Y-axis；
Using six groups of sensing elements, wherein the first fixed sensing element and the second fixed sensing element are along the y axis respectively to support
Disk two of them parallel side carries out approaching movement, and carries out to two groups of sensing elements mobile actual range Δ y1 and Δ y2
It mutually compares, first movement sensing element, the second mobile sensor element, third mobile sensor element and the 4th mobile sensor element
Four positions of other two side of pallet are carried out along the x axis respectively two-by-two to approach movement respectively, and first movement is passed
The mobile actual range Δ x3 of sensing unit, the second mobile sensor element, third mobile sensor element and the 4th mobile sensor element,
Δ x4, Δ x5, Δ x6 are mutually compared；
As Δ y1 ≠ Δ y2, Δ x3=Δ x4, Δ x5=Δ x6 and Δ x3 ≠ Δ x5, pallet is offset relative to normal place
State, at this time pallet
Y direction size=2c- Δ y1- Δ y2,
X-direction size=2b- Δ x3- Δ x5,
The correction interpolation numerical value that robot palletizer carries out pallet in two axis direction of X, Y are as follows:
The tray center interpolation numerical value of Y direction=(Δ y1- Δ y2)/2,
The tray center interpolation numerical value of X-direction=(Δ x3- Δ x5)/2；
As Δ y1 ≠ Δ y2, Δ x3 ≠ Δ x4, Δ x5 ≠ Δ x6, pallet is deflection state relative to normal place, is held in the palm at this time
The deflection angle of disk is defined as α=arctan [(Δ x6- Δ x5)/(2c-2a- Δ y1- Δ y2)],
The Y direction size of pallet=(2c- Δ y1- Δ y2) * cos α,
The X-direction size of pallet=(2b- Δ x3- Δ x5) * cos α,
The correction interpolation numerical value that robot palletizer carries out pallet in two axis direction of X, Y are as follows:
The tray center interpolation numerical value of Y direction=[(Δ y1- Δ y2) * cos α]/2,
The tray center interpolation numerical value of X-direction=[(Δ x3- Δ x5) * cos α]/2,
To deflection interpolation angle=- α of pallet；
Wherein, the initial position of the first fixed sensing element and the second fixed sensing element arrives coordinate origin in the Y-axis direction
Vertical range is c, first movement sensing element, the second mobile sensor element, third mobile sensor element and the 4th mobile sensor
The vertical range that the initial position of element arrives coordinate origin in the X-axis direction is b, the first fixed sensing element initial position and same
The range difference of the first movement sensing element of side and the second mobile sensor element initial position in the Y-axis direction is a.
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| CN113829153A (en) * | 2021-08-31 | 2021-12-24 | 郑州旭飞光电科技有限公司 | Polishing apparatus and method |
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