CN110271004B - Control system of palletizing robot - Google Patents
Control system of palletizing robot Download PDFInfo
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- CN110271004B CN110271004B CN201910600426.3A CN201910600426A CN110271004B CN 110271004 B CN110271004 B CN 110271004B CN 201910600426 A CN201910600426 A CN 201910600426A CN 110271004 B CN110271004 B CN 110271004B
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- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005389 magnetism Effects 0.000 claims description 5
- 230000003993 interaction Effects 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005307 ferromagnetism Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a palletizing robot control system which comprises a plurality of palletizing robots, a main control module and a communication bus, wherein the main control module controls the palletizing robots through the communication bus. According to the invention, when the position of a stacking position facing a certain part of a production line to be stacked is different from the positions of other stacking positions due to special reasons, the self-adjustment can be quickly carried out, the special treatment is carried out on the part of stacking, the working accuracy of the stacking robot is ensured, and the normal production line work is further maintained.
Description
Technical Field
The invention belongs to the technical field of automatic robot control, and particularly relates to a palletizing robot control system.
Background
Since the last 70 s of the last century, palletizing robots have been rapidly developed since the application of robotics to palletizing processes in japan. Because its area is little, can handle multiple material and a plurality of material stacks of pile up neatly simultaneously to processing speed is fast, and the weight of snatching is also constantly improving, and the use of pile up neatly machine people greatly reduced artifical intensity of labour, very big improvement production efficiency. Therefore, the palletizing robot is widely favored in various countries of the world, and is widely applied to the fields of petroleum, chemical industry, food processing, beverage, package and transportation and the like.
A growth line in a factory often consists of a plurality of palletizing robots. They work in series on the assembly line and cooperate with each other to complete the whole work. Each robot independently completes different working steps in the work. Therefore, in this process, it is important to ensure the normal operation of each palletizing robot. And the accuracy of each palletizing robot operation is also essential for the serial operation of the entire pipeline.
Through the search of the prior art, the palletizing robots which are widely used at present usually operate independently, and each palletizing robot consists of a main control system and each shutdown driving system. According to the multi-axis control method, or based on PLC or PC, the prior palletizing robot adopts a multi-axis control system based on field bus, such as CAN bus widely applied in automobile industry. Such as chinese patent document No.: CN1923468, name: handling palletizing robot, chinese patent document No.: CN101362329a, name: palletizing robot and Chinese patent document number: CN101817452a, name: and (5) boxing and stacking the robot. Several different palletizing robots are described in these several patents, wherein the control system is generally as follows: the motors of the corresponding machine joints of the palletizing robot are independently driven by the joint drivers to perform closed-loop control, so that the rotation of the corresponding machine joints is accurately controlled. The main control system controls the motion of the whole robot, coordinates and controls the motion of the corresponding machine joint, compensates errors, and realizes the accurate control of the end effector. And none of the three patents relates to the coordinated cooperation of the passage of a plurality of palletizing robots and the self-detection and fault-tolerant control functions of the robots for faults. There is no communication and coordination between the robots in a production line. Therefore, when a palletizing robot is out of control in the whole assembly line due to inaccurate work (for example, the position of a stacking position on the assembly line, where a certain part needs to be palletized, is different from the positions of other stacking materials due to special reasons), the robot cannot take responsive measures to adjust and maintain work.
Accordingly, it is desirable to provide a palletizing robot control system.
Disclosure of Invention
The invention aims to provide a palletizing robot control system which is used for solving the problem that when a palletizing robot in the prior art is out of control in the whole assembly line because of inaccurate work (for example, the position of a palletizing position on a certain part of the assembly line, which is different from the positions of other palletizing materials, is caused by special reasons), the robot cannot take responsive measures to adjust and maintain the work.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the palletizing robot control system comprises a plurality of palletizing robots, a main control module and a communication bus, wherein the main control module controls the palletizing robots through the communication bus;
the stacking robot comprises a mechanical arm and a stacking gripper, wherein the stacking gripper comprises a flange plate, a steel pipe, a bracket, an air cylinder, an electromagnet and a baffle plate; one end of the flange plate is connected with the mechanical arm, the other end of the flange plate is connected with one end of the steel pipe, the other end of the steel pipe is connected with one end of the bracket, the cylinder is fixedly arranged in the bracket, the electromagnet is arranged at the bottom of the cylinder, and the baffle is arranged at the other end of the bracket; the system also comprises an image acquisition device, a control device, a data transmission device and a cylinder driving device; the image acquisition device is arranged on the stacking gripper and used for acquiring stacking image information required by the stacking robot to be stacked and sending the stacking image information to the control device; the control device compares and analyzes the stacking image information with preset stacking image information and judges whether the stacking image information is consistent with the preset stacking image information or not; the control device performs data interaction with the communication bus through the data transmission device; the cylinder driving device is connected with the control device and used for driving the cylinder to act;
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is consistent with the preset stacking image information, the control device controls the cylinder driving device to normally start, and the cylinder driving device drives the cylinder to normally act, so that the electromagnet is close to the baffle;
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is inconsistent with the preset stacking image information, and the position of the stacking does not exceed a preset stacking position deviation threshold value, the control device controls the output power of the cylinder driving device, and the cylinder driving device drives the cylinder to increase the thrust so that the electromagnet is in contact with the baffle;
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is inconsistent with the preset stacking image information, and the position of the stacking exceeds a preset stacking position deviation threshold, the main control module controls the mechanical arm of the stacking robot to move by a corresponding distance through the communication bus, so that the mechanical arm drives the stacking gripper to move to be within the stacking position deviation threshold.
Preferably, the palletizing robot further comprises an electromagnet driving device, and the electromagnet driving device is connected with the control device;
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is consistent with the preset stacking image information, the control device controls the electromagnet driving device to normally start, the electromagnet driving device drives the electromagnet to normally act, and the electromagnetic ferromagnetism is in a normal state;
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is inconsistent with the preset stacking image information, and the position of the stacking does not exceed a preset stacking position deviation threshold value, the control device increases the output power of the electromagnet driving device, and when the electromagnet driving device drives the electromagnet to act, the magnetism of the electromagnet is in an enhanced state.
Preferably, the tail end of the mechanical arm is provided with a flange plate connecting piece, and the size of the flange plate connecting piece is matched with that of the flange plate.
Preferably, the section of the steel pipe is regular octagon.
Preferably, a plurality of cylinders are fixedly arranged in the support, the cylinders are symmetrically arranged along the middle of the support, and the telescopic actions of the cylinders are consistent.
Preferably, the cylinders are six cylinders with the same model.
Preferably, the electromagnet is a cuboid horizontally placed, and the baffle is parallel to the ground of the electromagnet.
Preferably, the bracket is made of stainless steel materials.
The beneficial technical effects of the invention are as follows: (1) According to the invention, when the position of a stacking position facing a certain part of a production line to be stacked is different from the positions of other stacking positions due to special reasons, the self-adjustment can be quickly carried out, the special treatment is carried out on the part of stacking, the working accuracy of the stacking robot is ensured, and the normal production line work is further maintained.
(2) The palletizing robot grabs corresponding stacking materials according to the instruction of the control device and places the stacking materials at corresponding positions, manual operation is not needed in the whole process, labor intensity is reduced, and working efficiency is improved.
Drawings
Fig. 1 is a schematic circuit diagram of an embodiment of the present invention.
Fig. 2 shows a schematic structural view of a palletizing robot according to an embodiment of the present invention.
Fig. 3 is a schematic view of a gripper according to an embodiment of the present invention.
Wherein, robotic arm 1
Stacking gripper 2
Buttress material 3
Stack tray 4
Flange plate 21
Steel pipe 22
Cylinder 23
Support 24
Electromagnet 25
A baffle 26.
Detailed Description
The following description of the embodiments of the present invention will be made more fully with reference to the accompanying drawings 1-3, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples:
as shown in fig. 1, 2 and 3, a palletizing robot control system comprises a plurality of palletizing robots, a main control module and a communication bus, wherein the main control module controls the palletizing robots through the communication bus;
the stacking robot comprises a mechanical arm 1 and a stacking gripper 2, wherein the stacking gripper 2 comprises a flange 21, a steel pipe 22, a bracket 24, an air cylinder 23, an electromagnet 25 and a baffle 26; the mechanical arm comprises a mechanical arm 1, a flange plate 21, a flange plate connecting piece, an electromagnet 25, a baffle 26 and a support 24, wherein one end of the flange plate 21 is connected with the mechanical arm 1, the flange plate connecting piece is arranged at the tail end of the mechanical arm 1, the size of the flange plate connecting piece is matched with that of the flange plate 21, the other end of the flange plate 21 is connected with one end of the steel tube 22, the cross section of the steel tube 22 is in a regular octagon shape, the other end of the steel tube 22 is connected with one end of the support 24, the support 24 is made of stainless steel materials, the cylinder 23 is fixedly arranged in the support 24, a plurality of cylinders 23 are fixedly arranged in the support 24, the cylinders 23 are symmetrically arranged along the middle of the support 24, the telescopic actions of the cylinders 23 are consistent, the electromagnet 25 is arranged at the bottom of the cylinder 23, the electromagnet 25 is in a horizontally arranged cuboid shape, the baffle 26 is parallel to the ground of the electromagnet 25, and the other end of the support 24 is provided with the baffle 26. The system also comprises an image acquisition device, a control device, a data transmission device and a cylinder driving device; the image acquisition device is arranged on the stacking gripper 2 and is used for acquiring stacking image information required by the stacking robot to be stacked and sending the stacking image information to the control device; the control device compares and analyzes the stacking image information with preset stacking image information and judges whether the stacking image information is consistent with the preset stacking image information or not; the control device performs data interaction with the communication bus through the data transmission device; the cylinder driving device is connected with the control device and is used for driving the cylinder 23 to act;
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is consistent with the preset stacking image information, the control device controls the cylinder driving device to normally start, and the cylinder driving device drives the cylinder 23 to normally act, so that the electromagnet 25 is close to the baffle 26;
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is inconsistent with the preset stacking image information, and the position of the stacking does not exceed a preset stacking position deviation threshold value, the control device controls the output power of the cylinder driving device, and the cylinder driving device drives the cylinder 23 to increase the thrust so that the electromagnet 25 is in contact with the baffle 26;
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is inconsistent with the preset stacking image information, and the position of a stacking exceeds a preset stacking position deviation threshold, the main control module controls the mechanical arm 1 of the stacking robot to move by a corresponding distance through the communication bus, so that the mechanical arm 1 drives the stacking gripper 2 to move into the stacking position deviation threshold.
The palletizing robot further comprises an electromagnet driving device, and the electromagnet driving device is connected with the control device;
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is consistent with the preset stacking image information, the control device controls the electromagnet driving device to normally start, the electromagnet driving device drives the electromagnet 25 to normally act, and the magnetism of the electromagnet 25 is in a normal state;
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is inconsistent with the preset stacking image information, and the position of the stacking does not exceed a preset stacking position deviation threshold value, the control device increases the output power of the electromagnet driving device, and when the electromagnet driving device drives the electromagnet 25 to act, the magnetism of the electromagnet 25 is in an enhanced state.
In the description of the present invention, it should be understood that the terms "counterclockwise," "clockwise," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present invention, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Claims (8)
1. The palletizing robot control system is characterized by comprising a plurality of palletizing robots, a main control module and a communication bus, wherein the main control module controls the palletizing robots through the communication bus;
the stacking robot comprises a mechanical arm (1) and a stacking gripper (2), wherein the stacking gripper (2) comprises a flange plate (21), a steel pipe (22), a bracket (24), an air cylinder (23), an electromagnet (25) and a baffle plate (26); one end of the flange plate (21) is connected with the mechanical arm (1), the other end of the flange plate (21) is connected with one end of the steel pipe (22), the other end of the steel pipe (22) is connected with one end of the support (24), the cylinder (23) is fixedly arranged in the support (24), the electromagnet (25) is arranged at the bottom of the cylinder (23), and the baffle (26) is arranged at the other end of the support (24); the system also comprises an image acquisition device, a control device, a data transmission device and a cylinder driving device; the image acquisition device is arranged on the stacking gripper (2) and is used for acquiring stacking image information required by the stacking robot to be stacked and sending the stacking image information to the control device; the control device compares and analyzes the stacking image information with preset stacking image information and judges whether the stacking image information is consistent with the preset stacking image information or not; the control device performs data interaction with the communication bus through the data transmission device; the cylinder driving device is connected with the control device and is used for driving the cylinder (23) to act;
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is consistent with the preset stacking image information, the control device controls the cylinder driving device to start normally, and the cylinder driving device drives the cylinder (23) to act normally, so that the electromagnet (25) is close to the baffle (26);
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is inconsistent with the preset stacking image information, and the position of the stacking does not exceed a preset stacking position deviation threshold value, the control device controls the output power of the cylinder driving device, and the cylinder driving device drives the cylinder (23) to increase the thrust so that the electromagnet (25) is in contact with the baffle plate (26);
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is inconsistent with the preset stacking image information, and the position of the stacking exceeds a preset stacking position deviation threshold, the main control module controls the mechanical arm (1) of the stacking robot to move by a corresponding distance through the communication bus, so that the mechanical arm (1) drives the stacking gripper (2) to move to be within the position deviation threshold of the stacking.
2. A palletizing robot control system according to claim 1, wherein the palletizing robot further comprises an electromagnet drive device, the electromagnet drive device being connected with the control device;
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is consistent with the preset stacking image information, the control device controls the electromagnet driving device to normally start, the electromagnet driving device drives the electromagnet (25) to normally act, and the magnetism of the electromagnet (25) is in a normal state;
when the control device compares and analyzes the stacking image information acquired by the image acquisition device with preset stacking image information and judges that the stacking image information is inconsistent with the preset stacking image information, and the position of the stacking does not exceed a preset stacking position deviation threshold value, the control device increases the output power of the electromagnet driving device, and when the electromagnet driving device drives the electromagnet (25) to act, the magnetism of the electromagnet (25) is in an enhanced state.
3. A palletizing robot control system according to claim 1, characterized in that the robot arm (1) is provided at its end with a flange connection, the flange connection being dimensioned to fit the flange (21).
4. A palletizing robot control system according to claim 1, characterized in that the section of the steel tube (22) is regular octagon.
5. A palletizing robot control system according to claim 1, wherein a plurality of cylinders (23) are fixedly arranged in the bracket (24), the cylinders (23) are symmetrically arranged along the middle of the bracket (24), and the telescopic actions of the cylinders (23) are consistent.
6. A palletizing robot control system according to claim 5, characterized in that the cylinders (23) are six cylinders of the same type.
7. A palletizing robot control system according to claim 1, characterized in that the electromagnet (25) is of the cuboid type placed horizontally and the baffle (26) is parallel to the ground of the electromagnet (25).
8. A palletizing robot control system according to claim 1, wherein the bracket (24) is made of stainless steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910600426.3A CN110271004B (en) | 2019-07-04 | 2019-07-04 | Control system of palletizing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910600426.3A CN110271004B (en) | 2019-07-04 | 2019-07-04 | Control system of palletizing robot |
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| Publication Number | Publication Date |
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| CN110271004A CN110271004A (en) | 2019-09-24 |
| CN110271004B true CN110271004B (en) | 2023-11-28 |
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| CN201910600426.3A Active CN110271004B (en) | 2019-07-04 | 2019-07-04 | Control system of palletizing robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102139486A (en) * | 2011-04-14 | 2011-08-03 | 上海交通大学 | Control system for robot palletizer with self-maintenance function |
| CN104394187A (en) * | 2014-09-28 | 2015-03-04 | 江苏牧羊控股有限公司 | Internet of things palletizing robot control system and Internet of things system |
| CN105773602A (en) * | 2015-07-10 | 2016-07-20 | 石家庄森锐机械科技有限公司 | Control system for palletizing robot |
| CN107479581A (en) * | 2017-09-21 | 2017-12-15 | 北京京东尚科信息技术有限公司 | Container piles up control device, system, method and storage medium |
| CN210732457U (en) * | 2019-07-04 | 2020-06-12 | 泉州轻工职业学院 | Control system of stacking robot |
-
2019
- 2019-07-04 CN CN201910600426.3A patent/CN110271004B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102139486A (en) * | 2011-04-14 | 2011-08-03 | 上海交通大学 | Control system for robot palletizer with self-maintenance function |
| CN104394187A (en) * | 2014-09-28 | 2015-03-04 | 江苏牧羊控股有限公司 | Internet of things palletizing robot control system and Internet of things system |
| CN105773602A (en) * | 2015-07-10 | 2016-07-20 | 石家庄森锐机械科技有限公司 | Control system for palletizing robot |
| CN107479581A (en) * | 2017-09-21 | 2017-12-15 | 北京京东尚科信息技术有限公司 | Container piles up control device, system, method and storage medium |
| CN210732457U (en) * | 2019-07-04 | 2020-06-12 | 泉州轻工职业学院 | Control system of stacking robot |
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| Publication number | Publication date |
|---|---|
| CN110271004A (en) | 2019-09-24 |
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