CN110480609B - Pose error self-compensation stacking robot and stacking method thereof - Google Patents
Pose error self-compensation stacking robot and stacking method thereof Download PDFInfo
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- CN110480609B CN110480609B CN201910769209.7A CN201910769209A CN110480609B CN 110480609 B CN110480609 B CN 110480609B CN 201910769209 A CN201910769209 A CN 201910769209A CN 110480609 B CN110480609 B CN 110480609B
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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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
- B25J9/1628—Programme controls characterised by the control loop
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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
Abstract
The invention discloses a pose error self-compensating palletizing robot, and belongs to the field of automation. Comprises a base mechanism, a waist swing mechanism, an arm mechanism, a wrist mechanism, an actuating mechanism and a vision mechanism. On one hand, the actual pose information of the execution tail end is determined by the vision mechanism and is compared with the theoretical pose information, the synthetic motion vector is corrected and output, the motion accuracy of the robot is improved, on the other hand, the mechanical clamping jaw of the execution tail end is improved, specifically, two vacuum chucks are installed on the mechanical clamping jaw, and the anti-skid piece is arranged on the clamping finger, so that the distance between goods is reduced as far as possible on the premise of ensuring the stability of the mechanical clamping jaw. The stacking machine solves the problems of deviation, instability and easy potential safety hazard formation in stacking.
Description
Technical Field
The invention belongs to the field of automation, and particularly relates to a pose error self-compensating palletizing robot and a palletizing method thereof.
Background
The palletizing robot is a product of the organic combination of machinery and computer programs. Provides higher production efficiency for modern production. The method has wide application in the logistics transportation industry, not only saves labor force and space, but also improves the transportation efficiency and reduces the transportation cost. The existing stacking robot can be used in a series multi-joint robot, has high degree of freedom, is almost suitable for work of any track or angle, can be freely programmed, can complete full-automatic stacking work, and improves production efficiency.
When the goods pile has deviation, in transportation and fixed in later stage, cause the pile to collapse very easily, form the potential safety hazard. After the applicant researches the prior art, two main reasons for causing deviation and instability of stacking are found. Firstly, the robot finishes stacking positioning according to a theoretical pose given by an offline processing program, but due to the existence of the installation posture, joint motion errors, theoretical processing models, actual processing models and the like of the serial multi-joint robot. After multiple accumulated movements and works, the robot usually cannot ensure the consistency between the movement direction of the end effector of the robot and the normal direction of the surface of the target execution position during processing, and certain attitude angle deviation exists, namely the actual attitude of the execution end of the robot is not matched with the theoretical attitude. Secondly, the existing mechanical clamping jaw is provided with an execution tail end to ensure the stability of clamping, and the generally adopted mechanical clamping jaw is L-shaped, so that a larger gap exists between goods after the mechanical clamping jaw is pulled out, and the accumulation of errors is further increased.
Disclosure of Invention
The purpose of the invention is as follows: the pose error self-compensating palletizing robot and the palletizing method thereof are provided to solve the problems involved in the background technology.
The technical scheme is as follows: a pose error self-compensating palletizing robot comprising:
the base mechanism comprises a round table-shaped framework formed by welding a plurality of steel plates, a lower bottom plate fixedly connected below the framework and fixed with the working table top, an upper bottom plate fixedly connected above the framework, and reinforcing ribs welded around the framework; wherein, a rotary threaded hole is arranged at the center of the upper bottom plate;
the mechanical arm comprises a waist swing mechanism, an arm mechanism arranged above the swing mechanism and a wrist mechanism connected with the arm mechanism;
the actuating mechanism comprises a fixed plate fixedly connected with the wrist mechanism, a linear module and a sliding guide rail which are fixedly arranged at the bottom of the fixed plate, a mechanical clamping jaw fixedly connected with an output sliding block arranged on the linear module and the sliding guide rail, and two vacuum chucks which are arranged on two sides of the fixed plate and are arranged in a staggered manner;
and the vision mechanism comprises a laser tracker arranged on one side of the palletizing robot and at least six ball targets fixedly arranged on the executing mechanism.
In further implementations, the lumbar slewing mechanism comprises: the first speed reducer is fixedly arranged in the waist supporting seat, and is connected with the waist servo motor through a transmission gear set or a transmission belt; the output end of the upper part of the first speed reducer is arranged in the waist supporting seat, the output end of the lower part of the first speed reducer is connected with a rotating shaft, and the rotating shaft penetrates through the rotating threaded hole and is meshed with the inner thread and the outer thread.
In further implementations, the arm mechanism includes: the first servo motor and the second servo motor are fixedly arranged on the waist supporting seat, the large arm is arranged on the waist supporting seat, the small arm is connected with the large arm through a rotary pin shaft, the first connecting rod is connected with an output shaft of the first servo motor, and the second connecting rod is connected with one end of the small arm and the first connecting rod through a pin shaft at two ends; the first connecting rod, the second connecting rod, the large arm and the small arm form a parallelogram;
in further implementations, the wrist mechanism includes: the bracket is connected with the other end of the small arm through a pin shaft, the V-shaped connecting piece is arranged on the rotary pin shaft, the first pull rod is connected to one side of the connecting piece and connected with the bracket, the second pull rod and the third pull rod are connected to the other side of the connecting piece and connected with the second servo motor, the wrist servo motor is arranged on the bracket, the second speed reducer is connected with the wrist servo motor, and the flange connecting disc is connected with the output shaft of the second speed reducer; wherein, a parallelogram is formed by the first pull rod, the small arm, the connecting piece and the wrist mechanism.
In further implementations, the lower plate is secured to the table or the mobile vehicle by removable bolts.
In the further implementation process, the large arm is formed by welding steel plates, and a high-density metal filler is arranged in the large arm to serve as a balancing device; the small arm and the wrist mechanism are of hollow structures made of groove-shaped aluminum materials.
In the further implementation process, the mechanical clamping jaw is connected through a connecting plate and is perpendicular to the fixing plate and faces downwards, the finger tips of the mechanical clamping jaw are bent inwards, and a plurality of anti-skidding pieces are arranged at the finger roots of the mechanical clamping jaw.
In the further implementation process, the first servo motor, the second servo motor, the wrist servo motor, the waist servo motor, the linear module, the laser tracker and the ball target are all electrically connected with an editable industrial personal computer.
Based on the device, the stacking method with self-compensation of pose errors comprises the following steps:
s1, fixing the palletizing robot in a designated working area through bolts, preferably at the tail end of a conveyor belt, and establishing a virtual base coordinate system by the industrial personal computer at the base fixing position origin;
s2, the industrial personal computer calculates a resultant motion vector by combining the motion matrix relation according to the fact that the tail end of the conveyor belt is used as a starting point and the designated position of the stacking tray is used as an end point;
s3, controlling the mechanical clamping jaws to clamp the goods to be transported through the linear module, further fixing the vacuum chuck, and simulating the action of a gripper to grab the bag;
s4, driving the small arm to rotate along the pin shaft at the joint of the large arm by the first servo motor to lift the goods; meanwhile, the second servo motor drives the wrist to rotate along the pin shaft at the joint of the small arm, so that the goods are always kept downward; the waist servo motor drives the rotating shaft to rotate along the base, and goods are conveyed to the upper part of the stacking tray;
s5, detecting the actual coordinate of the execution tail end through a laser tracker, comparing the actual coordinate with the theoretical coordinate calculated through an industrial personal computer, and correcting the synthetic motion vector;
s6, taking the corrected motion vector as a motion instruction, driving the small arm to rotate along a pin shaft at the joint of the large arm through the first servo motor, putting down the arm, and after the arm reaches a specified position, controlling the mechanical clamping jaw to clamp and the vacuum chuck to loosen goods by the linear module to complete a stacking unit;
and S7, repeating the steps S2-S6, and completing the whole stacking process.
Has the advantages that: the invention relates to a pose error self-compensating palletizing robot and a palletizing method thereof, wherein on one hand, at least 6 known actual positions are measured by installing a plurality of target balls at an execution tail end, actual pose information of the execution tail end is determined according to the relation between a coordinate system of the execution tail end and a coordinate system of a base, the actual pose information is compared with theoretical pose information, and a synthetic motion vector is corrected and output, so that the motion accuracy of the robot is improved, on the other hand, the mechanical clamping jaw at the execution tail end is improved, specifically, two vacuum chucks are installed on the mechanical clamping jaw, and an anti-skid piece is arranged on the clamping finger, so that the distance between cargos is reduced as far as possible on the premise of ensuring the stability of the mechanical clamping jaw. The stacking machine solves the problems of deviation, instability and easy potential safety hazard formation in stacking.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural diagram of the palletizing robot in the invention.
Fig. 3 is a schematic view of the palletizing robot in the present invention.
Fig. 4 is a schematic view of the mechanical jaw of the present invention.
Fig. 5 is a partial enlarged view of the gripping fingers of the present invention.
FIG. 6 is a schematic view of the construction of the cleat of the present invention.
The reference signs are: the robot comprises a base mechanism 1, a waist rotating mechanism 2, an arm mechanism 3, a wrist mechanism 4, an actuating mechanism 5, a conveyor belt 6, a pallet tray 7, a frame 101, a lower base plate 102, an upper base plate 103, a reinforcing rib 104, a waist supporting seat 201, a waist servo motor 202, a first speed reducer 203, a rotating shaft 204, a first servo motor 301, a second servo motor 302, a large arm 303, a small arm 304, a first connecting rod 305, a second connecting rod 306, a bracket 401, a connecting piece 402, a first pull rod 403, a second pull rod 404, a wrist servo motor 405, a second speed reducer 406, a flange connecting plate 407, a third pull rod 408, a fixing plate 501, a linear module 502, a sliding guide rail 503, a mechanical clamping jaw 504, a clamping finger 505, a vacuum chuck 506 and an anti-skid piece 505 a.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, the robot palletizer capable of self-compensating pose errors comprises: the device comprises six parts, namely a base mechanism 1, a waist rotating mechanism 2, an arm mechanism 3, a wrist mechanism 4, an actuating mechanism 5 and a vision mechanism.
The base mechanism 1 includes: the device comprises a frame 101, a lower base plate 102, an upper base plate 103, reinforcing ribs 104 and rotary threaded holes. The frame 101 is in a shape of a circular truncated cone formed by welding a plurality of steel plates, a lower bottom plate 102 is fixedly connected below the frame 101 and fixed with a working table top through a detachable bolt, an upper bottom plate 103 is fixedly connected above the frame 101, reinforcing ribs 104 are welded around the frame 101, and a rotary threaded hole is formed in the center of the upper bottom plate 103; wherein, the working platform can be a substrate or a moving trolley. Since the base mechanism 1 bears the weight of the entire robot, the design must be made of high-strength steel, and the overall rigidity is ensured by the reinforcing ribs 104.
The waist swing mechanism 2 includes: waist supporting seat 201, waist servo motor 202, first speed reducer 2, rotation axis 204. A waist support seat 201 is fixedly arranged above the upper bottom plate 103, a waist servo motor 202 is fixedly arranged in the waist support seat 201, and a first speed reducer 203 is connected with the waist servo motor 202 through a transmission gear set or a transmission belt; the output end of the upper part of the first speed reducer 203 is arranged inside the waist support base 201, the output end of the lower part is connected with a rotating shaft 204, and the rotating shaft 204 penetrates through the rotating threaded hole and is engaged with the inner thread and the outer thread. The whole robot palletizer is driven to rotate by the waist servo motor 202, so that the motor needs to overcome the rotational inertia of the whole device, and a first speed reducer 203 with a transmission ratio needs to be added between the load and the waist servo motor 202.
The arm mechanism 3 includes: a first servo motor 301, a second servo motor 302, a large arm 303, a small arm 304, a first link 305, and a second link 306. A first servo motor 301 and a second servo motor 302 are respectively and fixedly installed on two sides of the waist supporting seat 201, a large arm 303 is vertically installed on the waist supporting seat 201, a small arm 304 is connected with the upper end of the large arm 303 through a rotary pin shaft, a first connecting rod 305 is connected with an output shaft of the first servo motor 301, and a second connecting rod 306 is respectively connected with one end of the small arm 304 and the first connecting rod 305 through pin shafts; the first link 305, the second link 306, the large arm 303 and the small arm 304 form a parallelogram, as shown by a dashed line frame a in fig. 3, the rotation of the first servo motor 301 is transmitted to the small arm 304 to rotate along the upper part of the large arm 303 through a parallelogram transmission structure, and the angular velocity is ensured to be consistent in the transmission process; compared with the traditional pull rod structure, the quadrilateral transmission structure has the characteristics of structural parts, stable transmission and the like, and reduces transmission errors.
The wrist mechanism 4 includes: bracket 401, connecting piece 402, first pull rod 403, second pull rod 404, wrist servo motor 405, second speed reducer 406, flange connection dish 407, third pull rod 408. A bracket 401 is connected with the other end of the small arm 304 through a pin shaft, a V-shaped connecting piece 402 is arranged on the rotary pin shaft, one end of a first pull rod 403 is connected with one side of the connecting piece 402, the other end of the first pull rod is rotatably connected with the bracket 401, one end of a second pull rod 404 is connected with the other side of the connecting piece 402, the other end of the second pull rod is connected with a third pull rod 408, the third pull rod 408 is connected with a second servo motor 302, a wrist servo motor 405 is arranged on the bracket 401, a second speed reducer 406 is connected with the wrist servo motor 405, and a flange connecting disc 407 is connected with an output shaft of the second speed reducer 406; similarly, the first pull rod 403, the small arm 304, the connecting member 402 and the wrist mechanism 4 form a parallelogram, as shown by a dashed line box C in fig. 3; a parallelogram is also formed among the second pull rod 404, the third pull rod 408, the connecting member 402 and the large arm 303, as shown by a dashed line frame B in fig. 3, and the rotation of the second servo motor 302 is transmitted to the wrist mechanism 4 through two parallelogram transmission structures, so that the wrist mechanism 4 is ensured to be parallel to the ground all the time. Meanwhile, the wrist servo motor 405 drives the flange connection disc 407 to rotate, so as to drive the actuating mechanism 5 to rotate.
The actuator 5 includes: a fixed plate 501, a linear module 502, a sliding guide rail 503, a mechanical clamping jaw 504, a clamping finger 505, a vacuum chuck 506 and a skid-proof piece 505 a. Fixed plate 501 with flange connection pad 407 fixed connection fixed mounting has sharp module 502 and sliding guide 503 fixed mounting fixed plate 501 bottom, mechanical clamping jaw 504 with set up output slider fixed connection on sharp module 502 and the sliding guide 503, two vacuum chuck 506 set up fixed plate 501 both sides, and dislocation are arranged. Compare in traditional single sucking disc's fixed centre gripping, single vacuum chuck 506 when absorbing the goods of part focus partial one side, the condition that local gas leakage appears easily leads to absorbing unstable condition and takes place, adopts two vacuum chuck 506 cooperation clamping jaws, gives the three action point of goods, can guarantee to absorb stability, and the goods can not take place relative slip at the removal in-process moreover. The mechanical clamping jaw 504 is connected by a connecting plate and faces downwards perpendicular to the fixing plate 501, and a plurality of anti-slip pieces 505a are arranged at the root of the mechanical clamping jaw 504. The existing mechanical clamping jaw 504 generally adopts the L-shaped clamping finger 505 in the clamping process so as to achieve the effects of skid resistance and limiting, but after the mechanical clamping jaw 504 is pulled out, because the bottom of the clamping finger 505 is wider, a large gap is formed between stacked goods, if no manual adjustment is carried out, the error is further accumulated, the instability of a stacking pile is caused to form a potential safety hazard, but the width of the bottom of the clamping finger 505 can be effectively reduced by adopting the anti-skid piece 505a, and meanwhile, the anti-skid effect is achieved. In the implementation process, the lower part of the finger root is provided with a groove with the depth of 1/3-1/2 of the finger root thickness, the antiskid piece 505a is fixed in the groove through an adhesive, and the outer surface of the antiskid piece is flush with the outer surface of the finger root. The anti-slip member 505a may be made of urethane resin, and has a concave-convex shape formed on its outer surface by press working, wherein the shape of the convex portion is a regular hexagon, the occupancy rate thereof is 50%, and the height difference between the convex portion and the concave portion is about 0.5 cm. The above-mentioned structural design can improve the mechanical strength of the anti-skid member 505a as much as possible while ensuring a sufficient coefficient of friction; the pressure of the mechanical clamping jaw 504 on the goods and the damage to the goods are reduced as much as possible while the gripping stability of the mechanical clamping jaw 504 is ensured.
The vision mechanism comprises a laser tracker arranged on one side of the palletizing robot and at least six ball targets fixedly arranged on the executing mechanism 5. For observing the actual position of its actuator 5, the detection principle of which is further explained later.
In the further implementation process, the large arm 303 is formed by welding steel plates; the small arm 304 and the wrist mechanism 4 adopt a hollow structure made of groove-shaped aluminum; a high density of metal filler is built into the large arm 303 and the frame 101 as a balancing device. Since the small arm 304 and the actuator 5 of the palletizing robot protrude outwards, if the small arm 304 is made of the same material as the large arm 303, the central phase protruding part of the small arm is easy to shift in the actual transportation process, and the stability of the palletizing robot is affected, so that the small arm 304 and the actuator 5 are made of metal profiles with relatively low density, the large arm 303 is made of high-density materials, and high-density metal fillers are arranged in the large arm 303 and the frame 101 to serve as balancing devices, so that the stability of the gravity center is ensured.
Based on the device, the stacking method with self-compensation of pose errors comprises the following steps:
s1, fixing the palletizing robot in a designated working area through bolts, preferably at the tail end of the conveyor belt 6, and establishing a virtual base coordinate system by the industrial personal computer at the base fixing position origin;
s2, the industrial personal computer calculates a resultant motion vector by combining a motion matrix relation according to the fact that the tail end of the conveyor belt 6 serves as a starting point and the designated position of the stacking tray 7 serves as an end point;
s3, controlling the mechanical clamping jaws 504 to clamp the goods to be transported through the linear module 502, further fixing the vacuum suction cups 506, and simulating the action of grabbing a bag by the grippers;
s4, the first servo motor 301 drives the small arm 304 to rotate along the pin shaft at the joint of the large arm 303 to lift the goods; meanwhile, the second servo motor 302 drives the wrist to rotate along the pin shaft at the joint of the small arm 304, so that the goods are always kept downward; the waist servo motor 202 drives the rotating shaft 204 to rotate along the base, and goods are conveyed to the upper part of the stacking tray 7;
s5, detecting the actual coordinate of the execution tail end through a laser tracker, comparing the actual coordinate with the theoretical coordinate calculated through an industrial personal computer, and correcting the synthetic motion vector;
s6, taking the corrected motion vector as a motion instruction, driving the small arm 304 to rotate along the pin shaft at the joint of the large arm 303 through the first servo motor 301, putting down the arm, and after the arm reaches a specified position, controlling the mechanical clamping jaw 504 to clamp and the vacuum chuck 506 to loosen goods by the linear module 502 to complete a primary stacking unit;
and S7, repeating the steps S2-S6, and completing the whole stacking process.
In a further implementation, the first servomotor 301, the second servomotor 302, the wrist servomotor 405, the waist servomotor 202, the linear module 502, the laser tracker, and the ball targets are all electrically connected to an editable industrial personal computer.
More specifically, the industrial personal computer comprises the following modules: a first module for establishing a robot base coordinate system; a second module for calculating a resultant motion vector according to the relationship between the start point and end point positions and the motion matrix; a third module for detecting an actual pose of the execution tip by the laser tracker; the fourth module is used for calculating the theoretical pose and the actual pose under the action of the combined motion vector; and the fifth module is used for revising and outputting the combined motion vector.
In a further implementation process, the first module takes a central rotating shaft of a robot base as a Z axis, a connecting line between the central rotating shaft of the robot and the execution target is an X axis, and a Cartesian coordinate system is established according to a right-hand rule.
In a further implementation process, the second module takes a pin shaft at the joint connection part as a reference of a coordinate system, and respectively establishes a Z axis, specifically a Z axis, of a rotary joint coordinate system by using the rotation axis of the pin shafti-2，Zi-1，Zi(ii) a With Zi-1Axis and ZiThe common normal to the axes being the direction, XiAxes, according to the right-hand rule, establishing a Cartesian coordinate system Ti(ii) a Obtaining the kinematic matrix relation from the i-1 pin shaft to the i pin shaft
Wherein the content of the first and second substances,
is the length of the common normal;
is the distance between the origin of the coordinate system and the origin of the coordinate system along the common normal;
is Zi-1To ZiThe included angle between the two parts is included,
to be derived from the coordinate system Ti-1To TiThe angle rotated during the variation of (a);
similarly, the coordinate systems of other rotary shaft joints are respectively established, namely
、
、
……
Specifically, the present invention relates to the above-described device, and the total of four rotary joints are a waist rotation joint, a forearm rotation joint, a wrist rotation joint, and an execution end rotation joint. Therefore, the pose change of the coordinate system of the execution end in the coordinate system of the robot base, namely the theoretical pose is obtained
Is composed of
The above-mentioned
When the change is initial, executing the pose of the D-H parameter of the terminal coordinate system in the base coordinate system of the robot; wherein the pose T of the D-H parameter of the base coordinate system of the robot in the execution terminal coordinate system is as follows:
T
wherein the content of the first and second substances,
，
，
，
，
，
，
，
，
to perform the pose transformation component of the end coordinate system to the base coordinate system,
，
，
to perform the position transformation component of the end coordinate system to the base coordinate system.
In the further implementation process, the third module is provided with a target ball on the execution tail end, and after the laser tracker host emits a laser beam to the execution tail end, the laser beam returns to the laser tracker host again through a reflector on the target ball to form an optical loop; according to the position of the emitting point in the laser tracker host and the laser emitting direction, the position conversion component of the executing tail end is calculated as follows:
wherein X, Y and Z are the actual position transformation components of a certain point in the execution end in the base coordinate system,
distance from the laser tracker host to the end of execution, (X)1，Y1，Z1) For the laser emission origin, (m, n, s) is the laser emission direction.
According to the radicalActual position transformation component of the seat coordinate system
And the actual distance relationship between them, solving the triangle to find the actual position transformation component of a certain point in the execution terminal coordinate system
。
At least 6 points with known actual positions at the tail end of the execution are selected and are subjected to position transformation component of the coordinate system of the execution platform
And a position conversion component in the base coordinate system
Substitution into
In a base coordinate system, solving for unknown variable execution end coordinate system
And a Kaldo angle for performing a rotation of the tip coordinate system about the X, Y, Z axes of the base coordinate system in turn
。
Finally, the actual pose of the execution tail end is obtained
Is composed of
。
In a further implementation, the fourth and fifth modules execute a plurality of segments of the resultant motion vector, correct the resultant motion vector by comparing the deviation between the theoretical position and the actual position, and output the corrected resultant motion vector.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
Claims (1)
1. The utility model provides a pile up neatly machine people of position appearance error self-compensating which characterized in that includes:
the base mechanism comprises a round table-shaped framework formed by welding a plurality of steel plates, a lower bottom plate fixedly connected below the framework and fixed with the working table top, an upper bottom plate fixedly connected above the framework, and reinforcing ribs welded around the framework; wherein, a rotary threaded hole is arranged at the center of the upper bottom plate; the lower bottom plate is fixed on the workbench or the moving vehicle through a detachable bolt; the mechanical arm comprises a waist swing mechanism, an arm mechanism arranged above the swing mechanism and a wrist mechanism connected with the arm mechanism;
the waist slewing mechanism comprises: the first speed reducer is fixedly arranged in the waist supporting seat, and is connected with the waist servo motor through a transmission gear set or a transmission belt; the output end of the upper part of the first speed reducer is arranged in the waist supporting seat, the output end of the lower part of the first speed reducer is connected with a rotating shaft, and the rotating shaft penetrates through the rotating threaded hole and is meshed with the inner thread and the outer thread;
the arm mechanism includes: the first servo motor and the second servo motor are fixedly arranged on the waist supporting seat, the large arm is arranged on the waist supporting seat, the small arm is connected with the large arm through a rotary pin shaft, the first connecting rod is connected with an output shaft of the first servo motor, and the second connecting rod is connected with one end of the small arm and the first connecting rod through a pin shaft at two ends; the first connecting rod, the second connecting rod, the large arm and the small arm form a parallelogram;
the wrist mechanism includes: the bracket is connected with the other end of the small arm through a pin shaft, the V-shaped connecting piece is arranged on the rotary pin shaft, the first pull rod is connected to one side of the connecting piece and connected with the bracket, the second pull rod and the third pull rod are connected to the other side of the connecting piece and connected with the second servo motor, the wrist servo motor is arranged on the bracket, the second speed reducer is connected with the wrist servo motor, and the flange connecting disc is connected with the output shaft of the second speed reducer; wherein, the first pull rod, the small arm, the connecting piece and the wrist mechanism form a parallelogram;
the large arm is formed by welding steel plates; the small arm and the wrist mechanism are of a hollow structure made of groove-shaped aluminum materials; high-density metal fillers are arranged in the large arm and the frame to serve as balance devices;
the actuating mechanism comprises a fixed plate fixedly connected with the wrist mechanism, a linear module and a sliding guide rail which are fixedly arranged at the bottom of the fixed plate, a mechanical clamping jaw fixedly connected with an output sliding block arranged on the linear module and the sliding guide rail, and two vacuum chucks which are arranged on two sides of the fixed plate and are arranged in a staggered manner;
the mechanical clamping jaw is connected with the fixing plate through a connecting plate and is perpendicular to the fixing plate and faces downwards, the fingertips of clamping fingers of the mechanical clamping jaw are bent inwards, and a plurality of anti-skidding pieces are arranged at the finger roots of the mechanical clamping jaw; the lower part of the finger root is provided with a groove with the depth of 1/3-1/2 of the finger root thickness, the anti-skid piece is fixed in the groove through an adhesive, and the outer surface of the anti-skid piece is flush with the outer surface of the finger root; the anti-slip piece is made of polyurethane resin, and the outer surface of the anti-slip piece is formed into a concave-convex shape by stamping, wherein the shape of the convex part is a regular hexagon, the occupancy rate of the convex part is 50%, and the height difference between the convex part and the concave part is 0.5 cm;
the vision mechanism comprises a laser tracker arranged on one side of the palletizing robot and at least six ball targets fixedly arranged on the executing mechanism;
the linear module, the first servo motor, the second servo motor, the wrist servo motor, the waist servo motor, the laser tracker and the ball target are all electrically connected with an editable industrial personal computer;
the stacking method of the stacking robot comprises the following steps:
s1, fixing the palletizing robot in a designated working area through bolts, preferably at the tail end of a conveyor belt, and establishing a virtual base coordinate system by the industrial personal computer at the origin of a base fixing position;
s2, the industrial personal computer calculates a resultant motion vector according to the fact that the tail end of the conveyor belt is used as a starting point and the designated position of the stacking tray is used as an end point, the resultant motion vector is combined with the motion matrix relation, and the pose of the D-H parameter of the execution tail end coordinate system in the base coordinate system of the robot is calculated
Wherein the content of the first and second substances,
，
，
，
，
，
，
，
，
to perform the pose transformation component of the end coordinate system to the base coordinate system,
，
，
transforming the component for executing the theoretical position of the end coordinate system in the base coordinate system;
s3, controlling the mechanical clamping jaws to clamp the goods to be transported through the linear module, further fixing the vacuum chuck, and simulating the action of a gripper to grab the bag;
s4, driving the small arm to rotate along the pin shaft at the joint of the large arm by the first servo motor to lift the goods; meanwhile, the second servo motor drives the wrist to rotate along the pin shaft at the joint of the small arm, so that the goods are always kept downward; the waist servo motor drives the rotating shaft to rotate along the base, and goods are conveyed to the upper part of the stacking tray;
s5, detecting the actual coordinates of the execution tail end through the laser tracker, and calculating to obtain the actual pose of the execution tail end
Is composed of
s6, taking the corrected motion vector as a motion instruction, driving the small arm to rotate along a pin shaft at the joint of the large arm through the first servo motor, putting down the arm, and after the arm reaches a specified position, controlling the mechanical clamping jaw to clamp and the vacuum chuck to loosen goods by the linear module to complete a stacking unit;
s7, repeating the steps S2 to S6 to complete the whole stacking process;
the industrial personal computer comprises the following modules: a first module for establishing a robot base coordinate system; a second module for calculating a resultant motion vector according to the relationship between the start point and end point positions and the motion matrix; a third module for detecting an actual pose of the execution tip by the laser tracker; the fourth module is used for calculating the theoretical pose and the actual pose under the action of the combined motion vector; and the fifth module is used for revising and outputting the combined motion vector.
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