CN110509299A - Workshop stacking control system and control method - Google Patents
Workshop stacking control system and control method Download PDFInfo
- Publication number
- CN110509299A CN110509299A CN201910711020.2A CN201910711020A CN110509299A CN 110509299 A CN110509299 A CN 110509299A CN 201910711020 A CN201910711020 A CN 201910711020A CN 110509299 A CN110509299 A CN 110509299A
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- CN
- China
- Prior art keywords
- stacking
- robot
- control system
- workshop
- management system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- 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 workshop stacking control system and a control method; wherein, a workshop pile up neatly control system includes: the system comprises a stacking management system, a robot control system, a machine track supervision system, a product transportation line, a stacking robot, a stacking weighing disc and a track; the machine track supervision system comprises a control chip, a positioning grating connected with the control chip, and a track-changing servo mechanism arranged at the junction of the rails; the control chip automatically operates the orbital transfer servo mechanism through data fed back by the camera system and the sensor system to assist the operation of the stacking management system and the robot control system. According to the invention, the stack management system, the robot control system and the machine track supervision system are integrated into a whole through a communication technology, the stacking state is digitalized, and the running track and the state of the stacking robot are controlled according to data information, so that the stacking robot can realize unmanned flexible operation of one-to-many production lines, and the production cost and the manual management cost are reduced.
Description
Technical field
The invention belongs to industrial equipment field, especially a kind of workshop stacking control system and control method.
Background technique
The stacking industrial robot in Workshop Production is still worked using artificial plus machine single production line stacking at present,
Robot palletizer can only correspond to single Product transport line, be to need one-to-one proportion when the Product transport line of enterprise is more, make
At the increase of operating cost, in addition robot palletizer needs manual change in variation operating position, can not neatly apply and plant
In the stacking workshop of class complexity, production efficiency can not be improved.
Summary of the invention
Goal of the invention: providing a kind of workshop stacking control system and control method, of the existing technology above-mentioned to solve
Problem.
Technical solution: a kind of workshop stacking control system, including stacking management system, robot control system and machine
Track supervisory systems；
The machine track supervisory systems includes control chip, and the change rail servo mechanism of track intersection is arranged in, is mounted on vehicle
In camera system and be mounted on the sensing system of stacking management system and robot control system, and pass through camera system
Become rail servo mechanism auxiliary stacking management system and robot control system with the data automatic running of sensing system feedback
Operation.
In a further embodiment, the stacking management system includes product identification device, is walked in machine track
Transfer robot and be placed on the stacking weighing units of product pipeline two sides.
In a further embodiment, the robot palletizer control system includes installation walking mechanism in orbit,
The palletizing mechanical arm being located at the top of walking mechanism.
In a further embodiment, it includes that identification is swept that the identification device, which is located on transfer robot and robot palletizer,
Imaging apparatus and the interior identification code processor being located in identification scanning means, the identification device can be swept by the identification in robot
Imaging apparatus identifies the product information in stacking.
In a further embodiment, the robot palletizer and transfer robot are equipped with avoiding obstacles by supersonic wave device and control
Platform processed is equipped with communication module in the console, can be communicated with robot control system terminal is stated.
In a further embodiment, the machine track includes being exclusively used in the walking lane of transfer robot and being exclusively used in
The walking lane of palletizing mechanical arm.
In a further embodiment, including as follows in step:
S1, stacking management system generate the product identified for identification device according to the specification and type of the product of stacking
Information, identification device call the information in database to generate assignment information order transfer robot and are transported to the stacking come is carried
Locality；
S2, on stacking weighing unit when having detected weight, send outstanding message to stacking management system, pile management system to
Robot control system, which is sent, assigns point information；
The information that S3, robot control system are transmitted according to stacking management system, inquiring the appointment point, whether there is or not robot palletizers, do not have
There is the task of saying to be sent to the robot palletizer in system and generate motion profile, robot is assigned to the product for parking stacking
Before supply line, the folder between the handgrip for the information adjustment mechanical arm that robot palletizer is identified according to identification device is away from progress stacking
It dismantles, the task of robot control system transmission is successively waited in line according to time sequencing in the robot palletizer course of work, work
Previous task instruction is eliminated after work；
S4, when on stacking weighing unit stacking disassembly after, robot control system assign robot go to next detachment point,
Meanwhile weight disappears and by task record synchronized update into stacking management system on stacking weighing unit, makes transfer robot again
Secondary update carrying task；
S5, transfer robot and robot palletizer realize unmanned avoidance by the sensor device with photographic device and machine
Management；
When S6, transfer robot and robot palletizer are walked in orbit, control chip by positioning grating simultaneously with stacking pipe
Reason system and robot control system communication, which obtain, assigns point position, to control the change rail servo mechanism for assigning point corresponding
Operating status.
The utility model has the advantages that the present invention is compared with the existing technology, it is by pile management system, robot control by the communication technology
System and machine track supervisory systems integrate, and control stacking machine device by stacking status data, and according to data information
The running track and state of people, and the running route by becoming rail mechanism control guarantee robot.Can be realized palletizing operation
The unmanned flexible operation of one-to-many and multi-to-multi production line, reduces production cost and labor management cost.
Detailed description of the invention
Fig. 1 is working principle diagram of the present invention.
Fig. 2 is stacking control system architecture schematic diagram in workshop of the present invention.
Appended drawing reference are as follows: Product transport line 1, robot palletizer 2, stacking weighing unit 3, track 4.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
It is found by the applicant that existing robot palletizer can only be single in correspondence Product transport line, but in actual production
The supply line of palletized products is often matched with the product size to be transmitted, especially various in product category, various rulers
In the very little different industrial enterprise with secondary operation production and assembly, it usually needs configure multiple Product transport lines and be just able to satisfy life
The demand of production；
Stacking industrial robot in Workshop Production is still using artificial plus machine single production line stacking work, stacking machine
People can only correspond to single Product transport line, be to need one-to-one proportion when the Product transport line of enterprise is more, cause to manage at
This increase, in addition robot palletizer needs manual change in variation operating position, can not neatly apply in type complexity
In stacking workshop, production efficiency can not be improved.
Robot palletizer and product fortune may be implemented on meeting the one-to-one working foundation of traditional robot palletizer in the present invention
The one-to-many work cooperation between multi-to-multi of wire advancing device.
A kind of workshop stacking control system as depicted in figs. 1 and 2, comprising: stacking management system, control system, robot
System, machine track supervisory systems, Product transport line 1, robot palletizer 2, stacking weighing unit 3, track 4.
Wherein, 4 supervisory systems of machine track includes control chip, and the positioning grating of connection control chip is arranged and exists
The change rail servo mechanism of track intersection, the camera system being mounted in workshop, and it is mounted on stacking management system and machine
The sensing system of people's control system；The data automatic running that the control chip is fed back by camera system and sensing system
Become the operation of rail servo mechanism auxiliary stacking management system and robot control system.
In a further embodiment, become includes: to be located at the change mechanism of track infall, and be driven in rail servo mechanism
Multiple servo motors of change mechanism are connected, the servo motor become in rail servo mechanism, which is electrically connected in 4 supervisory systems of track, controls core
Piece becomes rail servo mechanism and controls the unlatching of servo motor under the order of control chip.Camera system and sensor receive dress
The specific location of more accurate robot palletizer 2 and transfer robot is set, and robot palletizer 2 and transfer robot position are believed
Breath feeds back to control chip, and the communication module controlled in chip obtains each robot palletizer 2 by wireless transmission and carries
After the running track of robot, robot palletizer 2 and transfer robot complete location assignment task, stacking management system and machine
People's control system assigns task according under stacking Automatic generation of information one, and the mission bit stream synchronous iteration of completion is to controlling chip.
The stacking management system includes product identification device, walks and transfer robot in machine track 4 and puts
Set the stacking weighing unit 3 in product pipeline two sides.Stacking weighing unit 3 is connected to the control of stacking management system by base conductor
Device, stacking weighing unit 3 judge whether robot palletizer 2 is completed to dismantle according to the weight of induction.The identification device is respectively provided at
On robot palletizer 2 and transfer robot, including identification scanning means and identification code processor, the identification device can pass through code
The product information in identification scanning means identification stacking on pile mechanical arm.
2 control system of robot palletizer includes the walking mechanism being mounted on track 4, is located at the top of walking mechanism
Palletizing mechanical arm；Driving device is equipped with inside walking mechanism drives robot palletizer 2 to move on track 4.The vehicle with walking machine
Structure is equipped with avoiding obstacles by supersonic wave device and console, is equipped with communication module in the console, can be with robot control is stated
System terminal is communicated.
In a further embodiment, the machine track 4 includes being exclusively used in the walking lane of transfer robot and dedicated
In the walking lane of palletizing mechanical arm.
Working principle is as follows: stacking management system is generated according to the specification and type of the product of stacking for identification
The product information of device identification, identification device call the information in database to generate assignment information order transfer robot and will carry
The stacking come is transported to locality；On stacking weighing unit 3 when having detected weight, sends and wait to stacking management system
Information, pile management system is sent to robot control system assigns point information；Robot control system is according to stacking management system
The information of transmission, inquiring the appointment point, whether there is or not robot palletizers 2, do not say robot palletizer 2 that task is sent in system simultaneously
Motion profile is generated, before robot to be assigned to the Product transport line 1 for parking stacking, robot palletizer 2 is according to identification device
The information of identification adjusts disassembly of the folder away from progress stacking between the handgrip of mechanical arm, machine in 2 course of work of robot palletizer
The task of people's control system transmission is successively waited in line according to time sequencing, eliminates previous task instruction after hours；Work as code
After stacking disassembly on pile weighing unit 3, robot control system assigns robot to go to next detachment point, meanwhile, stacking
Weight disappears and by task record synchronized update into stacking management system on weighing unit 3, updates transfer robot again and removes
Fortune task；Transfer robot and robot palletizer 2 are kept away by the way that the sensor device realization with photographic device and machine is unmanned
Barrier management；When walking on track 4, control chip passes through positioning grating while and stacking for transfer robot and robot palletizer 2
Management system and robot control system communication, which obtain, assigns point position, to control the change rail servo mechanism for assigning point corresponding
Operating status.
The present invention is whole by pile management system, robot control system and 4 supervisory systems of machine track by the communication technology
It is integrated, by stacking status data, and according to the running track and state of data information control robot palletizer 2, and leads to
It crosses and becomes the running route that rail mechanism control guarantees robot.Make transfer robot and robot palletizer 2 can be realized it is one-to-many or
The unmanned flexible operation of multipair multiple production line reduces production cost and labor management cost.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, technical solution of the present invention can be carried out a variety of etc.
With transformation, these equivalents are all belonged to the scope of protection of the present invention.
Claims (7)
1. a kind of workshop stacking control system, which is characterized in that including stacking management system, robot control system and machine
Track supervisory systems；
The machine track supervisory systems includes control chip, and the positioning grating of connection control chip is arranged in track intersection
Change rail servo mechanism, the camera system being mounted in workshop, and be mounted on stacking management system and robot control system
Sensing system；The control chip becomes rail servo by the data automatic running that camera system and sensing system are fed back
The operation of structure auxiliary stacking management system and robot control system.
2. a kind of workshop stacking control system according to claim 1, which is characterized in that the stacking management system includes
Product identification device, walking transfer robot in machine track and is placed on the stacking weighings of product pipeline two sides
Platform.
3. a kind of workshop stacking control system according to claim 1, which is characterized in that robot palletizer control system
System includes installing walking mechanism in orbit, the palletizing mechanical arm being located at the top of walking mechanism.
4. a kind of workshop stacking control system according to claim 2, which is characterized in that the identification device is located at carrying
It include identifying scanning means and the interior identification code processor being located in identification scanning means in robot and robot palletizer, it is described
Identification device can identify the product information in stacking by the identification scanning means in robot.
5. a kind of workshop stacking control system according to claim 1, which is characterized in that the robot palletizer and carrying
Robot is equipped with avoiding obstacles by supersonic wave device and console, and communication module is equipped in the console, can with state robot control
System terminal processed is communicated.
6. a kind of workshop stacking control system according to claim 1, which is characterized in that the machine track includes dedicated
In transfer robot walking lane and be exclusively used in the walking lane of palletizing mechanical arm.
7. a kind of workshop stacking control system control method, which is characterized in that including as follows in step:
S1, stacking management system generate the product identified for identification device according to the specification and type of the product of stacking
Information, identification device call the information in database to generate assignment information order transfer robot and are transported to the stacking come is carried
Locality；
S2, on stacking weighing unit when having detected weight, send outstanding message to stacking management system, pile management system to
Robot control system, which is sent, assigns point information；
The information that S3, robot control system are transmitted according to stacking management system, inquiring the appointment point, whether there is or not robot palletizers, do not have
There is the task of saying to be sent to the robot palletizer in system and generate motion profile, robot is assigned to the product for parking stacking
Before supply line, the folder between the handgrip for the information adjustment mechanical arm that robot palletizer is identified according to identification device is away from progress stacking
It dismantles, the task of robot control system transmission is successively waited in line according to time sequencing in the robot palletizer course of work, work
Previous task instruction is eliminated after work；
S4, when on stacking weighing unit stacking disassembly after, robot control system assign robot go to next detachment point,
Meanwhile weight disappears and by task record synchronized update into stacking management system on stacking weighing unit, makes transfer robot again
Secondary update carrying task；
S5, transfer robot and robot palletizer realize unmanned avoidance by the sensor device with photographic device and machine
Management；
When S6, transfer robot and robot palletizer are walked in orbit, control chip by positioning grating simultaneously with stacking pipe
Reason system and robot control system communication, which obtain, assigns point position, to control the change rail servo mechanism for assigning point corresponding
Operating status.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910711020.2A CN110509299B (en) | 2019-08-02 | 2019-08-02 | Workshop stacking control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910711020.2A CN110509299B (en) | 2019-08-02 | 2019-08-02 | Workshop stacking control system and control method |
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| CN110509299A true CN110509299A (en) | 2019-11-29 |
| CN110509299B CN110509299B (en) | 2021-07-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112556616A (en) * | 2020-12-04 | 2021-03-26 | 佛山隆深机器人有限公司 | System for judging stacking space position in closed or semi-closed space |
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| CN112556616A (en) * | 2020-12-04 | 2021-03-26 | 佛山隆深机器人有限公司 | System for judging stacking space position in closed or semi-closed space |
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| CN110509299B (en) | 2021-07-30 |
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