CN110561437A - Blank automatic processing and taking method, storage medium and terminal - Google Patents
Blank automatic processing and taking method, storage medium and terminal Download PDFInfo
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- CN110561437A CN110561437A CN201910886840.5A CN201910886840A CN110561437A CN 110561437 A CN110561437 A CN 110561437A CN 201910886840 A CN201910886840 A CN 201910886840A CN 110561437 A CN110561437 A CN 110561437A
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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Abstract
The invention discloses an automatic blank processing and taking method, a storage medium and a terminal, wherein the taking method comprises the following steps: according to the ith material taking area, the ith material taking point AioCoordinates of the center (x)ij,yik,zip) And coordinates (x) of a grasping point of the grasping apparatusn,yn,zn) Calculating the horizontal motion amount, the vertical motion amount and the height adjustment amount of the grabbing equipment, and moving to a material taking point to complete grabbing of a blank of the material taking point; according to the coordinates of the grabbing point of the grabbing equipment and the mth discharging point A of the placing platform at the momentmCoordinates of the center (x)m,ym,zm) Calculating the horizontal movement amount, the vertical movement amount and the height adjustment amount of the grabbing equipment, and moving to the mth discharging point A of the placing platformmDischarging the blank piece from the upper part; and repeating the steps until the material taking points in the material taking area are discharged. The full-automatic blank taking and placing operation is realized through the mechanical arm, and the blank can be placed in an appointed place without manual intervention operationthe blowing is regional, has also greatly improved work efficiency when having reduced the cost of labor.
Description
Technical Field
The invention relates to the technical field of mechanical automation control, in particular to a blank automatic processing and taking method, a storage medium and a terminal.
Background
In the mechanical processing process, a blank needs to be placed on a temporary placing platform, and then the blank on the platform is conveyed to corresponding equipment for processing at one time; in the conventional technology, the work is generally finished manually, the blanks are taken out from the material taking position and then placed on the platform one by one, and the automation degree of the manual operation is low, so that the overall work efficiency is low.
disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a blank automatic processing and taking method, a storage medium and a terminal, and solves the problems in the prior art.
The purpose of the invention is realized by the following technical scheme: an automatic blank processing and material taking method comprises the following steps:
According to the ith material taking area, the ith material taking point AioCoordinates of the center (x)ij,yik,zip) And coordinates (x) of a grasping point of the grasping apparatusn,yn,zn) Calculating the horizontal motion amount, the vertical motion amount and the height adjustment amount of the grabbing equipment, and moving to a material taking point to complete grabbing of a blank of the material taking point;
According to the coordinates of the grabbing point of the grabbing equipment and the mth discharging point A of the placing platform at the momentmcoordinates of the center (x)m,ym,zm) Calculating the horizontal movement amount, the vertical movement amount and the height adjustment amount of the grabbing equipment, and moving to the mth discharging point A of the placing platformmDischarging the blank piece from the upper part;
And repeating the steps to complete the material discharging of all the material discharging points on the placing platform, and then replacing the other placing platform until the material discharging of all the material taking points in the material taking area is completed.
The material taking method further comprises the steps of firstly establishing a three-dimensional space coordinate system by taking the current position of the grabbing point of the grabbing equipment as an original point, and determining the coordinate of the placing platform in the coordinate system and the coordinate of the material taking point on the highest material taking layer of the material taking area.
The specific steps of determining the coordinates of the placement platform in the coordinate system are as follows:
Dividing the placing platform into a multiplied by b discharging points according to the size of the blank;
Calculating the distances from the center of the emptying point closest to the original point in the a multiplied by b emptying points in the horizontal direction, the vertical direction and the height direction to obtain the coordinates of the point;
And sequentially and respectively obtaining the coordinates of the centers of the a x b discharging points in the coordinate system according to the size of the blank.
The specific steps of determining the coordinates of the material taking point on the highest material taking layer of the material taking area are as follows:
Calculating the distances from the center of the material taking point closest to the origin point in the highest material taking layer of each material taking area in the horizontal direction, the vertical direction and the height direction to obtain the coordinates of the point;
And sequentially and respectively obtaining the coordinates of all the material taking points in the highest material taking layer of each material taking area according to the size of the blank piece.
The material fetching point A according to the ith material fetching areaioCoordinates of the center (x)ij,yik,zip) And coordinates (x) of a grasping point of the grasping apparatusn,yn,zn) Calculating the horizontal movement amount, the vertical movement amount and the height adjustment amount of the grabbing equipment, and moving to getThe material point grabbing specific content of the blank of the material taking point is as follows:
According to the horizontal coordinate point xijAnd xnCalculating the horizontal motion amount of the grabbing point as | xij-xn|；
The grabbing equipment is adjusted to rotate by 180 degrees or 90 degrees or 0 degrees according to the vertical coordinate point yikAnd ynCalculating the amount of vertical motion of the grasping point as yik-yn|；
According to the height d of a blank piece, adjusting the height motion amount of a grabbing point to be d;
the grabbing equipment controls the grabbing point to move to the coordinate (x)ij,yik,zip+ d) the gripping of the blank is completed.
According to the coordinates of the grabbing point of the grabbing equipment and the mth discharging point A of the placing platform at the momentmCoordinates of the center (x)m,ym,zm) Calculating the horizontal movement amount, the vertical movement amount and the height adjustment amount of the grabbing equipment, and moving to the mth discharging point A of the placing platformmThe specific contents of the blank discharging completed above are as follows:
According to the horizontal coordinate point xmAnd xijCalculating the horizontal motion amount of the grabbing point as | xm-xij|；
The grabbing equipment is adjusted to rotate by 180 degrees or 90 degrees or 0 degrees according to the vertical coordinate point ymAnd yikCalculating the amount of vertical motion of the grasping point as ym-yik|；
According to the height coordinate point zm+ d and zipThe amount of height motion of the grasping point is calculated as | zm+d-zip|；
the grabbing equipment controls the grabbing point to move to the coordinate (x)m,ym,zmand d) finishing the discharge of the blank.
The material taking method also comprises the step of dividing the highest material taking layer of each material taking area into A multiplied by B material taking points, wherein the A multiplied by B material taking points of the second bottom layer are sequentially and upwards stacked to the highest material taking layer in each material taking area.
If a blank tray is arranged between every two material taking layers, the thickness of the blank tray is D; and D, after the material taking of the material taking layer at each layer is finished, the height motion amount of the grabbing point moves downwards relative to the height motion amount of the grabbing point when the blank tray is not arranged, and the coordinate of the first material taking point of the next material taking layer is reached.
A storage medium is internally stored with computer program instructions, and the computer program instructions execute the steps of the blank automatic processing and material taking method when running.
A terminal comprises a memory and a processor, wherein the memory is stored with computer program instructions capable of running on the processor, and the processor runs the computer program instructions to execute the steps of the blank automatic processing and material taking method.
The invention has the beneficial effects that: an automatic blank processing and taking method, a storage medium and a terminal; the full-automatic blank taking and placing operation is realized through the manipulator, the blank can be placed in an appointed placing area without manual intervention operation, the labor cost is reduced, and meanwhile, the working efficiency is greatly improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings or orientations or positional relationships that the products of the present invention conventionally use, which are merely for convenience of description and simplification of description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
the technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
the blank member of the invention comprises any single finished mechanical part such as a rear cover of a high-pressure oil pump.
as shown in fig. 1, an automatic blank processing and material taking method includes the following steps:
s1, establishing a three-dimensional space coordinate system by taking the current position of the grabbing point of the grabbing equipment as an original point, and determining the coordinate of the placing platform in the coordinate system and the coordinate of the material taking point on the highest material taking layer of the material taking area;
S2, according to the o material taking point A of the i material taking areaioCoordinates of the center (x)ij,yik,zip) And coordinates (x) of a grasping point of the grasping apparatusn,yn,zn) Calculating the horizontal motion amount, the vertical motion amount and the height adjustment amount of the grabbing equipment, and moving to a material taking point to complete grabbing of a blank of the material taking point;
S3, according to the coordinates of the grabbing point of the grabbing equipment and the mth discharging point A of the placing platform at the momentmCoordinates of the center (x)m,ym,zm) Calculating the horizontal movement amount, the vertical movement amount and the height adjustment amount of the grabbing equipment, and moving to the mth discharging point A of the placing platformmDischarging the blank piece from the upper part;
And S4, repeating the steps to complete the material discharging of all the material discharging points on the placing platform, and then replacing the other placing platform until the material discharging of all the material taking points in the material taking area is completed.
Wherein i is an integer greater than or equal to 1 and represents the material-taking area.
Further, the specific steps of determining the coordinates of the placement platform in the coordinate system are as follows:
S101, dividing a placing platform into a multiplied by b discharging points according to the size of the blank; generally, the material placing platform can be divided into 3 × 4 material loading points, 3 × 3 material loading points, 4 × 4 material loading points and the like, and the number of specific material placing points can be specifically determined according to the size of the placing platform
S102, calculating the distances from the center of the emptying point closest to the original point in the a x b emptying points in the horizontal direction, the vertical direction and the height direction to obtain the coordinates of the point;
And S103, sequentially and respectively obtaining the coordinates of the centers of the a x b discharging points in the coordinate system according to the size of the blank.
Further, the specific steps of determining the coordinates of the material taking point on the highest material taking layer of the material taking area are as follows:
S111, calculating the distances from the center of the material taking point closest to the origin point in the highest material taking layer of each material taking area to the origin point in the horizontal direction, the vertical direction and the height direction to obtain the coordinates of the point;
And S112, sequentially and respectively obtaining the coordinates of all the material taking points in the highest material taking layer of each material taking area according to the size of the blank piece.
furthermore, a camera and a laser emitting device are installed at the grabbing point of the grabbing equipment, and the distance from the grabbing point (origin) of the grabbing equipment in the horizontal direction, the vertical direction and the height direction is calculated through the acquired image and the received laser signal.
Further, according to the o material taking point A of the i material taking areaioCoordinates of the center (x)ij,yik,zip) And coordinates (x) of a grasping point of the grasping apparatusn,yn,zn) Calculating the horizontal motion amount, the vertical motion amount and the height adjustment amount of the grabbing equipment, and moving to the material taking point to finish the grabbing of the blank of the material taking point, wherein the specific contents are as follows:
S21, according to the horizontal coordinate point xijand xnCalculating the horizontal motion amount of the grabbing point as | xij-xn|；
s22, adjusting the grabbing device to rotate by 180 degrees or 90 degrees or 0 degrees and according to the vertical coordinate point yikAnd ynCalculating the amount of vertical motion of the grasping point as yik-yn|；
S23, adjusting the height motion amount of the grabbing point to be d according to the height d of a blank;
S24, the grabbing equipment controls the grabbing point to move to the coordinate (x)ij,yik,zip+ d) the gripping of the blank is completed.
And the coordinate of the grabbing point of the grabbing equipment is taken as the original point when the material is taken for the first time.
Further, according to the coordinates of the grabbing point of the grabbing equipment and the mth discharging point A of the placing platform at the momentmCoordinates of the center (x)m,ym,zm) Calculating the horizontal movement amount, the vertical movement amount and the height adjustment amount of the grabbing equipment, and moving to the mth discharging point A of the placing platformmThe specific contents of the blank discharging completed above are as follows:
s31, according to the horizontal coordinate point xmAnd xijCalculating the horizontal motion amount of the grabbing point as | xm-xij|；
S32, adjusting the grabbing equipment to rotate by 180 degrees or 90 degrees or0 deg. and according to the vertical coordinate point ymAnd yikCalculating the amount of vertical motion of the grasping point as ym-yik|；
S33, according to the height coordinate point zm+ d and zipThe amount of height motion of the grasping point is calculated as | zm+d-zip|；
s34, the grabbing equipment controls the grabbing point to move to the coordinate (x)m,ym,zmAnd d) finishing the discharge of the blank.
furthermore, the rotation angle of the grabbing equipment is different according to the position relationship between the placing platform and the material taking area; in general, in order to facilitate the movement of the grabbing device, the grabbing device is arranged between the placing platform and the placing area, that is, the grabbing device is arranged in the middle, and the placing platform and the fetching area are arranged at two sides of the grabbing device (that is, the placing platform and the fetching area are parallel to each other and are arranged at different sides); if the placing platform and the material taking area are respectively positioned at two sides of the grabbing equipment, in order to reduce the swinging amplitude of the grabbing equipment, the grabbing equipment is required to adjust the mechanical gripper to rotate 180 degrees and then move to the coordinate of the material discharging point after the material taking point finishes material taking, the whole grabbing equipment does not need to swing 180 degrees, and the whole grabbing equipment only needs to move in the horizontal direction and the vertical direction; if the position relationship between the placing platform and the material taking area is vertical to each other, namely the material taking area is positioned at one end of the horizontal movement of the grabbing equipment, the mechanical gripper is adjusted to rotate by 90 degrees during material placing; if the placing platform and the material taking area are parallel to each other and located on the same side, the mechanical gripper does not need to rotate during material stacking, and only the horizontal movement and the vertical height adjustment of the mechanical gripper are needed.
Furthermore, the material taking method also comprises the step of dividing the highest material taking layer of each material taking area into A multiplied by B material taking points, and the material taking areas are sequentially stacked upwards to the highest material taking layer from the A multiplied by B material taking points of the second bottom layer.
Furthermore, each layer of material taking layer can be divided into 3 × 4 material coding points, 3 × 3 material coding points, 4 × 4 material coding points and the like, and the number of the material taking points can be specifically determined according to the movement range of the grabbing device or the size of the tray.
Assuming that there are A, B and C three coders, and each coder layer is divided into 9 coders, the coordinates of the 9 coders in the first coder layer in the a coder region and the C coder region, and the coordinates of the material taking point and the current grabbing point of the grabbing device are correspondingly obtained.
at the moment, the amount of horizontal, vertical and height motion of the grabbing point is calculated according to the grabbing point (the original point is taken for the first time) of the current grabbing equipment and the coordinates of the taking point, and the grabbing equipment is controlled to move to the taking point to take materials; after material taking is finished, calculating horizontal, vertical and height motion amounts of a grabbing point according to the coordinates of the grabbing point after material taking and the coordinates of the first discharging point, and controlling the grabbing equipment to move to the first discharging point to finish discharging; the coordinates of the material taking points and the coordinates of the material discharging points are changed in sequence, and after one-time material discharging is not completed, the next material taking and discharging only need to be performed in sequence according to the material taking and discharging sequence.
If the coordinates of a first material taking point of the highest material taking layer in a certain material taking area are (40,50,60), the coordinates of a grabbing point of grabbing equipment are (0,0,0), and the thickness of a blank is 5cm, the grabbing equipment is controlled to enable the grabbing point to move 40 units in the horizontal direction, 50 units in the vertical direction, and 60 units in the height direction plus 5cm, so that the first material taking point can be reached and material taking is completed; the distance of 1 unit is determined according to a proportional relation established by an actual coordinate system, and if the distance of 1 unit is 1cm, the coordinates of the grabbing point of the grabbing equipment after material taking are changed into (40,50, 65); if the coordinates of a certain discharging point are (,20, -30 and 20), the grabbing device needs to be controlled to enable the grabbing point to move 20 units in the horizontal direction and 80 units in the vertical direction, and the discharging point can be moved by adjusting the height downwards by 45 units; the amount of exercise in level, perpendicular and high can have 1 cm's clearance to the accuracy of getting material and sign indicating number material is guaranteed.
If a blank tray is arranged between every two material taking layers, the thickness of the blank tray is D; and D, after the material taking of the material taking layer at each layer is finished, the height motion amount of the grabbing point moves downwards relative to the height motion amount of the grabbing point when the blank tray is not arranged, and the coordinate of the first material taking point of the next material taking layer is reached.
Further, if the workpiece needs to be placed on the tray, after the material taking of all the material taking points of the material taking layer on one layer is completed, when the material taking of the first material stacking point of the material taking layer on the next layer is performed, the height of the grabbing point of the grabbing device needs to be adjusted upwards D after the tray on the layer is taken down, and if the thickness of the tray is 10cm, the height of the grabbing point of the grabbing device needs to be adjusted upwards by a distance of 10 units.
Still another embodiment of the present invention provides a storage medium, in which computer program instructions are stored, and when the computer program instructions are executed, the steps of the blank automatic processing and material taking method are executed.
Still another embodiment of the present invention provides a terminal, including a memory and a processor, where the memory stores computer program instructions executable on the processor, and the processor executes the computer program instructions to execute the steps of the method for automatically processing and fetching a blank.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The automatic blank processing and taking method is characterized by comprising the following steps: the material taking method comprises the following steps:
According to the ith material taking area, the ith material taking point Aiocoordinates of the center (x)ij,yik,zip) And coordinates (x) of a grasping point of the grasping apparatusn,yn,zn) Calculating the horizontal motion amount, the vertical motion amount and the height adjustment amount of the grabbing equipment, and moving to a material taking point to complete grabbing of a blank of the material taking point;
According to the coordinates of the grabbing point of the grabbing equipment and the mth discharging point of the placing platform at the momentAmCoordinates of the center (x)m,ym,zm) Calculating the horizontal movement amount, the vertical movement amount and the height adjustment amount of the grabbing equipment, and moving to the mth discharging point A of the placing platformmDischarging the blank piece from the upper part;
and repeating the steps to complete the material discharging of all the material discharging points on the placing platform, and then replacing the other placing platform until the material discharging of all the material taking points in the material taking area is completed.
2. the automatic blank processing and taking method according to claim 1, characterized in that: the material taking method further comprises the steps of firstly establishing a three-dimensional space coordinate system by taking the current position of the grabbing point of the grabbing equipment as an original point, and determining the coordinate of the placing platform in the coordinate system and the coordinate of the material taking point on the highest material taking layer of the material taking area.
3. the automatic blank processing and taking method according to claim 2, characterized in that: the specific steps of determining the coordinates of the placement platform in the coordinate system are as follows:
Dividing the placing platform into a multiplied by b discharging points according to the size of the blank;
Calculating the distances from the center of the emptying point closest to the original point in the a multiplied by b emptying points in the horizontal direction, the vertical direction and the height direction to obtain the coordinates of the point;
And sequentially and respectively obtaining the coordinates of the centers of the a x b discharging points in the coordinate system according to the size of the blank.
4. The automatic blank processing and taking method according to claim 3, characterized in that: the specific steps of determining the coordinates of the material taking point on the highest material taking layer of the material taking area are as follows:
calculating the distances from the center of the material taking point closest to the origin point in the highest material taking layer of each material taking area in the horizontal direction, the vertical direction and the height direction to obtain the coordinates of the point;
And sequentially and respectively obtaining the coordinates of all the material taking points in the highest material taking layer of each material taking area according to the size of the blank piece.
5. The automatic blank processing and taking method according to claim 4, characterized in that: the material fetching point A according to the ith material fetching areaiocoordinates of the center (x)ij,yik,zip) And coordinates (x) of a grasping point of the grasping apparatusn,yn,zn) Calculating the horizontal motion amount, the vertical motion amount and the height adjustment amount of the grabbing equipment, and moving to the material taking point to finish the grabbing of the blank of the material taking point, wherein the specific contents are as follows:
According to the horizontal coordinate point xijAnd xnCalculating the horizontal motion amount of the grabbing point as | xij-xn|；
The grabbing equipment is adjusted to rotate by 180 degrees or 90 degrees or 0 degrees according to the vertical coordinate point yikAnd ynCalculating the amount of vertical motion of the grasping point as yik-yn|；
According to the height d of a blank piece, adjusting the height motion amount of a grabbing point to be d;
The grabbing equipment controls the grabbing point to move to the coordinate (x)ij,yik,zip+ d) the gripping of the blank is completed.
6. the automatic blank processing and taking method according to claim 5, characterized in that: according to the coordinates of the grabbing point of the grabbing equipment and the mth discharging point A of the placing platform at the momentmCoordinates of the center (x)m,ym,zm) Calculating the horizontal movement amount, the vertical movement amount and the height adjustment amount of the grabbing equipment, and moving to the mth discharging point A of the placing platformmThe specific contents of the blank discharging completed above are as follows:
according to the horizontal coordinate point xmAnd xijCalculating the horizontal motion amount of the grabbing point as | xm-xij|；
The grabbing equipment is adjusted to rotate by 180 degrees or 90 degrees or 0 degrees according to the vertical coordinate point ymAnd yikCalculating the amount of vertical motion of the grasping point as ym-yik|；
According to the height coordinate point zm+ d and zipThe amount of height motion of the grasping point is calculated as | zm+d-zip|；
the grabbing equipment controls the grabbing point to move to the coordinate (x)m,ym,zmand d) finishing the discharge of the blank.
7. the automatic blank processing and taking method according to any one of claims 1 to 6, characterized in that: the material taking method also comprises the step of dividing the highest material taking layer of each material taking area into A multiplied by B material taking points, wherein the A multiplied by B material taking points of the second bottom layer are sequentially and upwards stacked to the highest material taking layer in each material taking area.
8. The automatic blank processing and taking method according to claim 7, characterized in that: if a blank tray is arranged between every two material taking layers, the thickness of the blank tray is D; and D, after the material taking of the material taking layer at each layer is finished, the height motion amount of the grabbing point moves downwards relative to the height motion amount of the grabbing point when the blank tray is not arranged, and the coordinate of the first material taking point of the next material taking layer is reached.
9. A storage medium having computer program instructions stored therein, characterized in that: the computer program instructions when executed perform the steps of a blank member automatic processing and reclaiming method as claimed in any one of claims 1 to 8.
10. A terminal comprising a memory and a processor, the memory having stored thereon computer program instructions executable on the processor, the terminal characterized by: the processor executes the computer program instructions to execute the steps of the blank automatic processing and material taking method in any one of claims 1-8.
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| CN112476437A (en) * | 2020-12-08 | 2021-03-12 | 北京航天新立科技有限公司 | Flexible automatic grabbing equipment control method |
| CN113651100A (en) * | 2021-08-11 | 2021-11-16 | 深圳市速程精密科技有限公司 | ABB robot-based material taking and placing method |
| CN114029958A (en) * | 2021-12-13 | 2022-02-11 | 湖南视比特机器人有限公司 | Grid installation clamping jaw device based on visual inspection |
| CN116033999A (en) * | 2020-09-02 | 2023-04-28 | 发那科株式会社 | Robot system and control method |
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