CN110587598A - Stacking robot path optimization algorithm based on single-chip microcomputer - Google Patents
Stacking robot path optimization algorithm based on single-chip microcomputer Download PDFInfo
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- CN110587598A CN110587598A CN201910728899.1A CN201910728899A CN110587598A CN 110587598 A CN110587598 A CN 110587598A CN 201910728899 A CN201910728899 A CN 201910728899A CN 110587598 A CN110587598 A CN 110587598A
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- arm
- motor
- driving motor
- small arm
- waist
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
Abstract
The invention discloses a path optimization algorithm of a palletizing robot based on a single chip microcomputer, which adopts an optimized four-axis linkage algorithm. The point determination is changed into line determination, firstly, the locus of each point in the traditional four-axis linkage algorithm is determined, the corresponding locus range of each point is calculated according to the moving speed of the corresponding axis direction, and the path of the point is curved instead of a broken line, so that the path can be reduced, and the operation efficiency is improved; in addition, the shaking of the mechanical arm in place can be reduced, and errors are reduced.
Description
Technical Field
The invention relates to the technical field of palletizing robots, in particular to a path optimization algorithm of a palletizing robot based on a single chip microcomputer.
Background
With the continuous development of economy and the rapid advance of science and technology in China, the robot has quite wide application in the industries of stacking, gluing, spot welding, arc welding, spraying, carrying, measuring and the like. The palletizing robot is a product of the organic combination of machinery and computer programs. Provides higher production efficiency for modern production. Palletizing machines have a fairly wide range of applications in the palletizing industry. The stacking robot greatly saves labor force and space. The stacking robot is flexible and accurate in operation, high in speed and efficiency, high in stability and high in operation efficiency.
The coordinate type robot of the palletizing robot system adopting the patent technology occupies flexible and compact space. The idea of being able to build efficient energy efficient fully automatic block machine production lines within a small footprint becomes a reality.
In the production field, the common mechanical arm cannot reach the palletizing point directly from the grabbing point. The obstacle avoidance trajectory needs to be set, so people usually adopt a point location setting method, that is, the motion trajectory of the mechanical arm is determined by setting four points (an upper point, a starting point, a stacking point and a grabbing point), the current mechanical arm grabbing path has long total grabbing time, the path is not concise, the obstacle avoidance effect is not good, and the mechanical arm is easy to shake when reaching each point location, so that path optimization is necessary.
Disclosure of Invention
The invention aims to provide a palletizing robot path optimization algorithm based on a single chip microcomputer so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a robot palletizer path optimization algorithm based on a single chip microcomputer comprises the following steps:
A. the mechanical arm moves to the arc range of the starting point position, and when the mechanical arm reaches the track range of the starting point, the mechanical arm moves forwards quickly from the front big arm, the small arm moves upwards quickly, and the middle big arm moves backwards slowly;
B. the forearm is slowly upward, the waist is rapidly leftward, and the dwell time is reduced;
C. the front big arm slowly moves backwards, the small arm slowly moves upwards, the waist quickly moves leftwards, the big arm quickly moves backwards, the small arm quickly moves downwards, and the waist slowly stops.
Preferably, the total time of the mechanical arm from the starting point to the stacking point is as follows:in this equation, the running time will reduce the corresponding offset value for each point.
Preferably, the palletizing robot comprises a base, a large arm, a small arm and a clamp, a slide rail is installed at the upper end of the base, a conveying platform is installed on the slide rail, a synchronous belt is arranged on the conveying platform, a large arm motor and a small arm motor are installed on one side of the conveying platform, the large arm is installed on the conveying platform, the large arm motor is connected with the large arm in a driving mode, the small arm is installed on one side of the conveying platform, the small arm motor is connected with the small arm through a small arm linkage rod, a wrist motor is installed at the upper end of the small arm, the clamp is connected with the lower end of the wrist motor in a transmission mode, a waist motor is further installed on the base and is connected with the synchronous belt in a transmission mode, and.
Preferably, be equipped with main control chip, power module, RS485 communication module, first driving motor, second driving motor, third driving motor, fourth driving motor, opto-coupler circuit, relay in the controller, main control chip adopts the STM32 singlechip, main control chip connects power module, RS485 communication module, first driving motor, second driving motor, third driving motor, fourth driving motor, opto-coupler circuit, relay respectively, waist motor is connected to first driving motor, big arm motor is connected to second driving motor, forearm motor is connected to third driving motor, wrist motor is connected to fourth driving motor, opto-coupler circuit connects proximity switch, the solenoid valve is connected to the relay.
Compared with the prior art, the invention has the beneficial effects that: the invention adopts an optimized four-axis linkage algorithm. The point determination is changed into line determination, firstly, the locus of each point in the traditional four-axis linkage algorithm is determined, the corresponding locus range of each point is calculated according to the moving speed of the corresponding axis direction, and the path of the point is curved instead of a broken line, so that the path can be reduced, and the operation efficiency is improved; in addition, the shaking of the mechanical arm in place can be reduced, and errors are reduced.
Drawings
FIG. 1 is a schematic diagram of the path of the present invention;
FIG. 2 is a schematic structural view of the palletizing robot of the present invention;
fig. 3 is a control schematic block diagram of the present invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1, line segments 1 to 7 are non-optimized paths, wherein:
line segment 1: the small arm (z-axis motor) of the mechanical arm moves upwards;
line segment 2: the large arm (x-axis motor) of the mechanical arm moves forwards;
line segment 3: the waist of the mechanical arm (a y-axis motor) moves leftwards;
line segment 4: the large arm (x-axis motor) of the mechanical arm moves backwards;
line segment 5: the small arm (z-axis motor) of the mechanical arm moves upwards;
line segment 6: the large arm (x-axis motor) of the mechanical arm moves backwards;
line segment 7: the arm forearm (z-axis motor) moves downward. As can be seen,
the above formula is the total operating time of the robotic arm without optimizing the path.
According to the formula, the operation time is prolonged due to non-optimization, the path is not concise, the obstacle avoidance effect is not good, and the mechanical arm is easy to shake when reaching each point. Therefore, a four-axis linkage algorithm is usually adopted to solve the problems of too long operation time and unclean path of the mechanical arm. Line segments 8 to 10 are the path planning after the optimization of the traditional four-axis linkage algorithm, and the traditional four-axis linkage algorithm solves and integrates the three-dimensional space coordinate system into two-dimensional rectangular coordinate systems respectively after converting the three-dimensional space coordinate system into two-dimensional rectangular coordinate systems, coordinates other three-axis motions according to the longest time of a single shaft of the mechanical arm in a section of path as a reference, and realizes the simultaneous arrival of the mechanical arm, namely:
the line segment 8 is that the large arm of the mechanical arm moves forwards, the small arm moves upwards simultaneously, the path of the mechanical arm is a straight line, and the running time is shortened;
the line segment 9 is that the large arm of the mechanical arm moves backwards, the small arm moves upwards, and the waist moves leftwards simultaneously;
the line segment 10 is the simultaneous movement of the mechanical arm with the big arm backward and the small arm downward. Therefore, it is known.
tmaxI＝max(tI，t2)
tmax2＝max(t3，t4，t5)
tmax3＝max(t6，t7)
The above formula is the total operation time of the mechanical arm under the condition of optimizing the path by the four-axis linkage algorithm.
According to the formula, the system operation time is greatly reduced, and the obstacle avoidance effect is obvious. However, when the mechanical arm reaches each point, the mechanical arm still generates a shaking phenomenon, which easily causes errors, and as the industrial field is more complicated, the more point locations are taught, the more point locations are required to avoid obstacles, and the path is increased.
Therefore, the invention provides a technical scheme that: a robot palletizer path optimization algorithm based on a single chip microcomputer comprises the following steps:
A. the line segment 11 is an arc range from the mechanical arm to the starting point, when the initial point track range is reached, the mechanical arm is changed from the previous big arm to the line segment 12 from the previous big arm, the small arm is changed upwards quickly, and the middle big arm is changed backwards slowly;
B. the forearm is slowly upward, the waist is rapidly leftward, and the dwell time is reduced;
C. similarly, the line segment 13 is changed from the previous big arm moving backward slowly, the small arm moving upward slowly, the waist moving backward rapidly to the left to the big arm moving backward rapidly, the small arm moving downward rapidly, and the waist stopping slowly.
The total time of the mechanical arm from the starting point to the stacking point is as follows:in this equation, the running time will reduce the corresponding offset value for each point.
The palletizing robot comprises a base 1, a large arm 2, a small arm 3 and a clamp 4, wherein a sliding rail 5 is installed at the upper end of the base 1, a conveying platform 6 is installed on the sliding rail 5, a synchronous belt 7 is arranged on the conveying platform 6, a large arm motor 8 and a small arm motor 9 are installed on one side of the conveying platform 6, the large arm 2 is installed on the conveying platform 6, the large arm motor 8 is in driving connection with the large arm 2, the small arm 3 is installed on one side of the conveying platform 6, the small arm motor 9 is connected with the small arm 3 through a small arm linkage rod 10, a wrist motor 11 is installed at the upper end of the small arm 3, the lower end of the wrist motor 11 is in transmission connection with the clamp 4, a waist motor 12 is further installed on the base 1, the waist motor 12 is in transmission connection with the synchronous belt 7, and a controller 13 is further installed.
Be equipped with main control chip 14, power module 15, RS485 communication module 16, first driving motor 17, second driving motor 18, third driving motor 19, fourth driving motor 20, opto-coupler circuit 21, relay 22 in the controller 13, main control chip 14 adopts the STM32 singlechip, main control chip 14 connects power module 15, RS485 communication module 16, first driving motor 17, second driving motor 18, third driving motor 19, fourth driving motor 20, opto-coupler circuit 21, relay 22 respectively, waist motor 12 is connected to first driving motor 17, big arm motor 8 is connected to second driving motor 18, little arm motor 9 is connected to third driving motor 19, fourth driving motor 20 connects wrist motor 11, opto-coupler circuit 21 connects proximity switch 23, relay 22 connects solenoid valve 24.
The invention adopts an optimized four-axis linkage algorithm. The point determination is changed into line determination, firstly, the locus of each point in the traditional four-axis linkage algorithm is determined, the corresponding locus range of each point is calculated according to the moving speed of the corresponding axis direction, and the path of the point is curved instead of a broken line, so that the path can be reduced, and the operation efficiency is improved; in addition, the shaking of the mechanical arm in place can be reduced, and errors are reduced.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides a pile up neatly machine people route optimization algorithm based on singlechip which characterized in that: the method comprises the following steps:
A. the mechanical arm moves to the arc range of the starting point position, and when the mechanical arm reaches the track range of the starting point, the mechanical arm moves forwards quickly from the front big arm, the small arm moves upwards quickly, and the middle big arm moves backwards slowly;
B. the forearm is slowly upward, the waist is rapidly leftward, and the dwell time is reduced;
C. the front big arm slowly moves backwards, the small arm slowly moves upwards, the waist quickly moves leftwards, the big arm quickly moves backwards, the small arm quickly moves downwards, and the waist slowly stops.
2. The robot palletizer path optimization algorithm based on the single chip microcomputer according to claim 1, wherein the algorithm comprises the following steps: the total time of the mechanical arm from the starting point to the stacking point is as follows:in this equation, the running time will reduce the corresponding offset value for each point.
3. The robot palletizer path optimization algorithm based on the single chip microcomputer according to claim 1, wherein the algorithm comprises the following steps: the palletizing robot comprises a base (1), a large arm (2), a small arm (3) and a clamp (4), wherein a sliding rail (5) is installed at the upper end of the base (1), a conveying platform (6) is installed on the sliding rail (5), a synchronous belt (7) is arranged on the conveying platform (6), a large arm motor (8) and a small arm motor (9) are installed on one side of the conveying platform (6), the large arm (2) is installed on the conveying platform (6), the large arm motor (8) is in driving connection with the large arm (2), the small arm (3) is installed on one side of the conveying platform (6), the small arm motor (9) is connected with the small arm (3) through a small arm linkage rod (10), a wrist motor (11) is installed at the upper end of the small arm (3), the lower end of the wrist motor (11) is in transmission connection with the clamp (4), and a waist motor (12) is further installed on the base (1, waist motor (12) are connected with hold-in range (7) transmission, still install controller (13) on base (1).
4. The robot palletizer path optimization algorithm based on the single chip microcomputer according to claim 3, wherein the algorithm comprises the following steps: the controller is characterized in that a main control chip (14), a power module (15), an RS485 communication module (16), a first driving motor (17), a second driving motor (18), a third driving motor (19), a fourth driving motor (20), an optical coupling circuit (21) and a relay (22) are arranged in the controller (13), the main control chip (14) adopts an STM32 single chip microcomputer, the main control chip (14) is respectively connected with the power module (15), the RS485 communication module (16), the first driving motor (17), the second driving motor (18), the third driving motor (19), the fourth driving motor (20), the optical coupling circuit (21) and the relay (22), the first driving motor (17) is connected with a waist motor (12), the second driving motor (18) is connected with a large arm motor (8), the third driving motor (19) is connected with a small arm motor (9), and the fourth driving motor (20) is connected with a wrist motor (11), the optical coupling circuit (21) is connected with a proximity switch (23), and the relay (22) is connected with an electromagnetic valve (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910728899.1A CN110587598A (en) | 2019-08-08 | 2019-08-08 | Stacking robot path optimization algorithm based on single-chip microcomputer |
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| CN201910728899.1A CN110587598A (en) | 2019-08-08 | 2019-08-08 | Stacking robot path optimization algorithm based on single-chip microcomputer |
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Cited By (2)
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| CN114906607A (en) * | 2022-05-30 | 2022-08-16 | 西门子（中国）有限公司 | Control method of transmission type stacker crane and transmission type stacker crane |
| CN114906607B (en) * | 2022-05-30 | 2024-05-03 | 西门子（中国）有限公司 | Control method of conveying type stacker crane and conveying type stacker crane |
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Application publication date: 20191220 |