CN110712225A - Method for grabbing moving workpiece by robot - Google Patents
Method for grabbing moving workpiece by robot Download PDFInfo
- Publication number
- CN110712225A CN110712225A CN201911008605.4A CN201911008605A CN110712225A CN 110712225 A CN110712225 A CN 110712225A CN 201911008605 A CN201911008605 A CN 201911008605A CN 110712225 A CN110712225 A CN 110712225A
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- Prior art keywords
- coordinate system
- workpiece
- robot
- base1
- base coordinate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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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
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- 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
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
A method for grabbing moving workpieces by robot includes selecting coder according to grabbing range of robot, installing coder on rotary shaft of conveying mechanism, setting approach switch near to feeding side of conveying mechanism to set up basic coordinate system BASE1 and TOOL coordinate system TOOL1 of robot, setting up basic coordinate system Y parallel to conveying direction of conveying mechanism and setting up P under basic coordinate system BASE11、P2、P3、P4The four coordinate points enable the robot to grab the workpiece. Compared with the prior art, the invention has the advantages of lower cost, more suitable investment of most production enterprises due to the requirements of software and hardware, and the like.
Description
Technical Field
The invention relates to a workpiece grabbing method, in particular to a method for tracking and grabbing a moving workpiece by using a robot.
Background
At present, industrial robots are generally used in vehicle production, part processing, painting, transportation and other works, and the most common robot in industrial production is a gripping robot. One of the most operations of the industrial robot in the processing line is the grabbing and placing actions, and the grabbing and placing actions are also the core technologies of the industrial robot for completing tasks such as vehicle production, part processing and spraying, so that the progress of the grabbing technology of the industrial robot plays an important role in promoting the application industry of the industrial robot. The traditional industrial robot needs to teach the workpiece grabbing operation point by point mostly, the grabbing point, the placing point and the position point of the industrial robot in the motion process of executing the task are taught in advance, when the external environment of the industrial robot for executing the task changes, the industrial robot needs to be taught and programmed again, otherwise, the industrial robot cannot grab the workpiece successfully, particularly when the industrial robot grabs the workpiece on the conveying belt, the position point of the workpiece on the conveying belt can be influenced by the external environment, for example, the speed of the conveying belt changes due to friction during conveying of the conveying belt, and therefore the position of the workpiece grabbing point is not fixed. Under the condition, the industrial robot fails to grab the workpiece, which greatly limits the application of the traditional teaching industrial robot in a modern flexible production line, and the workpiece mostly moves along with a production line in an automatic production line, therefore, the industrial robot adopts a mode of combining with a sensor to position and grab the moving workpiece, wherein, a visual sensor is widely applied to the field of the industrial robot, but simultaneously, the quantity of information contained in videos and images is large, the low speed of processing image information is a factor limiting the application of the visual sensor, the real-time property is the difficulty of popularizing and using the visual sensor, a system with high real-time property requirement for the workpiece grabbing of the moving workpiece by the industrial robot is provided, the strategy of an image processing algorithm is very important, the algorithm calculation quantity is large or too complex, the real-time property of image processing is not good, the introduced visual sensor cannot accurately position the moving workpiece, resulting in the inability of the industrial robot to successfully grasp the moving workpiece. In addition, the cost of the combination of the visual sensor and the industrial robot is very high, and the requirements of hardware and software are also very high, so that the requirements of a plurality of production enterprises cannot be met.
Disclosure of Invention
The invention aims to provide a method for grabbing a moving workpiece by a robot, which is used for solving the technical problems of inaccurate positioning, difficulty in successfully grabbing and the like when the industrial robot grabs the moving workpiece at present.
The technical scheme adopted by the invention for realizing the purpose is as follows: a method of robot gripping a moving workpiece comprising the steps of:
1) selecting an encoder according to the grabbing range of the robot, mounting the encoder on a rotating shaft of a conveying mechanism, and recording the number H of pulses output by the encoder per meter when a workpiece moves on the conveying mechanism;
2) a proximity switch is arranged on the feeding side close to the conveying mechanism, the workpiece moves from the feeding end to the discharging end, and when the workpiece triggers the proximity switch, the pulse number N output by the encoder is recorded;
3) establishing a robot BASE coordinate system BASE1 and a TOOL coordinate system TOOL1, wherein the Y direction of the BASE coordinate system is parallel to the conveying direction of the conveying mechanism, and establishing four coordinate points of P1, P2, P3 and P4 under the BASE coordinate system BASE1 to enable the robot to grab a workpiece;
4) when the workpiece moves from the feeding end to the discharging end, the pulse number △ N of the encoder at a certain position of the workpiece is read in real time, and the moving distance data of the BASE1 at the position can be calculated according to the following formula, namely:
the moving distance in the Y direction is as follows:
the moving distance in the X direction is as follows:
in the formula: the Y coordinate value of the origin of the BASE coordinate system BASE1 in the robot BASE coordinate system BASE0 is L, the X coordinate value of the origin of the BASE coordinate system BASE1 in the robot BASE coordinate system BASE0 is M, the included angle formed by the BASE coordinate system BASE1 and the robot BASE coordinate system BASE0 is A, and the BASE coordinate system BASE0 is the initial robot coordinate system;
the calculated moving distance data are compensated into a BASE coordinate system BASE1 in real time, synchronous movement of a BASE coordinate system BASE1 and the workpiece is achieved, four coordinate points of P1, P2, P3 and P4 established in a robot BASE coordinate system BASE1 are unchanged relative to the workpiece, and therefore grabbing of the workpiece in motion is achieved;
5) after the workpiece is captured once, the BASE coordinate system BASE1 is restored to the data at the time of construction, and the next capture is ready.
The invention can realize accurate tracking and grabbing work of the moving workpiece, compared with the prior art, the invention does not need to position in advance, is not influenced by a conveying mechanism and ensures flexible application of a production line; the invention can realize accurate tracking and positioning of the workpiece and realize grabbing, and ensures the completion of real-time grabbing work.
Drawings
FIG. 1 is a hardware diagram of the present invention.
Fig. 2 is a schematic diagram illustrating the establishment of a coordinate system according to the present invention.
FIG. 3 is a second schematic diagram of establishing a coordinate system according to the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings
A method for grabbing a moving workpiece by a robot, as shown in fig. 1, 2 and 3, includes the following steps:
1) selecting an encoder according to the grabbing range of the robot 1, installing the encoder 2 on a rotating shaft of a conveyor 3, and recording the pulse number H output by the encoder per meter of the movement of a workpiece on the conveyor;
2) a proximity switch 4 is arranged on the feeding side close to the conveyor 3, a workpiece 5 moves from a feeding end to a discharging end, and when the workpiece triggers the proximity switch, the pulse number N output by the encoder is recorded;
3) establishing a robot BASE coordinate system BASE1 and a TOOL coordinate system TOOL1, wherein the Y direction of the BASE coordinate system is parallel to the conveying direction of the conveying mechanism, and establishing four coordinate points of P1, P2, P3 and P4 under the BASE coordinate system BASE1 to enable the robot to grab a workpiece;
4) when the workpiece moves from the feeding end to the discharging end, the pulse number △ N of the encoder at a certain position of the workpiece is read in real time, and the moving distance data of the BASE1 at the position can be calculated according to the following formula, namely:
the moving distance in the Y direction is as follows:
the moving distance in the X direction is as follows:
in the formula: the Y coordinate value of the origin of the BASE coordinate system BASE1 in the robot BASE coordinate system BASE0 is L, the X coordinate value of the origin of the BASE coordinate system BASE1 in the robot BASE coordinate system BASE0 is M, the included angle formed by the BASE coordinate system BASE1 and the robot BASE coordinate system BASE0 is A, and the BASE coordinate system BASE0 is the initial robot coordinate system;
the calculated moving distance data are compensated into a BASE coordinate system BASE1 in real time, synchronous movement of a BASE coordinate system BASE1 and the workpiece is achieved, four coordinate points of P1, P2, P3 and P4 established in a robot BASE coordinate system BASE1 are unchanged relative to the workpiece, and therefore grabbing of the workpiece in motion is achieved;
5) after the workpiece is captured once, the BASE coordinate system BASE1 is restored to the data at the time of construction, and the next capture is ready.
Claims (1)
1. A method for grabbing a moving workpiece by a robot is characterized in that: the method comprises the following steps:
1) selecting an encoder according to the grabbing range of the robot, mounting the encoder on a rotating shaft of a conveying mechanism, and recording the number H of pulses output by the encoder per meter when a workpiece moves on the conveying mechanism;
2) a proximity switch is arranged on the feeding side close to the conveying mechanism, the workpiece moves from the feeding end to the discharging end, and when the workpiece triggers the proximity switch, the pulse number N output by the encoder is recorded;
3) establishing a robot BASE coordinate system BASE1 and a TOOL coordinate system TOOL1, wherein the Y direction of the BASE coordinate system is parallel to the conveying direction of the conveying mechanism, and establishing four coordinate points of P1, P2, P3 and P4 under the BASE coordinate system BASE1 to enable the robot to grab a workpiece;
4) when the workpiece moves from the feeding end to the discharging end, the pulse number △ N of the encoder at a certain position of the workpiece is read in real time, and the moving distance data of the BASE1 at the position can be calculated according to the following formula, namely:
the moving distance in the Y direction is as follows:
the moving distance in the X direction is as follows:
in the formula: the Y coordinate value of the origin of the BASE coordinate system BASE1 in the robot BASE coordinate system BASE0 is L, the X coordinate value of the origin of the BASE coordinate system BASE1 in the robot BASE coordinate system BASE0 is M, the included angle formed by the BASE coordinate system BASE1 and the robot BASE coordinate system BASE0 is A, and the BASE coordinate system BASE0 is the initial robot coordinate system;
the calculated moving distance data are compensated into a BASE coordinate system BASE1 in real time, synchronous movement of a BASE coordinate system BASE1 and the workpiece is achieved, four coordinate points of P1, P2, P3 and P4 established in a robot BASE coordinate system BASE1 are unchanged relative to the workpiece, and therefore grabbing of the workpiece in motion is achieved;
5) after the workpiece is captured once, the BASE coordinate system BASE1 is restored to the data at the time of construction, and the next capture is ready.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911008605.4A CN110712225A (en) | 2019-10-22 | 2019-10-22 | Method for grabbing moving workpiece by robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911008605.4A CN110712225A (en) | 2019-10-22 | 2019-10-22 | Method for grabbing moving workpiece by robot |
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| Publication Number | Publication Date |
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| CN110712225A true CN110712225A (en) | 2020-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911008605.4A Pending CN110712225A (en) | 2019-10-22 | 2019-10-22 | Method for grabbing moving workpiece by robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115503851A (en) * | 2021-06-23 | 2022-12-23 | 林德（中国）叉车有限公司 | Method and system for automatically taking materials of AGV trolley without stopping |
Citations (5)
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| CN105700530A (en) * | 2016-04-11 | 2016-06-22 | 南京埃斯顿自动化股份有限公司 | Track planning method for robot joint space conveyor belt following movement |
| WO2017080640A1 (en) * | 2015-11-10 | 2017-05-18 | Kuka Roboter Gmbh | Calibrating a system with a conveying means and at least one robot |
| CN108098773A (en) * | 2017-12-20 | 2018-06-01 | 芜湖哈特机器人产业技术研究院有限公司 | The sorting control system and method for a kind of robot |
| CN109571477A (en) * | 2018-12-17 | 2019-04-05 | 西安工程大学 | A kind of improved robot vision and conveyer belt composite calibration method |
| CN109663691A (en) * | 2019-01-09 | 2019-04-23 | 广州启帆工业机器人有限公司 | Control system and method for real-time tracking spraying |
-
2019
- 2019-10-22 CN CN201911008605.4A patent/CN110712225A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017080640A1 (en) * | 2015-11-10 | 2017-05-18 | Kuka Roboter Gmbh | Calibrating a system with a conveying means and at least one robot |
| CN105700530A (en) * | 2016-04-11 | 2016-06-22 | 南京埃斯顿自动化股份有限公司 | Track planning method for robot joint space conveyor belt following movement |
| CN108098773A (en) * | 2017-12-20 | 2018-06-01 | 芜湖哈特机器人产业技术研究院有限公司 | The sorting control system and method for a kind of robot |
| CN109571477A (en) * | 2018-12-17 | 2019-04-05 | 西安工程大学 | A kind of improved robot vision and conveyer belt composite calibration method |
| CN109663691A (en) * | 2019-01-09 | 2019-04-23 | 广州启帆工业机器人有限公司 | Control system and method for real-time tracking spraying |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115503851A (en) * | 2021-06-23 | 2022-12-23 | 林德（中国）叉车有限公司 | Method and system for automatically taking materials of AGV trolley without stopping |
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Application publication date: 20200121 |