CN111113421A - Robot intelligence snatchs sequencing system - Google Patents
Robot intelligence snatchs sequencing system Download PDFInfo
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- CN111113421A CN111113421A CN201911396515.7A CN201911396515A CN111113421A CN 111113421 A CN111113421 A CN 111113421A CN 201911396515 A CN201911396515 A CN 201911396515A CN 111113421 A CN111113421 A CN 111113421A
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- 238000012163 sequencing technique Methods 0.000 title claims abstract description 12
- 238000000034 method Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 3
- 241000282414 Homo sapiens Species 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention discloses an intelligent robot grabbing and sequencing system which comprises a PLC control system, a robot for grabbing articles, a laser ranging device, a photographing camera and a network module, wherein the laser ranging device, the photographing camera and the network module are arranged on the robot and do not influence the work of the robot, a robot sequencing program logic algorithm is arranged in the PLC control system, and the robot sequencing program logic algorithm comprises the following steps: s1, grabbing the robot at the HOME point and carrying out IO initialization standby; s2, waiting for the starting information of the corresponding station of the PLC control system, continuing to wait for the starting information of the corresponding station of the PLC control system when the station number is 0, and continuing to perform the subsequent steps when the station number is not 0; and S3, when the station number is a, the robot automatically starts the STYLE0a program, the robot automatically carries, completely realizes unmanned operation, can realize 24-hour uninterrupted operation, improves the working efficiency, saves the labor cost, improves the enterprise competitiveness, reduces the human error rate, and effectively ensures the normal operation of the production line.
Description
Technical Field
The invention relates to the technical field of industrial automation, in particular to an intelligent robot grabbing and sequencing system.
Background
At present, with the high-speed development of large-scale batch production, the workload of warehouse logistics is increasing day by day, and how to effectively manage and control the labor cost under the background and improve the enterprise competitiveness becomes urgent needs. The industrial robot replaces human beings to do heavy carrying work, the working efficiency can be effectively improved, the error rate is reduced, and the purpose of saving labor cost is achieved.
Disclosure of Invention
The invention aims to provide an intelligent robot grabbing and sequencing system to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a sequencing system is snatched to robot intelligence, includes PLC control system, is used for the robot that article snatched and sets up laser ranging device, camera controller module, the network module that just do not influence the robot work on the robot, be provided with robot sequencing procedure logic algorithm, its characterized in that in the PLC control system: the robot sequencing program logic algorithm comprises the following steps:
s1, grabbing the robot at the HOME point and carrying out IO initialization standby;
s2, waiting for the starting information of the corresponding station of the PLC control system, continuing to wait for the starting information of the corresponding station of the PLC control system when the station number is 0, and continuing to perform the subsequent steps when the station number is not 0;
s3, when the station number is a, the robot automatically starts the STYLE0a program;
and S4, calling the STYLE0a program according to the recognized zero number, starting the program of the part number b when 1N8b is equal to 1, assigning values to the laser ranging point, the photographing point and the offset of the part number b, moving to the detection height of the laser ranging point, moving to the photographing point for photographing recognition and grabbing, calling the placement program after grabbing, and placing the part to the specified position.
Preferably, a in the station number a is the same as a in the STYLE0a program.
Preferably, the number of b in 1N8b is the same as the number of b in part no.
Preferably, when the laser ranging point, the photographing point and the offset are in error in assignment, when the laser ranging point is moved to the laser ranging point for detecting the height error, when the laser ranging point is moved to the photographing point for photographing identification and capturing errors and after capturing, a piece placing program is called, and when the piece is placed to the specified position in error, the alarm is suspended.
Preferably, the method of step S4 is to set a location register: a reference point X-axis Xz, a reference point Y-axis Yz, an offset point X-axis Xp and an offset point Y-axis Yp, and a position register is arranged: product gripper count Rj, offset base number Rx on X-axis, offset base number Ry on Y-axis, product width Rk, product width Rl, offset Rpx on X-axis, offset Rpy on Y-axis;
Rpx＝Rx*Rl,Rpy＝Ry*Rk,Xp＝Xz+Rpx,Yp＝Yz+Rpy。
compared with the prior art, the invention has the beneficial effects that:
according to the invention, the robot carries automatically, unmanned operation is completely realized, uninterrupted operation can be realized within 24 hours, the working efficiency is improved, the labor cost is saved, the enterprise competitiveness is improved, the human error rate is reduced, and the normal operation of a production line is effectively ensured.
Drawings
FIG. 1 is a schematic diagram of a robot sequencing program logic algorithm architecture of the present invention;
FIG. 2 is a STYLE0a program algorithm diagram of the present invention;
fig. 3 is a schematic structural diagram of the robot of the present invention.
In the figure: 1. a robot; 2. a photographing camera; 3. laser rangefinder.
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. 1-3, the present invention provides a technical solution: the utility model provides a robot intelligence snatchs sequencing system, includes PLC control system, is used for robot 1 that article snatched and sets up laser rangefinder 3, camera 2, camera controller module, the network module that just do not influence the robot work on robot 1, is provided with robot sequencing procedure logic algorithm in the PLC control system, and robot sequencing procedure logic algorithm includes following step:
s1, grabbing the robot at the HOME point and carrying out IO initialization standby;
s2, waiting for the starting information of the corresponding station of the PLC control system, continuing to wait for the starting information of the corresponding station of the PLC control system when the station number is 0, and continuing to perform the subsequent steps when the station number is not 0;
s3, when the station number is a, the robot automatically starts the STYLE0a program;
and S4, calling the STYLE0a program according to the recognized zero number, starting the program of the part number b when 1N8b is equal to 1, assigning values to the laser ranging point, the photographing point and the offset of the part number b, moving to the detection height of the laser ranging point, moving to the photographing point for photographing recognition and grabbing, calling the placement program after grabbing, and placing the part to the specified position.
Specifically, the numbers a in the station number a are the same as the numbers a in the STYLE0a program, so that the correspondence is convenient and the confusion is not easy to occur.
Specifically, the number of b in 1N8b is the same as the number of b in the part number, and it is convenient to correspond to b and is not easily confused.
Specifically, when the laser ranging point, the photographing point and the offset are in assignment error, the laser ranging point is moved to detect the height error, the laser ranging point is moved to the photographing point for photographing and recognizing, and the error is captured and captured, a piece placing program is called, the alarm is suspended when the piece is placed to the specified position in error, the alarm can be timely given when the fault occurs, and the fault rate is further reduced.
Specifically, the method of step S4 is to set a location register: a reference point X-axis Xz, a reference point Y-axis Yz, an offset point X-axis Xp and an offset point Y-axis Yp, and a position register is arranged: product gripper count Rj, offset base number Rx on X-axis, offset base number Ry on Y-axis, product width Rk, product width Rl, offset Rpx on X-axis, offset Rpy on Y-axis;
Rpx＝Rx*Rl,Rpy＝Ry*Rk,Xp＝Xz+Rpx,Yp＝Yz+Rpy。
the working principle is as follows: the storage battery warehouse with ten stations on the left and right sides is arranged on the site, and each station is provided with two layers of storage battery components, and each layer is 24. And the storage battery type of each station can be freely set, the robot can automatically count the number of the current grabbed products, can automatically identify the types of order products and calculate the offset of each product according to the grabbed product count, automatically realize offset operation and carry out laser ranging, and the camera shoots and grabs. After the workpiece is grabbed, the robot can calculate the current workpiece placing position and automatically operate to the workpiece placing position. The accuracy of the order arrangement sequence can be effectively ensured.
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 (5)
1. The utility model provides a sequencing system is snatched to robot intelligence, includes PLC control system, is used for the robot that article snatched and sets up laser ranging device, camera controller module, the network module that just do not influence the robot work on the robot, be provided with robot sequencing procedure logic algorithm, its characterized in that in the PLC control system: the robot sequencing program logic algorithm comprises the following steps:
s1, grabbing the robot at the HOME point and carrying out IO initialization standby;
s2, waiting for the starting information of the corresponding station of the PLC control system, continuing to wait for the starting information of the corresponding station of the PLC control system when the station number is 0, and continuing to perform the subsequent steps when the station number is not 0;
s3, when the station number is a, the robot automatically starts the STYLE0a program;
and S4, calling the STYLE0a program according to the recognized zero number, starting the program of the part number b when 1N8b is equal to 1, assigning values to the laser ranging point, the photographing point and the offset of the part number b, moving to the detection height of the laser ranging point, moving to the photographing point for photographing recognition and grabbing, calling the placement program after grabbing, and placing the part to the specified position.
2. The system of claim 1, wherein: the station number a is the same as the a number in the STYLE0a program.
3. The system of claim 1, wherein: the number of b in 1N8b is the same as the number of b in part number.
4. The system of claim 1, wherein: when the laser ranging point, the photographing point and the offset are in assignment error, the laser ranging point is moved to the laser ranging point to detect the height error, the laser ranging point is moved to the photographing point to photograph, recognize and capture the error, the pick-up procedure is called, and the alarm is suspended when the pick-up is performed to the specified position.
5. The system of claim 1, wherein: the method of step S4 is to set a location register: a reference point X-axis Xz, a reference point Y-axis Yz, an offset point X-axis Xp and an offset point Y-axis Yp, and a position register is arranged: product gripper count Rj, offset base number Rx on X-axis, offset base number Ry on Y-axis, product width Rk, product width Rl, offset Rpx on X-axis, offset Rpy on Y-axis;
Rpx＝Rx*Rl,Rpy＝Ry*Rk,Xp＝Xz+Rpx,Yp＝Yz+Rpy。
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| CN201911396515.7A CN111113421A (en) | 2019-12-30 | 2019-12-30 | Robot intelligence snatchs sequencing system |
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| CN201911396515.7A CN111113421A (en) | 2019-12-30 | 2019-12-30 | Robot intelligence snatchs sequencing system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111620021A (en) * | 2020-05-28 | 2020-09-04 | 上海燊星机器人科技有限公司 | Flexible handling system of intelligent warehouse of robot |
| CN111890336A (en) * | 2020-06-15 | 2020-11-06 | 成都飞机工业（集团）有限责任公司 | Robot multi-target-point teaching method and system |
| CN113118637A (en) * | 2021-03-29 | 2021-07-16 | 上海燊星机器人科技有限公司 | Automatic distance measurement laser lithography method |
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2019
- 2019-12-30 CN CN201911396515.7A patent/CN111113421A/en active Pending
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| US4613269A (en) * | 1984-02-28 | 1986-09-23 | Object Recognition Systems, Inc. | Robotic acquisition of objects by means including histogram techniques |
| JPH0752080A (en) * | 1993-08-10 | 1995-02-28 | Ishikawajima Harima Heavy Ind Co Ltd | Method of controlling robot on orbit |
| CN106249718A (en) * | 2016-08-30 | 2016-12-21 | 重庆工商大学 | A kind of body of a motor car intelligent flexible manufactures system and method |
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| CN113118637A (en) * | 2021-03-29 | 2021-07-16 | 上海燊星机器人科技有限公司 | Automatic distance measurement laser lithography method |
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