CN111230878A - Stacking robot control method, device and equipment and stacking robot system - Google Patents
Stacking robot control method, device and equipment and stacking robot system Download PDFInfo
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- CN111230878A CN111230878A CN202010093231.7A CN202010093231A CN111230878A CN 111230878 A CN111230878 A CN 111230878A CN 202010093231 A CN202010093231 A CN 202010093231A CN 111230878 A CN111230878 A CN 111230878A
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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
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses a method, a device and equipment for controlling a stacking robot and a system for controlling the stacking robot, wherein the method comprises the following steps: detecting material weight data carried by the palletizing robot; determining a location of the material to be handled based on the material weight data, wherein the location of the material to be handled is different for materials in different weight ranges; and controlling the palletizing robot to convey the material to the determined position. By implementing the invention, the preliminary sorting of the carried materials is realized, the labor cost is reduced, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of material handling, in particular to a stacking robot control method, a stacking robot control device, stacking robot equipment and a stacking robot system.
Background
Along with the development of intelligent control technique, at the material handling in-process, in order to use manpower and materials sparingly, adopt pile up neatly robot to carry out material handling usually, however, pile up neatly robot can only carry out simple handling work, still needs certain manpower work to whether qualified detection work of the material of carrying.
The inventor finds that when the industrial palletizing robot in the prior art runs, the industrial palletizing robot only carries out simple carrying work on materials, cannot carry out simple judgment and analysis on the materials, still needs to manually carry out abnormal judgment on the materials, still needs to manually carry out sorting work, wastes manpower resources, and has low production efficiency.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defect that the palletizing robot in the prior art cannot perform preliminary detection and judgment on the carried materials, so that the labor cost is high, and the palletizing robot control method, the device, the equipment and the palletizing robot system are provided.
According to a first aspect, an embodiment of the invention provides a palletizing robot control method, which includes: detecting material weight data carried by the palletizing robot; determining a location of the material to be handled based on the material weight data, wherein locations of the material to be handled are different at different weight ranges; and controlling the palletizing robot to convey the material to the determined position.
With reference to the first aspect, in a first implementation manner of the first aspect, the detecting material weight data carried by the palletizing robot includes: acquiring a deformation signal of a strain gauge, wherein the strain gauge is used for detecting the deformation signal of the palletizing robot under the weight of the material; and converting the deformation signal into a pulling force, and taking the pulling force as the material weight data.
With reference to the first implementation manner of the first aspect, in a second implementation manner of the first aspect, the determining a location to be handled of the material based on the material weight data includes: judging whether the material weight data exceeds a current preset weight range or not; when the weight data of the materials do not exceed the current preset weight range, determining that the position to which the materials are conveyed is a first position; and when the material weight data exceeds the current preset weight range, determining that the position to which the material is conveyed is a second position, wherein the second position is different from the first position.
With reference to the second implementation manner of the first aspect, in a third implementation manner of the first aspect, the determining whether the material weight data exceeds a current preset weight range includes: judging whether the tension is in a first preset tension range or a second preset tension range; if the tension is in a first preset tension range, determining that the weight of the material is qualified, wherein the weight data of the material does not exceed the current preset weight range; and if the tension is in a second preset tension range, determining that the weight of the material is unqualified, wherein the weight data of the material exceeds the current preset weight range.
With reference to the second embodiment of the first aspect, in a fourth embodiment of the first aspect, the method further comprises: judging whether the material weight data exceed rated weight data or not; and when the material weight data exceeds the rated weight data, outputting an alarm signal to control the palletizing robot to stop material handling.
With reference to the fourth embodiment of the first aspect, in a fifth embodiment of the first aspect, the method further comprises: and when the material weight data do not exceed the rated weight data, executing a step of judging whether the material weight data exceed a current preset weight range.
With reference to the first implementation manner of the first aspect, in a sixth implementation manner of the first aspect, the transforming the deformation signal into a tension force is a voltage signal, and the transforming includes: and determining a tension value corresponding to the voltage signal based on a corresponding relation between the voltage signal and the tension which is constructed in advance.
With reference to the first aspect, in a seventh implementation of the first aspect, before detecting material weight data handled by the palletizing robot, the method further comprises: detecting whether the palletizing robot grabs the material.
With reference to the seventh implementation manner of the first aspect, in an eighth implementation manner of the first aspect, the detecting whether the palletizing robot grabs the material includes: judging whether the first time for grabbing the material exceeds a first preset time threshold value or not; and if the first time is greater than the preset time threshold value, judging that the material is grabbed.
With reference to the eighth implementation manner of the first aspect, in a ninth implementation manner of the first aspect, the controlling the palletizing robot to carry the material to the determined position includes: judging whether a second time for grabbing the material exceeds a second preset time threshold value or not; and if the second time exceeds the second preset time threshold value, judging that the materials are stacked to the target position, and accumulating one for the number of stacked materials.
According to a second aspect, embodiments of the present invention provide a palletizing robot system, comprising: the stacking robot comprises a stacking robot body, a sensor and a control device, wherein the sensor is used for detecting material weight data carried by the stacking robot; and the central controller is used for determining the position of the material to be conveyed based on the material weight data and controlling the palletizing robot body to convey the material to the determined position, wherein the positions of the material to be conveyed in different weight ranges are different.
With reference to the second aspect, in a first embodiment of the second aspect, the palletizing robot body comprises a terminal flange, and the sensor is arranged on the terminal flange and used for detecting the deformation of the terminal flange.
With reference to the first embodiment of the second aspect, in a second embodiment of the second aspect, the sensor is a strain gauge connected to the end flange.
With reference to the second embodiment of the second aspect, in a third embodiment of the second aspect, the terminal flange includes: and the amplifying circuit is connected with the strain gauge and is used for amplifying the deformation signal detected by the strain gauge.
With reference to the first embodiment of the second aspect, in a fourth embodiment of the second aspect, the central controller includes: the analog-to-digital conversion module is connected with the tail end flange; the singlechip is connected with the output end of the analog-to-digital conversion module; the controller is connected with the single chip microcomputer and used for controlling the motor to drive the stacking robot body to work according to an output signal of the single chip microcomputer; and the display is connected with the single chip microcomputer and used for displaying the state information of the palletizing robot body for carrying materials.
With reference to the third embodiment of the second aspect, in a fifth embodiment of the second aspect, the terminal flange further comprises: and the photoelectric sensor is arranged at the clamp of the robot palletizer body and used for detecting the number of the materials palletized by the robot palletizer.
According to a third aspect, an embodiment of the present invention provides a computer device, including: a memory and a processor, wherein the memory and the processor are communicatively connected with each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the method for controlling a palletizer robot according to the first aspect or any embodiment of the first aspect.
According to a fourth aspect, an embodiment of the invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions for causing the computer to execute the method for controlling a palletizing robot according to the first aspect or any implementation manner of the first aspect.
The technical scheme of the invention has the following advantages:
1. according to the control method of the palletizing robot, the position where the transported material is transported is determined based on the material weight data by detecting the material weight data transported by the palletizing robot, wherein the positions where the materials in different weight ranges are transported are different, and the palletizing robot is controlled to transport the material to the determined position. According to the method, the materials with different weights are conveyed to different positions through preliminary detection of the conveyed materials, preliminary sorting of the conveyed materials is achieved, the labor cost is reduced, and the production efficiency is improved.
2. The invention provides a palletizing robot system which comprises a palletizing robot body and a central controller, wherein a sensor used for detecting material weight data carried by the palletizing robot is arranged on the palletizing robot body, the central controller can determine the position of a material to be carried based on the material weight data, and control the palletizing robot body to carry the material to the determined position. This system carries out the material transport to different positions of different weight through tentatively detecting the material to the transport, has realized having reduced the human cost to the preliminary letter sorting of the material of carrying, has improved production efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a palletizing robot control method in an embodiment of the present disclosure;
FIG. 2 is a flow chart of a palletizing robot control method in an embodiment of the present disclosure;
FIG. 3 is a functional block diagram of a palletizing robot control system in an embodiment of the present disclosure;
FIG. 4 is a functional block diagram of a palletizing robot control system in an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a strain gage positioned on an end flange in an embodiment of the present invention;
fig. 6A is a diagram illustrating that a display of a palletizing robot control system displays qualified material status information in an embodiment of the present invention;
fig. 6B is a diagram illustrating that a display of the palletizing robot control system displays information about the state of unqualified materials in the embodiment of the present invention;
FIG. 6C is a diagram illustrating alarm status information displayed on a display of a palletizing robot control system in an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a computer device in an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
The embodiment provides a control method of a palletizing robot, which can be used in a material handling process of an industrial palletizing robot, and as shown in fig. 1, the method includes:
and S11, detecting the weight data of the materials carried by the palletizing robot.
The material weight data may be measured in weight units, pressure data measured in pressure units, or pressure data measured in tension units, and the physical quantity reflecting the material weight data is not limited in the present application, and can be determined by those skilled in the art according to actual needs. This application reflects material weight data with the pulling force data. The material weight data can be obtained by measuring a sensor which is arranged at the tail end of a carrying arm of the palletizing robot and can reflect the weight of the material, the sensor which can reflect the weight of the material can be a pressure sensor, a tension sensor or a strain gauge which can reflect a deformation signal, the sensor which can reflect the weight of the material is not limited by the application, and the sensor which can reflect the weight of the material can be determined by a person skilled in the art according to actual needs.
And S12, determining the position to be carried of the material based on the material weight data, wherein the position to be carried of the material in different weight ranges is different.
For example, the palletizing robot determines to which position the material it needs to grab is to be transported, according to the detected weight of the transported material. The material weight data may be a weight range, with different material weight data corresponding to different handling positions. For example, if the material weight data are (49kg,50kg) and (50kg,51kg), respectively, the different material weight ranges (49kg,50kg) and (50kg,51kg) correspond to different material conveying positions, for example, the material weight range (49kg,50kg) corresponds to the first conveying position, and the material weight range (50kg,51kg) corresponds to the second conveying position. The application does not limit the material weight data and the number of the positions for carrying, and a person skilled in the art can determine the data according to actual needs.
And S13, controlling the palletizing robot to carry the materials to the determined positions.
For example, the palletizing robot may carry materials with different weights to different positions according to the obtained control instruction, that is, the materials with different weights are carried to positions corresponding to the weights of the materials. Taking two carrying positions and two material weight data as examples, if the palletizing robot detects that the weight ranges of the materials grabbed by the palletizing robot are (50kg,51kg), the materials are carried to a first position; if the palletizing robot detects that the weight ranges of the materials grabbed by the palletizing robot are (49kg and 50kg), the materials are conveyed to the second position.
According to the control method of the palletizing robot, the material weight data of the palletizing robot are detected, the carrying position corresponding to the material is determined based on the material weight data, the materials in different weight ranges correspond to different carrying positions, and the palletizing robot is controlled to carry the material to the determined position. According to the method, materials with different weights are conveyed to different positions by detecting weight data of the materials, the conveyed materials are subjected to primary weight detection, so that the palletizing robot can achieve classified palletizing of the materials with different weights on the same assembly line, the production efficiency is improved, classified palletizing of the materials with the quality judged by the weights can be achieved, human resources are saved, and the labor cost is reduced.
As an alternative embodiment of the present application, step S11 includes:
firstly, a deformation signal of a strain gauge is obtained, and the strain gauge is used for detecting the deformation signal of the palletizing robot under the weight of a material.
Exemplarily, when the palletizing robot grabs the material, because the material has certain weight, the strain gauge can produce mechanical deformation under the effect of material gravity, the deformation signal of strain gauge then corresponds to the material weight, after the strain gauge takes place deformation, its resistance value is corresponding changes, can use the deformation signal of resistance value representation strain gauge, can connect the strain gauge with bridge circuit, can measure the resistance change value of strain gauge through bridge circuit, the bridge circuit here can be wheatstone bridge circuit. The bridge circuit is not limited in this application.
Secondly, the deformation signal is converted into a pulling force, and the pulling force is used as the material weight data.
Exemplarily, a deformation signal of the strain gauge is converted into a tensile force, a resistance change signal of the strain gauge is converted into an electric signal to be output, and the electric signal is subjected to analog-to-digital conversion to obtain an electric signal output value under different material weights. The relation between the electric signal output value and the tensile force can be obtained according to the electric signal output value under different material weights, the tensile force at the tail end of the palletizing robot can be obtained according to the relation between the electric signal output value and the tensile force, the tensile force is generated when the palletizing robot grabs the materials, and the tensile force can be used as material weight data.
As an optional implementation manner of the present application, the transforming signal is a voltage signal, and the transforming signal is converted into a pulling force, including: and determining a tension value corresponding to the voltage signal based on a corresponding relation between the voltage signal and the tension which is constructed in advance.
For example, after the strain gauge deforms, the resistance value of the strain gauge changes correspondingly, the strain gauge can be connected to a wheatstone bridge circuit, the resistance change value of the strain gauge can be measured through the wheatstone bridge circuit, and the resistance change value is converted into a voltage signal to be output, that is, the voltage signal represents an electric signal of the deformation signal. The output voltage of the wheatstone bridge circuit is calculated by the formula: and E is 0.25 × Δ R/R × E, where Δ R is a resistance change value of the strain gauge caused by an external force, R is a resistance value of the strain gauge, and E is a power supply voltage of the bridge circuit. Different voltage signals corresponding to different material weights represent the material weights by the tension values, the corresponding relation between the different tension values and the different voltage signals can be constructed, and the corresponding tension value can be determined according to the output voltage signal.
As an optional implementation manner of the present application, step S12, as shown in fig. 2, includes:
and S121, judging whether the weight data of the materials exceed the current preset weight range.
Illustratively, the tensile force is used for representing the weight data of the materials, and whether the weight of the materials grabbed by the current palletizing robot exceeds a preset weight range or not is judged through the tensile force. The preset weight range can be the standard weight of the material plus or minus the weight error of the material. Taking the standard weight of the material as 22.5kg as an example, the preset weight range may be [22.0kg, 23kg ], and whether the weight of the material currently grabbed by the palletizing robot is within the preset weight range [22.0kg, 23.0kg ] is judged through tension. If the material weight data is within the preset weight range, executing step S122, otherwise, executing step S123.
As an optional implementation manner of the present application, step S121 includes:
firstly, whether the pulling force is in a first preset pulling force range or a second preset pulling force range is judged.
Illustratively, according to the corresponding relationship between the voltage signal and the pulling force, whether the pulling force corresponding to the voltage signal is in a first preset pulling force range or a second preset pulling force range is determined. The first preset tension range is a tension F +/-material error delta corresponding to the standard weight, namely the first preset tension range is as follows: [ F-. delta., F + delta ]. The second preset tension range is a complement of the first preset tension range, namely the second preset tension range is as follows: (0, F- δ) U (F + δ, + ∞).
Secondly, if the tension is in a first preset tension range, determining that the weight of the material is qualified, and the weight data of the material does not exceed the current preset weight range.
For example, when the pulling force F1 is within a first predetermined pulling force range [ F- δ, F + δ ], the weight of the material handled by the palletizing robot may be considered to be acceptable, i.e. the weight of the material does not exceed the predetermined material weight range.
And thirdly, if the tension is in a second preset tension range, determining that the weight of the material is unqualified, and the weight data of the material exceeds the current preset weight range.
For example, when the pulling force F1 is greater than F + δ, or the pulling force F1 is smaller than F- δ, the weight of the material carried by the palletizing robot may be considered to be unqualified, that is, the weight of the material is beyond the preset material weight range.
And S122, when the weight data of the material does not exceed the current preset weight range, determining that the position to which the material is conveyed is a first position.
For example, if the weight range of the materials grabbed by the palletizing robot is within the preset weight range, the materials are carried to the first position corresponding to the qualified materials.
And S123, when the weight data of the material exceeds the current preset weight range, determining that the position to which the material is conveyed is a second position, wherein the second position is different from the first position.
Illustratively, if the weight range of the materials grabbed by the palletizing robot exceeds the preset weight range, the materials are carried to a second position corresponding to unqualified materials.
As an optional implementation manner of the present application, the method further includes:
firstly, judging whether the material weight data exceeds rated weight data.
Illustratively, when the tensile force F1 > F + δ, or the tensile force F1 is less than F- δ, it can be considered thatThe weight of the material carried by the palletizing robot is unqualified, namely the weight of the material exceeds the preset material weight range. Because the palletizing robot has a rated weight data, the rated weight data corresponds to a rated tension, when the tension F1 is larger than F + delta, whether the tension F1 is larger than the rated tension F is judgedRated valueIf the pulling force F1 is greater than the rated pulling force FRated valueThen it can be determined that the material weight data exceeds the rated weight data.
And secondly, when the material weight data exceeds the rated weight data, outputting an alarm signal to control the palletizing robot to stop material handling.
Illustratively, when the pulling force F1 is larger than the rated pulling force F bearable by the palletizing robotRated valueAnd when the weight of the materials grabbed by the palletizing robot exceeds the rated weight of the materials bearable by the palletizing robot, an alarm signal is sent out to control the palletizing robot to stop carrying.
As an optional implementation manner of the present application, the method further includes: when the material weight data does not exceed the rated weight data, a step S121 of determining whether the material weight data exceeds a currently preset weight range is performed.
As an optional implementation manner of the present application, before step S11, the method further includes: whether the palletizing robot grabs the materials or not is detected.
For example, whether the palletizing robot grabs the material or not may be detected according to a sensor installed near the palletizing robot clamp. The sensor can be a photoelectric sensor, and whether the palletizing robot grabs the material or not is determined by detecting whether a signal returns to the photoelectric sensor through diffuse reflection. If the fact that a signal returns to the photoelectric sensor through diffuse reflection is detected, the fact that the palletizing robot grabs the material currently can be determined; if no signal is detected and returned to the photoelectric sensor, it can be determined that the palletizing robot does not grab the material currently.
As an optional implementation manner of the present application, detecting whether the palletizing robot grabs the material includes:
firstly, whether the first time for grabbing the materials exceeds a first preset time threshold value is judged.
Illustratively, when the material is grabbed, the photoelectric sensor can return infrared signals transmitted to the material through diffuse reflection, and whether the time for the palletizing robot to grab the material is greater than a first preset time threshold value or not can be judged by recording the duration of the returned infrared signals received by the photoelectric sensor. The duration of the photoelectric sensor receiving the returned infrared signal is the time for the palletizing robot to grab the material. The first preset time threshold may be 5s or 10 s. The distance and the detection time of the photoelectric sensor for emitting infrared rays can be determined according to actual needs.
The first preset time threshold is not limited in the present application, and can be determined by those skilled in the art according to actual needs.
Secondly, if the first time is larger than a preset time threshold value, the material is judged to be grabbed.
For example, when the time for which the robot palletizer grabs the material is greater than a first preset time threshold, that is, the duration for which the photoelectric sensor receives the returned infrared signal is greater than the first preset time threshold, it may be determined that the clamp of the robot palletizer has grabbed the material. Taking the first preset time threshold value as 5s as an example, when the first time is greater than 5s, it can be determined that the palletizing robot has grabbed the material at this time.
As an optional implementation manner of this application, control pile up neatly machine people with the material handling to the position of confirming, include:
firstly, whether the second time for grabbing the materials exceeds a second preset time threshold value is judged.
For example, when the palletizing robot palletizes the gripped material to the corresponding position, i.e. the gripper does not grip the material, the infrared signal emitted by the photoelectric sensor cannot return because it is not blocked by an obstacle. The time that the photoelectric sensor continuously emits the infrared ray signal is taken as the second time, and whether the second time exceeds a second preset time threshold value can be determined according to the time that the photoelectric sensor continuously emits the infrared ray signal. The second preset time threshold may be 5s or 10 s. The distance and the detection time of the photoelectric sensor for emitting infrared rays can be determined according to actual needs.
Secondly, if the second time exceeds a second preset time threshold value, the materials are judged to be stacked to the target position, and the number of the stacked materials is accumulated by one.
For example, when the second time is greater than a second preset time threshold, it may be determined that the palletizing robot has moved the gripped material to a target position corresponding to the weight of the material. Taking the second preset time threshold value as 5s as an example, when the second time is greater than 5s, it can be determined that the clamp of the palletizing robot has released the material at the moment, that is, the material has been palletized to the target position, and the number of the palletizing positions is increased by one.
Example 2
This embodiment provides a palletizing robot system, as shown in fig. 3, including: a palletizing robot body 21 and a central controller 22. Wherein, a sensor 211 for detecting the weight of the material carried by the palletizing robot is arranged on the palletizing robot body 21. The central controller 22 may determine a position where the material is to be carried based on the detected material weight data carried by the palletizing robot, and control the palletizing robot body 21 to carry the material to a position corresponding to the material weight data. Wherein the positions at which materials in different weight ranges are to be handled are different.
The robot palletizer system provided by the embodiment comprises a robot palletizer body and a central controller, wherein a sensor used for detecting the weight of materials carried by the robot palletizer is arranged on the robot palletizer body, the central controller determines the position to be carried by the materials based on the detected weight data of the materials carried by the robot palletizer, and controls the robot palletizer body to carry the materials to the position corresponding to the weight data of the materials. This system has realized that pile up neatly machine people is terminal to the weight detection of transport material, carries the material of different weight to different positions through carrying out preliminary weight detection to the material of transport, has realized that pile up neatly machine people realizes categorised pile up neatly to the material of different weight on the same assembly line, has improved production efficiency, to can judging the material of quality by weight and realize categorised pile up neatly, has saved manpower resources, has reduced the human cost.
As an alternative embodiment of the present application, as shown in fig. 4, the robot palletizer body 21 includes a terminal flange 212, and a sensor 211 is disposed on the terminal flange 212 for detecting deformation of the terminal flange.
Illustratively, a sensor 211 is arranged on a local end flange 212 of the palletizing robot, when the palletizing robot grabs the material, the end flange bears a certain pressure, and the deformation of the end flange generated under the condition of grabbing the material is detected through the sensor 211.
As an alternative embodiment of the present application, the sensor 211 may be a strain gauge 2121 that is coupled to the end flange 212.
The strain gauge is an element for measuring strain, and the strain gauge is mechanically deformed by an external force, and the resistance value of the strain gauge changes correspondingly. The strain gage may be used by firmly attaching it to the end flange, i.e., attaching the strain gage to the end flange, as shown in fig. 5. When the end flange is strained, the strain gage deforms to change its resistance.
As an alternative embodiment of the present application, as shown in fig. 4, the end flange 212 includes: and an amplifying circuit 2122 connected to the strain gauge and configured to amplify the strain signal detected by the strain gauge.
Illustratively, as the strain occurs when the end flange is stressed, the strain gauge deforms along with the strain, so that the resistance value of the strain gauge changes, and the deformation signal is represented by the resistance value change of the strain gauge. However, since the resistance value of the strain gauge is changed very finely, the strain gauge is connected to an amplifier circuit to amplify the strain signal detected by the strain gauge in order to more accurately detect the strain signal.
As an alternative embodiment of the present application, as shown in fig. 4, the end flange 212 further includes: and the photoelectric sensor 2123 is arranged at the clamp of the robot palletizer body and used for detecting the number of the materials palletized by the robot palletizer.
For an exemplary specific description of the photoelectric sensor detecting the number of the palletized materials of the palletizing robot, reference is made to the related description of the above embodiments, and details are not repeated here.
As an alternative embodiment of the present application, as shown in fig. 4, the central controller 22 includes:
the analog-to-digital conversion module 221 is connected with the tail end flange; the singlechip 222 is connected with the output end of the analog-to-digital conversion module; the controller 223 is connected with the single chip microcomputer and used for controlling the motor to drive the 2231 stacking robot body to work according to an output signal of the single chip microcomputer; and the display 224 is connected with the single chip microcomputer and used for displaying the state information of the material carried by the robot palletizer body.
For example, the strain gauge is connected to the flange to measure the deformation of the end flange interface, the amplification circuit may measure a small resistance change value, that is, the output voltage of the amplification circuit, and then the output voltage signal is input to the analog-to-digital conversion module 221 connected to the end flange, and the analog-to-digital conversion module 221 may adopt a high-precision 16-bit analog-to-digital conversion module, which is not limited in this application. The output digital signals are processed through an I/O port of a single chip microcomputer 222 connected with the output end of the analog-to-digital conversion module, the relation between the digital signals and the tensile force is obtained according to the voltage values under different stress conditions, the tensile force of the tail end of the palletizing robot is further obtained, and then required information is displayed through a display 224. The single chip microcomputer 222 can output signals through the I/O port according to different material weights, and transmits the output signals to the controller 223, the controller 223 further controls the robot palletizer body to palletize the materials with different weights to corresponding target positions through the motor drive 2231 according to the received output signals, and the display 224 can display the state of the material information carried by the robot palletizer body, as shown in fig. 6A, 6B, and 6C.
Example 3
An embodiment of the present invention further provides a computer device, as shown in fig. 7, the device includes a processor 31 and a memory 32, where the processor 31 and the memory 32 may be connected by a bus or in another manner, and fig. 7 takes the connection by the bus 30 as an example.
The processor 31 may be a Central Processing Unit (CPU). The Processor 31 may also be other general-purpose processors, Digital Signal Processors (DSPs), Graphics Processing Units (GPUs), embedded Neural Network Processors (NPUs), or other dedicated deep learning coprocessors, Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or any combination thereof.
The memory 32, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the palletizing robot control method in the embodiments of the present invention. The processor 31 executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory 32, namely, implements the palletizing robot control method in the above method embodiment.
The memory 32 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 31, and the like. Further, the memory 32 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 32 may optionally include memory located remotely from the processor 31, and these remote memories may be connected to the processor 31 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 32 and, when executed by the processor 31, perform a palletizing robot control method as in the embodiment shown in fig. 1-2.
Through detecting the material weight data of pile up neatly robot transport, confirm the position that is carried the material and will be carried based on material weight data, wherein, the position that the material that is in different weight ranges will be carried is different, and control pile up neatly robot carries the material to the position of confirming. The materials with different weights are conveyed to different positions through preliminary detection of the conveyed materials, preliminary sorting of the conveyed materials is achieved, labor cost is reduced, and production efficiency is improved.
The details of the computer device can be understood by referring to the corresponding descriptions and effects in the embodiments shown in fig. 1 to fig. 5, which are not described herein again.
An embodiment of the present invention further provides a non-transitory computer storage medium, where a computer-executable instruction is stored in the computer storage medium, and the computer-executable instruction may execute the method for controlling a palletizing robot in any method embodiment described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard disk (Hard disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (18)
1. A method for controlling a palletizing robot is characterized by comprising the following steps:
detecting material weight data carried by the palletizing robot;
determining a location of the material to be handled based on the material weight data, wherein locations of the material to be handled are different at different weight ranges;
and controlling the palletizing robot to convey the material to the determined position.
2. The method of claim 1, wherein the detecting material weight data handled by the palletizing robot comprises:
acquiring a deformation signal of a strain gauge, wherein the strain gauge is used for detecting the deformation signal of the palletizing robot under the weight of the material;
and converting the deformation signal into a pulling force, and taking the pulling force as the material weight data.
3. The method of claim 2, wherein said determining a location of said material to be handled based on said material weight data comprises:
judging whether the material weight data exceeds a current preset weight range or not;
when the weight data of the materials do not exceed the current preset weight range, determining that the position to which the materials are conveyed is a first position;
and when the material weight data exceeds the current preset weight range, determining that the position to which the material is conveyed is a second position, wherein the second position is different from the first position.
4. The method of claim 3, wherein the determining whether the material weight data exceeds a current preset weight range comprises:
judging whether the tension is in a first preset tension range or a second preset tension range;
if the tension is in a first preset tension range, determining that the weight of the material is qualified, wherein the weight data of the material does not exceed the current preset weight range;
and if the tension is in a second preset tension range, determining that the weight of the material is unqualified, wherein the weight data of the material exceeds the current preset weight range.
5. The method of claim 3, further comprising:
judging whether the material weight data exceed rated weight data or not;
and when the material weight data exceeds the rated weight data, outputting an alarm signal to control the palletizing robot to stop material handling.
6. The method of claim 5, further comprising:
and when the material weight data do not exceed the rated weight data, executing a step of judging whether the material weight data exceed a current preset weight range.
7. The method of claim 2, wherein the deformation signal is a voltage signal, and converting the deformation signal into a tensile force comprises:
and determining a tension value corresponding to the voltage signal based on a corresponding relation between the voltage signal and the tension which is constructed in advance.
8. The method of claim 1, wherein prior to detecting material weight data handled by the palletizing robot, the method further comprises:
detecting whether the palletizing robot grabs the material.
9. The method of claim 8, wherein detecting whether the palletizing robot grabs the material comprises:
judging whether the first time for grabbing the material exceeds a first preset time threshold value or not;
and if the first time is greater than the preset time threshold value, judging that the material is grabbed.
10. The method of claim 9, wherein controlling the palletizing robot to carry the material to the determined location comprises:
judging whether a second time for grabbing the material exceeds a second preset time threshold value or not;
and if the second time exceeds the second preset time threshold value, judging that the materials are stacked to the target position, and accumulating one for the number of stacked materials.
11. A palletizing robot system, comprising:
the stacking robot comprises a stacking robot body, a sensor and a control device, wherein the sensor is used for detecting material weight data carried by the stacking robot;
and the central controller is used for determining the position of the material to be conveyed based on the material weight data and controlling the palletizing robot body to convey the material to the determined position, wherein the positions of the material to be conveyed in different weight ranges are different.
12. Palletizing robot system according to claim 11, wherein the palletizing robot body comprises a terminal flange, the sensor being arranged on the terminal flange for detecting a deformation of the terminal flange.
13. The palletizing robot system according to claim 12, wherein the sensor is a strain gauge connected to the end flange.
14. The palletizing robot system as recited in claim 13, wherein the end flange comprises:
and the amplifying circuit is connected with the strain gauge and is used for amplifying the deformation signal detected by the strain gauge.
15. The palletizing robot system according to claim 12, wherein the central controller comprises:
the analog-to-digital conversion module is connected with the tail end flange;
the singlechip is connected with the output end of the analog-to-digital conversion module;
the controller is connected with the single chip microcomputer and used for controlling the motor to drive the stacking robot body to work according to an output signal of the single chip microcomputer;
and the display is connected with the single chip microcomputer and used for displaying the state information of the palletizing robot body for carrying materials.
16. The palletizing robot system as recited in claim 14, wherein the end flange further comprises:
and the photoelectric sensor is arranged at the clamp of the robot palletizer body and used for detecting the number of the materials palletized by the robot palletizer.
17. A computer device, comprising: a memory and a processor, communicatively coupled to each other, the memory having stored therein computer instructions, the processor performing the method of controlling a palletizer robot as recited in any one of claims 1 to 10 by executing the computer instructions.
18. A computer-readable storage medium, characterized in that it stores computer instructions for causing the computer to execute the method of controlling a palletizer robot as claimed in any one of claims 1 to 10.
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