CN111618850A - Two-shaft feeding manipulator and position control method thereof - Google Patents

Two-shaft feeding manipulator and position control method thereof Download PDF

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Publication number
CN111618850A
CN111618850A CN202010395218.7A CN202010395218A CN111618850A CN 111618850 A CN111618850 A CN 111618850A CN 202010395218 A CN202010395218 A CN 202010395218A CN 111618850 A CN111618850 A CN 111618850A
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feeding
longitudinal
position information
transverse
feeding device
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CN111618850B (en
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谢晖
李茂�
徐鹏程
蒋时军
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Dajie Intelligent Technology Guangdong Co ltd
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Dajie Intelligent Technology Guangdong Co ltd
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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
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a two-shaft feeding manipulator and a position control method thereof, wherein the two-shaft feeding manipulator comprises a transverse feeding device, a longitudinal feeding device, a visual control device, a material taking mechanism and a feeding platform, and the transverse feeding device and the longitudinal feeding device are respectively in communication connection with the visual control device; the feeding device comprises a feeding platform, a material taking mechanism, a transverse feeding mechanism and a feeding platform, wherein the feeding platform is arranged on the transverse feeding device; the longitudinal feeding device is connected with the transverse feeding device through a connecting plate and is provided with a longitudinal feeding mechanism which is used for driving the feeding table to ascend and descend so as to enable the feeding table to reciprocate between a material taking position and a material placing position; and the visual control device is used for acquiring the actual position information of the feeding table, comparing the actual position information with the prestored position information, and performing position compensation on the transverse feeding device and the longitudinal feeding device according to the comparison result.

Description

Two-shaft feeding manipulator and position control method thereof
Technical Field
The invention belongs to the technical field of automatic feeding manipulators, and particularly relates to a two-shaft feeding manipulator and a position control method thereof.
Background
The existing control mode of the feeding manipulator usually programs corresponding control signals on the basis of design requirements to realize the control of the manipulator, and the control mode generates corresponding errors along with the actual use process, and needs to continuously adjust programs to increase corresponding operation complexity; meanwhile, errors are generated between the actual position of the feeding and the designed position in the using process, and the feeding position precision is reduced.
Disclosure of Invention
The invention aims to solve the problems that the stroke of a feeding manipulator is short and the precision of a feeding position is not high in the prior art.
In order to achieve the above object, an aspect of the present invention relates to a two-axis feeding manipulator, which includes a transverse feeding device, a longitudinal feeding device, a vision control device, a material taking mechanism, and a feeding table, wherein the transverse feeding device and the longitudinal feeding device are respectively in communication connection with the vision control device;
the feeding table is arranged above the transverse feeding device, the transverse feeding device is provided with a transverse feeding mechanism, and the transverse feeding mechanism is used for driving the material taking mechanism to horizontally reciprocate between an initial position and a material taking position;
the longitudinal feeding device is connected with the transverse feeding device through a connecting plate, the longitudinal feeding device is provided with the longitudinal feeding mechanism, and the longitudinal feeding mechanism is used for driving the feeding table to ascend and descend so as to enable the feeding table to reciprocate between the material taking position and the material placing position;
the vision control device is used for acquiring the actual position information of the feeding table, comparing the actual position information with the pre-stored position information, and performing position compensation on the transverse feeding device and the longitudinal feeding device according to the comparison result.
Another aspect of the present invention relates to a position control method of the above two-axis feeding robot, including:
step S1, the vision control device obtains the actual position information of the feeding platform;
step S2, the vision control device compares the acquired actual position information with the pre-stored position information, and obtains the corresponding position compensation amount according to the comparison result;
and step S3, the vision control device carries out position compensation on the transverse feeding device and the longitudinal feeding device according to the position compensation amount.
The actual position information of the feeding table comprises transverse position information of the feeding table reaching the material taking position.
The actual position information of the feeding platform comprises longitudinal position information of the feeding platform reaching the discharging position.
According to the two-shaft automatic feeding manipulator based on visual control, the relation between the feeding position and the preset position is judged in real time by using the visual control device, so that the real-time position compensation and adjustment in the feeding process can be realized; meanwhile, the use requirements between various feeding heights and widths can be effectively matched through the longitudinal and transverse conveying chains, and the universality of the feeding device is improved. In addition, the vision device can be connected with the control end, so that the remote monitoring of the feeding process is realized, and the operation convenience of the feeding device is improved.
Drawings
Fig. 1 is a schematic overall structure diagram of a two-axis feeding manipulator according to an embodiment of the present invention;
fig. 2 is a top view of a two-axis loading robot in an embodiment of the present invention;
fig. 3 is a front view of a two-axis feeding robot in an embodiment of the present invention;
fig. 4 is a schematic view of a position control process of a two-axis feeding robot according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating position control of a two-axis loading robot according to another embodiment of the present invention.
Reference numbers in the figures: 1-manipulator attachment device, 2-longitudinal feeding device, 3-vision module, 4-transverse feeding device, 5-limiting block, 6-attachment sucker, 7-attachment plate, 8-transverse feeding chain, 9-longitudinal feeding chain, 10-connecting plate, 11-transverse pneumatic cylinder, 12-feeding table, 13-longitudinal pneumatic cylinder and 14-material taking mechanism.
Detailed Description
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
The embodiment of the invention provides a two-shaft feeding manipulator which comprises a transverse feeding device, a longitudinal feeding device, a visual control device, a material taking mechanism and a feeding table, wherein the transverse feeding device and the longitudinal feeding device are respectively in communication connection with the visual control device;
the feeding table is arranged above the transverse feeding device, the transverse feeding device is provided with a transverse feeding mechanism, and the transverse feeding mechanism is used for driving the material taking mechanism to horizontally reciprocate between an initial position and a material taking position;
the longitudinal feeding device is connected with the transverse feeding device through a connecting plate, the longitudinal feeding device is provided with the longitudinal feeding mechanism, and the longitudinal feeding mechanism is used for driving the feeding table to ascend and descend so as to enable the feeding table to reciprocate between the material taking position and the material placing position;
the vision control device is used for acquiring the actual position information of the feeding table, comparing the actual position information with the pre-stored position information, and performing position compensation on the transverse feeding device and the longitudinal feeding device according to the comparison result.
In the embodiment, the transverse feeding mechanism comprises a transverse feeding chain connected with a transverse pneumatic cylinder, and the material taking mechanism is arranged on the side surface of the transverse feeding chain; the longitudinal feeding mechanism comprises a longitudinal feeding chain connected with a longitudinal pneumatic cylinder.
An embodiment of the present invention further provides a position control method for the two-axis feeding manipulator, where the method includes:
step S1, the vision control device obtains the actual position information of the feeding platform;
step S2, the vision control device compares the actual position information with the pre-stored position information, and obtains the corresponding position compensation amount according to the comparison result;
and step S3, the vision control device carries out position compensation on the transverse feeding device and the longitudinal feeding device according to the position compensation amount.
The position information of the feeding table comprises transverse position information of the feeding table reaching a material taking position; or the longitudinal position information of the feeding platform reaching the discharging position.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example one
Referring to fig. 1-3, the present embodiment relates to a two-axis feeding manipulator, which mainly includes a horizontal feeding device 4, a vertical feeding device 2, a vision control device, a material taking mechanism 14, and a feeding table 12. Wherein, the feeding platform 12 is arranged on the transverse feeding device 4, and the material taking mechanism 14 is connected with the transverse feeding device 4. As shown in fig. 1, in this embodiment, the transverse feeding device 4 is provided with a transverse feeding mechanism, the material taking mechanism 14 is provided with a retractable material taking device, the transverse feeding mechanism is used for driving the material taking mechanism 14 to horizontally reciprocate between an initial position and a material taking position, the material taking mechanism 14 uses the retractable material taking device to place the obtained material on the material feeding table 12 at the material taking position, and the limit block 5 is used for limiting the planar position accuracy of the material; the longitudinal feeding device 2 is connected with the transverse feeding device 4 through a connecting plate 10, the longitudinal feeding device 2 is provided with a longitudinal feeding mechanism, the longitudinal feeding mechanism is used for driving the feeding table 12 to ascend to a discharging position, and after materials are placed on a station of the next procedure, the longitudinal feeding mechanism descends and returns to an initial position. That is, the longitudinal feeding mechanism drives the feeding table 12 to ascend to the material placing position, and then descend to the material taking position after completing the material placing process.
The transverse feeding device 4 and the longitudinal feeding device 2 are respectively in communication connection with the vision control device. The vision control device further comprises a vision module 3 and a control module, wherein the vision module 3 can be a high-definition camera, a vision sensor and other devices capable of realizing vision identification. The actual position information of the feeding table 12 is obtained through the vision control device, and is compared with the prestored position information, and the position compensation is carried out on the transverse feeding device and the longitudinal feeding device according to the comparison result. Under the position control of the visual control module, the feeding table 12 and/or the materials carried thereon are adjusted to a preset position, so that the error-free feeding and taking processes are realized.
The pre-stored position information may be the design position information of the feeding table, or the last stored position information of the feeding table.
Further, in this embodiment, control motors are arranged at the bottoms of the longitudinal feeding device and the transverse feeding device, a rotating shaft is installed at the output end of each motor through a coupler, one end of each coupler is connected with the transverse feeding mechanism, and the other end of each coupler is connected with the longitudinal feeding mechanism. The transverse feeding mechanism comprises a transverse pneumatic cylinder 11 and a transverse feeding chain 8 connected with the transverse pneumatic cylinder 11, and the longitudinal feeding mechanism comprises a longitudinal pneumatic cylinder 13 and a longitudinal feeding chain 9 connected with the longitudinal pneumatic cylinder 13.
Further, the preferred embodiment of the present invention further comprises a robot attaching device 1, the robot attaching device 1 comprises an attaching plate 7 and an attaching suction cup 6, the two-axis feeding robot is connected with the attaching suction cup 6 through the attaching plate 7, and can be combined with other mechanical devices through the attaching suction cup 6.
Example two
As shown in fig. 4, this embodiment relates to a position control method for a two-axis feeding manipulator, in this embodiment, the overall structure of the two-axis feeding manipulator is similar to that of the embodiment, and the difference is that a visual control device includes a camera, a visual control module and a compensation calculation module. As shown in fig. 4, the position control flow of the present embodiment includes the following main steps:
step one, starting a position control process.
And step two, the camera acquires the actual position information of the feeding table.
Specifically, the actual position information of the feeding table acquired by the camera may include the transverse position information of the feeding table reaching the material taking position and the longitudinal position information of the feeding table reaching the material placing position.
And step three, the camera transmits the acquired actual position information to the vision control module.
Step four, the visual control module compares the actual position information with the pre-stored position information;
the pre-stored position information may be the preset position information of the feeding table, or the stored position information of the last feeding table.
Step five, the vision control module judges whether the actual position exceeds the preset range according to the comparison result, if so, the following step six is executed; otherwise, returning to the first step;
specifically, the determining whether the position exceeds the predetermined range may be determining whether a difference ratio between the actual position information and the pre-stored position information is greater than a predetermined threshold, for example, 5% -10%.
Step six, calculating corresponding position compensation quantity by a compensation calculation module according to the actual position information and the pre-stored position information;
in this step, after calculating the corresponding position compensation amount, the position compensation amount can be converted into an electromagnetic control signal by an internal or external conversion module and then transmitted to the execution device so as to control the execution device to perform corresponding position compensation;
the executing device specifically refers to a transverse feeding device or a longitudinal feeding device.
And step six, the execution device carries out position compensation on the transverse and longitudinal feeding devices according to the received control signals.
And step seven, ending the position control process.
Further, in this embodiment, the visual control module and the compensation calculation module are used to compare the acquired actual position information with the pre-stored position information, and obtain the corresponding position compensation amount according to the comparison result, which may specifically adopt the following manner:
converting the actual position information of the feeding table into point cloud data;
calculating a position average L of the point cloud data1；
According to the position average value L1And the average value L of the prestored positions2Ratio of difference between
Figure BDA0002487264340000071
If the difference ratio is larger than a preset threshold value, judging that the difference ratio exceeds the limit and carrying out the next step, otherwise, returning; wherein the position average value L1Is the average value of the point cloud data of this time, L2Is the average of the last location information saved;
a corresponding amount of position compensation is determined.
EXAMPLE III
The embodiment relates to a position control method of a two-axis feeding manipulator, as shown in fig. 5, in this embodiment, the overall structure of the two-axis feeding manipulator is similar to that of the embodiment, and the difference is that a visual control device includes a camera, a computer, an a/D converter, and a position compensation module, the camera is configured to acquire longitudinal feeding table position information and transverse feeding table position information, and transmit position data to the computer, and the computer determines a corresponding position compensation amount after receiving the position data, and transmits the corresponding position compensation amount to the position compensation module to perform a corresponding position control operation.
The position control method of the embodiment includes the following main steps:
step 1, starting a position control process;
step 2, the camera acquires actual position information and transmits the actual position information to a computer;
step 3, the computer compares the received position data with preset position information, determines corresponding position compensation amount according to the comparison result, and transmits the position compensation amount to the A/D converter through the camera;
step 4, the A/D converter converts the position compensation quantity (data signal) into a control signal and transmits the control signal to the position compensation module;
step 5, the position compensation module deciphers the received control signal;
step 6, the execution device carries out position compensation on a transverse feeding device or a longitudinal feeding device of the feeding manipulator according to the control signal which is decoded and read by the position compensation module;
and 7, ending the position control process.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (9)

1. A two-shaft feeding manipulator is characterized by comprising a transverse feeding device, a longitudinal feeding device, a visual control device, a material taking mechanism and a feeding table, wherein the transverse feeding device and the longitudinal feeding device are respectively in communication connection with the visual control device;
the feeding table is arranged above the transverse feeding device, the transverse feeding device is provided with a transverse feeding mechanism, and the transverse feeding mechanism is used for driving the material taking mechanism to horizontally reciprocate between an initial position and a material taking position;
the longitudinal feeding device is connected with the transverse feeding device through a connecting plate, the longitudinal feeding device is provided with the longitudinal feeding mechanism, and the longitudinal feeding mechanism is used for driving the feeding table to ascend and descend so as to enable the feeding table to reciprocate between the material taking position and the material placing position;
the vision control device is used for acquiring the actual position information of the feeding table, comparing the actual position information with the pre-stored position information, and performing position compensation on the transverse feeding device and the longitudinal feeding device according to the comparison result.
2. A two-axis loading robot as recited in claim 1, wherein the infeed mechanism comprises an infeed chain coupled to a cross-pneumatic cylinder, the infeed chain being disposed laterally of the take-out mechanism.
3. The two-axis loading robot of claim 1, wherein the longitudinal feed mechanism comprises a longitudinal feed chain coupled to a longitudinal pneumatic cylinder.
4. The two-axis feeding manipulator of claim 1, further comprising a manipulator attachment device comprising an attachment plate and an attachment suction cup, wherein the two-axis feeding manipulator is connected to the attachment suction cup through the attachment plate.
5. The two-axis feeding manipulator of claim 1, wherein the vision control device comprises a vision module, the vision module comprising a camera and a vision sensor.
6. A position control method of a two-axis feeding robot according to any one of claims 1 to 5, comprising:
step S1, the vision control device obtains the actual position information of the feeding platform;
step S2, the vision control device compares the acquired actual position information with the pre-stored position information, and obtains the corresponding position compensation amount according to the comparison result;
and step S3, the vision control device carries out position compensation on the transverse feeding device and the longitudinal feeding device according to the position compensation amount.
7. The position control method according to claim 6, characterized in that the actual position information of the loading table includes lateral position information of the loading table at the take-out position.
8. The position control method according to claim 6, wherein the actual position information of the feeding table includes longitudinal position information of the feeding table at the discharging position.
9. The position control method according to any one of claims 6 to 8, wherein the step S2 includes:
step S21, converting the actual position information of the feeding platform into point cloud data;
step S22, seeking position average value L of the point cloud data1；
Step S23, according to the position average value L1And the average value L of the prestored positions2Ratio of difference between
Figure FDA0002487264330000021
If the difference ratio is greater than a predetermined threshold, it is determined that it is out of limitAnd proceeds to the next step S24, otherwise returns to S1;
in step S24, a corresponding position compensation amount is determined.
CN202010395218.7A 2020-05-12 2020-05-12 Two-shaft feeding manipulator and position control method thereof Active CN111618850B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116424844A (en) * 2023-03-29 2023-07-14 中建科技集团有限公司 Plate structure feeding control method and device based on computer vision

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CN104742113A (en) * 2013-12-30 2015-07-01 常州中科智联机电科技有限公司 Automated taking and feeding manipulator device
CN204430050U (en) * 2015-01-28 2015-07-01 湖南大捷智能装备有限公司 A kind of manipulator being applicable to the transfer of Press Automatic Produce Line workpiece
US20170260011A1 (en) * 2016-03-14 2017-09-14 Analytik Jena Ag Cartesian Transport Device
CN108466829A (en) * 2018-04-28 2018-08-31 沈阳建筑大学 A kind of lifting feed device
CN209168273U (en) * 2018-12-28 2019-07-26 航天信息股份有限公司 Automatic vending machine and its load capture mechanism
CN110948509A (en) * 2019-12-02 2020-04-03 深圳光韵达光电科技股份有限公司 Manipulator anchor clamps and robot

Patent Citations (6)

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Publication number Priority date Publication date Assignee Title
CN104742113A (en) * 2013-12-30 2015-07-01 常州中科智联机电科技有限公司 Automated taking and feeding manipulator device
CN204430050U (en) * 2015-01-28 2015-07-01 湖南大捷智能装备有限公司 A kind of manipulator being applicable to the transfer of Press Automatic Produce Line workpiece
US20170260011A1 (en) * 2016-03-14 2017-09-14 Analytik Jena Ag Cartesian Transport Device
CN108466829A (en) * 2018-04-28 2018-08-31 沈阳建筑大学 A kind of lifting feed device
CN209168273U (en) * 2018-12-28 2019-07-26 航天信息股份有限公司 Automatic vending machine and its load capture mechanism
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Publication number Priority date Publication date Assignee Title
CN116424844A (en) * 2023-03-29 2023-07-14 中建科技集团有限公司 Plate structure feeding control method and device based on computer vision
CN116424844B (en) * 2023-03-29 2024-02-27 中建科技集团有限公司 Plate structure feeding control method and device based on computer vision

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