CN111702758A

CN111702758A - Stacking robot

Info

Publication number: CN111702758A
Application number: CN202010520231.0A
Authority: CN
Inventors: 万文洁; 郭东生; 张睿; 衷镇宇; 林宇萌; 李鹏程; 周家裕; 王佳威
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2020-06-09
Filing date: 2020-06-09
Publication date: 2020-09-25

Abstract

The invention discloses a palletizing robot. The invention comprises the following steps: a plurality of axes of motion; and the electric control system is used for planning the track for the plurality of movement axes and controlling the movement of the plurality of movement axes according to the track. According to the invention, the technical problems of low real-time performance and stability of the palletizing robot in the related technology are solved.

Description

Stacking robot

Technical Field

The invention relates to the field of industrial robots, in particular to a palletizing robot.

Background

With the rapid rise of the robot industry, the development of industrial production automation is promoted, the application of the stacking robot is more and more extensive, and the technical requirements on the stacking robot are also continuously improved.

In the related art, the palletizing robot has a large lifting space in the aspects of real-time performance, stability and control precision.

In view of the above problems in the related art, no effective solution has been proposed.

Disclosure of Invention

The invention mainly aims to provide a palletizing robot to solve the technical problems of low real-time performance and stability of the palletizing robot in the related technology.

In order to achieve the above object, according to one aspect of the present invention, there is provided a palletizing robot. The invention comprises the following steps: a plurality of axes of motion; and the electric control system is used for planning the track for the plurality of movement axes and controlling the movement of the plurality of movement axes according to the track.

Optionally, the plurality of axes of motion comprises at least the following axes of motion: a chassis rotating shaft, a big arm rotating shaft, a small arm rotating shaft and a wrist rotating shaft.

Optionally, the electrical control system comprises: the main control module is used for controlling communication interaction between the palletizing robot and a user, and providing task planning, track planning and task interpolation for the palletizing robot, wherein the task interpolation mode is any one of the following modes: angle interpolation, linear interpolation and circular interpolation; and the motion control module is communicated with the main control module and is used for decomposing the track included in the track planning into all the motion axes and controlling the motion of the motion axes.

Optionally, the motion control module comprises: the motion controller is used for performing inverse kinematics solution on the trajectory in the trajectory plan sent by the main control module and obtaining a plurality of motion requirements of a plurality of motion axes through the inverse kinematics solution, wherein the motion requirements at least comprise the following contents: the motion angle of the motion axis, the running speed of the motion axis and the torque of the motion axis.

Optionally, the motion control module further comprises: and the stepping motors are used for receiving the motion requirements sent by the motion controller and act according to the motion requirements to drive the motion shafts to act, and the stepping motors correspond to the motion shafts one to one.

Optionally, the motion power of the stepping motor corresponding to the motion axis is calculated by a first formula, where the first formula is: p is F ν η, F is the force applied to the joint corresponding to the motion axis, ν is the maximum operation speed of the motion axis, η is the mechanical transmission efficiency of the motion axis; calculating the torque of the stepping motor corresponding to the motion shaft through a second formula, wherein the second formula is as follows: t ═ μmg γ, where μ is the friction coefficient of the stepping motor, m is the load of the moving axis, g is the gravitational acceleration, and γ is the radius of rotation of the moving axis; and controlling the stepping motor to act according to the motion power and the torque and driving the corresponding motion shaft to act.

Optionally, the electrical control system further comprises: and the power supply management module comprises a switching power supply and a voltage monitoring module and is used for providing power supply for the electrical control system.

Optionally, the motion controller communicates with the main control module and the stepping motor respectively through a G code command protocol.

Optionally, the electrical control system comprises: and the human-computer interaction module is interacted with the user operation through an interface and used for displaying tasks, control commands and parameter information for controlling the palletizing robot.

Optionally, the human-computer interaction module is a touch screen.

By the invention, the method comprises the following parts: a plurality of axes of motion; the electric control system is used for planning tracks for the plurality of movement axes and controlling the plurality of movement axes to act according to the tracks, so that the technical problems of low real-time performance and stability of the palletizing robot in the related technology are solved, and the technical effect of improving the intelligence of the palletizing robot is further achieved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic illustration of a palletizing robot provided in accordance with an embodiment of the present invention; and

FIG. 2 is a schematic structural diagram of an electrical control system according to an embodiment of the present invention;

FIG. 3 is a functional diagram of task planning provided by an embodiment of the present invention;

fig. 4 is a control flowchart of an electrical control system of a robot according to an embodiment of the present invention.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions of the present invention better understood, 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.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

According to an embodiment of the invention, a palletizing robot is provided.

Fig. 1 is a schematic diagram of a palletizing robot provided according to an embodiment of the present invention. As shown in fig. 1, the invention comprises the following parts: a plurality of motion axes and an electric control system.

Specifically, a plurality of motion shafts drive corresponding robot joints to move;

the electric control system is used for planning a track for a plurality of movement axes and controlling the movement of the movement axes according to the track.

The embodiment of the invention provides a palletizing robot, which comprises a plurality of moving shafts; the electric control system is used for planning tracks for the plurality of movement axes and controlling the plurality of movement axes to act according to the tracks, so that the technical problems of low real-time performance and stability of the palletizing robot in the related technology are solved, and the technical effect of improving the intelligence of the palletizing robot is further achieved.

In particular, the palletizing robot referred to in the present application is preferably a four-axis robot including moving axes of a chassis rotation axis, a large-arm rotation axis, a small-arm rotation axis, and a wrist rotation axis.

Fig. 2 is a schematic diagram of an electrical control system, which includes a main control module, a motion control module, a power supply and management module, a step motor driver, and a step motor.

Specifically, in the embodiment, the main control module adopts a microprocessor STM32F103ZET6 and is responsible for communication, task planning, trajectory planning and interpolation control between the palletizing robot and the user.

Specifically, the electric control system further comprises a motion control module, the motion control module adopts ATMEGA2560 to solidify Marlin firmware, a solution of motion planning and inverse kinematics solution is provided for the palletizing robot, a track included in the track planning is decomposed to each motion axis of the robot, and the motion of the motion axes is controlled.

It should be noted that the task planning of the robot is realized by the main control module, and a specific task is decomposed into a terminal motion trajectory sequence. And the task planning comprises the analysis of task commands, the generation of the motion track of the robot, the calculation of the reference of the kinematics of the track and the generation of G codes. The robot working track control mode can be divided into joint space and terminal linear motion control according to different interpolation modes, wherein the interpolation control mode comprises a plurality of interpolation modes such as angle interpolation, linear interpolation, circular interpolation and the like, the interpolation control mainly comprises the steps of inserting and supplementing the coordinates of each middle point in the robot motion track to enable the robot motion track to be more stable and coordinated, the interpolation motion control outputs the coordinate value of the middle point in the motion track, and the position control system controls each coordinate axis to move in a coordinated mode according to the coordinate value and a preset track.

The main tasks of the task planning include G code analysis, motion trajectory discretization, inverse kinematics solution, multi-axis linkage control and the like, and the functional diagram of the task planning is shown in fig. 3.

The main control module mainly comprises a motion controller, the motion controller performs inverse kinematics solution according to the trajectory sent by the main control module, and decomposes the terminal trajectory into motion requirements of each motion axis, wherein the motion requirements at least comprise a motion angle, a motion speed and a torque of the motion axis.

It should be noted that the motion controller is in a core position in the whole electrical control system, mainly completes a motion planning task, and obtains the motion requirements of each joint by using a kinematic inverse solution according to the motion requirements of a terminal track.

In the embodiment, the palletizing robot is a four-axis robot, the number of the corresponding stepping motors is four, the four stepping motors correspond to four stepping motor drivers, the motion controller is responsible for inverse kinematics and multi-axis coordinated linkage control, the stepping motor driving module is used for controlling 4 rotating shaft motors of the robot, and the robot can accurately, stably and rapidly move according to the set parameter track by controlling the angle, the speed and the torque of the stepping motors.

It should be noted that, here, based on solving the inverse motion equation, if the axes of three adjacent joints of the robot intersect at a point or are parallel to each other, there will be an analytic motion equation. The planned path is sampled in real time when the robot works, corresponding joint positions (namely angles of all axes) are obtained through inverse transformation of sampling points, and then the sampling points are input to all joint controllers to control the robot to move to the corresponding positions.

As shown in fig. 4, the control flow chart of the electrical control system of the robot specifically includes system initialization, then the system waits for an operation command, when receiving the control command, the master controller performs task planning and generates a G code, the motion controller analyzes the G code and performs motion planning, and finally the robot terminal operates according to a required trajectory.

The embodiment of the application designs four-axis palletizing robot control system software based on a FreeRTOS operating system, and realizes task planning, interaction and processing of position and posture information of a sensor and a robot and man-machine interaction information processing of the robot. The task list for this operating system is shown in the following table.

Task	Function(s)
		systemTask	Function, task initialization, function test
ADCTask	Starting ADC acquisition
		cmTask	Acquiring a clock
UART-RX	Receiving human-computer interaction and motion module data
		EskyLink	Communication data processing
RadioLink	Communication data processing, clearing interrupt flags
		CRTP-RX	Invoking different callbacks according to different ports
ADCDMA	Performing power supply voltage detection
		UARTZR	Human-computer interaction task and command analysis
PARAM	Robot motion trajectory generation
		DXMOC	Kinematics parameter calculation
GMODE	G-code generation

Particularly, the stepping motor drives the robot joint to move, the structure and the control mode of the robot joint are simple, and the angle of the robot joint can be accurately controlled. Since the load of each joint of the robot is different, the power and torque of the stepping motor corresponding to each joint (movement axis) need to be calculated.

Specifically, the motion power and the torque of the stepping motor corresponding to the motion axis are respectively calculated through the first formula and the second formula provided in the embodiment, and the stepping motor is controlled to drive the corresponding motion axis to move according to the calculated motion power and torque.

Further, by obtaining the load m of the moving axis, the friction force f borne by the moving axis, the maximum acceleration a of the robot, the mechanical transmission efficiency η of the moving axis, and the maximum operating speed v of the moving axis, the first formula can also be expressed as: p ═ f + ma) η ═ μmg + ma η ν, the second formula can also be expressed as: t ═ f γ.

Above-mentioned ground, power and management module include switching power supply and voltage monitoring module, provide reliable stable power for other modules.

Specifically, in this implementation, the main control module, the motion control module, and the stepping motor communicate with each other through a G code, where the main control module sends a G code command to the motion controller, and a Marlin firmware in the motion controller is responsible for interpreting the G code command sent by the application program and then controlling the stepping motor to execute the command.

Optionally, the human-computer interaction module is a touch screen.

Specifically, the robot palletizer in the application comprises a human-computer interaction module, the human-computer interaction module is designed by adopting a graphical interface, and functions of inputting a control command, compiling a control program, displaying parameters and working states of the robot, controlling independent movement of each joint, controlling movement of a robot terminal, selecting a task mode of the robot and the like can be realized. The human-computer interaction module adopts a touch screen DMT80600T080_ 02W. The main control module communicates with the touch through the interface to realize monitoring and data transmission.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present invention, and are not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A palletizing robot, comprising:

a plurality of axes of motion;

and the electric control system is used for planning a track for the plurality of motion axes and controlling the motion of the plurality of motion axes according to the track.

2. Palletizing robot according to claim 1, characterized in that said plurality of movement axes comprises at least the following movement axes: a chassis rotating shaft, a big arm rotating shaft, a small arm rotating shaft and a wrist rotating shaft.

3. Palletizing robot according to claim 1, characterized in that said electrical control system comprises:

the main control module is used for controlling the communication interaction between the palletizing robot and a user, and providing task planning, track planning and task interpolation for the palletizing robot, wherein the task interpolation mode is any one of the following modes: angle interpolation, linear interpolation and circular interpolation;

and the motion control module is communicated with the main control module and is used for decomposing the track included in the track plan into the motion axes and controlling the motion of the motion axes.

4. Palletizing robot according to claim 3, characterized in that said motion control module comprises: the motion controller is configured to perform inverse kinematics solution on the trajectory in the trajectory plan sent by the main control module, and obtain a plurality of motion requirements of a plurality of motion axes through the inverse kinematics solution, where the motion requirements at least include the following: the motion angle of the motion shaft, the running speed of the motion shaft and the torque of the motion shaft.

5. The palletizing robot according to claim 4, wherein the motion control module further comprises: the stepping motors are used for receiving the motion requirements sent by the motion controller and acting according to the motion requirements to drive the motion shafts to act, and the stepping motors are in one-to-one correspondence with the motion shafts.

6. Palletizing robot according to claim 5,

calculating the motion power of the stepping motor corresponding to the motion axis through a first formula, wherein the first formula is as follows:

p is F ν η, F is the force applied to the joint corresponding to the motion axis, ν is the maximum operation speed of the motion axis, η is the mechanical transmission efficiency of the motion axis;

calculating the torque of the stepping motor corresponding to the motion shaft through a second formula, wherein the second formula is as follows: t ═ μmg γ, where μ is a friction coefficient of the stepping motor, m is a load of the movement axis, g is a gravitational acceleration, and γ is a rotation radius of the movement axis;

and controlling the stepping motor to act according to the motion power and the torque and driving the corresponding motion shaft to act.

7. The palletizing robot according to claim 1, wherein the electrical control system further comprises: and the power supply management module comprises a switching power supply and a voltage monitoring module and is used for providing power supply for the electrical control system.

8. The palletizing robot according to claim 5, wherein the motion controller communicates with the main control module and the stepping motor respectively through a G-code command protocol.

9. Palletizing robot according to claim 1, characterized in that said electrical control system comprises:

and the human-computer interaction module is interacted with the user operation through an interface and is used for displaying tasks, control commands and parameter information for controlling the palletizing robot.

10. The palletizing robot according to claim 9, wherein the human-computer interaction module is a touch screen.