CN113753562A - Carrying method, system and device based on linear motor and storage medium - Google Patents
Carrying method, system and device based on linear motor and storage medium Download PDFInfo
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- CN113753562A CN113753562A CN202110977600.3A CN202110977600A CN113753562A CN 113753562 A CN113753562 A CN 113753562A CN 202110977600 A CN202110977600 A CN 202110977600A CN 113753562 A CN113753562 A CN 113753562A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application relates to a linear motor-based carrying method, a linear motor-based carrying system, a linear motor-based carrying device and a storage medium, and relates to the technical field of linear motor control, wherein the method comprises the following steps: acquiring part information, wherein the part information comprises part numbers and part point positions; calling preset part information corresponding to part numbers in a part library according to the part information, wherein the preset part information comprises grabbing point positions; according to preset part information, comparing whether the part point location is consistent with the grabbing point location; if the part position is judged to be the position of the mechanical claw, forming a grabbing instruction, wherein the grabbing instruction is used for controlling the mechanical claw to be positioned to the part position; if not, forming a proofreading instruction, wherein the proofreading instruction is used for proofreading the point location of the part to be consistent with the grabbing point location. This application has the center of realizing that the manipulator is fixed a position to the part to stably hold the effect of part and transport part.
Description
Technical Field
The present disclosure relates to the field of linear motor control technologies, and in particular, to a handling method, a handling system, a handling device, and a storage medium based on a linear motor.
Background
A linear motor is a transmission device that directly converts electric energy into mechanical energy for linear motion without any intermediate conversion mechanism. The rotary motor can be seen as being formed by cutting a rotary motor in the radial direction and expanding the rotary motor into a plane. With the rapid development of automatic control technology and microcomputers, higher requirements are put forward on the positioning accuracy of various automatic control systems, and under the condition, a linear motion driving device consisting of a traditional rotating motor and a set of conversion mechanism is far from meeting the requirements of modern control systems, so that many countries in the world research, develop and apply linear motors, and the application field of the linear motors is wider and wider.
At present, a manipulator which is driven by a linear motor is used in a large quantity, for example, in the field of part transportation, the problem of positioning between the manipulator and a part is important, if the manipulator cannot stably hold the center of the part, the phenomenon of part inclination is easily caused in the transportation process, and the part is easily dropped in serious cases.
Disclosure of Invention
In order to realize positioning of a manipulator to the center of a part, stably hold the part and carry the part, the application provides a carrying method, a carrying system, a carrying device and a storage medium based on a linear motor.
In a first aspect, the present application provides a handling method based on a linear motor, which adopts the following technical scheme:
a linear motor based handling method comprises the following steps:
acquiring actual part information, wherein the actual part information comprises part numbers and part point positions;
calling preset part information corresponding to part numbers in a part library according to actual part information, wherein the preset part information comprises grabbing point positions;
according to preset part information, comparing whether the part point location is consistent with the grabbing point location;
if the part position is judged to be the position of the mechanical claw, forming a grabbing instruction, wherein the grabbing instruction is used for controlling the mechanical claw to be positioned to the part position;
if not, forming a proofreading instruction, wherein the proofreading instruction is used for proofreading the point location of the part to be consistent with the grabbing point location.
Through adopting above-mentioned technical scheme, the part point location that utilizes actual part is compared with the point location of snatching of presetting the part to judge whether actual part place point location is in the central point that snatchs, and then control gripper location snatchs to the part point location, or adjust the part point location and snatch the point location unanimous and snatch, realize that the manipulator can accurate location to the center of part, thereby stably hold the part and carry the part.
Optionally, if yes, a grabbing instruction is formed, where the grabbing instruction is used to control the mechanical gripper to be positioned in the point position of the part, and the method includes:
acquiring the point position of the mechanical claw, and calling the point position of a part;
planning a traveling path, wherein the traveling path consists of a moving distance and a moving direction of the mechanical claw from the mechanical claw point location to the part point location;
and sending the traveling path to a control terminal of the linear motor.
By adopting the technical scheme, when the part point location is in the grabbing point location, the program can automatically plan the advancing path of the mechanical claw according to the part point location and the mechanical claw point location, so that the linear motor is transmitted to control the mechanical claw to move according to the planned moving direction and moving distance, and the part point location is automatically and accurately positioned to be grabbed.
Optionally, if the judgment result is no, a proofreading instruction is formed, and the proofreading instruction is used for proofreading the point location of the part to be consistent with the captured point location, and includes:
adjusting a part point position and a grabbing point position;
planning an adjusting path, wherein the adjusting path consists of a moving distance and a moving direction of a part from the part point location to the grabbing point location;
and sending the display terminal of the user who adjusts the route.
By adopting the technical scheme, when the point location of the part is not located at the grabbing point location, the program can automatically plan the adjusting path and feed back the adjusting path to the user, so that the user can move the actual part according to the planned moving direction and moving distance according to the adjusting path, and the position correction of the actual part is facilitated.
Optionally, after sending the display terminal of the user who adjusts the path, the method includes:
responding to an adjustment ending signal sent by a user;
and repeatedly executing the step of acquiring the actual part information according to the adjustment finishing signal until the point location of the part is consistent with the grabbing point location.
By adopting the technical scheme, after the position of the actual part is corrected by the user, the program can acquire the part point location of the actual part again and compare the part point location with the grabbing point location again, so that the grabbing is performed after the point location of the actual part is corrected without errors.
Optionally, the obtaining of the actual part information includes, before the actual part information includes the part number and the part point location:
reading the point position of the test part;
forming a test instruction according to the point position of the test part, wherein the test instruction is used for controlling the mechanical claw to be positioned to the point position of the test part;
responding to a grabbing result, wherein the grabbing result is generated by the balance degree of the mechanical claw for grabbing the test part;
judging whether the point position of the test part is the central point of the test part or not according to the grabbing result;
if the judgment result is yes, setting the point position of the test part as a grabbing point position;
if not, reading the adjusted point position of the test part again until the point position of the test part is the central point of the test part.
By adopting the technical scheme, the program can acquire whether the point position of the test part is the central point of the test part by utilizing the grabbing judgment of the point position of the test part, so that the grabbing point position of each test part can be obtained through repeated adjustment tests, and conditions are provided for part point position judgment of subsequent actual parts.
Optionally, if judge for yes, after setting up the test part point location as the point location of snatching, include:
calling a grabbing point position, and setting a part number;
binding part numbers and grabbing point positions to form preset part information;
and collecting preset part information to form a part library.
Through adopting above-mentioned technical scheme, utilize to snatching the position and set for the part serial number and bind, the procedure can form automatically and predetermine part information and further form the part storehouse to when subsequently comparing actual part position, the user can directly obtain the part that corresponds from the part storehouse and predetermine, thereby makes things convenient for the comparison of position.
Optionally, if the judgment result is no, a proofreading instruction is formed, and the proofreading instruction is used for proofreading the point location of the part to be consistent with the captured point location, and includes:
calling the point position of the part before correction, and setting the part number;
binding the part number and the part point location to form newly added part information and storing the newly added part information in a part library.
By adopting the technical scheme, when the part point location is inconsistent with the grabbing point location, the program can call the inconsistent part point location and store the point location in the part library, so that the user can conveniently perform test grabbing on the actual part placing point location subsequently, the point location in the part library is expanded, and the part can be conveniently and quickly grabbed.
In a second aspect, the present application provides a handling system based on a linear motor, which adopts the following technical solution:
a linear motor based handling system comprising:
the part information acquisition module is used for acquiring part information, and the part information comprises part numbers and part point positions;
the preset part information calling module is used for calling preset part information corresponding to part numbers in a part library according to the part information, and the preset part information comprises grabbing point positions;
the comparison module is used for comparing whether the part point location is consistent with the grabbing point location according to preset part information;
if the judgment result is yes, executing a grabbing instruction forming module;
the grabbing instruction forming module is used for forming grabbing instructions, and the grabbing instructions are used for controlling the mechanical claw to be positioned to the position of a part;
if not, executing a proofreading instruction forming module;
the proofreading instruction forming module is used for forming a proofreading instruction, and the proofreading instruction is used for proofreading the point location of the part to be consistent with the grabbing point location.
Through adopting above-mentioned technical scheme, the part point location that utilizes actual part is compared with the point location of snatching of presetting the part to judge whether actual part place point location is in the central point that snatchs, and then control gripper location snatchs to the part point location, or adjust the part point location and snatch the point location unanimous and snatch, realize that the manipulator can accurate location to the center of part, thereby stably hold the part and carry the part.
In a third aspect, the present application provides a handling device based on a linear motor, which adopts the following technical scheme:
a linear motor based handling apparatus comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and perform any of the methods described above.
Through adopting above-mentioned technical scheme, the part point location that utilizes actual part is compared with the point location of snatching of presetting the part to judge whether actual part place point location is in the central point that snatchs, and then control gripper location snatchs to the part point location, or adjust the part point location and snatch the point location unanimous and snatch, realize that the manipulator can accurate location to the center of part, thereby stably hold the part and carry the part.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer readable storage medium storing a computer program capable of being loaded by a processor and performing any of the methods described above.
Through adopting above-mentioned technical scheme, the part point location that utilizes actual part is compared with the point location of snatching of presetting the part to judge whether actual part place point location is in the central point that snatchs, and then control gripper location snatchs to the part point location, or adjust the part point location and snatch the point location unanimous and snatch, realize that the manipulator can accurate location to the center of part, thereby stably hold the part and carry the part.
In summary, the present application includes at least one of the following beneficial technical effects:
utilize the part point location of actual part and the point location of snatching of presetting the part to judge whether actual part place point location is in the central point of snatching, and then control gripper location snatchs to the part point location, or adjust the part point location and snatch the point location unanimously and snatch, realize that the manipulator can accurate location to the center of part, thereby stably hold the part and carry the part.
Drawings
FIG. 1 is a flow chart of the part library formation steps in the embodiment of the present application.
Fig. 2 is a flowchart illustrating steps of a handling method according to an embodiment of the present application.
Fig. 3 is a flowchart of the S203 substep in the embodiment of the present application.
Fig. 4 is a flowchart of the S204 substep in the embodiment of the present application.
Fig. 5 is a block diagram of a handling system in an embodiment of the present application.
Description of reference numerals: 1. a part information acquisition module; 2. presetting a part information calling module; 3. a comparison module; 4. a grab instruction forming module; 5. and a proofreading instruction forming module.
Detailed Description
The present application is described in further detail below with reference to figures 1-5.
The embodiment of the application discloses a carrying method based on a linear motor.
Referring to fig. 1, before transporting parts, a part library needs to be established, which specifically includes the following steps:
s100, reading the point positions of the test parts.
Wherein, part handling device includes the material loading platform, and the mesa department of material loading platform is equipped with the part and snatchs the region, and the part snatchs regional top and is provided with high definition camera to the realization snatchs the part of region department and shoots and form image transmission to central processing unit to the part.
Further, the user places the test part of each model in the part snatchs the region to utilize high definition camera to shoot the test part of every model and form the image, and then confirm the central point of test part, and transversely extend to the both sides of test part, with the test part point location that forms test part.
And S101, forming a test command.
The part carrying device further comprises a mechanical claw, an X linear motor used for driving the mechanical claw to move along the X-axis direction, and a Y linear motor used for driving the mechanical claw to move along the Y-axis direction. Furthermore, after the test part point location of the test part is read, the main program forms a test instruction according to the test part point location, and the test instruction is used for controlling the mechanical claw to be positioned to the test part point location.
Specifically, when the point location of the part to be tested is read to be (X, Y), the mechanical claw point location of the mechanical claw is (0, 0), the X linear motor can drive the mechanical claw to move to the X point location, and the Y linear motor can drive the mechanical claw to move to the Y point location, so that the mechanical claw moves to (X, Y) to grab the part.
And S102, responding to the grabbing result.
When the mechanical claw moves to the position (X, Y), the part can be grabbed, and when the mechanical claw grabs the part, a user can grab the balance degree of the test part according to the mechanical claw, generate a grabbing result and input the grabbing result into a main program. Furthermore, the balance degree of the grabbed test part can be judged by visual inspection and self experience of a user, and can also be measured by a test balance degree measuring tool.
S103, judging whether the point position of the test part is the central point of the test part.
After the main program obtains the grabbing results, the grabbing results are analyzed, and the grabbing results mainly comprise balance and unbalance. When the information of the obtained grabbing result is 'balance', the process that the mechanical claw grabs the test part is balanced and stable, and the point position of the test part can be judged to be the central point of the test part; when the information of the obtained grabbing result is unbalanced, the process that the mechanical claw grabs the test part is unbalanced and stable, and the point position of the test part can be judged to be not the central point of the test part.
If the judgment result is yes, jumping to S104;
and S104, setting the point position of the test part as a grabbing point position.
If not, jumping to S105;
and S105, reading the adjusted point position of the test part again until the point position of the test part is the central point of the test part.
Specifically, by means of the grabbing judgment of the test part point locations, the program can acquire whether the test part point locations are the central points of the test parts, so that the grabbing point locations of each test part can be obtained through repeated adjustment tests, and conditions are provided for part point location judgment of subsequent actual parts.
And S106, calling a grabbing point position, and setting a part number.
When the point position of the test part is finally judged to be the central point of the test part, namely the process that the mechanical claw grabs the test part is balanced, the final point position of the test part can be set as a grabbing point position. Furthermore, after the grabbing point locations are set, part numbers corresponding to the part models can be set for each grabbing point location, so that the grabbing point locations can be distinguished and quickly obtained.
Specifically, when the grasping point position is set to (X, Y), a part number a is set to the grasping point position, and a (X, Y) is formed.
And S107, binding part numbers and grabbing point positions to form preset part information.
The part number and the grabbing point position are bound, so that the grabbing point position can be obtained by reading the part number, and the part number can be obtained by reading the grabbing point position.
For example, after the part number a and the capture point (X, Y) are bound, reading a can obtain (X, Y) at the same time, and reading (X, Y) can obtain a at the same time.
And S108, collecting preset part information to form a part library.
The method comprises the steps of collecting preset part information corresponding to test parts of all models, and storing the preset part information in a preset storage space to form a part library. For example, the parts library may contain A (X, Y), B (O, P), C (J, K), and the like.
Specifically, by setting part numbers to the grabbing point positions and binding the part numbers, the program can automatically form preset part information and further form a part library, so that when actual part point positions are compared in the subsequent process, a user can directly obtain corresponding preset parts from the part library, and comparison of the point positions is facilitated.
Referring to fig. 2, after the part library is set, the actual parts can be grabbed and transported according to the part library, which specifically includes the following steps:
and S200, acquiring actual part information.
Wherein, the actual part information includes part number and part point location. Furthermore, the actual part is placed in the part grabbing area, the part point location of the actual part can be read by the main program, and meanwhile, the user inputs the corresponding part number to the main program according to the model of the actual part so as to extract the corresponding grabbing point location.
S201, preset part information corresponding to the part numbers in the part library is called.
The method comprises the steps of calling a preset part library according to a part number input by a user in actual part information, matching the preset part information containing the part number in the part library according to the part number, and extracting a grabbing point position included in the preset part information.
S202, comparing whether the point position of the part is consistent with the grabbing point position.
And comparing the part positioning of the read actual part with the grabbing point position of the extracted test part to judge whether the part point position is consistent with the grabbing point position. Further, if the judgment is consistent, the placement position of the actual part meets the grabbing requirement; and if the judgment result is inconsistent, the actual placement position of the part is not in accordance with the grabbing requirement.
If the judgment result is yes, jumping to S203;
and S203, forming a grabbing command.
When the part point location is consistent with the grabbing point location, a program can form a grabbing command, and the grabbing command is used for controlling the mechanical claw to be positioned to the part point location. Furthermore, the grabbing command is transmitted to the X linear motor and the Y linear motor so as to drive the mechanical claw by the X linear motor and the Y linear motor.
If not, jumping to S204;
and S204, forming a proofreading instruction.
When the point location of the part is inconsistent with the grabbing point location, the actual part cannot be stably grabbed, and a proofreading instruction is generated and used for proofreading the point location of the part until the point location of the part is consistent with the grabbing point location. Furthermore, the correction instruction is fed back to the intelligent terminal of the user to prompt the user that the actual part placing position is abnormal, and the user can adjust the placing position of the actual part.
Referring to fig. 3, in forming the grab instruction, the following sub-steps are specifically included:
and S203.1, acquiring the mechanical claw point position and calling the part point position.
For example, the gripper point location is (0, 0) and the part point location is (X, Y).
And S203.2, planning a traveling path.
The moving path consists of the moving distance and the moving direction of the mechanical claw from the mechanical claw point location to the part point location.
For example, when the gripper point (0, 0) is located to the part point (X, Y), the moving distance of the X axis is X, and the moving direction is 0 → X; the moving distance of the Y axis is Y, and the moving direction is 0 → Y.
And S203.3, sending the traveling path to a control terminal of the linear motor.
For example, the moving distance X and the moving direction 0 → X to X of the X axis in the sending traveling path, and the moving distance Y and the moving direction 0 → Y to Y of the Y axis in the sending traveling path are used to realize the positioning of the mechanical claw to the grabbing point position by step driving.
Specifically, when the part point location is in the grabbing point location, the program can automatically plan the advancing path of the mechanical claw according to the part point location and the mechanical claw point location, so that the linear motor is transmitted to control the mechanical claw to move according to the planned moving direction and moving distance, and the mechanical claw is automatically and accurately positioned to the part point location to grab.
Referring to fig. 4, in forming the proof reading instruction, the following sub-steps are specifically included:
and S204.1, calling a part point location and a grabbing point location.
For example, the grabbing point location is (X, Y), and the part point location is (X + m, Y + n) (m, n are both greater than 0).
And S204.2, planning and adjusting the path.
The adjusting path consists of the moving distance and the moving direction of the part from the part point location to the grabbing point location.
For example, when the part point (X + m, Y + n) is located to the grabbing point (X, Y), the moving distance of the X axis is m, and the moving direction is X → 0; the moving distance of the Y axis is n, and the moving direction is Y → 0.
And S204.3, sending the display terminal of the path adjusting user.
And the user moves the actual part m in the direction of X → 0 and moves n in the direction of Y → 0 according to the adjustment path so as to move the actual part to the position capable of being grabbed.
Specifically, when the point location of the part is not located in the grabbing point location, the program can automatically plan the adjustment path and feed back the adjustment path to the user, so that the user can move the actual part according to the planned movement direction and movement distance according to the adjustment path, and the position correction of the actual part is facilitated.
And S204.4, responding to an adjustment ending signal sent by the user.
When the user adjusts the placement position of the actual part according to the adjustment path, an adjustment ending signal is sent to the main program, so that subsequent operation can be performed.
And S204.5, repeatedly executing the step of acquiring the actual part information until the point location of the part is consistent with the grabbing point location.
When the main program receives the adjustment ending signal, the part point location of the actual part is obtained again, and then the part point location is compared with the grabbing point location again, and if the part point location of the adjusted actual part is consistent with the grabbing point location, a grabbing instruction is generated for grabbing; and if the part point position of the adjusted actual part is not consistent with the grabbing point position, generating a proofreading instruction again, and performing proofreading adjustment again until the part point position is consistent with the grabbing point position.
Specifically, after the user corrects the position of the actual part, the program can acquire the part point location of the actual part again and compare the part point location with the grabbing point location again, so that the grabbing is performed after the point location of the actual part is corrected without error.
Referring back to fig. 2, after the generation of the proofreading instruction, the point location of the part before the proofreading is also called, which specifically includes the following steps:
and S205, calling the part point position before correction, and setting the part number.
For example, the part point location before the correction is (X + m, Y + n), and the part number Z is set to the part point location before the correction.
And S206, binding the part numbers and the part point positions to form newly added part information and storing the newly added part information in a part library.
The method comprises the steps of binding a part number Z and a part point position (X + m, Y + n) before correction, taking the part point position (X + m, Y + n) as a test part point position in a test stage, controlling a mechanical claw to move the test part point position, judging whether parts at the point position are grabbed by the mechanical claw to be balanced or not, and storing newly-added part information Z (X + m, Y + n) in a part library if the parts are grabbed to be balanced so that a user can conveniently test and grab the point position where the actual part is placed subsequently, thereby expanding the point position in the part library and facilitating quick grabbing of the part.
The implementation principle of the carrying method based on the linear motor in the embodiment of the application is as follows: during the transport, the part point location that utilizes actual part earlier compares with the point location of snatching of presetting the part to judge whether actual part place point location is in the central point that snatchs, and then control gripper location snatchs to the part point location, or adjust the part point location and snatch the point location unanimously and snatch, the accurate center of locating to the part of final manipulator, thereby stably hold the part and carry the part.
Based on the method, the embodiment of the application further discloses a handling system based on the linear motor. Referring to fig. 2, the linear motor-based handling system includes:
the part information acquisition module 1 is used for acquiring part information, and the part information comprises part numbers and part point positions;
the preset part information calling module 2 is used for calling preset part information corresponding to part numbers in the part library according to the part information, and the preset part information comprises grabbing point positions;
the comparison module 3 is used for comparing whether the part point location is consistent with the grabbing point location according to preset part information;
if the judgment result is yes, a grabbing instruction forming module 4 is executed;
the grabbing instruction forming module 4 is used for forming grabbing instructions, and the grabbing instructions are used for controlling the mechanical claw to be positioned to the position of a part point;
if not, executing a proofreading instruction forming module 5;
the proofreading instruction forming module 5 is used for forming a proofreading instruction, and the proofreading instruction is used for proofreading the point location of the part to be consistent with the grabbing point location.
The embodiment of the application also discloses a linear motor based conveying device, which comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and can execute the linear motor based conveying method.
The embodiment of the application also discloses a computer readable storage medium. The computer-readable storage medium has stored therein a computer program that can be loaded by a processor and executes the linear motor-based conveying method as described above, and includes, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above examples are only used to illustrate the technical solutions of the present invention, and do not limit the scope of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from these embodiments without making any inventive step, fall within the scope of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art may still make various combinations, additions, deletions or other modifications of the features of the embodiments of the present invention according to the situation without conflict, so as to obtain different technical solutions without substantially departing from the spirit of the present invention, and these technical solutions also fall within the protection scope of the present invention.
Claims (10)
1. A linear motor based carrying method is characterized by comprising the following steps:
acquiring actual part information, wherein the actual part information comprises part numbers and part point positions;
calling preset part information corresponding to part numbers in a part library according to actual part information, wherein the preset part information comprises grabbing point positions;
according to preset part information, comparing whether the part point location is consistent with the grabbing point location;
if the part position is judged to be the position of the mechanical claw, forming a grabbing instruction, wherein the grabbing instruction is used for controlling the mechanical claw to be positioned to the part position;
if not, forming a proofreading instruction, wherein the proofreading instruction is used for proofreading the point location of the part to be consistent with the grabbing point location.
2. The linear motor based transportation method according to claim 1, wherein if the determination is yes, a gripping command is formed, and the gripping command is used for controlling the mechanical gripper to be positioned in the part point location, and the method includes:
acquiring the point position of the mechanical claw, and calling the point position of a part;
planning a traveling path, wherein the traveling path consists of a moving distance and a moving direction of the mechanical claw from the mechanical claw point location to the part point location;
and sending the traveling path to a control terminal of the linear motor.
3. The linear motor based conveying method according to claim 1, wherein if the determination result is no, a proofreading command is formed, and the proofreading command is used for proofreading the part point position to be consistent with the grabbing point position, and the method comprises the following steps:
adjusting a part point position and a grabbing point position;
planning an adjusting path, wherein the adjusting path consists of a moving distance and a moving direction of a part from the part point location to the grabbing point location;
and sending the display terminal of the user who adjusts the route.
4. The linear motor based conveying method according to claim 3, wherein after the display terminal of the route adjustment user is sent, the method comprises the following steps:
responding to an adjustment ending signal sent by a user;
and repeatedly executing the step of acquiring the actual part information according to the adjustment finishing signal until the point location of the part is consistent with the grabbing point location.
5. The linear motor-based conveying method according to claim 1, wherein the step of acquiring actual part information, the actual part information including part numbers and part point positions, comprises:
reading the point position of the test part;
forming a test instruction according to the point position of the test part, wherein the test instruction is used for controlling the mechanical claw to be positioned to the point position of the test part;
responding to a grabbing result, wherein the grabbing result is generated by the balance degree of the mechanical claw for grabbing the test part;
judging whether the point position of the test part is the central point of the test part or not according to the grabbing result;
if the judgment result is yes, setting the point position of the test part as a grabbing point position;
if not, reading the adjusted point position of the test part again until the point position of the test part is the central point of the test part.
6. The linear motor based transportation method according to claim 5, wherein if it is determined that the test part point is set as the pick point, the method includes:
calling a grabbing point position, and setting a part number;
binding part numbers and grabbing point positions to form preset part information;
and collecting preset part information to form a part library.
7. The linear motor based conveying method according to claim 1, wherein if the judgment result is no, a proofreading command is formed, and the proofreading command is used for proofreading the part point position to be consistent with the grabbing point position, and the method comprises the following steps:
calling the point position of the part before correction, and setting the part number;
binding the part number and the part point location to form newly added part information and storing the newly added part information in a part library.
8. A handling system based on a linear motor, comprising:
the part information acquisition module (1) is used for acquiring part information, and the part information comprises part numbers and part point positions;
the preset part information calling module (2) is used for calling preset part information corresponding to part numbers in a part library according to the part information, and the preset part information comprises grabbing point positions;
the comparison module (3) is used for comparing whether the part point location is consistent with the grabbing point location according to preset part information;
if yes, a grabbing instruction forming module (4) is executed;
the grabbing command forming module (4) is used for forming grabbing commands, and the grabbing commands are used for controlling the mechanical claws to be positioned to the position of a part;
if not, executing a proofreading instruction forming module (5);
the proofreading instruction forming module is used for forming a proofreading instruction (5), and the proofreading instruction is used for proofreading the point location of the part to be consistent with the grabbing point location.
9. The utility model provides a handling device based on linear electric motor which characterized in that: comprising a memory and a processor, said memory having stored thereon a computer program which can be loaded by the processor and which performs the method of any of claims 1 to 7.
10. A computer-readable storage medium characterized by: a computer program which can be loaded by a processor and which performs the method according to any one of claims 1 to 7.
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