CN113753562B - Linear motor-based carrying method, system, device and storage medium - Google Patents
Linear motor-based carrying method, system, device and storage medium Download PDFInfo
- Publication number
- CN113753562B CN113753562B CN202110977600.3A CN202110977600A CN113753562B CN 113753562 B CN113753562 B CN 113753562B CN 202110977600 A CN202110977600 A CN 202110977600A CN 113753562 B CN113753562 B CN 113753562B
- Authority
- CN
- China
- Prior art keywords
- grabbing
- point
- point positions
- test
- instruction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- 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
-
- 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)
-
- 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]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application relates to a carrying method, a carrying system, a carrying device and a storage medium based on a linear motor, and relates to the technical field of linear motor control, wherein the carrying method comprises the following steps: acquiring part information, wherein the part information comprises part numbers and part point positions; according to the part information, calling preset part information corresponding to the part number in the part library, wherein the preset part information comprises grabbing points; according to the preset part information, comparing whether the part point positions are consistent with the grabbing point positions or not; if yes, forming a grabbing instruction, wherein the grabbing instruction is used for controlling the mechanical claw to be positioned to a part point position; if not, forming a checking instruction, wherein the checking instruction is used for checking the point positions of the parts until the point positions are consistent with the grabbing point positions. The manipulator positioning device has the effects of realizing the positioning of the manipulator to the center of the part, stably holding the part and carrying the part.
Description
Technical Field
The present disclosure relates to the technical field of linear motor control, and in particular, to a linear motor-based conveying method, system, device, and storage medium.
Background
A linear motor is a transmission device that converts electrical energy directly into linear motion mechanical energy without any intermediate conversion mechanism. It can be seen as a rotary electric machine which is radially split and formed by generating a plane. Along with the high-speed development of automatic control technology and microcomputer, higher requirements are put on the positioning precision of various automatic control systems, in this case, the requirement of a modern control system cannot be met far enough by a traditional rotating motor and a linear motion driving device formed by a set of conversion mechanisms, and therefore, many countries in the world are researching, developing and applying linear motors, so that the application field of the linear motors is wider and wider.
At present, a large amount of manipulators driven by linear motors are used, for example, in the field of part conveying, the problem of positioning between the manipulator and the part is important, and if the manipulator cannot stably hold the center of the part, part tilting phenomenon is very easy to occur in the conveying process, and the part is easy to drop when serious.
Disclosure of Invention
In order to realize that a manipulator is positioned to the center of a part so as to stably hold the part and convey the part, the application provides a conveying method, a system, a device and a storage medium based on a linear motor.
In a first aspect, the present application provides a linear motor-based handling method, which adopts the following technical scheme:
a linear motor-based handling method, comprising:
acquiring actual part information, wherein the actual part information comprises part numbers and part point positions;
according to the actual part information, calling preset part information corresponding to the part number in a part library, wherein the preset part information comprises grabbing points;
according to the preset part information, comparing whether the part point positions are consistent with the grabbing point positions or not;
if yes, forming a grabbing instruction, wherein the grabbing instruction is used for controlling the mechanical claw to be positioned to a part point position;
if not, forming a checking instruction, wherein the checking instruction is used for checking the point positions of the parts until the point positions are consistent with the grabbing point positions.
Through adopting above-mentioned technical scheme, utilize the part point position of actual part to compare with the snatch point position of preset part to judge whether actual part place position is in the central point that snatchs, and then control gripper location snatchs to the part point position, or adjust the part point position and snatch the consistent centre that snatch the position, realize that the manipulator can pinpoint to the part, thereby stably hold the part and carry the part.
Optionally, if the determination is yes, a grabbing instruction is formed, where the grabbing instruction is used to control the mechanical gripper to be positioned into the part point location, and the method includes:
acquiring the point positions of the mechanical claws and calling the point positions of the parts;
planning a travel path, wherein the travel path consists of a moving distance and a moving direction from the mechanical claw point location to the part point location of the mechanical claw;
and sending the travelling path to a control terminal of the linear motor.
Through adopting above-mentioned technical scheme, when the part point position is in snatchs the position, the procedure alright be according to part point position and gripper point position, automatic planning gripper's travel path to transmit linear motor and remove according to planned direction of movement and travel distance with control gripper, automatic, accurate location snatchs to the part point position.
Optionally, if the determination is no, a checking instruction is formed, where the checking instruction is used to check the part point location to be consistent with the grabbing point location, and the method includes:
the point positions and the grabbing point positions of the parts are called;
planning an adjustment path, wherein the adjustment path consists of a moving distance and a moving direction from part point location to grabbing point location of a part;
and sending the display terminal of the path adjustment user.
By adopting the technical scheme, when the point positions of the parts are not located in the grabbing point positions, 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 parts according to the planned moving direction and moving distance according to the adjusting path, and the position correction of the actual parts is facilitated.
Optionally, after sending the display terminal of the path adjustment user, 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 ending signal until the part point positions are consistent with the grabbing point positions.
By adopting the technical scheme, after the position of the actual part is calibrated by a user, the program can acquire the part point position of the actual part again and compare the part point position with the grabbing point position again, so that the actual part is grabbed after the point position calibration is correct.
Optionally, the acquiring actual part information includes, before part number and part point location,:
reading the point positions of the test parts;
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 grabbing test part;
judging whether the point position of the test part is the center point of the test part according to the grabbing result;
if yes, setting the point positions of the test part as grabbing point positions;
and if not, re-reading the adjusted test part point positions until the test part point positions are the center points of the test parts.
Through adopting above-mentioned technical scheme, utilize the snatch judgement of test part point position, whether the program can obtain test part point position and be the central point of test part to through the snatch point position of repeated adjustment test and obtain each kind of test part, thereby be convenient for provide the condition for the part point position judgement of follow-up actual part.
Optionally, if the determination is yes, setting the point location of the test part as the grabbing point location includes:
taking the grabbing point positions and setting part numbers;
binding the part number and the grabbing point position to form preset part information;
and collecting preset part information to form a part library.
Through adopting above-mentioned technical scheme, utilize to snatch the position and set for the part number and bind, the procedure can be automatic to form and predetermine the part information and further form the part storehouse to when the actual part position is compared to follow-up, the user can directly obtain corresponding preset part from the part storehouse, thereby makes things convenient for the comparison of position.
Optionally, if the determination is no, a checking instruction is formed, where the checking instruction is used to check the part point location until the part point location is consistent with the grabbing point location, and the checking instruction includes:
the point positions of the parts before correction are adjusted and set with part numbers;
binding the part number and the part point position to form new part information and storing the new part information in a part library.
Through adopting above-mentioned technical scheme, when part point position and snatch the position inconsistent, the procedure alright call inconsistent part point position, with this position storage in the part storehouse to the user is followed and is tested the position of placing this actual part and snatches, thereby expands the position in the part storehouse, is convenient for the swift snatch of part.
In a second aspect, the present application provides a handling system based on a linear motor, which adopts the following technical scheme:
a linear motor-based handling system, comprising:
the part information acquisition module is used for acquiring part information, wherein the part information comprises part numbers and part points;
the preset part information retrieving module is used for retrieving preset part information corresponding to the part number in the part library according to the part information, wherein the preset part information comprises grabbing points;
the comparison module is used for comparing whether the point positions of the parts are consistent with the grabbing point positions according to preset part information;
if 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 claws to be positioned to the point positions of the parts;
if not, executing a checking instruction forming module;
the correction instruction forming module is used for forming a correction instruction, and the correction instruction is used for correcting the point positions of the parts to be consistent with the grabbing point positions.
Through adopting above-mentioned technical scheme, utilize the part point position of actual part to compare with the snatch point position of preset part to judge whether actual part place position is in the central point that snatchs, and then control gripper location snatchs to the part point position, or adjust the part point position and snatch the consistent centre that snatch the position, realize that the manipulator can pinpoint to the 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 device comprising a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and performing any one of the methods described above.
Through adopting above-mentioned technical scheme, utilize the part point position of actual part to compare with the snatch point position of preset part to judge whether actual part place position is in the central point that snatchs, and then control gripper location snatchs to the part point position, or adjust the part point position and snatch the consistent centre that snatch the position, realize that the manipulator can pinpoint to the 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 scheme:
a computer readable storage medium storing a computer program capable of being loaded by a processor and executing any one of the methods described above.
Through adopting above-mentioned technical scheme, utilize the part point position of actual part to compare with the snatch point position of preset part to judge whether actual part place position is in the central point that snatchs, and then control gripper location snatchs to the part point position, or adjust the part point position and snatch the consistent centre that snatch the position, realize that the manipulator can pinpoint to the 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:
the part point position of the actual part is compared with the grabbing point position of the preset part to judge whether the point position of the actual part is located at the grabbing center point or not, and then the mechanical claw is controlled to be positioned to the part point position for grabbing, or the part point position is adjusted to be consistent with the grabbing point position for grabbing, so that the mechanical arm can be accurately positioned to the center of the part, and the part is stably grabbed and carried.
Drawings
FIG. 1 is a flowchart of a part library forming step in an embodiment of the present application.
Fig. 2 is a flow chart of steps of a handling method in an embodiment of the present application.
Fig. 3 is a flowchart of the substep S203 in the embodiment of the present application.
Fig. 4 is a flowchart of the substep S204 in the embodiment of the present application.
Fig. 5 is a block diagram of a handling system in an embodiment of the present application.
Reference numerals illustrate: 1. the part information acquisition module; 2. a preset part information retrieving module; 3. comparison module; 4. a grabbing instruction forming module; 5. the collation instruction forms a module.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-5.
The embodiment of the application discloses a carrying method based on a linear motor.
Referring to fig. 1, before carrying the parts, a parts library is required to be built, which specifically includes the following steps:
s100, reading the point positions of the test parts.
The part carrying device comprises a feeding table, a part grabbing area is arranged at the table top of the feeding table, and a high-definition camera is arranged above the part grabbing area so as to shoot and form an image of the part at the part grabbing area and send the image to the central processing unit.
Further, the user places the test parts of all types in the part grabbing area, and shoots the test parts of all types by using a high-definition camera to form images, so that the center point of the test part is determined, and the center point transversely extends to two sides of the test part to form the test part point positions of the test part.
S101, forming a test instruction.
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. Further, after the test part point position of the test part is read, the main program forms a test instruction according to the test part point position, and the test instruction is used for controlling the mechanical claw to be positioned to the test part point position.
Specifically, when the point position of the test part is (X, Y), the point position of the mechanical claw is (0, 0), the X linear motor can drive the mechanical claw to move to the X point position, and the Y linear motor can drive the mechanical claw to move to the Y point position, so that the mechanical claw moves to the (X, Y) point position to grasp the part.
S102, responding to the grabbing result.
When the mechanical claw is moved to (X, Y), the part can be grabbed, and after 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 grabbing test part can be judged by visual inspection and self experience of a user, and can be measured by a test balance degree measuring tool.
S103, judging whether the point position of the test part is the center point of the test part.
After the main program obtains the grabbing result, the grabbing result is analyzed, and the grabbing result mainly comprises 'balance' and 'unbalance'. When the information of the grabbing result is obtained as balance, the process of grabbing the test part by the mechanical claw is balanced and stable, and the point position of the test part can be judged to be the center point of the test part; when the information of the grabbing result is unbalanced, the process of grabbing the test part by the mechanical claw is unbalanced and stable, and the point position of the test part can be judged to be not the center point of the test part.
If yes, jumping to S104;
s104, setting the point positions of the test part as grabbing point positions.
If not, jumping to S105;
s105, re-reading the adjusted test part point positions until the test part point positions are the center points of the test parts.
Specifically, by utilizing the grabbing judgment of the point positions of the test parts, the program can acquire whether the point positions of the test parts are the center points of the test parts or not so as to obtain the grabbing point positions of each test part through repeated adjustment tests, thereby being convenient for providing conditions for judging the point positions of the parts of the subsequent actual parts.
S106, retrieving the grabbing point positions and setting part numbers.
When the final test part point position is determined to be the center point of the test part, namely, the process of grabbing the test part by the mechanical claw is balanced, the final test part point position can be set as a grabbing point position. Furthermore, after the grabbing point positions are set, part numbers corresponding to the part types can be set for each grabbing point position, so that distinguishing and quick acquisition of the grabbing point positions can be facilitated.
Specifically, when the grip point is set to (X, Y), the part number a is set to the grip point, and a (X, Y) is formed.
And S107, binding the part numbers and the grabbing points to form preset part information.
The part number and the grabbing point are bound to obtain the grabbing point by reading the part number, and the part number can be obtained by reading the grabbing point.
For example, after binding the part number a and the grabbing point (X, Y), reading a can obtain (X, Y) at the same time, and reading (X, Y) can obtain a at the same time.
S108, collecting preset part information to form a part library.
The method comprises the steps of collecting preset part information corresponding to all types of test parts, and storing the information in a preset storage space to form a part library. For example, a (X, Y), B (O, P), C (J, K), etc. may be included within the parts library.
Specifically, by setting part numbers to the grabbing point positions and binding, the program can automatically form preset part information and further form a part library, so that when actual part point positions are compared later, a user can directly acquire corresponding preset parts from the part library, and the point positions are compared conveniently.
Referring to fig. 2, after setting the parts library, the actual parts can be grabbed and carried according to the parts library, which specifically comprises the following steps:
s200, acquiring actual part information.
Wherein the actual part information includes part numbers and part points. Further, the actual parts are placed in the part grabbing area, so that part points of the actual parts can be read by the main program, and meanwhile, a user inputs corresponding part numbers to the main program according to the model of the actual parts so as to extract the corresponding grabbing points.
S201, acquiring preset part information corresponding to the part number in the part library.
The method comprises the steps of calling a preset part library according to part numbers input by a user in actual part information, matching the part library with preset part information containing the part numbers according to the part numbers, and extracting grabbing points contained in the preset part information.
S202, comparing whether the part point positions are consistent with the grabbing point positions.
And comparing the extracted grabbing points of the test part according to the read part positioning of the actual part to judge whether the part points are consistent with the grabbing points. Further, if the judgment is consistent, the placement position of the actual part meets the grabbing requirement; if the actual parts are inconsistent, the placement positions of the actual parts do not meet the grabbing requirements.
If yes, jumping to S203;
s203, forming a grabbing instruction.
When the part point positions are consistent with the grabbing point positions, the program can form grabbing instructions, and the grabbing instructions are used for controlling the mechanical claws to be positioned to the part point positions. Further, the grabbing instructions are transmitted to the X linear motor and the Y linear motor so as to drive the mechanical claws.
If not, jumping to S204;
s204, forming a checking instruction.
When the part point position is inconsistent with the grabbing point position, stable grabbing of the actual part cannot be performed, and further a correction instruction is generated, and the correction instruction is used for correcting the part point position until the part point position is consistent with the grabbing point position. Further, the correction instruction is fed back to the intelligent terminal of the user so as to prompt the user that the actual part placement position is abnormal, and the user can adjust the placement position of the actual part.
Referring to fig. 3, in forming a grab instruction, the method specifically includes the following sub-steps:
s203.1, acquiring the mechanical claw point positions and calling the part point positions.
For example, the gripper point is (0, 0), and the part point is (X, Y).
S203.2, planning a traveling path.
The travel 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.
For example, when the mechanical claw point positions (0, 0) are positioned to the part point positions (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, transmitting the traveling path to a control terminal of the linear motor.
For example, the linear motor with the moving distance X and the moving direction 0-X to X of the X axis in the transmitting traveling path and the linear motor with the moving distance Y and the moving direction 0-Y to Y of the Y axis in the transmitting traveling path are used for realizing the positioning of the step-by-step driving mechanical claw to the grabbing point.
Specifically, when the part point is at the grabbing point, the program can automatically plan the advancing path of the mechanical claw according to the part point and the mechanical claw point, 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 for grabbing.
Referring to fig. 4, in forming a collation instruction, specifically comprising the sub-steps of:
s204.1, calling part point positions and grabbing point positions.
For example, the grabbing point is (X, Y), the part point is (X+m, Y+n) (m, n are larger than 0).
S204.2, planning an adjustment path.
The adjusting path consists of a moving distance and a moving direction from the part point location to the grabbing point location.
For example, when the part point positions (X+m, Y+n) are positioned to the grabbing point positions (X, Y), the moving distance of the X axis is m, and the moving direction is X-0; the Y-axis movement distance is n, and the movement direction is Y-0.
S204.3, sending the display terminal of the path adjustment user.
The user moves the actual part m along the direction of X-0 and moves the actual part n along the direction of Y-0 according to the adjustment path so as to realize that the actual part is moved to a grippable position.
Specifically, when the point position of the part is not located at the grabbing point position, the program can automatically program an adjusting path and feed back the adjusting path to a 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.
S204.4, responding to an adjustment ending signal sent by a user.
When the user adjusts the placement position of the actual part according to the adjustment path, an adjustment end signal is sent to the main program so as to carry out subsequent operation.
S204.5, repeatedly executing the step of acquiring the actual part information until the part point positions are consistent with the grabbing point positions.
When the main program receives the adjustment end signal, the part point position of the actual part is obtained again, and is compared with the grabbing point position again, and if the adjusted part point position of the actual part is consistent with the grabbing point position, a grabbing instruction is generated for grabbing; if the part point positions of the adjusted actual part are not consistent with the grabbing point positions, generating a correction instruction again, and correcting and adjusting again until the part point positions are consistent with the grabbing point positions.
Specifically, after the user corrects the position of the actual part, the program can re-acquire the part point position of the actual part, and re-compare the part point position with the grabbing point position, so as to realize that the actual part point position is grabbed after being calibrated without errors.
Referring back to fig. 2, after the calibration command is formed, the part point positions before calibration are also adjusted, which specifically includes the following steps:
s205, adjusting the point positions of the parts before correction, and setting part numbers.
For example, the part point before the calibration is (x+m, y+n), and the part number Z is set to the part point before the calibration.
S206, binding the part numbers and the part points to form newly-added part information and storing the newly-added part information in a part library.
Binding a part number Z with 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 the part of the mechanical claw for grabbing the point position is balanced or not, and storing newly-added part information Z (X+m, Y+n) in a part library if the part is balanced, so that a user can carry out test grabbing on the point position of the actual part, 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 carrying, the part point position of the actual part is compared with the grabbing point position of the preset part to judge whether the point position of the actual part is located at the grabbing center point or not, and then the mechanical claw is controlled to be positioned to the part point position for grabbing, or the part point position is adjusted to be consistent with the grabbing point position for grabbing, and finally the mechanical arm is accurately positioned to the center of the part, so that the part is stably grabbed and the part is carried.
Based on the method, the embodiment of the application also discloses a carrying 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, wherein the part information comprises a part number and a part point position;
the preset part information retrieving module 2 is used for retrieving preset part information corresponding to the part number in the part library according to the part information, wherein the preset part information comprises a grabbing point position;
the comparison module 3 is used for comparing whether the point positions of the parts are consistent with the grabbing point positions according to preset part information;
if yes, executing a grabbing instruction forming module 4;
the grabbing instruction forming module 4 is used for forming grabbing instructions, and the grabbing instructions are used for controlling the mechanical claws to be positioned to the point positions of the parts;
if not, executing a checking instruction forming module 5;
the correction instruction forming module 5 is used for forming a correction instruction, and the correction instruction is used for correcting the point positions of the parts to be consistent with the grabbing point positions.
The embodiment of the application also discloses a linear motor-based conveying device, which comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute the linear motor-based conveying method.
The embodiment of the application also discloses a computer readable storage medium. A computer-readable storage medium has stored therein a computer program that can be loaded by a processor and that performs the linear motor-based handling method as described above, the computer-readable storage medium including, for example: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention. It will be apparent that the described embodiments are merely some, but not all, embodiments of the invention. Based on these embodiments, all other embodiments that may be obtained by one of ordinary skill in the art without inventive effort are within the scope of the invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art may still combine, add or delete features of the embodiments of the present invention or make other adjustments according to circumstances without any conflict, so as to obtain different technical solutions without substantially departing from the spirit of the present invention, which also falls within the scope of the present invention.
Claims (8)
1. A linear motor-based handling method, comprising:
reading the point positions of the test parts;
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 grabbing test part;
judging whether the point position of the test part is the center point of the test part according to the grabbing result;
the point positions of the test parts are determined to be the center points of the test parts, and then the point positions of the test parts are set to be grabbing point positions;
taking the grabbing point positions and setting part numbers;
binding the part number and the grabbing point position to form preset part information;
collecting preset part information to form a part library;
determining that the point position of the test part is not the center point of the test part, and re-reading the adjusted point position of the test part until the point position of the test part is the center point of the test part;
acquiring actual part information, wherein the actual part information comprises part numbers and part point positions;
according to the actual part information, calling preset part information corresponding to the part number in a part library, wherein the preset part information comprises grabbing points;
according to the preset part information, comparing whether the part point positions are consistent with the grabbing point positions or not;
if yes, forming a grabbing instruction, wherein the grabbing instruction is used for controlling the mechanical claw to be positioned to a part point position;
if not, forming a checking instruction, wherein the checking instruction is used for checking the point positions of the parts until the point positions are consistent with the grabbing point positions.
2. The linear motor-based handling method according to claim 1, wherein if the determination is yes, a grabbing instruction is formed, the grabbing instruction is used for controlling the mechanical gripper to be positioned into a part point location, and the method comprises the following steps:
acquiring the point positions of the mechanical claws and calling the point positions of the parts;
planning a travel path, wherein the travel path consists of a moving distance and a moving direction from the mechanical claw point location to the part point location of the mechanical claw;
and sending the travelling path to a control terminal of the linear motor.
3. The linear motor-based handling method according to claim 1, wherein if the determination is negative, a calibration command is formed, and the calibration command is used for calibrating the part point to be consistent with the grabbing point, and the method comprises the steps of:
the point positions and the grabbing point positions of the parts are called;
planning an adjustment path, wherein the adjustment path consists of a moving distance and a moving direction from part point location to grabbing point location of a part;
and sending the display terminal of the path adjustment user.
4. A method for handling a linear motor according to claim 3, wherein after the step of sending the display terminal of the path adjustment user, the method comprises:
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 ending signal until the part point positions are consistent with the grabbing point positions.
5. The linear motor-based handling method according to claim 1, wherein if the determination is negative, a calibration command is formed, and the calibration command is used for calibrating the part point to be consistent with the grabbing point, and then the method comprises the following steps:
the point positions of the parts before correction are adjusted and set with part numbers;
binding the part number and the part point position to form new part information and storing the new part information in a part library.
6. A linear motor-based handling system, comprising:
the part information acquisition module (1) is used for acquiring part information, wherein the part information comprises part numbers and part points;
the preset part information retrieving module (2) is used for retrieving preset part information corresponding to the part number in the part library according to the part information, wherein the preset part information comprises grabbing points;
the comparison module (3) is used for comparing whether the point positions of the parts are consistent with the grabbing point positions according to the preset part information;
if yes, executing a grabbing instruction forming module (4);
the grabbing instruction forming module (4) is used for forming grabbing instructions, and the grabbing instructions are used for controlling the mechanical claws to be positioned to the point positions of the parts;
if not, executing a checking instruction forming module (5);
the correction instruction forming module (5) is used for forming a correction instruction, and the correction instruction is used for correcting the point positions of the parts to be consistent with the grabbing point positions.
7. Handling device based on linear electric motor, its characterized in that: comprising a memory and a processor, said memory having stored thereon a computer program capable of being loaded by the processor and performing the method according to any of claims 1 to 5.
8. A computer-readable storage medium, characterized by: a computer program being stored which can be loaded by a processor and which performs the method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110977600.3A CN113753562B (en) | 2021-08-24 | 2021-08-24 | Linear motor-based carrying method, system, device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110977600.3A CN113753562B (en) | 2021-08-24 | 2021-08-24 | Linear motor-based carrying method, system, device and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113753562A CN113753562A (en) | 2021-12-07 |
| CN113753562B true CN113753562B (en) | 2023-07-25 |
Family
ID=78791050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110977600.3A Active CN113753562B (en) | 2021-08-24 | 2021-08-24 | Linear motor-based carrying method, system, device and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113753562B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159119A (en) * | 2018-09-05 | 2019-01-08 | 张军强 | Method for controlling robot, device, storage medium and electronic equipment |
| CN111319044A (en) * | 2020-03-04 | 2020-06-23 | 达闼科技（北京）有限公司 | Article grabbing method and device, readable storage medium and grabbing robot |
| CN113232019A (en) * | 2021-05-13 | 2021-08-10 | 中国联合网络通信集团有限公司 | Mechanical arm control method and device, electronic equipment and storage medium |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030687A (en) * | 2016-02-04 | 2017-08-11 | 上海晨兴希姆通电子科技有限公司 | Position bias detecting method and module, crawl position calibration method, grasping system |
| CN108381509B (en) * | 2018-03-19 | 2021-03-02 | 京东方科技集团股份有限公司 | Intelligent grabbing device, control method thereof and intelligent grabbing control system |
| CN109333536A (en) * | 2018-10-26 | 2019-02-15 | 北京因时机器人科技有限公司 | A kind of robot and its grasping body method and apparatus |
| RU2700246C1 (en) * | 2019-03-21 | 2019-09-20 | Публичное Акционерное Общество "Сбербанк России" (Пао Сбербанк) | Method and system for capturing an object using a robot device |
| CN112775959A (en) * | 2020-07-24 | 2021-05-11 | 上海芯翌智能科技有限公司 | Method and system for determining grabbing pose of manipulator and storage medium |
| CN112847346B (en) * | 2020-12-30 | 2023-06-23 | 深兰智能科技(上海)有限公司 | Method, device and equipment for controlling mechanical arm and computer readable storage medium |
| CN114346821A (en) * | 2022-01-06 | 2022-04-15 | 上海节卡机器人科技有限公司 | Workpiece processing method and system and readable storage medium |
-
2021
- 2021-08-24 CN CN202110977600.3A patent/CN113753562B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159119A (en) * | 2018-09-05 | 2019-01-08 | 张军强 | Method for controlling robot, device, storage medium and electronic equipment |
| CN111319044A (en) * | 2020-03-04 | 2020-06-23 | 达闼科技（北京）有限公司 | Article grabbing method and device, readable storage medium and grabbing robot |
| CN113232019A (en) * | 2021-05-13 | 2021-08-10 | 中国联合网络通信集团有限公司 | Mechanical arm control method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113753562A (en) | 2021-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8380342B2 (en) | Workpiece removing device and method | |
| JP2016530507A (en) | Method and handling device for handling sample tubes | |
| CN110039539B (en) | Method, computer readable medium and system for carrying operation based on automatic carrying trolley | |
| JP7427258B2 (en) | Device and method for calibrating a robotic cell | |
| CN110666359A (en) | Laser marking method, marking device and computer readable storage medium | |
| CN113753562B (en) | Linear motor-based carrying method, system, device and storage medium | |
| CN113379011A (en) | Pose correction method, device, equipment and storage medium | |
| CN106526367A (en) | Electronic equipment testing method and device | |
| CN113734784B (en) | Feeding and discharging control device and control method | |
| CN113919794A (en) | Method for rapidly analyzing lifting capacity of components in batches | |
| CN113763462A (en) | Method and system for automatically controlling feeding | |
| CN117484511A (en) | Detection control method, system and computer readable storage medium | |
| US20240103064A1 (en) | Product line testing method and system | |
| CN116214531B (en) | Path planning method and device for industrial robot | |
| CN112276508A (en) | Memory card assembling equipment and assembling method | |
| CN105521950A (en) | Method and device for automatically sorting pistons and regularly placing pistons | |
| CN116125253A (en) | High-efficiency high-precision chip automatic test system and test method | |
| CN114266822B (en) | Workpiece quality inspection method and device based on binocular robot, robot and medium | |
| CN113172003B (en) | Automatic detection method, controller and detection system for mobile power supply | |
| CN112557921A (en) | Battery charging and discharging test method, device, equipment and storage medium | |
| CN208187946U (en) | A kind of display screen detection device | |
| CN108789405B (en) | Automatic test path planning method and system based on six-axis mechanical arm | |
| Mathiesen et al. | Towards flexible pcb assembly using simulation-based optimization | |
| CN113146642B (en) | Mechanical arm control method and device for oil tank plate machining and intelligent terminal | |
| WO2011119983A2 (en) | Biochemical oxygen demand automatic measurement device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |