CN113843825A - Tracking processing method and system for conveyor belt - Google Patents
Tracking processing method and system for conveyor belt Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses a tracking processing method and a tracking processing system for a conveyor belt, wherein the method comprises the following steps: acquiring the real-time position of a current workpiece processed by the robot; judging whether the real-time position exceeds a processable range; if not, returning to the step of acquiring the real-time position of the current workpiece processed by the robot; if so, stopping the robot to process the current workpiece, controlling the robot to track the subsequent workpiece behind the current workpiece, and giving an alarm. According to the invention, after the current workpiece is obtained to exceed the processable range, the robot is not stopped, but is controlled to stop processing the current workpiece while alarming, and the subsequent workpiece is processed. The invention controls the robot to continue processing while alarming, can avoid a plurality of subsequent workpieces from being ignored, and can improve the production efficiency when the tracking function of the conveyor belt is applied.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a conveyor belt tracking processing method. In addition, the invention also relates to a conveyor belt tracking processing system.
Background
With the rapid development of economy, the conveyor belt tracking function of the robot is more and more applied to an industrial field, for example, the robot moves along with the conveyor belt and operates a workpiece on the conveyor belt to complete the application of processing, stacking, welding and the like of the moving workpiece. The so-called conveyor belt tracking function is that a TCP (Tool Center Point) of the robot can automatically follow a moving workpiece on the conveyor belt, when the conveyor belt runs, the robot can normally operate the workpiece, and the TCP moves relative to the moving workpiece.
During the tracking of the conveyor belt, the TCP of the robot can move relative to the moving workpiece on the conveyor belt according to the programmed setting. When the conveyor belt tracks, the conveyor belt is generally controlled by a power mechanism irrelevant to a robot control system, an external encoder tracks and records the motion of the conveyor belt, the recorded data is transmitted to a robot controller, then the controller of the robot calculates the real-time position of a moving workpiece on the conveyor belt according to the received data, the real-time position of the moving workpiece on the conveyor belt is inversely solved to obtain the angle corresponding to each axis of the robot, and finally the robot is controlled to track the moving workpiece on the conveyor belt in real time.
At present, when a robot conveyor belt tracking function is applied, if a workpiece exceeds a processing position but the workpiece is not processed yet, a robot system alarms and prompts and stops the robot to move due to safety or other aspects. The movement will continue as the conveyor belt is controlled externally. After the operating robot clears the warning, the system resumes transporting the upper workpiece tracking and processing.
However, when the robot stops moving due to the alarm, the system starts the belt tracking procedure again from the beginning after the alarm is processed, which wastes time and reduces efficiency. More seriously, during this period, the belt continues to move, and some of the work pieces have already passed the start-up zone where the work pieces are being machined, resulting in some of the work pieces entering the area to be machined, but not being machined.
In summary, the problem to be solved by those skilled in the art is how to avoid the decrease of the processing efficiency and the omission of processing the subsequent workpiece.
Disclosure of Invention
In view of the above, the present invention provides a method for tracking a conveyor belt, which can avoid the problem of low efficiency of the processing process.
It is another object of the present invention to provide a conveyor tracking handling system for carrying out the above method.
In order to achieve the above purpose, the invention provides the following technical scheme:
a conveyor belt tracking processing method, comprising:
acquiring the real-time position of a current workpiece processed by the robot;
judging whether the real-time position exceeds a processable range; if not, returning to the step of acquiring the real-time position of the current workpiece processed by the robot; if so, stopping the robot to process the current workpiece, controlling the robot to track the subsequent workpiece behind the current workpiece, and giving an alarm.
Preferably, after the warning is issued, the method further includes:
acquiring a control instruction in real time;
if no instruction or no shutdown instruction exists, controlling the robot to track a subsequent workpiece behind the current workpiece; and if the command is an emergency stop command, controlling the robot to stop working.
Preferably, after the control robot stops working, the method further includes:
starting or keeping starting to receive an instruction, and after receiving a robot starting instruction, controlling the robot to acquire information of workpieces in a related area, and associating and tracking one workpiece;
wherein, the related area is an area from a starting related point to a related end point in the transmission direction.
Preferably, before acquiring the real-time position of the current workpiece processed by the robot, the method includes:
and acquiring real-time coordinates of the workpiece in the associated area, acquiring the relative position of the robot according to a coordinate system of the real-time coordinates, controlling the robot to track the workpiece according to the relative position, and processing the workpiece, wherein the workpiece is taken as the current workpiece.
Preferably, the processable range includes a region from a monitoring point of the synchronous switch to a robot processing end point;
the synchronous switch is a monitoring device used for recording workpieces into a processing queue, and the workpieces are recorded into the processing queue after passing through the monitoring points.
A conveyor tracking processing system for use with a robot for tracking and processing a workpiece on a conveyor, the conveyor tracking processing system comprising:
the acquisition device is used for acquiring the real-time position of the current workpiece processed by the robot;
the processing device is in signal connection with the acquisition device and is used for receiving the real-time position and judging whether the real-time position exceeds a processable range; if not, returning to the step of acquiring the real-time position of the current workpiece processed by the robot; if so, stopping the robot to process the current workpiece, controlling the robot to track the subsequent workpieces behind the current workpiece, and controlling an alarm device to give an alarm.
Preferably, the processing device comprises a shutdown processing module;
the shutdown processing module is used for acquiring a control instruction in real time after the alarm device gives an alarm, and controlling the robot to track a subsequent workpiece behind the current workpiece if no instruction is given or a shutdown-free instruction is received; and if the command is an emergency stop command, controlling the robot to stop working.
Preferably, the processing device comprises a starting processing module, wherein the starting processing module is used for starting or keeping starting the function of receiving the instruction, and controlling the robot to acquire information of the workpiece in the associated area after receiving the starting instruction of the robot, and associating and tracking one workpiece;
wherein, the related area is an area from a starting related point to a related end point in the transmission direction.
Preferably, the system also comprises a correlation module, a tracking module and a processing control module;
the association module is used for acquiring real-time coordinates of the workpieces in the association area and acquiring the relative position of the robot according to a coordinate system of the real-time coordinates;
the tracking module is used for controlling the robot to track the workpiece according to the relative position and sending a signal to the processing control module after the tracking state is achieved;
and the processing control module is used for processing the workpiece after receiving the signal and taking the workpiece as the current workpiece.
Preferably, the processing device is in signal connection with a synchronous switch, and the synchronous switch is arranged on one side of the conveyor belt;
the processing range comprises a region from a monitoring point of a synchronous switch to a processing end point of the robot, the synchronous switch is a monitoring device used for recording workpieces into a processing queue, and the workpieces are recorded into the processing queue after passing through the monitoring point.
According to the method and the system provided by the invention, after the current workpiece is obtained to exceed the processable range, the robot is not stopped, but is controlled to stop processing the current workpiece and turn to process the subsequent workpiece while alarming. Compared with the prior art, the alarm only serves as a reminder, the robot is controlled to continue processing while alarming, a plurality of subsequent workpieces can be prevented from being ignored, and the production efficiency when the tracking function of the conveyor belt is applied can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic view of a conveyor tracking system in accordance with the present invention;
FIG. 2 is a flow chart of a first embodiment of a conveyor tracking processing method provided by the present invention;
FIG. 3 is a flow chart of a second embodiment of a conveyor tracking processing method provided by the present invention;
fig. 4 is a schematic diagram of the structure of the belt tracking process provided by the present invention.
In FIG. 1, reference numerals 1-7 are 7 index points in the conveyor belt system, respectively;
in fig. 4, reference numeral 10 denotes an acquisition device, 11 denotes a processing device, 12 denotes a correlation module, 13 denotes a tracking module, and 14 denotes a processing control module.
Detailed Description
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.
The core of the invention is to provide a conveyor belt tracking processing method which can avoid the problem of low efficiency of the processing process.
Another core of the present invention is to provide a conveyor tracking handling system for implementing the above method.
The invention provides a conveyor belt tracking processing method which is mainly used for controlling a robot in the processes of association, tracking and processing of workpieces on a conveyor belt by the robot, and the conveyor belt tracking processing method specifically comprises the following steps:
and step S1, acquiring the real-time position of the current workpiece processed by the robot.
Step S2, judging whether the real-time position exceeds the processable range; if not, returning to the step of acquiring the real-time position of the current workpiece processed by the robot; if so, stopping the robot to process the current workpiece, controlling the robot to track the subsequent workpiece behind the current workpiece, and giving an alarm.
The robot and the conveyor belt are usually two independent systems, and the conveyor belt is generally controlled by a power mechanism independent of a robot controller.
In step S1, that is, the robot is already in a state of processing the current workpiece, the position of the current workpiece is obtained, and the position may be an absolute position or a relative position to the coordinate system where the robot is located.
Optionally, the real-time position may be obtained directly by an encoder externally connected to the conveyor belt. The conveyer belt usually connects the encoder tracking record conveyer belt's motion outward, and the encoder can be with data transmission to the controller of robot, and then the robot can be based on the data that receive, calculates the real-time position of the removal work piece on the conveyer belt. Alternatively, the acquisition operation may be implemented in other ways, depending on the working relationship between the different types of robots and the conveyor belt.
In step S2, the processable range refers to a range in which the robot can perform signal association, position tracking, and processing on the workpiece, that is, a range in which the robot can operate the workpiece in the conveying direction of the conveyor belt, and the workpiece is within the range, that is, can be operated by the robot, and if the workpiece does not enter the range or has moved out of the range, it is considered that the robot is affected by the position, the length, and the like, and cannot process the workpiece any more.
In step S2, if the real-time position of the workpiece exceeds the processable range, the robot is controlled to stop processing the current workpiece, and an alarm is issued to remind the user that the current workpiece is not processed, and at the same time, the robot starts to prepare to process a subsequent workpiece behind the current workpiece, where the subsequent workpiece refers to the next workpiece for the transmission of the conveyor belt, or may be understood as any workpiece behind the current workpiece, preferably the first workpiece behind the current workpiece, so that only the workpiece exceeding the maximum processing area is not processed, and other workpieces on the conveyor belt are tracked and processed according to the normal flow, thereby reducing the time waste of the robot due to the alarm stop, and reducing the production efficiency in case that there is a workpiece that is not processed.
If the real-time position of the workpiece does not exceed the processable range, the robot may continue to process the current workpiece and return to step S1 until the current workpiece is processed or the current workpiece moves out of the processable range.
In this embodiment, after the current workpiece is obtained to be beyond the processable range, the robot is not stopped, but is controlled to stop processing the current workpiece and turn to process a subsequent workpiece while alarming. In the prior art, a direct-closing robot is adopted, and the conveyor belt does not stop, so that a plurality of subsequent workpieces are still conveyed and cannot be processed, and finally, the workpieces exceed the processing range, and the processing omission of the workpieces is caused. Compared with the prior art, the alarm only serves as a reminder, the robot is controlled to continue to process while alarming, a plurality of follow-up workpieces can be prevented from being ignored, and the production efficiency of the conveyor belt tracking function in application can be improved.
Optionally, if the robot is in the state of being associated with the current workpiece when the current workpiece is machined, the robot may be stopped from machining the current workpiece and simultaneously disassociated from the current workpiece, so as to facilitate the association with the next workpiece.
Optionally, the conveyor belt drives the workpiece to move, and then enters the association area and the processing area, and the robot can associate the workpiece with the processing area after entering the association area, so that position data is obtained, the robot can track the workpiece conveniently, and the robot can process the workpiece after entering the processing area.
On the basis of the above embodiment, after the warning is issued in step S2, the method further includes the following steps:
and step S3, acquiring a control command in real time.
Step S4, if no command or no shutdown command exists, controlling the robot to associate and track the subsequent workpieces behind the current workpiece; and if the command is an emergency stop command, controlling the robot to stop working.
Since the warning is issued in step S2, it is assumed that the user has received the warning information, and at this time, the user may not perform any operation and let the robot continue to operate, or the user may perform a shutdown operation on the robot for a specific need.
It should be noted that the control instruction may be a control instruction sent to the robot controller by the user after the alarm occurs, so that the user can perform a targeted process according to the current situation.
Or the control instruction is a preset instruction stored in the system by a user, and the preset instruction may be an instruction set when the robot is started up for one time, for example, the user may set that, in a machining and manufacturing process performed after the robot is started up for this time, whether the robot is stopped after an alarm occurs. Correspondingly, the control instruction is pre-stored in a memory or a program, and the real-time acquisition in the step 3 is to acquire the control instruction from the memory or the program.
Or the control instruction is a preset instruction stored before processing a certain workpiece, for example, the robot needs to process different types of workpieces, and the control instruction is set to determine whether to stop the robot after an alarm occurs when one or more parts are processed. Correspondingly, the control instruction is pre-stored in a memory or a program, and the real-time acquisition in the step 3 is to acquire the control instruction from the memory or the program.
Alternatively, the user may also implement the emergency stop by using an existing emergency stop operating device of the robot apparatus.
The scheme provided by the embodiment gives the user the decision of whether to stop the machine after alarming, can help the user to make targeted operation when processing different workpieces, namely, the workpieces are prevented from being ignored, and meanwhile, the use range of user operation is also ensured.
On the basis of the above embodiment, after the robot is controlled to stop working in step S4, the method further includes the following specific steps:
and step S5, opening or keeping opening to receive the command, and after receiving the robot starting command, controlling the robot to acquire the information of the workpieces in the associated area, and associating and tracking one workpiece.
Wherein, the related area is an area from the initial related point to the related end point in the transmission direction.
The correlation operation needs to be satisfied that the robot is currently in an unprocessed state and a workpiece is in the correlation area. The related area is located at the rear side of the processing area, and the related workpiece can be processed by the robot.
On the basis of the above embodiment, before acquiring the real-time position of the current workpiece processed by the robot, that is, determining that the current workpiece is to be processed, the method specifically includes the following steps:
and step S0, acquiring real-time coordinates of the workpiece in the associated area, acquiring the relative position of the robot according to a coordinate system of the real-time coordinates, controlling the robot to track the workpiece according to the relative position, and processing the workpiece to use the workpiece as the current workpiece.
After the robot is started or the last workpiece is machined, the workpieces in the relevant areas need to be relevant, and the relevant process specifically includes the steps of obtaining real-time coordinates of the workpieces, solving the relation between the position of the machining center point of the robot and the spatial position of the workpieces through the real-time coordinates, and controlling the moving part of the robot to move and track so as to be close to or aligned with the workpieces. The workpiece moving in the association area mainly realizes the association operation with the robot.
In one embodiment, referring to fig. 1, fig. 1 illustrates a conveyor belt and a robot arrangement for a method of tracking a conveyor belt. In the figure, 1, 2, 3, 4, 5, 6 and 7 are respectively a calibration point 1, a calibration point 2, a calibration point 3, a calibration point 4, a calibration point 5, a calibration point 6 and a calibration point 7.
In fig. 1, a is a synchronous switch located at the position of the calibration point 6, B is a moving workpiece coordinate system located at the position of the calibration point 1, C is a minimum distance associated with the workpiece coordinate system located between the calibration point 6 and the calibration point 5, the workpiece coordinate system can be associated only when the workpiece enters the minimum distance in a normal case, D is a processing start area, specifically an area from the calibration point 5 to the calibration point 3, E is a robot work area, specifically the calibration point 3 and a part in front of the calibration point, F is a queue tracking distance, which is an area from the calibration point 7 to the calibration point 5, that is, a distance from a zero position of the processing start area to the synchronous switch, G is a maximum distance associated with the workpiece coordinate system, and the workpiece coordinate system can be automatically released after the workpiece exceeds the maximum distance.
When the transmission belt drives the workpiece to move, the workpiece firstly passes through the synchronous trigger switch, the synchronous trigger switch is used for detecting or sensing the workpiece, the workpiece can be counted into the queue of the encoder after passing through, and the encoder can record the pulse number of the transmission belt driver at the moment, so that the queue and the position can be obtained.
After the workpiece enters the D-processing starting area, if the tracking function of the robot is started, the workpiece is in a relevant state, and a controller of the robot can calculate a relevant coordinate system of the relevant workpiece according to the position information of the movement of the conveyor belt, which is transmitted by the encoder. The controller of the robot then calculates the positions of the TCP points or axes of the robot based on the coordinate system updated at this moment, and controls the TCP points to follow the movement of the moving workpiece, i.e. to track the movement of the workpiece.
When the workpiece moves beyond the D-process start area and is not yet associated, the robot will not re-associate the workpiece; when the associated workpiece exceeds the associated maximum distance of the G-workpiece coordinate system or the associated minimum distance of the C-workpiece coordinate system, then the associated workpiece is released, i.e. disassociated. Additionally, if the spacing between two workpieces on the conveyor is set to be less than the F-queue tracking distance, the latter workpiece will not normally be counted into the queue.
When the workpiece moves beyond the maximum distance of the G-workpiece coordinate system, a user is prompted to warn, the workpiece is not processed, but the robot does not stop moving, the robot is controlled to process other workpieces on the conveyor belt next, and the other workpieces on the conveyor belt can continue to be tracked and processed according to a normal flow.
The conveyor belts provided in this application are not limited to the situation provided in fig. 1. On the basis of the above-described embodiment, the processable range includes the area from the monitoring point of the synchronization switch to the robot processing end point. The synchronous switch is a monitoring device used for recording the workpieces into the processing queue, and the workpieces are recorded into the processing queue after passing through a monitoring point.
Unlike the previous embodiment, the processable range can be extended from the monitoring point of the sync switch to the robot processing end point, i.e., both intervals C and G in fig. 1. It should be noted that the selection of the processable range can be made according to the user's needs, or according to the processing of different types of workpieces.
In addition to the description of the conveyor belt tracking processing method in the above embodiments, the present invention also provides a conveyor belt tracking processing system for implementing the above method.
The conveyor belt tracking processing system is applied to a robot for tracking and processing a workpiece on a conveyor belt, and comprises an acquisition device 10 and a processing device 11.
The acquiring device 10 is used for acquiring a real-time position of a current workpiece processed by the robot, wherein the acquiring device 10 may acquire the real-time position of the current workpiece in various ways.
The processing device 11 is in signal connection with the acquiring device 10, and the processing device 11 is used for receiving the real-time position started by the acquiring device 10 and judging whether the real-time position exceeds a processable range; if not, returning to the step of acquiring the real-time position of the current workpiece processed by the robot; if so, stopping the robot to process the current workpiece, controlling the robot to associate and track the subsequent workpieces behind the current workpiece, and controlling the alarm device to give an alarm.
As can be understood from the above description, the acquiring device 10 corresponds to the content of step S1 in the method, the processing device 11 corresponds to the content of step S2, and the specific operation content and steps of the two devices can refer to the above description of the method, and both devices can be independent devices, or can be a control integrated circuit in the controller of the robot, which stores the corresponding steps.
Optionally, the processing device 11 may specifically include a determining module and a corresponding execution command issuing module, and is configured to determine a relationship between the real-time position and the processable range, and issue an instruction to the execution unit of the robot by the execution command issuing module according to a determination result.
On the basis of the above-described embodiment, the processing means 11 comprises a shutdown processing module.
The shutdown processing module is used for acquiring a control instruction in real time after the alarm device gives an alarm, and controlling the robot to associate and track a subsequent workpiece behind the current workpiece if no instruction is given or a shutdown-free instruction is received; and if the command is an emergency stop command, controlling the robot to stop working.
The shutdown processing module is used for the user to select whether to shutdown the robot when the user processes the alarm. That is, if the user is not allowed to perform processing by default when an alarm occurs, the shutdown processing module does not need to be set.
In this embodiment, a shutdown processing button or a shutdown processing window to be operated by a user is set corresponding to the shutdown processing module, so that the user can select the shutdown processing button or the shutdown processing window.
In addition, the shutdown processing key or the shutdown processing window may be configured to start a function to a user after an alarm occurs, or may be configured to start a function to a user when the robot is turned on.
On the basis of the above embodiment, the processing device 11 includes a starting processing module, which is used to start or keep starting the function of receiving the instruction, and after receiving the robot starting instruction, control the robot to acquire the information of the workpiece in the associated area, associate and track one workpiece; wherein, the related area is an area from the initial related point to the related end point in the transmission direction.
The function of the start-up processing module is to complete the content of step S5 in the method, i.e. in the off state, the function of keeping on to receive instructions, so as to start up and associate the workpieces in the associated area at any time.
On the basis of the above embodiment, the conveyor tracking processing system further comprises an association module 12, a tracking module 13 and a processing control module 14. The three modules are mainly used for realizing the association, tracking and processing operations of the robot on the workpiece.
Correspondingly, the association module 12 is configured to obtain real-time coordinates of the workpiece in the association area, and obtain a relative position of the robot according to a coordinate system of the real-time coordinates;
the tracking module 13 is used for controlling the robot to track the workpiece according to the relative position and sending a signal to the processing control module after the tracking state is achieved;
the processing control module 14 is configured to process the workpiece after receiving the signal, and use the workpiece as a current workpiece.
For specific steps, reference may be made to the description in the foregoing method embodiments, which are not described herein again. It should be noted that, the association module 12, the tracking module 13, and the processing control module 14 may all be connected to the processing device 11 of the conveyor belt tracking processing system, or all the three may be connected to transmit signals, for example, the association module 12 is connected to the processing module, the tracking module 13 is connected to the association module 12, after the association operation is completed, the association module 12 sends information to the tracking module 13, so that the tracking module 13 controls the robot to track the workpiece at a relative position, and after the tracking state is achieved, sends a signal to the processing control module; the processing control module 14 is connected to the tracking module 13, and can process the current workpiece after receiving the signal from the tracking module 13.
Alternatively, the above structure may transmit signals in other ways.
On the basis of any one of the above embodiments, the processing device 11 is in signal connection with a synchronous switch, and the synchronous switch is arranged on one side of the conveyor belt;
the processing range includes a region from a monitoring point of the synchronous switch to a processing end point of the robot, the synchronous switch is a monitoring device used for counting the workpieces into a processing queue, and the workpieces are counted into the processing queue after passing through the monitoring point.
The method and the system provided by the invention have the core that when the tracking function of the conveyor belt exceeds the maximum distance, a warning is sent to a user, the robot does not process the workpiece any more, but does not change the switch of the robot, the robot controller can continue to control the robot to process other subsequent workpieces, the workpieces exceeding the maximum processing area are not processed any more, and other workpieces on the conveyor belt can continue to be tracked and processed according to a normal flow, so that the time waste of the robot caused by the stop of the warning is reduced.
In this process, the user does not have to deal with the warning, which is only used as a prompt to let the user know that there is a workpiece beyond the machining area without the machining being completed. The user can decide whether to process the unprocessed workpiece according to the prompt and according to specific conditions, but not necessarily process the unprocessed workpiece. The user can actively stop the robot movement by controlling an emergency stop or the like and then handle the workpiece that has not been finished according to the situation
Besides the above description of the conveyor belt tracking processing system in each embodiment, please refer to the prior art for the structure of other parts of the conveyor belt tracking processing system, which is not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The following description of the method and system for tracking and processing the conveyor belt provided by the invention is provided above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A conveyor belt tracking processing method, comprising:
acquiring the real-time position of a current workpiece processed by the robot;
judging whether the real-time position exceeds a processable range; if not, returning to the step of acquiring the real-time position of the current workpiece processed by the robot; if so, stopping the robot to process the current workpiece, controlling the robot to track the subsequent workpiece behind the current workpiece, and giving an alarm.
2. The conveyor belt tracking processing method of claim 1, further comprising, after the issuing of the warning:
acquiring a control instruction in real time;
if no instruction or no shutdown instruction exists, controlling the robot to track a subsequent workpiece behind the current workpiece; and if the command is an emergency stop command, controlling the robot to stop working.
3. The conveyor belt tracking processing method according to claim 2, further comprising, after the control robot stops operating:
starting or keeping starting to receive an instruction, and after receiving a robot starting instruction, controlling the robot to acquire information of workpieces in a related area, and associating and tracking one workpiece;
wherein, the related area is an area from a starting related point to a related end point in the transmission direction.
4. The conveyor tracking processing method of claim 3, wherein said obtaining a real-time position of a current workpiece being processed by the robot comprises:
and acquiring real-time coordinates of the workpiece in the associated area, acquiring the relative position of the robot according to a coordinate system of the real-time coordinates, controlling the robot to track the workpiece according to the relative position, and processing the workpiece, wherein the workpiece is taken as the current workpiece.
5. The conveyor belt tracking processing method according to any one of claims 1 to 4, characterized in that the processable range includes a region from a monitoring point of a synchronous switch to a robot processing end point;
the synchronous switch is a monitoring device used for recording workpieces into a processing queue, and the workpieces are recorded into the processing queue after passing through the monitoring points.
6. A conveyor tracking system for use with a robot for tracking and processing a workpiece on a conveyor, comprising:
the acquisition device is used for acquiring the real-time position of the current workpiece processed by the robot;
the processing device is in signal connection with the acquisition device and is used for receiving the real-time position and judging whether the real-time position exceeds a processable range; if not, returning to the step of acquiring the real-time position of the current workpiece processed by the robot; if so, stopping the robot to process the current workpiece, controlling the robot to track the subsequent workpieces behind the current workpiece, and controlling an alarm device to give an alarm.
7. The conveyor belt tracking processing system of claim 6, wherein the processing device includes a shutdown processing module;
the shutdown processing module is used for acquiring a control instruction in real time after the alarm device gives an alarm, and controlling the robot to track a subsequent workpiece behind the current workpiece if no instruction is given or a shutdown-free instruction is received; and if the command is an emergency stop command, controlling the robot to stop working.
8. The system of claim 7, wherein the processing device comprises a start processing module, the start processing module is configured to start or maintain a function of receiving the command, and after receiving the robot start command, control the robot to acquire information of the workpieces in the associated area, and associate and track one of the workpieces;
wherein, the related area is an area from a starting related point to a related end point in the transmission direction.
9. The conveyor tracking system of claim 8, further comprising an association module, a tracking module, a process control module;
the association module is used for acquiring real-time coordinates of the workpieces in the association area and acquiring the relative position of the robot according to a coordinate system of the real-time coordinates;
the tracking module is used for controlling the robot to track the workpiece according to the relative position and sending a signal to the processing control module after the tracking state is achieved;
and the processing control module is used for processing the workpiece after receiving the signal and taking the workpiece as the current workpiece.
10. The system according to any one of claims 6 to 9, wherein the processing device is connected with a signal of a synchronous switch, and the synchronous switch is arranged on one side of the conveyor belt;
the processing range comprises a region from a monitoring point of a synchronous switch to a processing end point of the robot, the synchronous switch is a monitoring device used for recording workpieces into a processing queue, and the workpieces are recorded into the processing queue after passing through the monitoring point.
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| JP2002091521A (en) * | 2000-09-20 | 2002-03-29 | Mitsubishi Electric Corp | Controller and control method |
| CN103476564A (en) * | 2011-04-05 | 2013-12-25 | 日本省力机械株式会社 | Workpiece removal and finishing device |
| CN104057454A (en) * | 2013-03-18 | 2014-09-24 | 株式会社安川电机 | Workpiece assembling apparatus and workpiece assembling method |
| CN108674922A (en) * | 2018-05-16 | 2018-10-19 | 广州视源电子科技股份有限公司 | A kind of conveyer belt method for synchronized, apparatus and system for robot |
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| JP2002091521A (en) * | 2000-09-20 | 2002-03-29 | Mitsubishi Electric Corp | Controller and control method |
| CN103476564A (en) * | 2011-04-05 | 2013-12-25 | 日本省力机械株式会社 | Workpiece removal and finishing device |
| US20140017352A1 (en) * | 2011-04-05 | 2014-01-16 | Nihon Shoryoku Kikai Co., Ltd. | Workpiece removal and finishing device |
| CN104057454A (en) * | 2013-03-18 | 2014-09-24 | 株式会社安川电机 | Workpiece assembling apparatus and workpiece assembling method |
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