CN114800497A

CN114800497A - Stacking robot control method based on assembly splicing

Info

Publication number: CN114800497A
Application number: CN202210410113.3A
Authority: CN
Inventors: 王建文; 杜列波; 鲁琴
Original assignee: Dongguan Lbd Robot Co ltd
Current assignee: Dongguan Lbd Robot Co ltd
Priority date: 2022-04-19
Filing date: 2022-04-19
Publication date: 2022-07-29
Anticipated expiration: 2042-04-19
Also published as: CN114800497B

Abstract

The invention relates to the technical field of robot control, and discloses a control method of a stacking robot based on assembly splicing, which comprises the following steps: step 1: creating a palletized component library: aiming at a plurality of assembly lines, a plurality of trays and a plurality of product layout modes in a palletizing environment, components are created in an interface parameter setting mode, a palletizing component library is constructed, in the component library, the components can be newly built, modified, deleted and the like, and the step 2: and (3) stacking programming: according to the stacking operation flow, programming is carried out by adding a component splicing instruction; according to the invention, the components are set and created by adopting interface parameters, and then the control of the palletizing robot is realized by programming through the component splicing instruction, so that the manual teaching complexity of the robot is reduced, the robot is ensured to be rapid, and meanwhile, the robot has high programming flexibility. When the demand of stacking operation changes, splicing programming can be directly carried out through the existing assembly under most conditions, and a stacking program meeting new demands can be quickly created.

Description

Stacking robot control method based on assembly splicing

Technical Field

The invention relates to the technical field of robot control, in particular to a control method of a stacking robot based on assembly splicing.

Background

Along with continuous deepening of industrial automation process, industrial robot is widely used in the pile up neatly, and it has characteristics such as nimble accurate, high efficiency, stability height, has greatly improved production efficiency, has reduced the human cost simultaneously, and fields such as present packing, commodity circulation, storage are huge to pile up neatly machine people's demand.

At present, the robot palletizer mainly adopts an industrial universal robot, if a palletizing program is compiled by adopting a manual teaching mode, manual teaching needs to be carried out on grabbing track points on a production line and placing track points of each stack of each layer on a tray, time is consumed, the requirement on the service capacity of a user is high, the user needs to be familiar with the programming language and the grammar format of the robot, then the logic relation of the whole palletizing operation is reflected to the program accurately by using the robot programming language. Therefore, research personnel carry out secondary development on the universal robot control system aiming at the standard stacking operation process, so that a user can automatically generate a stacking program only through a small amount of manual teaching and parameter setting without programming.

The prior art has the following disadvantages: background stacking program logic is relatively fixed, interface setting only changes parameters in the program, flexibility is poor, and various complicated stacking operation flows cannot be adapted. When the stacking requirement changes in the using process, a user needs to manually teach and set parameters of the stacking robot again, or the manual teaching and the parameter setting can be realized only by adopting a traditional programming mode, the working efficiency is low, the manpower maintenance cost is high, and therefore the stacking robot control method based on assembly splicing is provided.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a control method of a palletizing robot based on assembly splicing, which aims to solve the problems in the prior art.

The invention provides the following technical scheme: a control method of a stacking robot based on assembly splicing comprises the following steps:

step 1: creating a palletized component library: aiming at a plurality of assembly lines, a plurality of trays and a plurality of product layout modes in a stacking environment, components are created in an interface parameter setting mode, a stacking component library is constructed, and the components can be newly created, modified, deleted and the like in the component library;

step 2: and (3) stacking programming: according to the stacking operation flow, programming is carried out by adding a component splicing instruction;

and step 3: debugging a track: aiming at the component deviation, the position of the tray is quickly adjusted by adopting a global variable assignment mode; adjusting the joint movement and linear movement speeds in the whole stacking running track according to the actual conditions to match the stacking operation with the arrival speed of the assembly line products;

and 4, step 4: generating a program: and (3) calling the relevant parameters in the step (1) and the step (3) according to the program flow in the step (2), automatically generating a palletizing robot program by the system, controlling the robot to carry out palletizing operation, setting and creating components through interface parameters, and then quickly generating the palletizing program through component splicing programming.

Further, the components in the step 1 comprise a tool component, a tray component, a production line workpiece taking track component, a tray workpiece placing track component and a stack layout component, wherein the tool component determines the position and the posture of a tool center point TCP by adopting an XYZ-4 point method through a manual teaching and interface parameter input mode, and establishes a tool coordinate system;

the tray assembly determines an original point, an X axis and a Y axis of a tray plane through manual teaching and an interface parameter input mode, establishes a user coordinate system and configures an input signal port for the tray preparation completion on an interface;

the assembly line workpiece taking track component selects the name of the current tool component through an interface, sets a workpiece taking transition point, a workpiece taking preparation point, a workpiece taking point and a workpiece taking leaving point when the workpiece is taken on the interface through manual teaching, and sets a workpiece preparation completion input signal port, a grabbing auxiliary output signal port and a clamping completion input signal port in the process of configuring and taking the workpiece on the interface;

a tray placing track component selects a certain tray for manual teaching, selects the name of a current tool component and the name of a teaching tray component on an interface, and then sets a transition point, a ready placing point, a placing leaving point and a transition point when a first stack is placed at the original point of the tray;

and the stack layout component inputs a newly-built layout mode through an interface, selects a layout mode for each layer on the tray, sets the layer height and obtains position data of each stack.

Further, the palletizing programming of the step 2 is characterized by comprising a component splicing instruction, wherein the added component splicing instruction determines the operation flow and related parameters of the palletizing robot by selecting a tool component, a tray component, a production line workpiece taking track component, a tray workpiece placing track component, a palletizing stock layout component and a circulation mode;

the component splicing instruction is characterized in that when a program is stored, TCP track data of a tool center point in a component taking track component of a production line can be converted into TCP track data of a tool used in calling the component splicing instruction of the component to take stacks on the production line and then further converted into robot joint data, the stacking application requirements under most conditions can be met only by adopting the component splicing instruction in stacking programming, but in actual application, in order to realize more complex application, other robot programming basic instructions can be added, such as a motion instruction, an I/O (input/output) instruction, a global variable instruction, logic judgment, circulation and jump instruction and the like.

Further, the component deviation in step 3 is mainly a tray placement position deviation, and is characterized in that 3 system global variables are allocated to each tray in the program, and are used as an X-axis deviation amount, a Y-axis deviation amount and a rotation amount of the tray component, and the deviation amount can be set through interface input, global variable assignment in the program and a mode of detecting and writing the global variables by a sensor.

Further, the stacking programming can select stacking circulation and tray circulation, and the stacking circulation is selected, so that each component splicing instruction jumps to the next instruction after one stacking operation is completed; and (4) selecting to circulate according to the tray, and skipping to the next instruction after all stacking operations on the current tray are completed by each assembly splicing instruction.

Further, other robot programming basic instructions, such as a motion instruction, an I/O instruction, a global variable instruction, a logic judgment instruction, a loop instruction and a jump instruction, can be added to the palletizing program, so as to implement a more complex palletizing operation flow with higher precision requirement.

The invention has the technical effects and advantages that:

1. according to the invention, the control of the stacking robot under various complicated stacking operation flows is rapidly realized by combining the component creation and the component splicing instruction programming, and the problems that the traditional programming mode is too complicated when the stacking operation requirements are variable, the program logic in the prior art is relatively fixed, the flexibility is poor, the working efficiency is low and the manpower maintenance cost is high are solved.

2. According to the invention, through the tool assembly provided with the stacking assembly, when the tool has a problem, only the corresponding working assembly needs to be replaced, so that the maintenance speed is increased and the replacement cost of parts in the aspect of maintenance is reduced.

3. According to the invention, a new tray assembly can be created through small-range adjustment of the tray position, then the new tray assembly is selected in the stacking instruction, manual teaching of a stacking track is not needed, and the generated stacking program can be directly matched with the new tray position.

4. The invention can input the offset manually through the global variable or by the sensor in the stacking process to finely adjust the position of the tray by aiming at the position error existing after the replacement of the tray

5. According to the invention, the components are set and created by adopting interface parameters, and then the control of the palletizing robot is realized by programming through the component splicing instruction, so that the manual teaching complexity of the robot is reduced, the robot is ensured to be rapid, and meanwhile, the robot has high programming flexibility. When the demand of stacking operation changes, splicing programming can be directly carried out through the existing assembly under most conditions, and a stacking program meeting new demands can be quickly created.

Drawings

FIG. 1 is a schematic overall flow chart of the present invention.

FIG. 2 is a schematic diagram of a programming sequence according to the present invention.

FIG. 3 is a schematic diagram of a control system interface according to the present invention.

FIG. 4 is a schematic diagram of a component library management interface of the present invention.

Fig. 5 is a schematic view of a tool assembly of the present invention.

FIG. 6 is a schematic view of a tray assembly interface of the present invention.

Fig. 7 is a schematic view of the tray assembly of the present invention.

FIG. 8 is a schematic view of a tool assembly, a pipeline pick track assembly, and a pallet drop track assembly interface according to the present invention.

FIG. 9 is a schematic view of an assembly line pick track assembly interface according to the present invention.

FIG. 10 is a schematic view of a tray placement track assembly interface of the present invention.

FIG. 11 is a schematic view of the stack layout assembly creation interface of the present invention.

FIG. 12 is a schematic view of a stack layout assembly interface of the present invention.

FIG. 13 is a schematic view of the stacking cycle programming interface of the present invention.

FIG. 14 is a schematic diagram of a tray-by-tray circular programming interface of the present invention.

FIG. 15 is a schematic view of a dual stream line dual pallet stacking cycle programming interface of the present invention.

FIG. 16 is a schematic view of a pallet offset interface of the present invention.

FIG. 17 is a schematic view of a motion velocity interface of the present invention.

Detailed Description

The present invention will be described more fully with reference to the accompanying drawings, and the embodiments of the present invention are merely examples, and the method for controlling a palletizer robot by splicing components according to the present invention is not limited to the embodiments described below, and all other embodiments obtained by those skilled in the art without creative efforts will fall within the scope of the present invention.

Referring to fig. 1-2, the invention provides a control method of a palletizing robot based on assembly splicing, which comprises the following steps:

and 2, step: and (3) stacking programming: according to the stacking operation flow, programming is carried out by adding a component splicing instruction;

In a preferred embodiment, the components in the step 1 comprise a tool component, a tray component, a pipeline workpiece taking track component, a tray workpiece placing track component and a stack layout component, wherein the tool component determines the position and the posture of a tool center point TCP by adopting an XYZ-4 point method through a manual teaching and interface parameter input mode to establish a tool coordinate system;

the assembly line workpiece taking track assembly selects the name of the current tool assembly through an interface, sets a workpiece taking transition point, a workpiece taking preparation point, a workpiece taking point and a workpiece taking leaving point during workpiece taking on the interface through manual teaching, and sets a workpiece preparation completion input signal port, a grabbing auxiliary output signal port and a clamping completion input signal port in the workpiece taking process on the interface;

and the stack layout assembly inputs a newly-built layout mode through an interface, selects the layout mode and sets the layer height for each layer on the tray, and acquires the position data of each stack.

In a preferred embodiment, the palletizing programming of step 2 is characterized by comprising component splicing instructions, wherein the added component splicing instructions determine the operation flow and related parameters of the palletizing robot through a selection tool component, a tray component, a pipeline workpiece taking track component, a tray workpiece placing track component, a stack layout component and a circulation mode;

the component splicing instruction is characterized in that when a program is stored, TCP track data of a tool center point in a pipeline workpiece taking track component can be converted into TCP track data for taking stacks on a pipeline by a tool adopted in the component splicing instruction for calling the component, and then the TCP track data is further converted into robot joint data.

In a preferred embodiment, the component deviation in step 3, which is mainly the tray placement position deviation, is characterized in that 3 system global variables are assigned to each tray in the program, as the X-axis deviation amount, the Y-axis deviation amount, and the rotation amount of the tray component, and the deviation amount can be set by interface input, global variable assignment in the program, and sensor detection of the write global variable.

In a preferred embodiment, the stacking programming can select stacking circulation and tray circulation, and the stacking circulation is selected, so that each component splicing instruction jumps to the next instruction after one stacking operation is completed; and (4) selecting to circulate according to the tray, and skipping to the next instruction after all stacking operations on the current tray are completed by each assembly splicing instruction.

In a preferred embodiment, the palletizing programming can add other robot programming basic instructions, such as motion instructions, I/O instructions, global variable instructions, logic judgment, loop and jump instructions, for realizing more complex and more precise palletizing operation flows.

The second embodiment of the invention:

referring to fig. 3-12, the palletizing robot control system interface includes component library management, palletizing programming, and trajectory debugging:

the module management comprises a tool module, a tray module, a production line pickup track module, a tray placing track module and a stack layout module, and an interface parameter input mode is used for creating an embodiment of the tool module, and the method comprises the following steps:

a1: the tool type is selected, common stacking tools are of a sucker type, a grabbing type and the like, for the sucker type tool, a tool central point TCP is located on a connecting line of a plane intersection point of a flange plate central line and a sucker and extends for a certain distance, and the length of the distance is determined according to the height of a product; the grabbing TCP is generally arranged at the intersection point of the center line of the flange and the front end face of the paw;

a2: selecting a fixed reference point, manually teaching the robot according to an XYZ-4 point method, using different tool postures, enabling a TCP of a robot tool to just touch the fixed reference point as far as possible, reading current data to be key points 1-4, and then respectively moving the TCP to one point in the positive directions of an X axis and a Z axis to read the data;

a3: inputting the name of the tool component, clicking to save, and displaying the created tool component in a left list;

the embodiment of the tray component created by the interface parameter input mode comprises the following steps:

b1: selecting a tool component name adopted by manual teaching;

b2: a manual teaching tool TCP is moved to the original point of the tray, and original point data are read;

b3: a manual teaching tool TCP reads data of a point in the positive direction of an X axis and data of a point in the positive direction of a Y axis, determines the positive direction of an X, Y axis, and determines the positive direction of a Z axis according to the right-hand rule of a Cartesian rectangular coordinate system;

b4: inputting a signal port after the input tray is prepared;

b5: inputting the name of a tray component, clicking to store, displaying the created tray component in a left list, wherein a plurality of trays need to create a plurality of tray components;

the method comprises the following steps of establishing an embodiment of a pipeline pickup track component in an interface parameter input mode:

c1: selecting a tool component name adopted by manual teaching;

c2: setting a pick transition point p1, a ready pick point p2, a pick point p3 and a pick exit point p4 during pick by manual teaching;

c3: configuring a workpiece preparation finished input signal port, a grabbing auxiliary output signal port and a clamping finished input signal port in the workpiece taking process;

c4: inputting the names of the assembly line pickup track assemblies, clicking and storing, displaying the created assembly line pickup track assemblies in a left list, and creating a plurality of assembly line pickup track assemblies by a plurality of assembly lines;

the embodiment of the tray placement track component is created by an interface parameter input mode, and the steps are as follows:

d1: selecting a tool component name adopted by manual teaching;

d2: selecting a current manually taught tray component name;

d3: setting the first stack to enter a transition point p5, a piece preparation point p6, a piece placing point p7, a piece placing leaving point p8 and a leaving transition point p9 when the first stack is placed at the tray origin through manual teaching;

d4: inputting the name of a tray placing track component, clicking and storing, wherein the created tray placing track component is displayed in a left list, and a plurality of trays need to create a plurality of tray placing track components;

the method comprises the following steps of:

e1: inputting the number of stock layout modes which can be adopted by stacking and placing on a tray on a stock layout mode interface, inputting 1 if only 1 stock layout, inputting N if N, and automatically generating a stock layout mode 1, a stock layout mode 2, … … and a stock layout mode N in a square frame after inputting;

e2: selecting a certain stock layout mode, inputting the number of stacks, namely the number of stacks contained in the layer adopting the current stock layout mode, manually teaching or selecting operation trend in array stock layout, determining a plurality of rows and columns by stack coordinate information, inputting line spacing, column spacing and the like, and acquiring the position coordinate of each stack;

e3: switching to a layer information interface, inputting the number of layers on the tray, inputting 1 if only 1 layer of goods is placed on the tray, inputting N if N layers are input, automatically generating a1 st layer, a2 nd layer, … … and an N th layer in a square frame after inputting, then, starting from the 1 st layer at the bottom of the tray, selecting a layout mode layer by layer, and setting a layer height and a transition point offset height, wherein the layer height is the actual height of the current layer;

e4: inputting the name of the stack layout assembly, clicking to store, displaying the created stack layout assembly in a left list, and creating a plurality of stack layout assemblies according to various products and various layout styles.

The third embodiment of the invention:

referring to fig. 13 to 15, in the palletizing programming, taking a single-line double-tray palletizing operation of a certain product as an example in this embodiment, a tool component used by the palletizing robot is t1, tray components are c1 and c2 respectively, a line stack taking track component is m1, tray stack placing track components are n1 and n2, and a stack layout component is l 1;

selecting a corresponding component, selecting 'circulation by stacking', clicking 'adding' instruction, storing the program and switching to an automatic mode for operation, wherein the instruction is 'circulation by stacking', the robot firstly takes a stack from the pipeline and puts the stack on the tray 1, then takes a stack from the pipeline and puts the stack on the tray 2, and then takes a stack from the pipeline and puts the stack on the tray 1, … …, and performing stacking operation in a circulating manner;

selecting a corresponding component, selecting 'circulation by tray', clicking 'adding' instruction, storing the program and switching to an automatic mode for operation, wherein the instruction is 'circulation by tray', the robot firstly takes a stack from the production line and puts the stack on the tray 1, then takes a stack from the production line and continuously puts the stack on the tray 1 until all stacks of the tray 1 are completely stacked, then starts to take a stack from the production line and puts the stack on the tray 2, and then takes a stack from the production line and continuously puts the stack on the tray 2 until all stacks of the tray 2 are completely stacked, and the stacking operation is performed in a circulating manner;

if the stacking operation is added to double-assembly-line double-tray operation on the original basis, namely an assembly line is newly added, the position of the tray 2 needs to be adjusted at the moment, but the workpiece placing track is unchanged relative to the position of the tray, only an assembly line stack taking track component m2 needs to be created for the added assembly line, and a tray component c3 needs to be created for the position-adjusted tray;

selecting a corresponding component, checking 'stacking circulation', clicking 'adding' instruction, storing the program, and correcting the track data in the tray placing track n2 according to the tray component c3 adopted in the component splicing instruction; the operation is switched to an automatic mode, the robot firstly takes a stack from the production line 1 and puts the stack on the tray 1, then takes a stack from the production line 2 and puts the stack on the tray 2, then takes a stack from the production line 1 and puts the stack on the tray 1, and then takes a stack from the production line 2 and puts the stack on the tray 2, … …, and the stacking operation is carried out in a circulating way;

when the robot changes tools, only a tool component t2 needs to be created for a new tool, then the tool component t1 in the command is changed into t2, and when the program is stored, TCP track data in the assembly line piece taking track component and the tray piece placing track component can be corrected according to the tool component t2 adopted in the component splicing command;

in some applications, when the tray moves or the assembly line is newly added, the situation that the transition point is blocked when the part taking leaving point on the assembly line part taking track is directly connected to the entering transition point on the tray part placing track can exist, the transition point needs to be increased, the situation can be realized by adding a motion instruction before the assembly splicing instruction, and after the motion instruction is increased, after the stack is taken by the robot on the assembly line 2, the robot firstly articulates from the part taking leaving point to the transition point Pa and then enters the entering transition point near the tray 3; the stacking return is articulated from the transition point of departure of the tray 3 to Pb and then to the transition point of taking the piece from the line 2.

The fourth embodiment of the invention:

referring to fig. 16-17, in the embodiment of step 3, taking a single-pipeline double-tray palletizing operation of a certain product as an example, after a program is created by adding a component splicing instruction, clicking a "tray offset" button, and allocating 3 system global variables GV1, GV2, GV3, GV4, GV5, and GV6 to a tray component c1 and a tray component c2 in the program respectively by the system as an X-axis offset, a Y-axis offset, and a rotation amount of the tray component, and setting the offset by interface input, assignment of global variables in the program, and detection of a sensor for writing the global variables for a position deviation caused by frequent replacement of the tray;

and clicking an 'operating speed' button, adjusting the joint movement and linear movement speed in the whole stacking operation track according to actual conditions, improving the stacking operation efficiency, and finally clicking 'storage' on a main interface, so that the system calls related parameters in the step 1 and the step 3 according to the program flow in the step two, automatically generates a stacking robot program, and controls the robot to perform stacking operation.

The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;

secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;

and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.

Claims

1. A control method of a stacking robot based on assembly splicing is characterized by comprising the following steps:

and 4, step 4: generating a program: and (3) calling the relevant parameters in the step (1) and the step (3) according to the program flow in the step (2), and automatically generating a palletizing robot program by the system to control the robot to carry out palletizing operation.

2. The control method of the palletizing robot based on assembly splicing as claimed in claim 1, wherein: the components in the step 1 comprise a tool component, a tray component, a production line pickup track component, a tray placing track component and a stack layout component, wherein the tool component determines the position and the posture of a tool center point TCP by adopting an XYZ-4 point method through a manual teaching and interface parameter input mode, and establishes a tool coordinate system;

3. The control method of the palletizing robot based on assembly splicing as claimed in claim 1, wherein: the palletizing programming of the step 2 is characterized by comprising a component splicing instruction, wherein the added component splicing instruction determines the operation flow and related parameters of the palletizing robot through a selection tool component, a tray component, a production line workpiece taking track component, a tray workpiece placing track component, a stacking and layout component and a circulation mode;

the component splicing instruction is characterized in that when a program is saved, TCP track data of a tool center point in a component taking track component of a production line is converted into TCP track data of stack taking on the production line by a tool adopted in the component splicing instruction for calling the component, and then the TCP track data is further converted into robot joint data.

4. The control method of the palletizing robot based on assembly splicing as claimed in claim 1, wherein: the component deviation in the step 3 is mainly tray placement position deviation, and is characterized in that 3 system global variables are distributed to each tray in the program and used as the X-axis deviation, the Y-axis deviation and the rotation amount of the tray component, and the deviation amount can be set in a mode of interface input, global variable assignment in the program and global variable detection and writing by a sensor.

5. A palletizing robot control method based on assembly splicing, which is characterized in that: the stacking programming can select stacking circulation and tray circulation, and the stacking circulation is selected, so that each component splicing instruction jumps to the next instruction after one stacking operation is completed; and (4) selecting to circulate according to the tray, and skipping to the next instruction after all stacking operations on the current tray are completed by each assembly splicing instruction.

6. A palletizing robot control method based on assembly splicing, which is characterized in that: the palletizing programming can add other robot programming basic instructions, such as motion instructions, I/O instructions, global variable instructions, logic judgment, circulation and jump instructions, and is used for realizing more complex palletizing operation flows with higher precision requirements.