CN114952851A - Robot work bin grabbing piece control device and method - Google Patents
Robot work bin grabbing piece control device and method Download PDFInfo
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- CN114952851A CN114952851A CN202210642752.2A CN202210642752A CN114952851A CN 114952851 A CN114952851 A CN 114952851A CN 202210642752 A CN202210642752 A CN 202210642752A CN 114952851 A CN114952851 A CN 114952851A
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- 238000001514 detection method Methods 0.000 claims abstract description 63
- 238000004519 manufacturing process Methods 0.000 claims abstract description 44
- 239000000463 material Substances 0.000 claims abstract description 23
- 239000002184 metal Substances 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims abstract description 6
- 230000000007 visual effect Effects 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 4
- 230000009191 jumping Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to a robot work bin grabbing piece control device and a method, wherein the device comprises a robot, a robot grabbing tool, a work bin, an in-place detection switch, a distance measurement switch, a vision sensor, a safety door switch, a production line PLC, a robot controller and a vision controller; the robot gripping apparatus is arranged at the tail end of the industrial robot, and the vision sensor and the distance measuring switch are arranged on the robot gripping apparatus; placing a sheet metal part in the material box; the robot controller is in Ethernet communication with the production line PLC and the vision controller, the vision sensor is connected to the vision controller, the distance measuring switch is connected to the robot controller, and the in-place detecting switch and the safety door switch are connected to the production line PLC. The invention can realize the automatic calculation of the number of layers of the workpiece under specific conditions, and uses the counter to quickly grab the workpiece, thereby not only solving the problem that the operating speed is too slow to influence the use efficiency of equipment caused by workpiece detection, but also avoiding the collision problem caused by wrong number of layers of the workpiece grabbed due to manual workpiece placement.
Description
Technical Field
The invention belongs to the technical field of welding, and particularly relates to a robot work bin grabbing piece control device and method.
Background
With the continuous increase of labor cost and the reduction of manufacturing cost of industrial robots, the work of replacing manual work on a work box in the welding field becomes a necessary trend for the development of manufacturing industry. The robot bin is used for loading workpieces, the position deviation of the workpieces can be visually detected, but the number of layers of the workpieces in the bin needs to be known in advance.
The work piece is grabbed by the robot work box, and if a detection mode is adopted, the change of the work piece caused by manual intervention can be found in time, but the running speed of the robot is reduced, and the running efficiency of the robot is influenced; the scheme of no detection exists, and the risk of collision is caused to the workpiece change caused by manual intervention.
The prior art discloses a robot slave work bin grabbing piece control device and a method, the control device comprises a work bin, a fixed support, a plurality of detection switches and a robot grabbing tool, the fixed support is arranged on two sides of the work bin, the detection switches are arranged on the fixed support and connected with the robot control device, and the robot grabbing tool is provided with a proximity switch and a photoelectric distance measuring sensor and connected with the robot control device. The device is applied to the aspect of grabbing parts of a material box of a robot, a workpiece counting mode is adopted, workpieces cannot be taken out of the material box or added, the workpieces are detected one by one, the speed is reduced, and the equipment operation time is increased.
Based on this, there is a need to develop a robot bin grabbing piece control device and method to solve the above problems.
Disclosure of Invention
The invention aims to provide a robot work bin grabbing control device and a robot work bin grabbing control method, so that the problems that a robot work bin grabbing device is fast and collision is caused by manual intervention of a part is caused are solved, the failure rate of equipment is reduced, the running speed of the equipment is increased, and the use efficiency of the equipment is improved.
The purpose of the invention is realized by the following technical scheme:
a robot work bin grabbing piece control device comprises a robot 1, a robot grabbing tool 2, a work bin 3, an in-place detection switch 4, a distance measurement switch 5, a vision sensor 6, a safety door switch 9, a production line PLC, a robot controller and a vision controller;
the robot gripping apparatus 2 is arranged at the tail end of the industrial robot 1, and the vision sensor 6 and the distance measuring switch 5 are arranged on the robot gripping apparatus 2;
sheet metal parts are placed in the material box 3;
the robot controller is communicated with the production line PLC and the vision controller through Ethernet, the vision sensor 6 is connected to the vision controller, the distance measuring switch 5 is connected to the robot controller, and the in-place detecting switch 4 and the safety door switch 9 are connected to the production line PLC.
Further, the vision sensor 6 and the distance measuring switch 5 are installed at the bottom of the robot gripper 2.
Further, the sheet metal parts are placed in the material box 3 in layers, and the layers are arranged at equal intervals.
Furthermore, a production line fence 7 is arranged outside the robot 1, and a fence safety door 8 and a safety door switch 9 are arranged on the production line fence.
Further, the production line PLC can record the outage information of the in-place detection switch 4 and the safety door switch 9 of the material box 3 and send the outage information to the robot 1.
Further, the robot 1 can record power-off information and receive a detection sensor state.
A robot bin grabbing piece control method is characterized by comprising the following steps:
A. reading information of the power failure of the production line PLC, the change of the safety door switch 9, the in-place detection switch 4 of the material box 3 and the power failure of the robot 1;
B. judging the power-off information of the PLC of the production line, the change of the safety door switch 9, the in-place detection switch 4 of the material box 3 and the power-off information of the robot 1, and jumping to the fifth step if the power-off information or the switch change exists;
C. judging the power-off information of the PLC of the production line, the change of the safety door switch 9, the in-place detection switch 4 of the material box 3 and the power-off information of the robot 1, and reading the counter value M of the material box if the power-off information or the switch is unchanged once;
D. judging whether the workpiece counter M is larger than 0 and smaller than the maximum layer number, and if not, entering the next step;
E. moving the robot 1 to the topmost position, reading the state of a detection switch, giving an alarm if the detection switch is not ON, otherwise, performing slow movement and detection layer by layer from the topmost position, stopping the robot when the detection switch is OFF in the moving process, and calculating the layer number M of the workpiece according to the current position of the robot;
F. moving the robot 1 to an M-layer visual detection position for visual shooting;
G. and adjusting the position of the grabbing piece according to the position deviation of the visual detection, and grabbing the workpiece.
Further, the step B specifically comprises: judging the power failure of the PLC of the production line, the change of the safety door switch 9, the in-place detection switch 4 of the material box 3 and the power failure information of the robot 1, and if the power failure occurs, moving the express to the Mmax layer detection position; if the electricity is not cut off, whether the safety door is opened or not is judged.
Further, step D specifically comprises: if the express is moved, the express is moved to the Mmax layer detection position; if not, judging whether M is larger than 0 and smaller than Nmax.
Further, the step G specifically includes: and correcting the position of the grabbing piece according to the position deviation calculated by photographing, moving the robot to the position of the grabbing piece, grabbing the workpiece, and moving the robot when M is equal to M-1.
Compared with the prior art, the invention has the beneficial effects that:
the invention adopts a conditional detection mode, can realize the automatic calculation of the number of layers of the workpiece under specific conditions by a simple mode, and uses a counter to quickly grab the workpiece under normal conditions, thereby not only solving the problem that the operating speed is too slow to influence the use efficiency of equipment caused by workpiece detection, but also avoiding the collision problem caused by wrong number of layers of the grabbed workpiece because of manually putting the workpiece in.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a connection diagram of a robotic bin gripper control device;
FIG. 2 is a flow chart of a robotic bin gripper control method.
In the figure: 1. the robot 2, the robot gripper 3, the material box 4, the in-place detection switch 5, the distance measurement switch 6, the vision sensor 7, the production line fence 8, the fence safety door 9 and the safety door switch.
Detailed Description
The invention is further illustrated by the following examples:
the present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
As shown in figure 1, the robot work bin grabbing piece control device comprises a robot 1, a robot grabbing tool 2, a work bin 3, an in-place detection switch 4, a distance measurement switch 5, a vision sensor 6, a production line fence 7, a fence safety door 8, a safety door switch 9, a production line PLC, a robot controller and a vision controller.
The robot gripping apparatus 2 is arranged at the tail end of the industrial robot 1, and the vision sensor 6 and the distance measuring switch 5 are arranged at the bottom of the robot gripping apparatus 2.
The sheet metal parts are placed in the material box 3 in layers, and the layers are placed at equal intervals.
The robot controller is communicated with the production line PLC and the vision controller through Ethernet, the vision sensor 6 is connected to the vision controller, the distance measuring switch 5 is connected to the robot controller, and the in-place detecting switch 4 and the safety door switch 9 are connected to the production line PLC.
According to the invention, a production line fence 7 is arranged ON equipment such as a robot 1, a fence safety door 8 and a safety door switch 9 are arranged ON the production line fence 7, and personnel can enter workpieces in a movable material box 3 in the fence only when the safety door switch 9 is in an ON state; another state of the workpiece in the moving magazine 3 is that outside the enclosure of the moving magazine 3, the magazine detect switch will be OFF.
The robot 1 selects a corresponding grabbing program according to the vehicle type from the production line PLC, and the production line PLC records the outage information of the in-place detection switch 4 and the safety door switch 9 of the work bin 3 and sends the outage information to the robot 1; the robot 1 records the power-off information and receives the ranging switch 5, namely, the state of the sensor is detected; under the states of no position change of the material box 3, no change of the safety door switch 9 and no power-off, the robot 1 is rapidly moved to a corresponding detection position of the counting layer, the position deviation is visually detected, and then the position is adjusted to grab the workpiece; if the position of the work bin 3 changes, the safety door switch 9 changes and the power is cut off, the robot 1 is moved at a low speed from the first position, workpiece detection is carried out layer by layer until the workpiece is detected, and the number of workpiece layers is calculated according to the current position of the robot.
Specifically, the robot work bin grabbing piece control device and method provided by the invention comprise the following steps:
reading information of PLC power-off of a production line, safety door switch, bin in-place detection switch change and robot power-off;
step two, judging the power-off information of the PLC of the production line, the safety door switch, the bin in-place detection switch change and the robot, and jumping to the fifth step if the power-off information or the switch change exists;
step three, judging the power-off information of the PLC of the production line, the switch of the safety door, the change of a bin in-place detection switch and the robot, and reading the counter value M of the bin if the power-off information is interrupted or the switch is not changed;
step four, judging whether the workpiece counter M is larger than 0 and smaller than the maximum layer number, and entering the next step if not;
moving the robot to the topmost position, reading the state of a detection switch, giving an alarm if the detection switch is not ON, otherwise, performing slow movement and detection layer by layer from the topmost position, stopping the robot when the detection switch is OFF in the moving process, and calculating the layer number M of the workpiece according to the current position of the robot;
moving the robot to an M-layer visual detection position, and carrying out visual photographing;
and seventhly, adjusting the position of the grabbing piece according to the position deviation of the visual detection, and grabbing the workpiece.
Example 1
A robot work bin grabbing piece control device comprises a robot 1, a robot grabbing tool 2, a work bin 3, an in-place detection switch 4, a distance measurement switch 5, a vision sensor 6, a production line fence 7, a fence safety door 8, a safety door switch 9, a production line PLC, a robot controller and a vision controller. The robot gripping apparatus 2 is installed at the end of the industrial robot 1, and a vision sensor 6 and a distance measuring switch 5 are installed at the bottom of the robot gripping apparatus. The sheet metal parts are placed in the material box 3 in layers, and the layers are placed at equal intervals. The outer side of the robot 1 is provided with a production line fence 7, and a fence safety door 8 and a safety door switch 9 are arranged on the production line fence. The robot controller is communicated with the production line PLC and the vision controller through Ethernet, the vision sensor 6 is connected to the vision controller, the distance measuring switch 5 is connected to the robot controller, and the in-place detecting switch 4 and the safety door switch 9 are connected to the production line PLC.
Example 2
A robot bin grabbing piece control device and method comprise the following steps:
1. reading information of PLC power failure of a production line, safety door switch, bin in-place detection switch change and robot power failure, and judging whether power failure occurs or not;
2. if the electricity is cut off, the express is moved to the Mmax layer detection position; if the electricity is not cut off, whether the safety door is opened or not is judged;
3. if the express delivery is started, the express delivery moves to an Mmax layer detection position; if the work bin is not opened, judging whether the work bin moves, and reading a counter value M of the work bin;
4. if the express is moved, the express is moved to the Mmax layer detection position; if not, judging whether M is larger than 0 and smaller than Nmax;
5. if not, the express is moved to the Mmax layer detection position; if yes, directly and quickly moving to an M-layer photographing position;
6. after the express is moved to the Mmax layer detection position, reading the state of a detection switch, if not, giving an alarm by layer number counting error, otherwise, moving downwards at a slow speed to the detection switch OFF, stopping, reading the current position of the robot, calculating the value of the layer number M of the workpiece according to the current position value, and quickly moving to the M layer photographing position;
7. and correcting the position of the grabbing piece according to the position deviation calculated by photographing, moving the robot to the position of the grabbing piece, and grabbing the workpiece, wherein M is M-1, and the robot is moved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. The utility model provides a robot workbin grabbing a controlling means which characterized in that: the automatic detection system comprises a robot (1), a robot gripper (2), a material box (3), an in-place detection switch (4), a distance measurement switch (5), a visual sensor (6), a safety door switch (9), a production line PLC, a robot controller and a visual controller;
the robot gripping apparatus (2) is arranged at the tail end of the industrial robot (1), and the vision sensor (6) and the distance measuring switch (5) are arranged on the robot gripping apparatus (2);
sheet metal parts are placed in the material box (3);
the robot controller is in Ethernet communication with the production line PLC and the vision controller, the vision sensor (6) is connected to the vision controller, the distance measuring switch (5) is connected to the robot controller, and the in-place detection switch (4) and the safety door switch (9) are connected to the production line PLC.
2. A robotic bin gripper control device as claimed in claim 1 wherein: the vision sensor (6) and the distance measuring switch (5) are arranged at the bottom of the robot gripping apparatus (2).
3. A robotic bin gripper control device as claimed in claim 1 wherein: the sheet metal parts are placed in the material box (3) in layers, and the layers are placed at equal intervals.
4. A robotic bin gripper control device as claimed in claim 1 wherein: the outer side of the robot (1) is provided with a production line fence (7), and a fence safety door (8) and a safety door switch (9) are arranged on the production line fence.
5. A robotic bin gripper control device as claimed in claim 1 wherein: the production line PLC can record the outage information of the in-place detection switch (4) and the safety door switch (9) of the work bin (3) and send the outage information to the robot (1).
6. A robotic bin gripper control device as claimed in claim 1 wherein: the robot (1) can record power-off information and receive the state of a detection sensor.
7. A robot bin grabbing piece control method is characterized by comprising the following steps:
A. reading information of PLC power failure of a production line, a safety door switch (9), the change of a bin (3) in-place detection switch (4) and the power failure of a robot (1);
B. judging the power-off information of the PLC of the production line, the switch (9) of the safety door, the change of the in-place detection switch (4) of the material box (3) and the power-off information of the robot (1), and jumping to the fifth step if the power-off information or the switch change once;
C. judging the power-off information of the PLC of the production line, the switch (9) of the safety door, the change of the in-place detection switch (4) of the material box (3) and the power-off information of the robot (1), and reading the counter value M of the material box if the power-off information is cut off or the switch is not changed;
D. judging whether the workpiece counter M is larger than 0 and smaller than the maximum layer number, and if not, entering the next step;
E. moving the robot (1) to the topmost position, reading the state of a detection switch, giving an alarm if the detection switch is not ON, otherwise, performing slow movement and detection layer by layer from the topmost position, stopping the robot when the detection switch is OFF in the moving process, and calculating the layer number M of the workpiece according to the current position of the robot;
F. moving the robot (1) to an M-layer visual detection position to take a visual photo;
G. and adjusting the position of the grabbing piece according to the position deviation of the visual detection, and grabbing the workpiece.
8. The robot bin gripper control method according to claim 7, wherein step B is embodied as: judging the power failure of the PLC of the production line, the switch (9) of the safety door, the change of the in-place detection switch (4) of the material box (3) and the power failure information of the robot (1), and if the power failure occurs, moving the express to the Mmax layer detection position; if the electricity is not cut off, whether the safety door is opened or not is judged.
9. The robot bin gripper control method according to claim 7, wherein step D is embodied as: if the express delivery is moved, the express delivery is moved to the Mmax layer detection position; if not, judging whether M is larger than 0 and smaller than Nmax.
10. The robot bin gripper control method according to claim 7, wherein step G is embodied as: and correcting the position of the grabbing piece according to the position deviation calculated by photographing, moving the robot to the position of the grabbing piece, and grabbing the workpiece, wherein M is M-1, and the robot is moved.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210642752.2A CN114952851A (en) | 2022-06-08 | 2022-06-08 | Robot work bin grabbing piece control device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210642752.2A CN114952851A (en) | 2022-06-08 | 2022-06-08 | Robot work bin grabbing piece control device and method |
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- 2022-06-08 CN CN202210642752.2A patent/CN114952851A/en active Pending
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| US20180370034A1 (en) * | 2017-06-26 | 2018-12-27 | Sun Hst Co., Ltd. | Access detecting system |
| CN109015659A (en) * | 2018-09-29 | 2018-12-18 | 天津七所高科技有限公司 | A kind of the robot offset grasping mechanism and its method of view-based access control model |
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