CN115383741A - Manipulator rapid unloading control method under complex stacking - Google Patents

Manipulator rapid unloading control method under complex stacking Download PDF

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Publication number
CN115383741A
CN115383741A CN202210963325.4A CN202210963325A CN115383741A CN 115383741 A CN115383741 A CN 115383741A CN 202210963325 A CN202210963325 A CN 202210963325A CN 115383741 A CN115383741 A CN 115383741A
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value
manipulator
materials
layer
target position
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董辉
方智勇
李玲利
罗立锋
吴祥
张丹
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Zhejiang University of Technology ZJUT
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Zhejiang University of Technology ZJUT
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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 discloses a manipulator rapid unloading control method under complex stacking, which comprises the following steps: establishing a coordinate system and setting a coordinate origin; teaching a storage bin, and teaching four coordinate point positions; calculating the target position of next unloading of the manipulator by taking the teaching point as the target position of the first unloading; and controlling the discharging manipulator to discharge according to the calculated target position. The invention can be applied to unloading scenes with different stacking numbers of odd and even layers, not only can improve the use convenience, but also can ensure the accuracy of the unloading position.

Description

Manipulator rapid unloading control method under complex stacking
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a manipulator quick unloading control method under complex stacking, which is particularly applied to unloading scenes with different stacking numbers of odd-even layers.
Background
The unloading manipulator is a common automatic device which can be used for unloading, unstacking and taking accessories. In recent years, due to the increasing demand of mechanical equipment for processing and production, the requirements on efficiency and safety of the storing and taking process for disassembling materials with different odd-even stacking numbers are higher and higher. In the past, the removal of overweight and excessive materials by manpower is almost unrealistic, and the removal of precision equipment needs to bear more uncontrollable risks. Instead, the machine equipment is equipped with flexible arms.
In the prior art, a few discharging position calculation modes aiming at different numbers of stacked odd-even layers exist, most discharging target point positions are acquired in a point-by-point teaching mode, so that the operation is more complicated, and the precision is far less accurate than that of precise calculation through a manual point finding mode.
Therefore, the manipulator is controlled by a convenient online teaching calculation method to detach the material, which is very important, the teaching positions of target points do not need to be sequentially determined, the target positions calculated according to the teaching mode are more accurate, the manipulator can grasp the material more accurately while ensuring rapid detachment, and the safety is greatly improved while the efficiency is ensured.
Disclosure of Invention
The invention aims to provide a manipulator rapid unloading control method under complex stacking, which can be applied to unloading scenes with different stacking numbers of odd and even layers, can improve the use convenience and can ensure the accuracy of unloading positions.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a manipulator rapid unloading control method under complex stacking is provided, the complex stacking is a stacking mode with different odd-even layer stacking numbers, and the manipulator rapid unloading control method under complex stacking comprises the following steps:
step 1, establishing a coordinate system and setting a coordinate origin;
step 2, teaching a storage bin: moving the mechanical arm to the geometric center of the first material on the first layer to obtain a teaching point P 1 (x 1 ，y 1 ) Teaching point P is set when the Z axis of the manipulator is not moving 1 Moving the X axis of the manipulator to the geometric center of the last material on the first layer to obtain a teaching point P 2 (x 2 ，y 2 ) Moving the mechanical arm to the geometric center of the first material on the second layer to obtain a teaching point P 3 (x 3 ，y 3 ) When the Z axis of the manipulator is not moving, the teaching point P 1 Moving the X axis of the manipulator to the geometric center of the last material on the second layer to obtain a teaching point P 4 (x 4 ，y 4 ) Finishing the demonstration of the storage bin and initializing the quantity S of the discharged materials 2 ＝0；
Step 3, teaching the point P 1 As the target position of the first unloading, calculating the target position of the next unloading of the manipulator, including:
3.1, calculating the number N of the offset layers required by the layer where the target position is located relative to the last layer;
step 3.2, according to the offset layer number N, the variable value is paired 4 And (4) judging:
wherein:
value 4 ＝(v-1-N)％2
if value 4 If =0, the X-axis coordinate of the target position P is determined as:
Figure BDA0003793701210000021
if value 4 If =1, the X-axis coordinate of the target position P is determined as:
Figure BDA0003793701210000022
wherein v is the total number of layers of the material stack,
Figure BDA0003793701210000023
the distance between the geometric centers of the adjacent materials in the odd layers,
Figure BDA0003793701210000024
the distance between the geometric centers of the adjacent materials in the even number layers is calculated;
step 3.3, according to the quantity S of the materials which are discharged 2 For variable value 5 And (4) judging:
wherein:
value 5 ＝S 2 ％(h 1 +h 2 )
if value 5 If =0, the X-axis coordinate of the target position P is determined as:
x＝x 1
if value 5 ＝h 1 Then, the X-axis coordinate of the target position P is obtained as:
x＝x 3
if value 5 | A =0 and value 5 ！＝h 1 If yes, keeping the X-axis coordinate of the point P at the target position in the value calculated in the step 3.2;
in the formula, h 1 Is the number of materials in odd number layers, h 2 The number of materials in an even number layer;
step 3.4, obtaining the Y-axis coordinate of the target position P point according to the offset layer number N as follows:
Figure BDA0003793701210000025
in the formula (I), the compound is shown in the specification,
Figure BDA0003793701210000026
is the vertical distance between the geometric centers of the adjacent materials of the upper layer and the lower layer;
step 4, controlling the discharging manipulator to discharge according to the calculated target position P (x, y), and updating S after the discharging is finished 2 ＝S 2 +1, when S 2 ＝S 1 When the material is discharged, the discharging is finished; otherwise, updating the current position to be P (x, y) and returning to the step 3 to continuously calculate the target position of next unloading, S 1 Is the total number of the materials in the storage bin.
Several alternatives are provided below, but not as an additional limitation to the above general solution, but merely as a further addition or preference, each alternative may be combined individually for the above general solution or between several alternatives without technical or logical contradictions.
Preferably, the establishing a coordinate system and setting a coordinate origin includes:
taking the X-axis direction of the manipulator as the positive direction of the X-axis of the coordinate system, and taking the Z-axis direction of the manipulator as the positive direction of the Y-axis of the coordinate system;
and taking the geometric center of the first material as a starting point, extending a preset distance along the opposite directions of the X axis and the Y axis, and then setting a coordinate origin of a coordinate system.
Preferably, the calculating the number N of offset layers required for the layer where the target position is located relative to the last layer includes:
step 3.1.1, initializing judgment times T =1,value 2 ＝h 1 ，value 1 ＝S 1 -S 2 ％S 1 ；
Step 3.1.2, to variable value 1 And variable value 2 And (4) judging:
if value 1 ＜＝value 2 If yes, jumping out of circulation, and obtaining the required number of offset layers N = v-T of the layer where the target position is located relative to the last layer;
if value 1 ＞value 2 Entering a circulation, and comparing the variable value according to the judgment times T after entering the circulation 3 ；
Wherein:
value 3 ＝(T-1)％2
if value 3 =0, then:
value 2 ＝value 2 +h 2
if value 3 | A =0, then:
value 2 ＝value 2 +h 1
step 3.1.3, T = T +1, and returns to step 3.1.2 to continue the loop.
Preferably, the parameters
Figure BDA0003793701210000031
S 1 The calculation process of (2) is as follows:
the number of odd-number layers of materials in the known storage bin is h 1 The number of materials in an even number layer is h 2 The total stacking number of the materials is v;
calculating the spacing between the geometric centers of adjacent materials in odd layers
Figure BDA0003793701210000032
Comprises the following steps:
Figure BDA0003793701210000033
calculating the spacing between the geometric centers of adjacent materials in an even number of layers
Figure BDA0003793701210000034
Comprises the following steps:
Figure BDA0003793701210000041
spacing between geometric centers of adjacent materials of upper and lower layers
Figure BDA0003793701210000042
Comprises the following steps:
Figure BDA0003793701210000043
calculating the total number S of materials in the stock bin 1 Comprises the following steps:
if the total stacking layers are even layers, the total number of the materials is as follows:
S 1 ＝v/2*(h 1 +h 2 )
if the total stacking layers are odd layers, the total number of the materials is as follows:
S 1 ＝v/2*(h 1 +h 2 )+h 1 。
according to the manipulator rapid unloading control method under the complex stacking, all the point positions can be calculated only by teaching the positions of four points of the material, so that the production rate can be greatly improved, the operation is simple, and the position accuracy can be ensured.
Drawings
FIG. 1 is a flow chart of a manipulator rapid unloading control method under complex stacking according to the present invention;
FIG. 2 is a schematic diagram of establishing a coordinate system according to the present invention;
FIG. 3 is a flow chart of the present invention for calculating a target position for discharge.
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.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Aiming at the problem that a better unloading scheme does not exist for scenes with different numbers of stacked odd and even layers in the prior art, the embodiment provides the manipulator rapid unloading control method under the complex stacking, and all the positions required to be moved to the target point for unloading the material can be accurately calculated according to the information only by teaching the position information of a plurality of target points. The material unloading device can be applied to unloading scenes of similar articles such as light and thin aluminum products and plastic long pipes with different odd-even stacking numbers, can improve the use convenience, and can ensure the accuracy of unloading positions.
Due to the increasing demands of mechanical equipment for processing and production, the requirements on the efficiency and the safety of the storing and taking process are higher and higher for the disassembly of materials with different odd-even stacking numbers. In the past, the removal of overweight and excessive materials by manpower is hardly practical, and the moving of precision equipment needs to bear greater uncontrollable risks. Instead, the machine equipment is equipped with flexible arms. The manipulator is controlled by a convenient online teaching calculation method to detach the materials, so that the material detaching method is important, teaching positions of target points do not need to be learned one by one, the target positions calculated according to the teaching mode are more accurate, the manipulator can grab the materials more accurately while ensuring quick detachment, and the safety is greatly improved while the efficiency is ensured.
Specifically, as shown in fig. 1, the method for controlling quick discharging of a manipulator under complex stacking of the present embodiment includes the following steps:
step 1, establishing a coordinate system and setting a coordinate origin.
As shown in fig. 2, the coordinate system is preferably established with the first material to be gripped or the last material to be gripped as a reference and with the corresponding origin of coordinates set. In this embodiment, a coordinate system is correspondingly established by taking the first material to be grabbed as a reference, extending transversely to the direction of the mechanical axis X, and extending longitudinally to the direction of the mechanical axis Z. The X-axis direction of the manipulator is taken as the positive direction of the X-axis of the coordinate system, and the Z-axis direction of the manipulator is taken as the positive direction of the Y-axis of the coordinate system.
And taking the geometric center of the first material as a starting point, extending in opposite directions of the X axis and the Y axis for a preset distance, and setting a coordinate origin A (0,0) of a coordinate system. The preset distance is determined according to the shape of the material, and if the material is a cylinder, the preset distance is the radius of the cylinder; if the rectangular shape is adopted, the rectangular shape extends by half of the length and the width respectively.
And 2, teaching a storage bin.
Let P 1 For the geometric center of the first material to be grabbed, the layer is used as the first layer of the storage bin, namely the odd layer, and the manipulator is moved to the geometric center of the first material on the first layer to obtain a teaching point P 1 (x 1 ，y 1 ). When the Z axis of the manipulator is not moving, the teaching point P 1 Moving the X axis of the manipulator to the geometric center of the last material on the first layer to obtain a teaching point P 2 (x 2 ，y 2 )。
And continuing to teach the even layers after teaching the positions of the first material and the last material of the odd layers. Moving the manipulator to the geometric center of the first material on the second layer to obtain a teaching point P 3 (x 3 ，y 3 ) Under the condition that the Z axis of the manipulator is not moved, moving the X axis of the manipulator to the geometric center of the last material on the second layer from the teaching point P1 to obtain the teaching point P 4 (x 4 ，y 4 ) And finishing the teaching of the storage bin.
Note that P taught in the present embodiment 1 、P 2 、P 3 、P 4 For the geometric center point, the teaching points are mapped to the material side for direct observation in fig. 2.
The number of the materials in the odd number layer in the known storage bin is h 1 The number of the materials in the even number layer is h 2 The stacking layer number of the materials is v, the required target position is P (x, y), and the default first target position is P 1 (x 1 ，y 1 ) And initializing the amount S of the discharged material 2 Parameter of =0
Figure BDA0003793701210000061
S 1 The calculation process of (2) is as follows:
calculating the distance between the geometric centers of adjacent materials in the odd number layers
Figure BDA0003793701210000062
Comprises the following steps:
Figure BDA0003793701210000063
calculating the spacing between the geometric centers of adjacent materials in an even number of layers
Figure BDA0003793701210000064
Comprises the following steps:
Figure BDA0003793701210000065
spacing between geometric centers of adjacent materials of upper and lower layers
Figure BDA0003793701210000066
Comprises the following steps:
Figure BDA0003793701210000067
calculating the total number S of materials in the stock bin 1 Comprises the following steps:
if the total stacking layers are even layers, the total number of the materials is as follows:
S 1 ＝v/2*(h 1 +h 2 )
if the total stacking number is an odd number, the total number of the materials is as follows:
S 1 ＝v/2*(h 1 +h 2 )+h 1 。
the above is the useful parameters obtained by calculation, so that the position information to be executed by the current machine can be conveniently calculated, as shown in fig. 3, and the specific calculation is as shown in step 3.
And 3, calculating the target position of next unloading by the manipulator by taking the teaching point P1 as the target position of the first unloading. In the present embodiment, when the target position is calculated, the target position obtained by the calculation of this discharging is recorded as the current position at the time of the next discharging calculation, for example, the teaching point P1 is used as the target position of the first discharging, that is, the current position of the manipulator at the time of the second discharging calculation.
Step 3.1, calculating the number N of the offset layers required by the layer where the target position is located relative to the last layer, and the method comprises the following steps:
step 3.1.1, initialization judgment times T =1, value 2 ＝h 1 ，value 1 ＝S 1 -S 2 ％S 1 ；
Step 3.1.2, to variable value 1 And variable value 2 And (4) judging:
if value 1 ＜＝value 2 Then the loop is skipped and the layer where the target position is located is obtained relative to the last layerThe number of offset layers N = v-T;
if value 1 ＞value 2 Entering a circulation, and comparing the variable value according to the judgment times T after entering the circulation 3 ；
Wherein:
value 3 ＝(T-1)％2
if value 3 =0, then:
value 2 ＝value 2 +h 2
if value 3 | A =0, then:
value 2 ＝value 2 +h 1
step 3.1.3, T = T +1, and returns to step 3.1.2 to continue the loop.
That is, in a specific cycle, the variable value is firstly checked in the first step 1 And variable value 2 And (4) judging:
wherein the content of the first and second substances,
value 1 ＝S 1 -S 2 ％S 1
value 2 ＝h 1
when the first judgment T =1, if value 1 ＜＝value 2 The loop is skipped and the number of required offset layers N = v-1 relative to the last layer is accumulated.
If the value is judged for the first time 1 ＞value 2 Entering a circulation, and comparing the variable value according to the judgment times T after entering the circulation 3 。
Wherein:
value 3 ＝(T-1)％2
if value 3 =0, then: value 2 ＝value 2 +h 2 。
If value 3 | =0, then: value 2 ＝value 2 +h 1 。
And ending the judgment, and entering second cycle judgment by T = T + 1.
At this time, the process of the present invention,
value 1 ＝S 1 -S 2 ％S 1
value 2 ＝h 1 +h 2
if the value is judged for the second time 1 ＜＝value 2 The loop is skipped and the number of required offset layers N = v-2 relative to the last layer is accumulated.
If the value is judged for the second time 1 ＞value 2 Entering a circulation, and comparing the variable value according to the judgment times T after entering the circulation 3 。
Wherein:
value 3 ＝(T-1)％2
if value 3 =0, then: value 2 ＝value 2 +h 2 。
If value 3 | A =0, then: value 2 ＝value 2 +h 1 。
And ending the judgment, and entering third cycle judgment by T = T + 1.
At this time, the process of the present invention,
value 1 ＝S 1 -S 2 ％S 1
value 2 ＝h 1 +h 2 +h 1
and so on, finally, the loop is skipped to obtain the target value, namely, the required number of offset layers N relative to the last layer.
Step 3.2, according to the offset layer number N, the variable value is paired 4 And (4) judging:
wherein:
value 4 ＝(v-1-N)％2
if value 4 If =0, the X-axis coordinate of the target position P is determined as:
Figure BDA0003793701210000081
if value 4 If =1, the X-axis coordinate of the target position P is determined as:
Figure BDA0003793701210000082
i.e. the target position is updated based on the current position.
Wherein v is the total number of layers of the material stack,
Figure BDA0003793701210000083
(i.e., D _ h in the figure) 1 ) Is the distance between the geometric centers of the materials in the odd layers,
Figure BDA0003793701210000084
(i.e., D _ h in the figure) 2 ) Is the distance between the geometric centers of the materials in the even number of layers.
Step 3.3, according to the quantity S of the materials which are discharged 2 For variable value 5 And (4) judging:
wherein:
value 5 ＝S 2 ％(h 1 +h 2 )
if value 5 If =0, the X-axis coordinate of the target position P is determined as:
x＝x 1
if value 5 ＝h 1 Then, the X-axis coordinate of the target position P is obtained as:
x＝x 3
if value 5 | A =0 and value 5 ！＝h 1 The X-axis coordinate of the point of the target position P is kept at the value calculated in step 3.2.
In the formula, h 1 Is an odd number of layers of materials, h 2 The number of materials in an even number layer.
Step 3.4, obtaining the Y-axis coordinate of the point P at the target position according to the number N of the offset layers as follows:
Figure BDA0003793701210000085
in the formula (I), the compound is shown in the specification,
Figure BDA0003793701210000086
(i.e. in the figure)
Figure BDA0003793701210000087
) The distance between the geometric centers of the upper and lower layers of material is obtained, and then the next required movement of the machine to the position P (x, y) is obtained based on the target position of the last finished production.
Step 4, controlling the discharging manipulator to discharge according to the calculated target position P (x, y), and updating S after the discharging is finished 2 ＝S 2 +1, when S 2 ＝S 1 When the material is discharged, the discharging is finished; otherwise, updating the current position to be P (x, y) and returning to the step 3 for continuous execution, S 1 Is the total number of materials in the storage hopper.
The teaching point P is directly appointed during the first unloading 1 The target position of the first unloading is used, so that the current position of the first unloading can be not considered, and in the subsequent calculation of the unloading target position, the target position of the previous unloading is used as the current position.
The embodiment provides an effective calculation mode for the unloading positions of the multi-axis manipulator with different odd-even stacking layers. The method is mainly applied to the disassembly of light and thin aluminum, plastic long pipes and other similar articles with different numbers of stacked odd layers and even layers. Respectively setting parameters of odd number of layers and odd number of layers, and even number of layers according to a field stacking mode, and storing total output required to be disassembled; and automatically calculating the position of a target point to which the next robot hand moves according to the relation between the total parameters and the current finished yield and the positions of a plurality of special points.
According to the invention, the position of each point does not need to be taught, and the coordinates of the next point can be known only by manually teaching the position information of four points through simple operation, so that the material is safely, quickly and accurately grasped finally, and then the disassembling work is carried out. The complex work brought by online teaching is greatly reduced, the operation difficulty is reduced, the calculated coordinates are more accurate, the working efficiency can be improved, and unnecessary position error information is reduced.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (4)

1. A manipulator rapid unloading control method under complex stacking is characterized in that the manipulator rapid unloading control method under complex stacking comprises the following steps:
step 1, establishing a coordinate system and setting a coordinate origin;
step 2, teaching a storage bin: moving the mechanical arm to the geometric center of the first material on the first layer to obtain a teaching point P 1 (x 1 ，y 1 ) Teaching point P is set when the Z axis of the manipulator is not moving 1 Moving the X axis of the manipulator to the geometric center of the last material on the first layer to obtain a teaching point P 2 (x 2 ，y 2 ) Moving the mechanical arm to the geometric center of the first material on the second layer to obtain a teaching point P 3 (x 3 ，y 3 ) When the Z axis of the manipulator is not moving, the teaching point P 1 Moving the X axis of the manipulator to the geometric center of the last material on the second layer to obtain a teaching point P 4 (x 4 ，y 4 ) Finishing the demonstration of the storage bin and initializing the quantity S of the discharged materials 2 ＝0；
Step 3, teaching point P 1 As the target position of the first unloading, calculating the target position of the next unloading of the manipulator, including:
3.1, calculating the number N of the offset layers required by the layer where the target position is located relative to the last layer;
step 3.2, according to the offset layer number N, the variable value is paired 4 And (4) judging:
wherein:
value 4 ＝(v-1-N)％2
if value 4 If =0, the X-axis coordinate of the target position P is determined as:
Figure FDA0003793701200000011
if value 4 If =1, the X-axis coordinate of the target position P is determined as:
Figure FDA0003793701200000012
wherein v is the total number of layers of the material stack,
Figure FDA0003793701200000013
the distance between the geometric centers of the adjacent materials in the odd layers,
Figure FDA0003793701200000014
the distance between the geometric centers of the adjacent materials in the even number layers is provided;
step 3.3, according to the quantity S of the materials which are discharged 2 For variable value 5 And (4) judging:
wherein:
value 5 ＝S 2 ％(h 1 +h 2 )
if value 5 If =0, the X-axis coordinate of the target position P is determined as:
x＝x 1
if value 5 ＝h 1 Then, the X-axis coordinate of the target position P is obtained as:
x＝x 3
if value 5 ! =0 and value 5 ！＝h 1 To ensure the aimKeeping the X-axis coordinate of the point at the marked position P to the value calculated in the step 3.2;
in the formula, h 1 Is the number of materials in odd number layers, h 2 The number of materials in an even number layer;
step 3.4, obtaining the Y-axis coordinate of the target position P point according to the offset layer number N as follows:
Figure FDA0003793701200000021
in the formula (I), the compound is shown in the specification,
Figure FDA0003793701200000022
is the vertical distance between the geometric centers of the adjacent materials of the upper layer and the lower layer;
step 4, controlling the discharging manipulator to discharge according to the calculated target position P (x, y), and updating S after the discharging is finished 2 ＝S 2 +1, when S 2 ＝S 1 When the material is discharged, the discharging is finished; otherwise, updating the current position to be P (x, y) and returning to the step 3 to continue to calculate the target position of next unloading, S 1 Is the total number of the materials in the storage bin.
2. The manipulator fast unloading control method under the complex stack as claimed in claim 1, wherein said establishing a coordinate system and setting an origin of coordinates comprises:
taking the X-axis direction of the manipulator as the positive direction of the X-axis of the coordinate system, and taking the Z-axis direction of the manipulator as the positive direction of the Y-axis of the coordinate system;
and taking the geometric center of the first material as an initial point, extending a preset distance along the opposite directions of the X axis and the Y axis, and setting a coordinate origin of a coordinate system.
3. The manipulator fast discharge control method under the complex stack according to claim 1, wherein the calculating the number N of the offset layers required by the layer where the target position is located relative to the last layer comprises:
step 3.1.1, initialization judgment times T =1, value 2 ＝h 1 ，value 1 ＝S 1 -S 2 ％S 1 ；
Step 3.1.2, to variable value 1 And variable value 2 And (4) judging:
if value 1 ＜＝value 2 If yes, jumping out of circulation, and obtaining the number N = v-T of the offset layers required by the layer where the target position is located relative to the last layer;
if value 1 ＞value 2 Entering a circulation, and comparing the variable value according to the judgment times T after entering the circulation 3 ；
Wherein:
value 3 ＝(T-1)％2
if value 3 =0, then:
value 2 ＝value 2 +h 2
if value 3 | A =0, then:
value 2 ＝value 2 +h 1
step 3.1.3, T = T +1, and returns to step 3.1.2 to continue the loop.
4. The manipulator fast discharge control method under complex stacking as claimed in claim 1, wherein the parameters
Figure FDA0003793701200000023
S 1 The calculation process of (2) is as follows:
the number of odd-number layers of materials in the known storage bin is h 1 The number of materials in an even number layer is h 2 The total number of stacked layers of the materials is v;
calculating the spacing between the geometric centers of adjacent materials in odd layers
Figure FDA0003793701200000031
Comprises the following steps:
Figure FDA0003793701200000032
calculating the spacing between the geometric centers of adjacent materials in an even number of layers
Figure FDA0003793701200000033
Comprises the following steps:
Figure FDA0003793701200000034
spacing between geometric centers of adjacent materials of upper and lower layers
Figure FDA0003793701200000035
Comprises the following steps:
Figure FDA0003793701200000036
calculating the total number S of materials in the stock bin 1 Comprises the following steps:
if the total stacking layers are even layers, the total number of the materials is as follows:
S 1 ＝V/2*(h 1 +h 2 )
if the total stacking number is an odd number, the total number of the materials is as follows:
S 1 ＝v/2*(h 1 +h 2 )+h 1 。
CN202210963325.4A 2022-08-11 2022-08-11 Manipulator rapid unloading control method under complex stacking Withdrawn CN115383741A (en)

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