CN115741675A - Stacking control method and system for double-arm education robot - Google Patents
Stacking control method and system for double-arm education robot Download PDFInfo
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Abstract
The invention relates to a method and a system for controlling stacking of a double-arm education robot, and relates to the technical field of electromechanical control. Calling a teaching resource library to obtain a stacking teaching process; acquiring workpiece characteristic information according to a stacking teaching process to form stacking track data; forming a stacking control program according to the stacking track data; acquiring a starting signal to form a stacking starting instruction; acquiring a stacking starting instruction to form a material taking instruction; sending a material taking instruction and forming a stacking instruction; sending a stacking instruction to perform stacking operation; and receiving a stacking completion signal to complete the stacking operation. The system comprises an operation cabinet, a double-arm robot, a control cabinet body, a first sucker clamp assembly, a second sucker clamp assembly, a first sucker support, a second sucker support, a workpiece support, a conveyor, stacking grid boxes, a grid box support and a stacking storage box. The stacking process can be displayed in a complete and visualized mode, and meanwhile, students can intervene to operate and control to achieve teaching and practice combination.
Description
Technical Field
The invention belongs to the technical field of electromechanical control, and particularly relates to a stacking control method and system for a double-arm education robot.
Background
Palletizing is a process often designed in the field of logistics sorting. Manual stacking and sorting wastes time and labor, and an automatic stacking and sorting process is formed along with the development of the technology. When personnel training and teaching are carried out, the teaching test platform is used for displaying the stacking process, the whole stacking process can be displayed to students in an imaging mode, and a good teaching effect is achieved.
The existing palletizing robots can be structurally divided into three types, namely linear motion crane type palletizing robots, parallel rod type palletizing robots and mechanical arm type palletizing robots. The linear motion crane type stacking robot has the advantages of simple structure, low manufacturing cost, simple motor control method, large occupied space and limited moving mode of the stacking clamp, and can only realize simpler stacking. The parallel rod type stacking robot is high in movement accuracy, high in rigidity, strong in movement capacity, small in tail end inertia, limited in working space, easy to collide with a manipulator and complex in driving control. Compared with other two types of stacking robots, the mechanical arm type stacking robot has higher freedom of movement, small occupied space and large working range, can bypass obstacles to extract and stack objects, but has more complex motion planning and drive control and slower stacking transfer speed due to the non-linearity of motion. The mechanical arm type stacking robot can be divided into a single-arm type stacking robot and a double-arm type stacking robot. The single-arm type stacking robot is simple in structure, easy to teach and control, single in stacking working mode and low in efficiency. Compared with a single-arm type palletizing robot, the double-arm type palletizing robot has more freedom degrees, is more flexible in action and high in operation efficiency, two mechanical arms can respectively and independently work to stack objects with smaller loads, and can also work together with two arms to stack objects with large weight and irregular shapes, but the collaborative operation planning and the driving control difficulty of the double mechanical arms are large.
The teaching function of the intelligent display part of the existing double-arm education robot practical training platform cannot be completely displayed in the operation process of the whole stacking process. Therefore, the practical training platform cannot completely show the process and the control flow to the trainees, and the visualized effect cannot be achieved, so that the brought teaching effect is not obvious. Meanwhile, the current practical training platform has a single function, cannot provide an operable control opportunity for students, and cannot combine teaching with practice.
Therefore, designing a stacking control method and system for a robot for double-arm education to complete and vividly show the stacking process and simultaneously enable students to intervene to operate and control so as to combine teaching and practice is a problem to be solved urgently at present.
Disclosure of Invention
Based on the above, the invention aims to overcome the defects of the prior art and provides a stacking control method for a double-arm education robot, which is used for carrying out parameter configuration suitable for the current stacking process through workpiece identification and ensuring that the stacking process can be accurately adjusted according to actual conditions. And a series of executable detection is carried out before the stacking starts, on one hand, the detection work of the preorders provides a basis for integrally completing the stacking process, and meanwhile, the detected nodes also provide practical operation capable of removing faults and installing a grinding machine for a student, so that the teaching and the practice are tightly combined, and the teaching effect is improved. In addition, the stacking process can be displayed in an visualized mode through complete instruction control in the material taking and stacking stage, so that students can know the stacking process in a coherent and visualized mode on the whole, and a good display effect is achieved.
The invention provides a stacking control system of a double-arm education robot, which comprises various devices and structures capable of completing the whole stacking process and provides a material object basis for the complete display stacking process. Meanwhile, the stacking process can be used for practice teaching on a teaching platform in combination with an automatic control method, the effect of combining teaching and practice is achieved, and the teaching quality is greatly improved. Because whole pile up neatly control system all bears on the control cabinet body and the operation cabinet, area is little and can conveniently remove, and it is very convenient to use. In addition, the system generally comprises subsystems of a double-arm education robot, a stacking process system, a stacking electrical control system and a stacking process teaching system. Wherein, each arm of the double-arm robot is an arm consisting of more than four joints. The stacking process system is composed of a double-sucker, a double-arm robot, various connecting devices on the stacking device, a stacking workpiece, a stacking storage box and a practical training platform stacking area. The sucker structure comprises a pneumatic single (double) sucker, a clamping claw, an electric mechanical clamping claw, an electromagnet and the like, and has the functions of sucking, grabbing and clamping stacked workpieces. The connecting device structure is composed of hard connection, soft connection and sensing connection, and has the functions of high transferring speed, multiple types of transferred objects (special-shaped pieces and light small pieces), weight measurement, soft grade, classification and the like. The stacking electric system consists of a control system of a double-arm education robot, and the control system comprises a controller and various microcontrollers on the double-arm robot. And teaching resources such as stacking teaching data, stacking training algorithm, man-machine interaction programming and the like are arranged in the controller. The palletizing process teaching system consists of palletizing process practical teaching contents, an individualized teaching scheme and a teaching communication control functional module, and comprises a teaching learning process control software module, a communication module, an algorithm process processing module and a robot execution control algorithm module, wherein the functional modules are all built in a controller. The teaching demonstration device can well realize the high-quality teaching demonstration process.
The first technical scheme provided by the invention is as follows:
a double-arm robot grinding control method comprises the following steps: calling stacking teaching data of a teaching resource library, performing training of workpiece identification and type parameter matching according to the stacking teaching data, and acquiring stacking workpiece shape data, anti-interference data, stacking path information and workpiece stacking position information to form a stacking teaching process flow; determining a stacking mode and a process signal interlocking and detecting method according to the stacking teaching process flow, and planning the track of the stacking process to form stacking track data; carrying out control analysis on the stacking process according to the stacking track data to form a stacking control program; acquiring a starting signal according to the stacking control program, configuring parameters and forming a stacking starting instruction; acquiring a stacking starting instruction, and performing executable detection to form a material taking instruction; sending a material taking instruction to perform material taking operation and forming a stacking instruction; sending a stacking instruction to perform stacking operation; and receiving a stacking completion signal and sending a stacking disconnection instruction to complete stacking operation.
Further, acquiring a stacking starting instruction, and performing executable detection, wherein the method comprises the following steps: acquiring an interference detection signal, and carrying out interference inspection on the workpiece and the path; and acquiring an execution detection signal, and performing executable preparation detection.
Further, acquiring an execution detection signal and performing executable preparation detection, comprising: receiving a first detection signal for carrying detection and forming a return instruction; sending a return instruction to carry out return operation; receiving a second detection signal to perform detection and forming an executable instruction; and sending an executable instruction, receiving a third detection signal to perform material detection, and forming a material taking instruction.
Further, receiving a third detection signal to perform material detection, and forming a material taking instruction, the method includes: when the material is detected at the stack position, a material taking warning instruction is formed; taking out the workpieces in the stack position according to the material taking warning instruction; forming a material taking instruction after detecting that no workpiece exists in the stack position; and when no material is loaded in the stack position, forming a material taking instruction.
Further, send and get the material instruction and get the material operation, include: sending a workpiece taking instruction, and controlling a right arm to clamp the workpiece; acquiring a workpiece material taking in-place signal, and sending a blanking instruction to control a right arm to complete blanking operation; and acquiring a blanking completion signal, sending a material taking recovery instruction, and controlling the right arm to perform recovery operation.
Further, send the work piece and get the material instruction, control right arm and carry out work piece clamp and get the operation, include: sending a first material taking displacement instruction, and controlling the right arm to move to the sucking disc clamping position; acquiring a first material taking displacement in-place signal, sending a first material taking clamping instruction, and controlling a right arm to clamp a sucker; acquiring a first material taking clamp in-place signal, sending a second material taking displacement instruction, and controlling the right arm to move to a workpiece clamping position; and acquiring a second material taking displacement in-place signal, sending a first material taking suction instruction, and controlling a right arm to suck the workpiece.
Further, sending a stacking instruction to perform a stacking operation, comprising: sending a stacking and material taking instruction, and controlling a left arm to perform stacking and material taking operation on the workpiece; acquiring a stacking and material taking in-place signal, and sending a stacking instruction to control a left arm to complete stacking operation; and acquiring a stacking completion signal, sending a stacking recovery instruction, and controlling the left arm to perform recovery operation.
Further, send the stack and get the material instruction, control the left arm and carry out the stack of work piece and get the material operation, include: sending a first stacking displacement instruction, and controlling the left arm to move to the sucking disc clamping position; acquiring a first stacking displacement signal, sending a first stacking clamping instruction, and controlling a left arm to clamp a sucker; acquiring a first stack clamping in-place signal, sending a second stack displacement instruction, and controlling the left arm to move to a workpiece clamping position; and acquiring a second stacking displacement in-place signal, sending a first stacking suction instruction, and controlling a left arm to suck the workpiece.
Further, after receiving the stacking completion signal and sending a stacking disconnection command to complete the stacking operation, the method further includes: and receiving a circulation starting signal, and sending a circulation operation instruction to perform the circulation operation of stacking.
The second technical scheme provided by the invention is as follows:
the stacking control method of the double-arm education robot in the first technical scheme is adopted, and the stacking control method comprises an operation cabinet, a double-arm robot, a control cabinet body, a first sucker clamp assembly, a second sucker clamp assembly, a first sucker support, a second sucker support, a workpiece support, a conveyor, a stacking grid box, a grid box support and a stacking storage box; a teaching platform is arranged on the operation cabinet; a training platform stacking area is divided on the teaching platform; the first sucker support, the second sucker support, the conveyor, the grid box support and the workpiece support are all arranged on the teaching platform; the first sucking disc clamp assembly is arranged on the first sucking disc support; the second sucker clamp assembly is arranged on the second sucker support; the stacking grid box is arranged on the grid box support; the workpiece support, the first sucking disc clamp assembly and the first sucking disc support are all positioned on one side of the conveying starting end of the conveyor belt; the stacking box, the box support, the second sucker clamp assembly and the second sucker support are positioned on one side of the conveying tail end of the conveyor belt; the double-arm robot is arranged on the control cabinet body and is connected with the controller in the control cabinet body; the double-arm robot comprises a left arm and a right arm; the left arm is used for stacking operation; the right arm is used for feeding; pulleys are arranged on the operating cabinet and the control cabinet body; the stacking storage box is arranged on the control cabinet body and used for storing stacking tools; the left arm and the right arm are both provided with special-shaped clamping jaws for clamping materials; a PLC controller is arranged in the control cabinet body; the PLC controller is connected with the double-arm robot, the first sucking disc clamp assembly, the second sucking disc clamp assembly, the conveyor and the stacking grid box respectively, forms a stacking process control command suitable for teaching display through resources of the teaching resource library, and controls the double-arm robot, the first sucking disc clamp assembly, the second sucking disc clamp assembly, the conveyor and the stacking grid box through the stacking process control command.
The stacking control method and the stacking control system for the double-arm education robot have the beneficial effects that:
1. according to the stacking control method for the double-arm education robot, parameter configuration suitable for the current stacking process is carried out through workpiece identification, and the stacking process can be accurately adjusted according to actual conditions. And a series of executable detection is carried out before the stacking starts, on one hand, the detection work of the preorders provides a basis for integrally completing the stacking process, and meanwhile, the detected nodes also provide practical operation capable of removing faults and installing a grinding machine for a student, so that the teaching and the practice are tightly combined, and the teaching effect is improved. In addition, the stacking process can be displayed in an visualized mode through complete instruction control in the material taking and stacking stage, so that students can know the stacking process in a coherent and visualized mode on the whole, and a good display effect is achieved.
2. The utility model provides a two arms education robot pile up neatly control system has included each device and the structure that can accomplish whole pile up neatly technology, provides the material object basis for complete show pile up neatly technology. Meanwhile, the stacking process can be used for practice teaching on a teaching platform in combination with an automatic control method, the effect of combining teaching and practice is achieved, and the teaching quality is greatly improved. In addition, because whole pile up neatly control system all bears on the control cabinet body and the operation cabinet, area is little and can conveniently remove, and it is very convenient to use.
3. The stacking control method for the double-arm education robot can control the two mechanical arms to work independently respectively, simultaneously carry and stack objects with smaller loads, and improve the working efficiency; and the double arms can work cooperatively, so that objects with heavy weight and irregular shapes can be conveyed and stacked, and the operation accuracy is improved.
4. The stack control system of the double-arm education robot can realize stable grabbing of workpieces of various types and sizes by arranging the special-shaped clamping jaws on the left arm and the right arm, ensures that the phenomenon that the workpieces fall off cannot occur in the teaching process, and ensures that the assembly process can be completely displayed.
5. The stacking control system of the double-arm education robot can design various stacking technological processes facing the teaching process in different types by utilizing the teaching resource library to perform teaching quality teaching and scheme learning of the stacking technological process, can realize diversification and visualization of the stacking teaching process, and achieves a good teaching effect.
6. The stacking sucker has the functions of sucking, grabbing and clamping stacking workpieces. The connecting device structure is composed of hard connection, soft connection and sensing connection, and has the functions of high transferring speed, multiple types of transferred objects (special-shaped pieces and light small pieces), weight measurement, soft grade, classification and the like. And teaching resources such as stacking teaching data, stacking training algorithm, man-machine interaction programming and the like are arranged in the controller. The palletizing process teaching system consists of palletizing process practical teaching contents, individualized teaching schemes, teaching communication control and functional modules, comprises a teaching learning process control software module, a communication module, an algorithm process processing module and a robot execution control algorithm module, and can better realize a high-quality teaching process.
Drawings
FIG. 1 is a diagram illustrating steps of a stacking control method of a dual-arm educational robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a stacking control system of a two-arm educational robot according to an embodiment of the present invention;
FIG. 3 is a diagram showing a relationship between a code stack control system of a dual-arm educational robot and a teaching resource library according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a chuck clamp assembly of the palletizing control system of the dual-arm educational robot in accordance with the embodiment of the present invention;
FIG. 5 is a schematic diagram of the structure of the clamps on the two arms of the robot of the stacking control system of the dual-arm education robot according to the embodiment of the invention;
FIG. 6 is a schematic diagram of a palletized finished product of a palletizing control system of a dual-arm educational robot in an embodiment of the present invention;
FIG. 7 is a block diagram of a system of a stacking control system of a robot for two-arm education according to an embodiment of the present invention;
FIG. 8 is a stacking process composition diagram of a stacking control system of a dual-arm educational robot according to an embodiment of the present invention
Fig. 9 is a control software composition diagram of a stacking control system of a two-arm education robot according to an embodiment of the invention.
Description of reference numerals:
01. a teaching platform; 02. a two-arm robot; 03. a control cabinet body; 04. a first chuck clamp assembly; 05. a second suction cup clamp assembly; 06. a first chuck support; 07. a second suction cup support; 08. a workpiece support; 09. a conveyor; 10. stacking the grid boxes; 11. a cell support; 12. an operation cabinet.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
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.
In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in this application will be understood to be a specific case for those of ordinary skill in the art.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The technical solution in the present application will be described below with reference to the accompanying drawings.
Please refer to fig. 1 and fig. 2. The embodiment of the invention provides a stacking control method of a double-arm education robot, which is characterized in that parameter configuration suitable for the current stacking process is carried out by identifying workpieces, so that the stacking process can be accurately adjusted according to actual conditions. And a series of executable detection is carried out before the stacking starts, on one hand, the detection work of the preorders provides a basis for integrally completing the stacking process, and meanwhile, the detected nodes also provide practical operation capable of removing faults and installing a grinding machine for a student, so that the teaching and the practice are tightly combined, and the teaching effect is improved. In addition, the stacking process can be displayed in an visualized mode through complete instruction control in the material taking and stacking stage, so that students can know the stacking process in a coherent and visualized mode, and a good display effect is achieved.
The method comprises the following steps:
s1: and calling stacking teaching data of the teaching resource library, performing training of workpiece identification and type parameter matching according to the stacking teaching data, and acquiring stacking workpiece shape data, anti-interference data, stacking path information and workpiece stacking position information to form a stacking teaching process flow.
The method comprises the steps of after the stacking teaching data of a teaching resource library are called, starting trial operation according to the stacking teaching data, carrying out feature recognition and matching of workpiece type parameters on workpieces in the operation process, wherein the feature recognition is mainly carried out through machine vision, matching is carried out through extracted visual data and set type parameters so as to obtain and fix information of the stacked workpieces, and based on the information of the workpieces, the double-arm robot carries out setting of interference prevention of process tracks, stacking paths and stacking position information, and finally forms a process flow.
S2: and determining a stacking mode and a process signal interlocking and detecting method according to the stacking teaching process flow, and planning the track of the stacking process to form stacking track data.
The stacking track data is formed by calling a workpiece identification module, identifying workpiece types and training scheme parameters, calculating and optimizing a workpiece path, and setting the training processes of a stacking mode, a workpiece size, a left arm and right arm grabbing mode, a left arm and right arm working path, a workpiece grabbing and placing position, workpiece counting and the like. It should be noted that, because the stacking modes are various, the stacking mode needs to be determined, and then process signals are interlocked, so that it is ensured that other stacking modes do not interfere with the signal conversion process.
S3: and performing control analysis on the stacking process according to the stacking track data to form a stacking control program.
And (4) converting the stacking track data into a stacking control program through analysis, and controlling the double-arm robot to perform stacking operation.
S4: and acquiring a starting signal, configuring parameters and forming a stacking starting instruction.
The method mainly comprises the step of carrying out parameter configuration based on a deep learning vision system based on the type of workpieces required to be stacked on site so as to realize control action more suitable for a current stacking process at a later stage.
S5: and acquiring a stacking starting instruction, and performing executable detection to form a material taking instruction.
The detection can be performed by: acquiring an interference detection signal, and carrying out interference inspection on the workpiece and the path; and acquiring an execution detection signal, and performing executable preparation detection.
Wherein, obtaining the execution detection signal and carrying out the executable preparation detection comprises: receiving a first detection signal for carrying detection and forming a return instruction; sending a return instruction to carry out return operation; receiving a second detection signal to perform detection and forming an executable instruction; and sending an executable instruction, receiving a third detection signal to perform material detection, and forming a material taking instruction.
Carrying detection is carried out on the received first detection signal, and when the arm is detected not to carry the workpiece, a return instruction is formed; when the arm is detected to carry the workpiece, sending a prompt to eliminate carrying warning instruction; prompting to remove the carried workpieces according to the removal carrying warning instruction; and detecting the completion of the elimination of the carried workpieces to form a return instruction.
Performing detection on the received second detection signal and forming executable instructions, comprising: receiving a second detection signal, and performing task execution detection: when detecting that other tasks are being executed and no other executable tasks are available after the current task is executed, generating a first waiting executable instruction; when detecting that other tasks are being executed and a task waiting to be executed is still executed after the current task is executed, generating a second waiting executable instruction; when no task is currently executing is detected, a non-wait executable instruction is generated.
To receiving third detected signal and carrying out material detection to form and get the material instruction, include: when the material is detected at the stack position, a material taking warning instruction is formed; taking out the workpieces in the stack position according to the material taking warning instruction; forming a material taking instruction after detecting that no workpiece exists in the stack position; and when no material is loaded in the stack position, forming a material taking instruction.
S6: and sending a material taking instruction to perform material taking operation and forming a stacking instruction.
The method comprises the following steps: sending a workpiece taking instruction, and controlling a right arm to clamp the workpiece; acquiring a workpiece material taking in-place signal, and sending a blanking instruction to control a right arm to complete blanking operation; and acquiring a blanking completion signal, sending a material taking recovery instruction, and controlling the right arm to perform recovery operation.
Specifically, send the work piece and get the material instruction, control right arm and carry out the work piece and press from both sides the operation of getting, include: sending a first material taking displacement instruction, and controlling the right arm to move to the sucking disc clamping position; acquiring a first material taking displacement in-place signal, sending a first material taking clamping instruction, and controlling a right arm to clamp a sucker; acquiring a first material taking clamp in-place signal, sending a second material taking displacement instruction, and controlling the right arm to move to a workpiece clamping position; and acquiring a second material taking displacement in-place signal, sending a first material taking and sucking instruction, and controlling a right arm to suck the workpiece.
Acquire unloading and accomplish the signal, send and get the material and resume the instruction, control right arm and resume the operation, include: sending a first material taking recovery instruction, and controlling the right arm to move to the sucking disc clamping position; acquiring a first material taking in-place recovery signal, sending a second material taking recovery instruction, and controlling a right arm to put down the sucker; and acquiring a second material taking recovery signal, sending a third material taking recovery instruction, and controlling the right arm to move to the initial position.
S7: and sending a stacking instruction to perform stacking operation.
Sending a stacking instruction to perform stacking operation, comprising: sending a stacking and material taking instruction, and controlling a left arm to perform stacking and material taking operation on the workpiece; acquiring a stacking and material taking in-place signal, and sending a stacking instruction to control a left arm to complete stacking operation; and acquiring a stacking completion signal, sending a stacking recovery instruction, and controlling the left arm to perform recovery operation.
Wherein: sending a stacking and material taking instruction, and controlling a left arm to perform stacking and material taking operation of the workpiece, wherein the stacking and material taking operation comprises the following steps: sending a first stacking displacement instruction, and controlling the left arm to move to the sucking disc clamping position; acquiring a first stacking displacement signal, sending a first stacking clamping instruction, and controlling a left arm to clamp a sucker; acquiring a first stack clamping in-place signal, sending a second stack displacement instruction, and controlling the left arm to move to a workpiece clamping position; and acquiring a second stacking displacement in-place signal, sending a first stacking suction instruction, and controlling a left arm to suck the workpiece.
Acquiring a stacking completion signal, sending a stacking recovery instruction, and controlling a left arm to perform recovery operation, including: sending a first stacking recovery instruction, and controlling the left arm to move to the sucking disc clamping position; acquiring a first stacking in-place restoring signal, sending a second stacking restoring instruction, and controlling a left arm to put down a sucker; and acquiring a second stack in-place restoring signal, sending a third stack restoring instruction, and controlling the left arm to move to the initial position.
S8: and receiving a stacking completion signal and sending a stacking disconnection instruction to complete stacking operation.
After receiving the stacking completion signal and sending a stacking disconnection instruction to complete the stacking operation, the method further comprises the following steps: and receiving a circulation starting signal, and sending a circulation operation instruction to perform the circulation operation of stacking.
A complete double-arm education robot stacking control method flow is provided. Referring to fig. 3, after the palletizing operation is started, parameter configuration is firstly performed, the parameter configuration is mainly determined by a deep learning vision system for the type of workpieces to be palletized on site, and if the type of workpieces does not have the corresponding parameter configuration, the type of workpieces needs to be re-identified to set the configuration suitable for the type of workpieces. And after the configuration is finished, the configured parameters are led into a K-ROSET discrete program to form a stacking control program, and then the control system controls the double-arm education robot to perform stacking operation. The stacking operation mainly comprises the steps of detection before stacking, a stacking operation process and restoration after stacking is completed. The detection before the stacking is started mainly comprises the detection of interference conditions of workpieces, paths and the like, the detection of whether a control program can be executed immediately and the detection of whether each tool is in place. The stacking operation process is that the stacking path is calculated according to the set stacking mode, the shape and the size of the workpiece and the like, the stacking and the disassembly of the workpiece are controlled, and whether the stacking operation is finished or not is judged through workpiece counting. And the recovery step after the stacking is finished comprises the homing of the robot and the tool so as to facilitate the next stacking operation.
The invention also provides a stacking control system of the double-arm education robot, which comprises an operation cabinet 12, a double-arm robot 02, a control cabinet body 03, a first sucker clamp assembly 04, a second sucker clamp assembly 05, a first sucker support 06, a second sucker support 07, a workpiece support 08, a conveyor 09, a stacking grid box 10, a grid box support 11 and a stacking storage box; a teaching platform 01 is arranged on the operation cabinet 12; a training platform stacking area is divided on the teaching platform 01; the first sucker support 06, the second sucker support 07, the conveyor 09, the cell support 11 and the workpiece support 08 are all arranged on the teaching platform 01; the first suction disc clamp assembly 04 is arranged on the first suction disc support 06; the second sucker clamp assembly 05 is arranged on the second sucker support 08; the stacking grid box 10 is arranged on the grid box support 11; the workpiece support 08, the first sucking disc clamp assembly 04 and the first sucking disc support 06 are all positioned on one side of the conveying starting end of a conveyor belt of the conveyor 09; the stacking box 10, the box support 11, the second sucker clamp assembly 05 and the second sucker support 07 are positioned on one side of the conveying tail end of the conveyor 09; the double-arm robot 02 is arranged on the control cabinet 03 and is connected with the controller in the control cabinet 03; the two-arm robot 02 includes a left arm and a right arm; the left arm is used for stacking operation; the right arm is used for feeding; pulleys are arranged on the operating cabinet 12 and the control cabinet body 03. The left arm and the right arm are both provided with special-shaped clamping jaws for clamping materials; a PLC controller is arranged in the control cabinet body 03; the PLC controller is respectively connected with the double-arm robot 02, the first sucking disc clamp assembly 04, the second sucking disc clamp assembly 05, the conveyor 09 and the stacking grid box 10, forms a stacking process control instruction suitable for teaching display through resources of a teaching resource library, and controls the double-arm robot 02, the first sucking disc clamp assembly 04, the second sucking disc clamp assembly 05, the conveyor 09 and the stacking grid box 10 through the stacking process control instruction.
Specifically, referring to fig. 4, the suction cup jig assembly includes a suction cup jig 21 and a suction cup 22, and the suction cup jig includes a clamped portion and a suction cup clamping portion connected to each other. Be circular post by the clamping part, circular post is cut into four planes, and the plane top is equipped with the boss spacing, avoids the downwards landing of sucking disc anchor clamps by the clamping part when the arm snatchs, and the below of sucking disc anchor clamps is square piece, and this square piece is placed on sucking disc anchor clamps support. The sucking disc anchor clamps support comprises two supports, and the top of support is equipped with spacing recess, and the sucking disc anchor clamps assembly of placing that can be stable is convenient for the arm of double-armed robot 02 simultaneously and snatchs. The gripper on the robot arms grips with a gripper having a gripping gap formed in the middle as shown in fig. 5. The finished product formed by palletizing is shown in figure 6.
As for the controller, it is understood that it may be a general Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and the like.
The present embodiment provides a specific implementation:
when the starting button is pressed down and the PLC obtains a starting signal instruction, the PLC simultaneously sends out a working instruction, lights a green working indicator lamp and simultaneously exchanges instructions with the touch screen to enable the display screen to display the selected item;
the PLC sends an instruction to the right arm of the double-arm robot at the same time, the double-arm robot operates under the logic written by a software program, the right arm operates to a right-hand grasping position, the arm clamps and grasps the right-hand grasping position, the right arm moves to the position of a stacked workpiece and then operates to the surface of the workpiece; when the sucker contacts a workpiece, the robot opens the vacuum valve according to a program to suck the workpiece, the right arm extracts the workpiece to move to the right stacking position, the right arm moves downwards after reaching the designated position, when the workpiece moves to the lower limit position, the PLC turns off the vacuum valve, and meanwhile, the right arm returns to the position of the stacked workpiece; and continuously sucking a second workpiece until the number of the workpieces to be stacked is finished, writing logic by the arm according to a software program after the completion, returning the right-hand grab to the right-hand grab position, putting the right-hand grab back to the original position, and returning the arm of the robot to the original point to finish the stacking work.
Generally speaking, the double-arm education robot palletizing control system performs coordinated control on palletizing processes from different layers, and can smoothly and completely show the whole palletizing process. Referring to fig. 7, interaction with the communication layer is performed through a visual human-computer interface in the coordination planning layer, after the communication layer receives an interaction instruction, control calculation, trajectory planning and the like are performed on the left arm motion control module and the right arm motion control module of the motion control layer, and the accuracy and the correctness of control are verified by detecting the sensor system module, the visual system module and the algorithm module in the evaluation layer.
Still combine with education resource storehouse among the two arms education robot pile up neatly control system to better improvement pile up neatly education show platform's educational effect. Specifically, the double-arm education robot forms a multi-source multi-mode perception model through a vision system and trajectory processing software K-ROSET, then forms an interaction mode of physical and physical integration by combining a double-arm robot body, and optimizes stacking operation control of the double-arm robot by combining a learning process control strategy formed based on a classroom education scheme in a resource library.
The system comprises various devices and structures capable of completing the whole stacking process, and provides a material object basis for the complete display stacking process. Meanwhile, the stacking process can be used for practice teaching on a teaching platform in combination with an automatic control method, the effect of combining teaching and practice is achieved, and the teaching quality is greatly improved. In addition, because whole pile up neatly control system all bears on the control cabinet body and the operation cabinet, area is little and can conveniently remove, and it is very convenient to use.
The stacking control system has various stacking functions, and can select stacking modes through the communication interface by referring to fig. 8, wherein the stacking modes comprise overlapped stacking, positive and negative staggered stacking, rotary staggered stacking, crisscross stacking and overturning staggered stacking. Can be selected according to actual needs.
Referring to fig. 9, the software system structure of the palletizing control system comprises three modules, namely a communication module, an algorithm process processing module and a human-computer interaction module. The communication module comprises a servo, an I/O communication network and a servo control communication setting; the algorithm process processing module is used for establishing several stacking modes of overlapped stacking, positive and negative staggered stacking, rotary staggered stacking, crisscross stacking and overturning staggered stacking on the basis of a positive kinematic equation of the robot and a kinematic model of the double-arm stacking robot; the human-computer interaction module comprises data display, namely input, and robot teaching and configuration.
In summary, the embodiments of the present invention have the following main effective effects:
the stacking control method of the double-arm education robot confirms whether the stacking process can be carried out or not by carrying out workpiece carrying, judging whether a previous sequence task is executed or not and judging whether a stacking position is filled, detection work of the previous sequences provides a basis for integrally completing the stacking process on the one hand, meanwhile, a detected node provides practical operation capable of troubleshooting and polisher installation for a student, teaching and practice are tightly combined, and the teaching effect is improved. In addition, the stacking process can be displayed in an visualized mode through complete instruction control in the material taking and stacking stage, so that students can know the stacking process in a coherent and visualized mode, and a good display effect is achieved.
The stacking control system of the double-arm education robot comprises all devices and structures capable of completing the whole stacking process, and a material object basis is provided for the complete display stacking process. Meanwhile, the stacking process can be used for practice teaching on a teaching platform in combination with an automatic control method, the effect of combining teaching and practice is achieved, and the teaching quality is greatly improved. In addition, because whole pile up neatly control system all bears on the control cabinet body and the operation cabinet, area is little and can conveniently remove, and it is very convenient to use.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not 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 patent shall be subject to the appended claims.
Claims (10)
1. A stacking control method for a double-arm education robot is characterized by comprising the following steps:
calling stacking teaching data of a teaching resource library, performing training of workpiece identification and type parameter matching according to the stacking teaching data, and acquiring stacking workpiece shape data, anti-interference data, stacking path information and workpiece stacking position information to form a stacking teaching process flow;
determining a stacking mode and a process signal interlocking and detecting method according to the stacking teaching process flow, and planning the track of the stacking process to form stacking track data;
carrying out control analysis on the stacking process according to the stacking track data to form a stacking control program;
acquiring a starting signal according to the stacking control program, configuring parameters and forming a stacking starting instruction;
acquiring the stacking starting instruction, and performing executable detection to form a material taking instruction;
sending the material taking instruction to perform material taking operation and forming a stacking instruction;
sending the stacking instruction to perform stacking operation;
and receiving a stacking completion signal and sending a stacking disconnection instruction to complete stacking operation.
2. The dual-arm educational robot palletizer control method according to claim 1, wherein the obtaining of the palletizing start command and the performing of the executable detection comprise:
acquiring an interference detection signal, and carrying out interference inspection on the workpiece and the path;
and acquiring an execution detection signal, and performing executable preparation detection.
3. The dual-arm educational robot palletizer control method according to claim 2, wherein said obtaining an execution detection signal to perform an executable preparation detection comprises:
receiving a first detection signal for carrying detection and forming a return instruction;
sending the return instruction to carry out return operation;
receiving a second detection signal to perform detection and forming an executable instruction;
and sending the executable instruction, receiving a third detection signal to perform material detection, and forming a material taking instruction.
4. The double-arm education robot stacking control method as claimed in claim 3, wherein the receiving of the third detection signal for material taking detection and forming of the material taking command comprises:
when the material is detected at the stacking position, a material taking warning instruction is formed;
taking out the workpieces in the stack position according to the material taking warning instruction;
forming the material taking instruction after detecting that no workpiece exists in the stack position;
and when no material is loaded in the stack position, forming the material taking instruction.
5. The dual-arm educational robot palletizing control method according to claim 1, wherein the sending of the material taking instruction to perform a material taking operation comprises:
sending a workpiece taking instruction, and controlling a right arm to clamp the workpiece;
acquiring a workpiece material taking in-place signal, and sending a blanking instruction to control a right arm to complete blanking operation;
and acquiring a blanking completion signal, sending a material taking recovery instruction, and controlling the right arm to perform recovery operation.
6. The double-arm education robot stacking control method as claimed in claim 5, wherein the sending of the work-piece taking instruction to control the right arm to perform the work-piece gripping operation comprises:
sending a first material taking displacement instruction, and controlling the right arm to move to the sucking disc clamping position;
acquiring a first material taking displacement in-place signal, sending a first material taking clamping instruction, and controlling a right arm to clamp a sucker;
acquiring a first material taking clamp in-place signal, sending a second material taking displacement instruction, and controlling the right arm to move to a workpiece clamping position;
and acquiring a second material taking displacement in-place signal, sending a first material taking and sucking instruction, and controlling a right arm to suck the workpiece.
7. The dual-arm educational robot palletizing control method according to claim 1, wherein the sending of the palletizing instruction for the palletizing operation comprises:
sending a stacking and material taking instruction, and controlling a left arm to perform stacking and material taking operation on the workpiece;
acquiring a stacking and material taking in-place signal, and sending a stacking instruction to control a left arm to complete stacking operation;
and acquiring a stacking completion signal, sending a stacking recovery instruction, and controlling the left arm to perform recovery operation.
8. The dual-arm educational robot palletizing control method according to claim 7, wherein the sending of the stacking and reclaiming instruction for controlling the left arm to perform the stacking and reclaiming operation of the workpiece comprises:
sending a first stacking displacement instruction, and controlling the left arm to move to the sucking disc clamping position;
acquiring a first stacking displacement signal, sending a first stacking clamping instruction, and controlling a left arm to clamp a sucker;
acquiring a first stack clamping in-place signal, sending a second stack displacement instruction, and controlling the left arm to move to a workpiece clamping position;
and acquiring a second stacking displacement in-place signal, sending a first stacking suction instruction, and controlling a left arm to suck the workpiece.
9. The dual-arm educational robot palletizing control method according to claim 1, wherein after receiving a palletizing completion signal and sending a palletizing disconnection command to complete a palletizing operation, further comprising:
and receiving a circulation starting signal, and sending a circulation operation instruction to perform the circulation operation of stacking.
10. A double-arm education robot palletizing control system adopting the double-arm education robot palletizing control method of any one of claims 1 to 9, which is characterized by comprising an operation cabinet, a double-arm robot, a control cabinet body, a first sucker clamp assembly, a second sucker clamp assembly, a first sucker support, a second sucker support, a workpiece support, a conveyor, a palletizing grid box, a grid box support and a palletizing storage box; a teaching platform is arranged on the operation cabinet; a training platform stacking area is divided on the teaching platform; the first sucker support, the second sucker support, the conveyor, the cell box support and the workpiece support are all arranged on the teaching platform; the first sucking disc clamp assembly is arranged on the first sucking disc support; the second sucker clamp assembly is arranged on the second sucker support; the stacking grid box is arranged on the grid box support; the workpiece support, the first sucking disc clamp assembly and the first sucking disc support are all positioned on one side of the conveying starting end of the conveyor belt; the stacking grid box, the grid box support, the second sucker clamp assembly and the second sucker support are positioned on one side of the conveying tail end of the conveyor belt; the double-arm robot is arranged on the control cabinet body and is connected with the controller in the control cabinet body; the double-arm robot comprises a left arm and a right arm; the left arm is used for stacking operation; the right arm is used for feeding; pulleys are arranged on the operating cabinet and the control cabinet body; the stacking storage box is arranged on the control cabinet body and used for storing stacking tools; the left arm and the right arm are both provided with special-shaped clamping jaws for clamping materials; a PLC controller is arranged in the control cabinet body; the PLC controller is respectively connected with the double-arm robot, the first sucking disc clamp assembly, the second sucking disc clamp assembly, the conveyor and the stacking grid box, forms a stacking process control command suitable for teaching display through resources of a teaching resource library, and controls the double-arm robot, the first sucking disc clamp assembly, the second sucking disc clamp assembly, the conveyor and the stacking grid box through the stacking process control command.
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| JPS63315421A (en) * | 1987-06-15 | 1988-12-23 | Murata Mach Ltd | Palletizing method for article by robot |
| CN108257494A (en) * | 2018-04-04 | 2018-07-06 | 重庆鲁班机器人技术研究院有限公司 | Industrial robot tutoring system |
| CN109318225A (en) * | 2017-08-01 | 2019-02-12 | 中达电子零组件(吴江)有限公司 | For controlling the method, apparatus and system of robot palletizer |
| CN110842897A (en) * | 2019-12-10 | 2020-02-28 | 江苏汇博机器人技术股份有限公司 | Palletizing robot system for practical training and assessment method thereof |
| CN111724670A (en) * | 2020-08-05 | 2020-09-29 | 湖南信息职业技术学院 | Intelligent manufacturing production line system and control method for electronic products for teaching |
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2022
- 2022-10-27 CN CN202211323556.5A patent/CN115741675A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63315421A (en) * | 1987-06-15 | 1988-12-23 | Murata Mach Ltd | Palletizing method for article by robot |
| CN109318225A (en) * | 2017-08-01 | 2019-02-12 | 中达电子零组件(吴江)有限公司 | For controlling the method, apparatus and system of robot palletizer |
| CN108257494A (en) * | 2018-04-04 | 2018-07-06 | 重庆鲁班机器人技术研究院有限公司 | Industrial robot tutoring system |
| CN110842897A (en) * | 2019-12-10 | 2020-02-28 | 江苏汇博机器人技术股份有限公司 | Palletizing robot system for practical training and assessment method thereof |
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