CN116969108A - Truss robot goods taking method based on industrial Internet of things technology - Google Patents

Truss robot goods taking method based on industrial Internet of things technology Download PDF

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Publication number
CN116969108A
CN116969108A CN202310878140.8A CN202310878140A CN116969108A CN 116969108 A CN116969108 A CN 116969108A CN 202310878140 A CN202310878140 A CN 202310878140A CN 116969108 A CN116969108 A CN 116969108A
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China
Prior art keywords
axis
grabbing
qrcode
industrial internet
goods
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CN202310878140.8A
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Chinese (zh)
Inventor
黄近达
袁栋
鲁嘉辉
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Hohai University HHU
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Hohai University HHU
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Priority to CN202310878140.8A priority Critical patent/CN116969108A/en
Publication of CN116969108A publication Critical patent/CN116969108A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0485—Check-in, check-out devices

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a truss robot goods taking method based on the technology of industrial Internet of things, which comprises the following steps of S1: acquiring cargo information stored in the first QRCODE tag and feeding the cargo information back to an industrial Internet of things control center; s2: transmitting the grabbing coordinates in the second QRCODE label to an industrial Internet of things control center; judging whether the objects are the same grabbing object, if so, performing a step S4; s4: after reaching the designated position, the PLC drives the gripper to grip the workpiece through the gripping motor; s5: transmitting the placement coordinates in the third QRCODE label to an industrial Internet of things control center, comparing the placement coordinates with the placement coordinates of corresponding goods stored in the first QRCODE label, and judging whether the placement coordinates are the same placement station or not, if so, performing step S6; s6: unloading the workpiece; s7, recovering an initial state of the robot goods taking system; and S8, ending the grabbing task. The method can change the wrong coordinates through the QRCODE label.

Description

Truss robot goods taking method based on industrial Internet of things technology
Technical Field
The invention belongs to the field of control methods of robots of the Internet of things, and particularly relates to a truss robot goods taking method based on the technology of the Internet of things.
Background
The truss type robot is low in cost, simple in structure, capable of being programmed repeatedly, multiple in freedom degree and suitable for automation equipment of different tasks, and is an automation equipment developed according to the requirements of factory carrying equipment, warehouse goods entering and exiting, hoisting maintenance heavy equipment and the like.
The authorization notice number CN108910379B discloses a control method of a truss robot cargo taking system based on a wireless radio frequency technology, which comprises the steps of reading a first RFID tag arranged at one end of an X-axis beam through a wireless radio frequency information acquisition card, acquiring information of all cargoes stored in the first RFID tag, feeding back the acquired information of all cargoes to a remote control center, processing, converting and storing the acquired information of the cargoes through the remote control center, and feeding back to a human machine control panel.
Since in general, if the information in the RFID tag is to be modified, it is necessary to operate using a specific writer (also referred to as a programmer), it is achieved that the information in the RFID tag corresponds to the article one by one. When the information in the RFID tag is inconsistent with the actual state of the goods, technicians need to manually use a card reader to change the information in the wrong RFID tag on site, and the instantaneity and usability are greatly reduced.
Disclosure of Invention
The invention discloses a truss robot goods taking method based on the industrial Internet of things technology, which aims at solving the problem of how to realize the method and aims at different products.
In order to achieve the above purpose, the truss robot goods taking method based on the industrial internet of things technology is characterized by comprising the following steps of S1: setting an industrial Internet of things technology-based truss robot goods taking system, enabling an industrial Internet of things information acquisition camera to scan a first QRCODE (QRCODE) tag arranged at one end of an X axis to acquire goods information stored in the first QRCODE tag, feeding the acquired goods information back to an industrial Internet of things control center, processing, converting and storing the acquired goods information by the industrial Internet of things control center, and feeding the acquired goods information back to a human machine control panel; s2: according to the information fed back by the industrial Internet of things control center, pulse output parameters of an X axis, a Y axis and a Z axis are set on a man-machine control panel, the pulse output parameters are transmitted to a related data register of a PLC, and the PLC controls an X axis servo motor, a Y axis servo motor, a Z axis servo motor and a grabbing motor to cooperatively move; s3: the X axis, the Y axis and the Z axis of the truss robot cooperatively move to a goods taking area, an information acquisition camera of the industrial Internet of things scans a second QRCODE label attached to goods, and grabbing coordinates in the second QRCODE label are transmitted to a control center of the industrial Internet of things; comparing the two coordinates with the grabbing coordinates of the corresponding goods stored in the first QRCODE label, judging whether the two coordinates are the same grabbing target, and if so, performing step S4; otherwise, the alarm monitoring module gives an alarm, the truss robot stops running, an operator rewrites correct grabbing coordinates for the first QRCODE label or the second QRCODE label with errors in the industrial Internet of things control center through a wireless network and feeds back the grabbing coordinates to a human machine control panel, and the step S3 is repeated; s4: after reaching the designated position, the PLC controls a grabbing cylinder through a grabbing motor, and the grabbing cylinder drives a gripper to grab the workpiece; s5: after the grabbing is finished, the X axis, the Y axis and the Z axis of the truss robot cooperatively drive the grippers to move to the goods placing area, the industrial Internet of things information acquisition camera scans a third QRCODE (QRCODE) tag attached to the position of the goods placing area, the placing coordinates in the third QRCODE tag are transmitted to the industrial Internet of things control center, the placing coordinates are compared with the placing coordinates of corresponding goods stored in the first QRCODE tag, whether the placing positions are the same or not is judged, and if yes, step S6 is carried out; otherwise, the alarm monitoring module gives an alarm, the truss robot stops running firstly, an operator rewrites correct placement coordinates for the first QRCODE label or the third QRCODE label with errors in the industrial Internet of things control center through a wireless network and feeds back the correct placement coordinates to a human machine control panel, and the step S5 is repeated; s6: after the gripper reaches a designated position, unloading the workpiece; s7: after unloading the workpiece, the motion conveying system returns to the original point state, the grabbing system returns to the initial state, then the operation is continued, and grabbing and placing of the next piece of goods are carried out until the information of all the goods stored in the first QRCODE label is grabbed; s8: and ending the grabbing task, and stopping the system.
Further, the truss robot goods taking system based on the industrial internet of things comprises an industrial internet of things information acquisition camera, a first QRCODE (QR code) tag arranged at one end of an X axis, a second QRCODE tag attached to goods and a third QRCODE tag attached to the position of a goods placing area, wherein the information of all goods is stored in the first QRCODE tag, and the information comprises the grabbing sequence of each piece of goods, station coordinates to be grabbed and placed and the weight and the size of each piece of goods.
Further, the truss robot cargo taking system based on the industrial Internet of things technology further comprises a man-machine control panel, wherein the man-machine control panel comprises a touch screen, a reversion module, a parameter setting module, a manual control module, an automatic control module, an alarm monitoring module and a file processing module; wherein, the staff selects manual control module, can manual control truss robot's motion.
Further, the truss robot cargo taking system based on the industrial Internet of things technology further comprises a motion conveying system, wherein the motion conveying system comprises an X-axis servo controller, a Y-axis servo controller, a Z-axis servo controller, an X-axis servo motor, a Y-axis servo motor, a Z-axis servo motor, an X-axis encoder, a Y-axis encoder and a Z-axis encoder, and servo control signals of the X-axis, the Y-axis and the Z-axis sequentially pass through the corresponding X-axis servo motor, the Y-axis servo motor, the Z-axis servo motor, the X-axis encoder, the Y-axis encoder and the Z-axis encoder and then are fed back to the corresponding X-axis servo controller, the Y-axis servo controller and the Z-axis servo controller to form a closed loop control system.
Further, the truss robot cargo taking system based on the industrial Internet of things technology further comprises a grabbing system, wherein the grabbing system comprises a grabbing motor G, a grabbing cylinder, a manipulator and a pressure switch; the grabbing motor G controls the cylinder to move; the grabbing cylinder drives the manipulator to move so as to realize grabbing and putting down functions; the pressure switch is arranged at the air source inlet of the grabbing cylinder, when the pressure value required by the system is reached, the pressure switch is automatically closed, and a grabbing signal lamp connected with the pressure switch is on at the moment, so that the air pressure can ensure that the manipulator grabs goods, otherwise, the grabbing signal lamp is not on, so that the manipulator cannot be ensured to grab the goods.
Further, limit switches are arranged on the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor, and when the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor move, the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor touch the limit switches to automatically stop, so that equipment is prevented from being damaged.
Advantageous effects
When the scanned second QRCODE label or third QRCODE label is inconsistent with the coordinate information in the first QRCODE label, an operator can change the coordinate information in the first QRCODE label, the second QRCODE label or the third QRCODE label with errors through a wireless network in an industrial Internet of things control center, so that the coordinates in the second QRCODE label or the third QRCODE label are consistent with the coordinates in the first QRCODE label, the defect of inconsistent original coordinates is overcome, and then the goods taking system of the industrial Internet of things truss robot automatically takes goods.
Drawings
Fig. 1 is a block diagram of a truss robot cargo taking method based on the technology of industrial internet of things.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
A truss robot goods taking method based on the technology of industrial Internet of things comprises the following steps:
s1: the method comprises the steps that an industrial Internet of things information acquisition camera scans a first QRCODE (QR code) tag arranged at one end of an X axis to acquire cargo information stored in the first QRCODE tag, the acquired cargo information is fed back to an industrial Internet of things control center, and the industrial Internet of things control center processes, converts and stores the acquired cargo information and feeds back to a human machine control panel;
s2: according to the information fed back by the industrial Internet of things control center, pulse output parameters of an X axis, a Y axis and a Z axis are set on a man-machine control panel, the pulse output parameters are transmitted to a related data register of a PLC, and the PLC controls an X axis servo motor, a Y axis servo motor, a Z axis servo motor and a grabbing motor to cooperatively move;
s3: the X axis, the Y axis and the Z axis of the truss robot move to a goods taking area in a coordinated mode, an information acquisition camera of the industrial Internet of things scans a second QRCODE (QRCODE) label attached to goods, grabbing coordinates in the second QRCODE label are transmitted to a control center of the industrial Internet of things, grabbing coordinates of corresponding goods stored in the first QRCODE label are compared, whether the same grabbing targets are achieved is judged, and if yes, step S4 is conducted; otherwise, the alarm monitoring module gives an alarm, the truss robot stops running, an operator rewrites correct grabbing coordinates for the first QRCODE label or the second QRCODE label with errors in the industrial Internet of things control center through a wireless network and feeds back the grabbing coordinates to a human machine control panel, and the step S3 is repeated;
s4: after reaching the designated position, the PLC controls a grabbing cylinder through a grabbing motor, and the grabbing cylinder drives a gripper to grab the workpiece;
s5: after the grabbing is finished, the X axis, the Y axis and the Z axis of the truss robot cooperatively drive the grippers to move to the goods placing area, the industrial Internet of things information acquisition camera scans a third QRCODE (QRCODE) tag attached to the position of the goods placing area, the placing coordinates in the third QRCODE tag are transmitted to the industrial Internet of things control center, the placing coordinates are compared with the placing coordinates of corresponding goods stored in the first QRCODE tag, whether the placing positions are the same or not is judged, and if yes, step S6 is carried out; otherwise, the alarm monitoring module sends out an alarm, the truss robot stops running firstly, an operator passes through a wireless network, otherwise, the alarm monitoring module sends out an alarm, the truss robot stops running firstly, the operator rewrites correct placement coordinates for a first QRCODE label or a third QRCODE label with errors in an industrial Internet of things control center through the wireless network and feeds back the correct placement coordinates to a human machine control panel, and the step S5 is repeated;
s6: after the gripper reaches a designated position, unloading the workpiece;
s7: after unloading the workpiece, the motion conveying system returns to the original point state, the grabbing system returns to the initial state, then the operation is continued, and grabbing and placing of the next piece of goods are carried out until the information of all the goods stored in the first QRCODE label is grabbed;
s8: ending the grabbing task, and stopping the system;
the system also comprises a truss robot goods taking system based on the industrial Internet of things technology, and comprises a man-machine control panel, an industrial Internet of things information acquisition system, a motion conveying system, a grabbing system, an industrial Internet of things control center and a PLC.
The motion conveying system comprises an X-axis servo controller, a Y-axis servo controller, a Z-axis servo controller, an X-axis servo motor, a Y-axis servo motor, a Z-axis servo motor, an X-axis encoder, a Y-axis encoder and a Z-axis encoder,
the servo control signals of the X axis, the Y axis and the Z axis sequentially pass through the corresponding X axis servo motor, the Y axis servo motor, the Z axis servo motor, the X axis encoder, the Y axis encoder and the Z axis encoder and then are fed back to the corresponding X axis servo controller, the Y axis servo controller and the Z axis servo controller to form a closed loop control system;
an X-axis servo motor controls the left-right movement of an X-axis beam supporting plate of the truss robot and parts of the X-axis beam supporting plate in the X-axis beam direction; the Y-axis servo motor controls the Y-axis beam supporting plate to move in the front-back direction of the Y-axis beam; the Z-axis servo motor controls the movement of the gripper in the up-down direction, the upper part of the Z-axis is arranged on the X-axis beam supporting plate, and the gripper for gripping the workpiece is arranged at the lower part of the Z-axis servo motor (the Z-axis is also provided with a guide rail component and a gear rack transmission mechanism which enable the Z-axis to move up and down).
The industrial Internet of things information acquisition system comprises an industrial Internet of things information acquisition camera, a first QRCODE (QR code) tag mounted at one end of an X axis, a second QRCODE tag attached to goods and a third QRCODE tag attached to the position of a goods placing area, wherein information of all goods is stored in the first QRCODE tag, and the information comprises the grabbing sequence of each piece of goods, station coordinates to be grabbed and placed and the weight and size of each piece of goods.
The industrial Internet of things information acquisition camera is arranged above a mechanical gripper of the truss type robot, moves to the position of the first QRCODE label before working, and scans information of all cargoes stored in the first QRCODE label; the information of all acquired goods is fed back to the industrial Internet of things control center through the wireless network by the industrial Internet of things information acquisition camera, and the industrial Internet of things control center processes, converts and stores the fed-back goods information and feeds back the information to the man-machine control panel.
The grabbing system comprises a grabbing motor G, a grabbing cylinder, a gripper and a pressure switch, wherein the grabbing motor G controls the cylinder to move, the grabbing cylinder drives the gripper to move to achieve grabbing and putting down functions, the pressure switch is arranged at an air source inlet of the grabbing cylinder, when the pressure value required by the system is reached, the pressure switch is automatically closed, a grabbing signal lamp connected with the pressure switch is on, the fact that the pneumatic energy ensures that the gripper grabs goods is indicated, and the fact that the gripper grabs goods cannot be guaranteed is indicated.
Limit switches are arranged on the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor, and when the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor move, the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor touch the limit switches to automatically stop, so that equipment is prevented from being damaged.
The man-machine control panel comprises a touch screen, a return module, a parameter setting module, a manual control module, an automatic control module, an alarm monitoring module and a file processing module, wherein the parameter setting module is connected with the PLC and is used for setting the servo motion pulse output parameters of the truss type robot, the manual control module and the return module as well as the weight and the size of goods; the original returning module, the manual control module and the automatic control module are respectively connected with the PLC and used for controlling the operation of each servo motor and the movement of the cylinder; the alarm monitoring module is connected with the X, Y, Z shaft servo motor and the grabbing motor G and is used for monitoring and feeding back the motion condition and the grabbing condition of each shaft of the truss robot, an alarm is given if the truss robot runs incorrectly, the truss robot stops running, and workers are used for correcting faults in an industrial Internet of things control center through a wireless network; in the prior art, the correction is carried out by manually moving the truss robot to the correct position coordinates through a manual control module, the coordinates of the wrong RFID tag are not modified, and the coordinates of the wrong RFID tag are modified by a writer on site; the correction of the method is that through a wireless network, correct coordinates are rewritten for a first QRCODE label, a second QRCODE label or a third QRCODE label with errors in an industrial Internet of things control center and fed back to a human machine control panel, and then a truss robot runs to a position after changing the coordinates; the file processing module manages all files of the truss type robot.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.

Claims (6)

1. A truss robot goods taking method based on the technology of industrial Internet of things is characterized by comprising the following steps,
s1: setting an industrial Internet of things technology-based truss robot goods taking system, enabling an industrial Internet of things information acquisition camera to scan a first QRCODE (QRCODE) tag arranged at one end of an X axis to acquire goods information stored in the first QRCODE tag, feeding the acquired goods information back to an industrial Internet of things control center, processing, converting and storing the acquired goods information by the industrial Internet of things control center, and feeding the acquired goods information back to a human machine control panel;
s2: according to the information fed back by the industrial Internet of things control center, pulse output parameters of an X axis, a Y axis and a Z axis are set on a man-machine control panel, the pulse output parameters are transmitted to a related data register of a PLC, and the PLC controls an X axis servo motor, a Y axis servo motor, a Z axis servo motor and a grabbing motor to cooperatively move;
s3: the X axis, the Y axis and the Z axis of the truss robot cooperatively move to a goods taking area, an information acquisition camera of the industrial Internet of things scans a second QRCODE label attached to goods, and grabbing coordinates in the second QRCODE label are transmitted to a control center of the industrial Internet of things; comparing the two coordinates with the grabbing coordinates of the corresponding goods stored in the first QRCODE label, judging whether the two coordinates are the same grabbing target, and if so, performing step S4;
otherwise, the alarm monitoring module gives an alarm, the truss robot stops running, an operator rewrites correct grabbing coordinates for the first QRCODE label or the second QRCODE label with errors in the industrial Internet of things control center through a wireless network and feeds back the grabbing coordinates to a human machine control panel, and the step S3 is repeated;
s4: after reaching the designated position, the PLC controls a grabbing cylinder through a grabbing motor, and the grabbing cylinder drives a gripper to grab the workpiece;
s5: after the grabbing is finished, the X axis, the Y axis and the Z axis of the truss robot cooperatively drive the grippers to move to the goods placing area, the industrial Internet of things information acquisition camera scans a third QRCODE (QRCODE) tag attached to the position of the goods placing area, the placing coordinates in the third QRCODE tag are transmitted to the industrial Internet of things control center, the placing coordinates are compared with the placing coordinates of corresponding goods stored in the first QRCODE tag, whether the placing positions are the same or not is judged, and if yes, step S6 is carried out;
otherwise, the alarm monitoring module gives an alarm, the truss robot stops running firstly, an operator rewrites correct placement coordinates for the first QRCODE label or the third QRCODE label with errors in the industrial Internet of things control center through a wireless network and feeds back the correct placement coordinates to a human machine control panel, and the step S5 is repeated;
s6: after the gripper reaches a designated position, unloading the workpiece;
s7: after unloading the workpiece, the motion conveying system returns to the original point state, the grabbing system returns to the initial state, then the operation is continued, and grabbing and placing of the next piece of goods are carried out until the information of all the goods stored in the first QRCODE label is grabbed;
s8: and ending the grabbing task, and stopping the system.
2. The truss robot goods taking method based on the industrial internet of things technology according to claim 1, wherein the truss robot goods taking system based on the industrial internet of things technology comprises an industrial internet of things information acquisition camera, a first QRCODE label arranged at one end of an X axis, a second QRCODE label attached to goods and a third QRCODE label attached to the goods placing area, and information of all goods including the grabbing sequence of each piece of goods, station coordinates to be grabbed and placed, and weight and size of each piece of goods are stored in the first QRCODE label.
3. The truss robot goods taking method based on the industrial internet of things technology according to claim 2, wherein the truss robot goods taking system based on the industrial internet of things technology further comprises a man-machine control panel, and the man-machine control panel comprises a touch screen, a return-to-original module, a parameter setting module, a manual control module, an automatic control module, an alarm monitoring module and a file processing module; wherein, the staff selects manual control module, can manual control truss robot's motion.
4. The truss robot pickup method based on the industrial Internet of things technology according to claim 1, wherein the truss robot pickup system based on the industrial Internet of things technology further comprises a motion conveying system, the motion conveying system comprises an X-axis servo controller, a Y-axis servo controller, a Z-axis servo controller, an X-axis servo motor, a Y-axis servo motor, a Z-axis servo motor, an X-axis encoder, a Y-axis encoder and a Z-axis encoder, and servo control signals of the X-axis, the Y-axis and the Z-axis sequentially pass through the corresponding X-axis servo motor, the Y-axis servo motor, the Z-axis servo motor, the X-axis encoder, the Y-axis encoder and the Z-axis encoder and then are fed back into the corresponding X-axis servo controller, the Y-axis servo controller and the Z-axis servo controller to form a closed loop control system.
5. The truss robot cargo taking method based on the industrial internet of things technology according to claim 2, wherein the truss robot cargo taking system based on the industrial internet of things technology further comprises a grabbing system, and the grabbing system comprises a grabbing motor G, a grabbing cylinder, a manipulator and a pressure switch; the grabbing motor G controls the cylinder to move; the grabbing cylinder drives the manipulator to move so as to realize grabbing and putting down functions; the pressure switch is arranged at the air source inlet of the grabbing cylinder, when the pressure value required by the system is reached, the pressure switch is automatically closed, and a grabbing signal lamp connected with the pressure switch is on at the moment, so that the air pressure can ensure that the manipulator grabs goods, otherwise, the grabbing signal lamp is not on, so that the manipulator cannot be ensured to grab the goods.
6. The truss robot goods taking method based on the industrial internet of things technology according to claim 4, wherein limit switches are arranged on the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor, and when the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor move, the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor touch the limit switches to automatically stop, so that equipment is prevented from being damaged.
CN202310878140.8A 2023-07-18 2023-07-18 Truss robot goods taking method based on industrial Internet of things technology Pending CN116969108A (en)

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Application Number Priority Date Filing Date Title
CN202310878140.8A CN116969108A (en) 2023-07-18 2023-07-18 Truss robot goods taking method based on industrial Internet of things technology

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310878140.8A CN116969108A (en) 2023-07-18 2023-07-18 Truss robot goods taking method based on industrial Internet of things technology

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CN116969108A true CN116969108A (en) 2023-10-31

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