CN111169979B - Robot transfer method and system - Google Patents
Robot transfer method and system Download PDFInfo
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- CN111169979B CN111169979B CN201911256855.XA CN201911256855A CN111169979B CN 111169979 B CN111169979 B CN 111169979B CN 201911256855 A CN201911256855 A CN 201911256855A CN 111169979 B CN111169979 B CN 111169979B
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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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
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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
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Abstract
The present application relates to a manipulator transport method and system. A robot handling method for handling a plurality of target products, comprising: recording n different origin positions; and sequentially carrying out n times of target products by taking the mth original point position as the operation original point of the mth target product carrying, wherein m is more than or equal to 1, and m is less than or equal to n. According to the manipulator carrying method, in the carrying process, a target product is carried for n times, and different original point positions are used as operation original points during carrying at each time. Therefore, the positional deviation of the target product in each conveying period, particularly in the later conveying period, in the whole conveying process can be effectively reduced.
Description
Technical Field
The application relates to the technical field of automation, in particular to a manipulator carrying method and system.
Background
The manipulator is widely applied to the automation industry, and is driven by a stepping motor to realize lifting, stretching, rotating and clamping movement of a tool clamp under the control of a controller, so that a target product is grabbed and transported. The robot can move in a predetermined direction and a predetermined distance to transport the target product to the target position.
However, during the transportation of a plurality of target products, the placing positions of the robot arms are often greatly deviated when placing the target products at a later stage due to various reasons (for example, a slight deviation occurs in the parking positions of the relevant stages (for example, carriages) for placing the target products).
Disclosure of Invention
In view of the above, it is desirable to provide a robot handling method and system capable of improving the accuracy of the placement position of the target product during the handling process by the robot.
A robot hand carrying method for carrying a plurality of target products, comprising:
recording n different origin positions;
and sequentially carrying out n times of carrying of the target product by taking the mth original point position as the operation original point of the mth carrying of the target product, wherein m is more than or equal to 1, and m is less than or equal to n.
In one embodiment, the area for placing the target products is a target placing area, the target placing area is provided with a plurality of guide rods arranged in an array, and the manipulator carrying method is used for carrying and sleeving the tubular target products outside the corresponding guide rods;
the mth origin position is a center position of the guide bar corresponding to one of the target products when the mth target product is conveyed.
In one embodiment, the mth origin position is located at a center position of the guide bar arranged at a top corner of the guide bar array when the mth conveyance of the target product is performed.
In one embodiment, the performing the conveyance of the target product m times with the mth origin position as the work origin of the conveyance of the target product m times includes:
the mth origin position is set as the operation origin of the mth conveyance of the target product, and the conveyance of each target product is performed sequentially from the operation origin.
In one of the embodiments, the first and second electrodes are,
the coordinates of the mth origin position are (Xm, Ym),
the m-th conveying of the target product by taking the m-th origin position as a work origin comprises the following steps:
sequentially placing a preset number of target products along the X-axis direction by taking Xm as a starting point and keeping the Y coordinate unchanged so as to carry out the transportation of the previous row of target products;
and moving the Y coordinate once along the Y-axis direction, continuously taking Xm as a starting point, keeping the Y coordinate unchanged, sequentially placing a preset number of target products along the X-axis direction, and carrying the next row of target products until the m-th time of carrying the target products is finished.
In one of the embodiments, the first and second electrodes are,
the coordinates of the mth origin position are (Xm, Ym),
the m-th conveying of the target product by taking the m-th origin position as a work origin comprises the following steps:
sequentially placing a preset number of target products along the Y-axis direction by taking Ym as a starting point and keeping the X coordinate unchanged so as to carry out the transportation of the previous row of target products;
and moving the X coordinate once along the X-axis direction, continuously taking Ym as a starting point, keeping the X coordinate unchanged, and sequentially placing a preset number of target products along the Y-axis direction to carry out the carrying of the next row of target products until the carrying of the target products for the mth time is finished.
In one embodiment, the handling process of each target product is the same.
In one embodiment, before recording each origin position, adjusting each origin position to its target position is further included.
A robot handling system comprising:
the storage module is used for recording n different origin positions;
and the control module is used for carrying out the target product carrying for n times in sequence by taking the mth origin position as the operation origin of the mth target product carrying.
In one embodiment, the method further comprises the following steps: and the adjusting module is used for adjusting each origin position to the target position and storing the coordinates of each adjusted origin position to the storage module.
In the manipulator conveying method, the target product is conveyed for n times in the conveying process, and each time of conveying, different original point positions are used as operation original points. Therefore, the positional deviation of the target product in each conveying period, particularly in the later conveying period, in the whole conveying process can be effectively reduced.
Drawings
FIG. 1 is a schematic view of a robot handling method in one embodiment;
fig. 2 is a schematic diagram illustrating an embodiment of a robot handling a target product to a target carrier;
figure 3 is a schematic diagram of a robot handling system in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, referring to fig. 1, a robot handling method for handling a plurality of target products P is provided. The target product P is a product to be carried.
In a production system, when a target product P is processed or treated, it is generally required to perform quality inspection. Then, the target product P that is qualified after the inspection is carried to a target carrier (e.g., a trolley) by a robot. The present embodiment is a robot transfer method for transferring a plurality of target products P onto one target stage. The method comprises the following steps:
in step S1, n different origin positions are recorded.
In the step, n different original point positions can be recorded through one trial operation process. Specifically, the number of times of conveyance may be set to n first. Then n different origin positions are recorded.
The mth origin position may be adjusted to its target position before recording the mth origin position (m ≧ 1, and m ≦ n). Then, the coordinates of the mth origin position are recorded. The coordinates here are the coordinates in the robot coordinates.
Then, the coordinates of the target placement position of each target product P for the mth conveyance of the target product P are calculated based on the coordinates of the mth origin position, and the mth conveyance of the target product P is performed for each target product P based on the coordinates of the target placement position of each target product P.
After the m-th conveyance of the target product P is completed, the (m +1) -th origin position is recorded in the same procedure in the area where the target product P is not yet placed. And m starts to take a value from 1 until the adjustment and marking of n different original point positions are completed. The coordinates of the (m +1) th origin position are different from the marks of the m-th origin position.
In step S2, the target product P is sequentially conveyed n times with the mth origin position as the work origin for the mth conveyance of the target product P.
After the coordinates of n different origin positions are recorded in the manipulator system, the manipulator in the step takes the mth (m is more than or equal to 1, and m is less than or equal to n) origin positions as the operation origin of the mth transportation of the target product P, and the target product P is transported n times in sequence.
The specific conveying process of each target product P is to calculate the coordinates of the target position of each target product P according to the coordinates of the corresponding operation origin, the direction and distance relationship between the target placement position of each target product P and the mth origin position, and then convey each target product P according to the coordinates.
Specifically, for example, when 2 different origin positions are recorded through the trial run process, first, the first target product P is transported with the first origin position as the work origin for the first transportation. After the first conveyance of the target product P is completed, the second origin position is set as the work origin for the second conveyance (in this case, the work origin automatically jumps to the second origin position), and the second conveyance of the target product P is performed.
In the present embodiment, the target product P is conveyed n times during the conveyance process, and each conveyance takes a different origin position as the work origin. Therefore, the positional deviation of the target product P in each conveyance period, particularly in the latter conveyance period, in the entire conveyance process can be effectively reduced.
In one embodiment, referring to fig. 2, an area on the target stage for placing the plurality of target products P is a target placing area. The target placing area is also provided with a plurality of guide rods 10 which are arranged in an array mode, and the manipulator carrying method is used for carrying and sleeving tubular target products P (such as core gold) outside the guide rods 10.
The guide bar 10 plays a role of supporting the target product P for collision prevention. When all the target products P are sleeved on the corresponding guide rods 10, the target products P can be prevented from colliding in the transportation process.
When the target product P is transported to be sleeved outside the guide rod 10, the guide rod 10 is preferably located at the center of the target product P, otherwise, if the position of the guide rod 10 is greatly deviated from the center of the target product P, the guide rod 10 collides with the target product P. At this time, the target product P may be scrapped or the guide bar 10 may be deformed by the collision.
In the present embodiment, the mth origin position is the center position of the guide bar 10 corresponding to one of the target products P when the target product P is conveyed the mth time.
In the embodiment of the present application, the positions of the target stage (e.g., the carriage) and the guide bar 10 thereon are not changed during the trial operation and the actual transportation. (in actual production, during the trial run and the actual transportation, the positions of the target carrier and the guide bars 10 thereon may slightly vary, but are not so large that they are ignored here).
In the trial operation process (or the actual transportation process), when the target product P is transported the mth time, "the target position of the mth origin position" is "the center position of the guide bar 10 corresponding to one of the target products P," and "the target placement position of each target product P" is "the coordinate of the center position of the corresponding guide bar 10 of each target product P where the target product P is transported the mth time.
In the trial run, "the mth origin position is adjusted to the target position" is "the center position of the guide bar 10 corresponding to one of the target products P when the mth target product P is conveyed by adjusting the mth origin position".
"calculating the coordinates of the target placement positions of the target products P in the conveyance of the target product P for the mth time based on the coordinates of the mth origin position, and conveying the target products P based on the coordinates of the target placement positions of the target products P" means that the coordinates of the center positions of the guide bars 10 corresponding to one of the target products P and the distance and direction relationships between the center position of the guide bar 10 and the other guide bars 10 in the conveyance of the mth time based on the coordinates of the center positions of the guide bars 10 corresponding to one of the target products P, and conveying the target products P based on the coordinates of the center positions of the guide bars 10.
Of course, in other embodiments, the guide bar 10 may not be disposed on the target placement area, and in this case, the "target position of the mth origin position" and the "target placement position of each target product P" may be set according to actual requirements.
In the present embodiment, in the actual conveyance process of step S2 (the mth origin position is used as the operation origin for the mth conveyance of the target product P, and the target product P is conveyed n times in sequence), when the mth origin position is used as the operation origin and the mth conveyance of the target product P is performed, the specific conveyance process of each target product P (that is, the coordinates of the target position of each target product P are calculated from the coordinates of the corresponding operation origin, the direction and distance relationship between the target placement position of each target product P and the mth origin position, and then each target product P is conveyed from the coordinates) is: according to the coordinates of the center position of the guide bar 10 corresponding to one target product P as the operation origin and the distance and direction relationship between the guide bar 10 and the other guide bars 10, the coordinates of the center position of the corresponding guide bar 10 of each target product P to which the mth time target product P is conveyed are calculated, and each target product P is conveyed according to the coordinates of the center position of each corresponding guide bar 10.
In this embodiment, the robot handling method is used to handle and sleeve a tubular target product P (e.g., a core metal) outside the guide bar 10. In this case, it is possible to effectively prevent the target product P from being displaced greatly (the guide bar 10 is displaced greatly from the center position of the target product P) during each transportation period, particularly in the later transportation period, and further prevent the target product P from colliding with the guide bar 10.
In one embodiment, the mth origin position may be further set at the center position of the guide bars 10 arranged at the top corners of the array of guide bars 10 when the mth conveyance of the target product P is performed. At this time, debugging of each origin position is facilitated in the test run process, and then each origin position is recorded.
For example, the target placing section may be divided into n placing sections, and the mth placing section is used to place the target product P of the mth transfer of the target product P. The n placement sections may be stacked, and the number of guide bars 10 in each placement section may be the same.
Referring to fig. 2, it may be set that the target placing section may be divided into 2 placing sections, and the first origin position is located at the center position of the guide bar 10 at the upper left corner of the first placing section when the first conveyance is performed. The second origin position is located at the center of the guide bar 10 at the upper left corner of the second placement section when the second conveyance is performed.
It should be noted here that the center position of the guide bar 10 at the upper left corner of the second placement sub-area during the second conveyance may be shifted from the center position of the guide bar 10 at the upper left corner of the second placement sub-area during the first conveyance due to a slight shift in the parking position of the relevant stage (e.g., the carriage) on which the target product P is placed during the conveyance. Therefore, the second origin position is located at the center position of the guide bar 10 at the upper left corner of the second placement section when the second conveyance is performed.
In one embodiment, the performing the mth conveyance of the target product P with the mth origin position as the work origin for the mth conveyance of the target product P includes: the mth origin position is set as the operation origin for the mth conveyance of the target product P, and the conveyance of each target product P is performed sequentially from the operation origin.
That is, when the mth origin position is set as the operation origin for the conveyance of the mth target product P, the conveyance and placement order of the target products P is such that the target products P are conveyed and placed in order from the center position of the guide bar 10 arranged at the array top corner of the guide bar 10 at the time of the conveyance.
At the moment, the carrying and placing sequence of the target products P is regularly arranged, and the editing of the control program is simplified.
The coordinates of the mth origin position are (Xm, Ym). In an embodiment, the performing the mth conveyance of the target product P with the mth origin position as the work origin may include:
first, with Xm as a starting point and the Y coordinate unchanged, a preset number of target products P are sequentially placed along the X-axis direction to carry out the conveyance of the previous row of target products P.
And then, moving the Y coordinate once along the Y-axis direction, continuously taking Xm as a starting point, keeping the Y coordinate unchanged, sequentially placing a preset number of target products P along the X-axis direction, and carrying out the next row of target products P until the m-th time of carrying the target products P is finished.
That is, when the mth origin position is used as the work origin and the target products P are conveyed the mth time, the target products P are sequentially placed in the row direction, and the target products P are placed row by row.
Alternatively, the coordinates of the mth origin position are (Xm, Ym). In this embodiment, the performing the mth conveyance of the target product P using the mth origin position as the work origin may include:
first, with Ym as a starting point and the X coordinate unchanged, a preset number of target products P are sequentially placed along the Y-axis direction to carry the previous row of target products P.
And then, moving the X coordinate once along the X-axis direction, continuously taking Ym as a starting point, keeping the X coordinate unchanged, and sequentially placing a preset number of target products P along the Y-axis direction to carry out the carrying of the next row of target products P until the carrying of the target products P for the mth time is finished.
That is, when the mth origin position is used as the work origin and the target products P are conveyed the mth time, the target products P are sequentially placed in the column direction, and the target products P are placed row by row.
In addition, in this embodiment, the transportation process of the target product P may be further set to be the same for each time. The editing of the control program can be made more simplified. At this time, the target placing section may be divided into n placing sections of the same size, while the number of the guide bars 10 in each placing section is the same.
Or,
of course, the present embodiment is not limited thereto, and the transportation processes of the target products P may be different or not completely the same.
In one embodiment, referring to fig. 3, there is also provided a robot handling system comprising a storage module 100 and a control module 200. The storage module 100 is used to record n different origin positions. The control module 200 is configured to sequentially perform n times of conveyance of the target product P with the mth origin position as the operation origin for the mth time of conveyance of the target product P.
Further, the robot handling system may further include an adjustment module 300. The adjusting module 300 is configured to adjust each origin position to its target position, and store the coordinates of each adjusted origin position in the storage module 100.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as 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 application, 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 concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A robot hand carrying method for carrying a plurality of target products, comprising:
recording n different origin positions;
taking the mth origin position as an operation origin of the conveyance of the mth target product, calculating coordinates of target placement positions of the mth target product according to the coordinates of the mth origin position, and conveying the mth target product to each target product according to the coordinates of the target placement positions of the mth target product;
after the target product is conveyed for the mth time, the operation original point automatically jumps to the position of the (m +1) th original point, and the target product is conveyed for n times in sequence, wherein m is more than or equal to 1, and m is less than or equal to n.
2. The manipulator transport method according to claim 1, wherein the area for placing the plurality of target products is a target placement area, the target placement area is provided with a plurality of guide rods arranged in an array, and the manipulator transport method is used for transporting and sleeving the tubular target products on the corresponding guide rods;
the mth origin position is a center position of the guide bar corresponding to one of the target products when the mth target product is conveyed.
3. The robot transfer method according to claim 2, wherein the mth origin position is located at a center position of the guide bar arranged at a vertex of the guide bar array when the mth transfer of the target product is performed.
4. The robot transfer method according to claim 3, wherein the performing of the m-th transfer of the target product with the m-th origin position as the work origin for the m-th transfer of the target product comprises:
the mth origin position is set as the operation origin of the mth conveyance of the target product, and the conveyance of each target product is performed sequentially from the operation origin.
5. The robot handling method according to any one of claims 1 to 4,
the coordinates of the mth origin position are (Xm, Ym),
the m-th conveying of the target product by taking the m-th origin position as a work origin comprises the following steps:
sequentially placing a preset number of target products along the X-axis direction by taking Xm as a starting point and keeping the Y coordinate unchanged so as to carry out the transportation of the previous row of target products;
and moving the Y coordinate once along the Y-axis direction, continuously taking Xm as a starting point, keeping the Y coordinate unchanged, sequentially placing a preset number of target products along the X-axis direction, and carrying the next row of target products until the m-th time of carrying the target products is finished.
6. The robot handling method according to any one of claims 1 to 4,
the coordinates of the mth origin position are (Xm, Ym),
the m-th conveying of the target product by taking the m-th origin position as a work origin comprises the following steps:
sequentially placing a preset number of target products along the Y-axis direction by taking Ym as a starting point and keeping the X coordinate unchanged so as to carry out the transportation of the previous row of target products;
and moving the X coordinate once along the X-axis direction, continuously taking Ym as a starting point, keeping the X coordinate unchanged, and sequentially placing a preset number of target products along the Y-axis direction to carry out the carrying of the next row of target products until the carrying of the target products for the mth time is finished.
7. The robot handling method according to claim 4, wherein the handling process of the target product is the same for each time.
8. The robot handling method of claim 1, further comprising adjusting each home position to its target position before recording each home position.
9. A robot handling system for implementing the robot handling method according to any one of claims 1 to 8, comprising:
the storage module is used for recording n different origin positions;
and the control module is used for carrying out the target product carrying for n times in sequence by taking the mth origin position as the operation origin of the mth target product carrying.
10. The robot handling system of claim 9, further comprising: and the adjusting module is used for adjusting each origin position to the target position and storing the coordinates of each adjusted origin position to the storage module.
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| CN102901920A (en) * | 2011-07-26 | 2013-01-30 | 精工爱普生株式会社 | Electronic component carrying device and electronic component carrying method |
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| CN105314394A (en) * | 2015-12-08 | 2016-02-10 | 长沙长泰机器人有限公司 | Robot transporting clamp and transporting system used for engine cylinder covers and based on vision |
| CN105619738A (en) * | 2016-01-13 | 2016-06-01 | 重庆世纪精信实业（集团）有限公司 | Displacement control method and device for grabbing work-piece by manipulator of injection molding machine |
| CN106393103A (en) * | 2016-08-23 | 2017-02-15 | 苏州博众精工科技有限公司 | Self-adaptive material taking method based on machine vision and used for array type material box |
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| CN107720237A (en) * | 2017-08-31 | 2018-02-23 | 广州泰行智能科技有限公司 | A kind of pile part Nesting and device based on space coordinates |
| CN108393873A (en) * | 2018-05-09 | 2018-08-14 | 易思维（天津）科技有限公司 | Precise grabbing device and grabbing method for laminated workpieces |
| CN109230482A (en) * | 2018-08-20 | 2019-01-18 | 合肥国轩高科动力能源有限公司 | A kind of power battery oven tray or fixture positioning method |
| CN110116406A (en) * | 2019-01-25 | 2019-08-13 | 目竞株式会社 | Robotic system with enhanced scanning mechanism |
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