Robot and its control methodTechnical field
The present invention relates to the robot and its controlling party of a kind of robot with mechanical hand, especially control machinery handMethod.
Background technology
With the development of science and technology, robot is more and more must to apply industrial automation production field.Current existing profitThe technique and device that operation is carried out with Industrial Robot Technology has many kinds：Carry out in the production line Deng Shangshi robots of processed goodsBy people carry out for the predetermined processing operation of processed product, so as to realize the efficient activity of production line.
Having used robot, especially in the production system of industrial robot, robot is used for the grasping of workpiece, is removedThe operation such as fortune.In the purposes of such robot, workpiece picking up system is for from being placed in storage box in a jumble or palletOn state workpiece in carry out each workpiece taking-up, workpiece picking up system is by being surveyed with two dimensional measuring instrument or three-dimensional measurement instrumentEach position of amount workpiece is determining that the next one treats clamped workpiece and indicate the multi-axis robot work that is determined of clampingPart.Then, multi-axis robot is sent to clamped workpiece on transporter, by each work arranged along transporterIndustrial robot in standing etc. performs predetermined work.
In prior art, most of pipeline machine people use the industrial robot system of such operation.In conventional skillIn art, when the image of the workpiece loaded on based on pallet cannot detect workpiece to be removed, shake workpiece or pallet,So as to detect the workpiece for allowing to be removed again.But, if repeated detection allows the workpiece being removed to fail, it will increaseThe take-off time of workpiece, so as to the transporter for causing downstream lacks enough workpiece, so that the work efficiency drop of entiretyIt is low.
Used as the improvement of prior art, An Chuan Electric Co., Ltd proposes one kind in the patent of invention of CN102785238BIndustrial robot system, when which has enough workpiece on Transfer pipe, for pallet carries out reordering operations, so as to reduceIn pallet, workpiece cannot be allowed to the probability for taking out, and shorten total pick-up time of the workpiece on pallet.But, work as Transfer pipeWhen above with enough multi-work pieces, the workpiece in pallet is likely to be the state in being removed, and now enters rearrangement notThe number of the workpiece that can be taken out can necessarily be increased；And reordering operations can not necessarily be completely successful, it is possible to after rearrangement due toTransfer of workpiece etc., causes to belong to originally the workpiece that can take out state and becomes to take out, and increased the pick-up time on the contrary.
In order to solve the above problems, in 2015109485939 patent of invention, pallet is divided into by the firstth area by dividing plateBetween and second interval, the workpiece on Transfer pipe reaches threshold value, but is not required in the operating range for currently carrying out shift workpieceDuring the operation entered by rearrangement work, the rearrangement of workpiece in another interval can be carried out, so as to avoid unnecessary weightThe loss of overall time caused by row.But, as workpiece process is typically in batches, to process in the posterior segment of a batchIn flow process, with the reduction of workpiece on pallet, two intervals are taken pictures and state is determined the time for needing consumption excessive, canEfficiency can be caused to reduce.
The content of the invention
The invention provides a kind of industrial robot, can solve the problem that the problems referred to above of prior art.
As one aspect of the present invention, there is provided a kind of industrial robot, including：Pallet, which is placed needs transferWorkpiece；First mechanical hand, which is used for the workpiece transfer on pallet to Transfer pipe；Switching determining unit, which can be based onThe aggregation extent of the workpiece on Transfer pipe, determines that the first mechanical hand performs transfer workpiece or resets the operation of workpiece；It is describedPallet include being disposed therein between dividing plate；The pallet is separated into first interval and second interval, the work by the dividing platePart is distributed in the first interval and second interval；Switching determining unit, which can be based on the poly- of the workpiece on Transfer pipeCollection degree, determines that the first mechanical hand performs transfer workpiece or resets the operation of workpiece；State of section indicating member, which is used to refer toShow with the presence or absence of the workpiece for allowing to be removed in the first interval and second interval, and indicate currently just in the list of pickupUnit；Interval determination unit, according to the switching determining unit and the information of the state of section indicating member, it is determined that carrying out weightRow or the interval and its operation shifted；The dividing plate is the dividing plate for being capable of reduction；The pallet is square, and its both sides is arranged canMobile side wall；When the chief engineer's number of packages in the first interval and second interval is less than specific threshold, the moveable side walls are madeTo middle movement, first interval and second interval are merged into single interval by the dividing plate retracted downward；The first interval andAfter second interval merges into single interval, interval determination unit transfer or weight directly according to the switching determining unitRow's information, carries out the single interval transfer or rearrangement.
Preferably, also including image acquisition unit and transfer candidate unit；The pallet be divided into first interval andDuring second interval：Described image acquiring unit can obtain each for multiple regions that first interval or second interval are divided intoImage in region；The transfer candidate unit can according to the image in the regional, determine the first interval orIn person's second interval, the workpiece that can be shifted of the next one or determine does not exist fair in the first interval or second intervalPermitted the workpiece being removed；After the pallet merges into single interval：Described image acquiring unit can be by this single interval pointInto multiple regions, and obtain the image in regional；The transfer candidate unit can be according in the regionalImage, determines next one can be shifted in the single interval workpiece or determine in the single interval there is no permission quiltThe workpiece of taking-up.
Preferably, the switching number of the determining unit based on workpiece on the Transfer pipe, determines that the first mechanical hand is heldThe operation of row transfer workpiece or rearrangement workpiece.
Preferably, when the pallet is divided into first interval and second interval, the interval determination unit is it is determined that resetOr transmission it is interval when：1）The information of the interval determination unit acquisition switching determining unit, 1.1）When the switching determinesUnit determines the operation for carrying out shifting workpiece, and the interval determination unit obtains the information of the state of section indicating member；1.1.1) if current just allow the workpiece being removed in the interval presence of pickup, the transfer work piece operations in the interval are carried out；1.1.2) if current just do not have the workpiece for allowing to be removed in the interval of pickup, check in another interval whether depositAllowing by the work of pickup；If another interval is present allowed by the workpiece of pickup, another is interval to carry out thisTransfer work piece operations；If another interval does not have permission by the workpiece of pickup yet, for currently intervalThe operation of rearrangement workpiece is entered in interval；1.2) when the switching determining unit determines the operation into rearrangement workpiece, the areaBetween determining unit obtain the information of the state of section indicating member；1.2.1) if currently just do not existed in the interval of pickup fairPermitted the workpiece being removed, then carried out currently just in the reordering operations in the interval of pickup；1.2.2) if current just in the area of pickupBetween exist and allow the workpiece that is removed, then check another interval with the presence or absence of the workpiece for allowing to be removed；If this is in additionThere is no the workpiece for allowing to be removed in one interval, then carry out another interval reordering operations；If this anotherIt is interval to there is the workpiece for allowing to be removed, then do not carry out this operation for resetting workpiece；1.3）According to the interval reset after workpieceState, updates the state of unit in state of section indicating member.
Preferably, after the pallet merges into single interval, the interval determination unit is it is determined that resetting or transmittingIt is interval when, switch the transfer of determining unit described in the interval determination unit direct access or reset information, carry out the listThe transfer or rearrangement in one interval.
Preferably, the first interval and second interval are respectively provided with weight sensor, can detect described first respectivelyThe quality of workpiece in interval and second interval；Based on the quality of workpiece in the first interval and second interval, described is determinedThe one interval number with workpiece in second interval.
As another aspect of the present invention, there is provided the control method of above-mentioned industrial robot, including following flow process：1）Upstream is equipped identical workpiece placement tray first interval and second interval；a）In monitor in real time first interval and second intervalTotal workpiece number, a.1) when chief engineer's number of packages be more than specific threshold when：a.2）Image acquisition unit obtain first interval andImage in second interval regional；a.3）Transfer candidate unit determines firstth area according to the image in regionalBetween or second interval in the workpiece that can be shifted of the next one or determine do not deposit in the first interval or second intervalIn the workpiece for allowing to be removed；To determine that result sends the state of section indicating member to；a.4）Interval determination unit according toState of section indicating member information：If there is the interval that can carry out workpiece transfer, workpiece is carried out by the first mechanical handTransfer, into step a.5）；If state of section indicating member information indicates to there is currently no the area that can carry out workpiece transferBetween, then after interval determination unit indicates that the first mechanical hand carries out the rearrangement of first interval and second interval, repeat step is a.1-a.4；a.5）The number of workpiece on monitor in real time Transfer pipe：a.5.1）When the number of workpiece on the Transfer pipe is less than specificThreshold value, switches determining unit and determines the operation for carrying out shifting workpiece, into step a.4；A.5.2) when work on the Transfer pipeThe number of part is more than specific threshold, and the switching determining unit determines the operation into rearrangement workpiece, the interval determination unitObtain the information of the state of section indicating member；A.5.2.1) allow to be removed if currently just do not existed in the interval of pickupWorkpiece, then carry out it is current just the interval of pickup reordering operations；A.5.2.2) if current be just present in the interval of pickupThe workpiece being removed is allowed, then checks another interval with the presence or absence of the workpiece for allowing to be removed；If another areaBetween there is no the workpiece for allowing to be removed, then carry out another interval reordering operations；If another interval is depositedIn the workpiece for allowing to be removed, then this operation for resetting workpiece is not carried out；Into step a.4）；B) the firstth area of monitor in real timeBetween and second interval in total workpiece number, b.1) when chief engineer's number of packages be more than specific threshold when：B.2 the moveable side walls) are madeTo middle movement, first interval and second interval are merged into single interval by the dividing plate retracted downward；B.3) the intervalSwitch the transfer of determining unit described in determining unit direct access or reset information, carry out the single interval transfer or weightRow.
Description of the drawings
Fig. 1 is the block diagram of embodiment of the present invention industrial robot system's control structure.
Fig. 2 is the control flow chart of embodiment of the present invention industrial robot.
Specific embodiment
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existingAccompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only thisSome embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used alsoTo obtain other accompanying drawings according to these accompanying drawings.
The industrial robot system of the embodiment of the present invention, including：Pallet, which places the workpiece for needing transfer；First is mechanicalHandss, which is used for the workpiece transfer on pallet to Transfer pipe；Transfer pipe, which is used for conveying work pieces；Second mechanical hand,Which is used to obtain workpiece from the downstream of Transfer pipe；The water operation of workpiece is repeated by the system, until all worksPart operation terminates.Wherein, sensor is provided with Transfer pipe, be able to detect that the number of workpiece on Transfer pipe, control systemSystem can carry out the operation of pallet according to the number of workpiece on Transfer pipe.
Pallet include being disposed therein between dividing plate, pallet is separated into first interval and second interval by which.Upstream is equippedThe workpiece of conveying same shape is distributed in the first interval and second interval.During pickup, the first mechanical hand only can every timeSingle interval from first interval or second interval carries out pickup；During rearrangement, the first mechanical hand only can be for the firstth areaBetween or the single interval of second interval enter rearrangement.Control system can control the first mechanical hand, for single interval is carried outReset or shift work piece operations.
First interval and second interval are respectively provided with weight sensor, can be detected in first interval and second interval respectivelyThe quality of workpiece；Based on the quality of workpiece in first interval and second interval, workpiece in first interval and second interval is determinedNumber.
Dividing plate is the dividing plate for being capable of reduction；Pallet is square, and its both sides arranges moveable side walls；When first interval and secondWhen chief engineer's number of packages in interval is less than specific threshold, moveable side walls are made to middle mobile, dividing plate retracted downward, by first intervalSingle interval is merged into second interval.After first interval and second interval merge into single interval, interval determination unit is directAccording to transfer or the rearrangement information of switching determining unit, the single interval transfer or rearrangement are carried out.
The control system of robot system of the present invention is as shown in figure 1, robot control system 20 includes 21 He of communication unitController 28.Controller 28 carries out data interaction with the sensor 31 being arranged on Transfer pipe 30 by communication unit 21, togetherWhen by communication unit 21 receive Work piece transfer system 10 on photographing unit shoot first interval and second interval image, pass throughCommunication unit 21 indicates that the first mechanical hand is carried out shifting workpiece or resets the operation of workpiece.Wherein, workpiece or rearrangement are shiftedThe operation of workpiece can use mode of operation well known in the prior art.
Controller 28 also includes Transfer pipe detector unit 22, switching determining unit 23, interval determination unit 24, interval shapeState indicating member 25, transfer candidate unit 26, image acquisition unit 27.Wherein, Transfer pipe detector unit 22 is from being arranged onSensor 31 on Transfer pipe 30 receives the detection information of the workpiece by Transfer pipe 30, and is examined based on the detection informationSurvey accumulates in the number of the workpiece in 30 downstream of Transfer pipe.Switching determining unit 23, which can be based on the work on Transfer pipe 30The aggregation extent of part, determines that the first mechanical hand performs transfer workpiece or resets the operation of workpiece；Switching determining unit 23 is reallyDetermine result and be sent to interval determination unit 24.
When pallet is divided into first interval and second interval：Image acquisition unit 27 can be by first interval or the secondth areaBetween be divided into multiple regions, and obtain the image in regional；Transfer candidate unit 26 can obtain single according to imageThe image in regional that unit 27 obtains, determines the work that the next one can be shifted in the first interval or second intervalPart determines in the first interval or second interval there is no the workpiece for allowing to be removed.Single interval is merged in palletAfterwards：The single interval can be divided into multiple regions by image acquisition unit 27, and obtain the image in regional；TransferCandidate unit 26 can determine the workpiece that the single interval interior next one can be shifted according to the image in the regionalOr determine in the single interval there is no the workpiece for allowing to be removed.The determination result of transfer candidate unit 26 is sent to areaBetween state indication unit 25.Any means known of the prior art, such as CN102785238B can be used to determine whether deposit in intervalIn the workpiece that can be removed.
When the pallet is divided into first interval and second interval, interval determination unit 24 receive switching determining unit 23 withAnd the determination information of state of section indicating member 25, make following operation：1）Interval determination unit 24 obtains switching determining unit23 information, 1.1）When switching determining unit 23 determines the operation for carrying out shifting workpiece, interval determination unit 24 obtains interval shapeThe information of state indicating member 25；1.1.1) if current just allow the workpiece being removed in the interval presence of pickup, carry out thisInterval transfer work piece operations；1.1.2) if current just do not have the workpiece for allowing to be removed in the interval of pickup, checkWith the presence or absence of permission by the work of pickup in another interval；If another interval is present allowed by the workpiece of pickup,The transfer work piece operations in another interval are carried out then；If there is no permission by the workpiece of pickup in another interval yet,Then for the operation of rearrangement workpiece is entered in currently interval interval；1.2) when switching determining unit 23 is determined into rearrangement workDuring the operation of part, interval determination unit 24 obtains the information of state of section indicating member 25；1.2.1) if current just in pickupInterval there is no the workpiece for allowing to be removed, then carry out it is current just the interval of pickup reordering operations；1.2.2) if worked asIt is front just to allow the workpiece being removed in the interval presence of pickup, then check another interval with the presence or absence of the work for allowing to be removedPart；If another interval does not have the workpiece for allowing to be removed, another interval reordering operations are carried out；Such asReally another interval presence allows the workpiece being removed, then do not carry out this operation for resetting workpiece；1.3）According to rearrangementState of section after workpiece, updates the state of unit in state of section indicating member.
The pallet merge into it is single interval after, interval determination unit 24 it is determined that reset or transmit it is interval when,Information is reset in the transfer of direct access switching determining unit 23, carries out the single interval transfer or rearrangement.
By the setting of above-mentioned technical proposal of the present invention, in the posterior segment handling process of a batch, with palletSingle interval is merged in two intervals by the reduction of workpiece, directly enters rearrangement or transfer work piece operations to the single interval,So as to improve the efficiency of posterior segment process.
Preferably, in order to avoid always it is single interval in carry out pickup, cause the single interval workpiece number very few and needOverlong time when resetting, can be respectively provided with weight sensor in first interval and second interval, can detect described respectivelyThe quality of workpiece in first interval and second interval；When the workpiece quality difference of the first interval and second interval is more than certain thresholdDuring value, the information of state of section indicating member described in the interval determination unit, when the light interval presence of wherein workpiece quality is permittedWhen being permitted the workpiece being removed, the interval determination unit determines that the light interval of the workpiece quality carries out shifting the operation of workpiece.
The control method of the industrial robot of the embodiment of the present invention, as shown in Fig. 2 including following flow process：1）Upstream is equippedBy identical workpiece placement tray first interval and second interval, after placement is finished；a）Monitor in real time first interval and the secondth areaInterior total workpiece number, a.1) when chief engineer's number of packages is more than specific threshold：a.2）Image acquisition unit is obtained first intervalAnd the image in second interval regional；a.3）Transfer candidate unit according to the image in regional, determine thisWorkpiece or determine in the first interval or second interval that in one interval or second interval, the next one can be shiftedThere is no the workpiece for allowing to be removed；To determine that result sends the state of section indicating member to；a.4）Interval determination unitAccording to state of section indicating member information：If there is the interval that can carry out workpiece transfer, work is carried out by the first mechanical handThe transfer of part, into step a.5）；If state of section indicating member information indicates there is currently no to carry out workpiece transferInterval, then after interval determination unit indicates that the first mechanical hand carries out the rearrangement of first interval and second interval, repeat stepA.1-a.4；a.5）The number of workpiece on monitor in real time Transfer pipe：a.5.1）When the number of workpiece on the Transfer pipe it is littleIn specific threshold, switch determining unit and determine the operation for carrying out shifting workpiece, into step a.4；A.5.2) when the transmission is logicalOn road, the number of workpiece is more than specific threshold, and the switching determining unit determines the operation into rearrangement workpiece, described interval trueOrder unit obtains the information of the state of section indicating member；A.5.2.1) if currently just there is no permission in the interval of pickupThe workpiece being removed, then carried out currently just in the reordering operations in the interval of pickup；A.5.2.2) if current just in the area of pickupBetween exist and allow the workpiece that is removed, then check another interval with the presence or absence of the workpiece for allowing to be removed；If this is in additionThere is no the workpiece for allowing to be removed in one interval, then carry out another interval reordering operations；If this anotherIt is interval to there is the workpiece for allowing to be removed, then do not carry out this operation for resetting workpiece；Into step a.4）；B) monitor in real timeTotal workpiece number in first interval and second interval, b.1) when chief engineer's number of packages is more than specific threshold：B.2) make described removableFirst interval and second interval are merged into single interval to middle movement, the dividing plate retracted downward by dynamic side wall；B.3) instituteTransfer or the rearrangement information for switching determining unit described in interval determination unit direct access is stated, the single interval transfer is carried outOr reset.
The all documents referred in the present invention all incorporated by reference in this application, are individually recited just as each documentIt is such as reference.In addition, it is to be understood that after the above disclosure for having read the present invention, protection scope of the present invention is notAbove-described embodiment is limited only to, those skilled in the art can be made various changes or modifications to the present invention, without departing from the present inventionUnder the premise of principle, these equivalent form of values equally fall within the application appended claims limited range.