CN105905560B - A kind of full-automatic control system and its control method of dynamic crawl storage - Google Patents

A kind of full-automatic control system and its control method of dynamic crawl storage Download PDF

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Publication number
CN105905560B
CN105905560B CN201610365213.3A CN201610365213A CN105905560B CN 105905560 B CN105905560 B CN 105905560B CN 201610365213 A CN201610365213 A CN 201610365213A CN 105905560 B CN105905560 B CN 105905560B
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manipulator
plc controller
dynamic
coordinate
control
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CN105905560A (en
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陆卿
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Jiangsu Dero Intelligent Technologies Co Ltd
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Jiangsu Dero Intelligent Technologies Co Ltd
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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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • 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

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

Abstract

Present invention is disclosed the full-automatic control system and its control method of a kind of crawl storage of dynamic, it includes PLC controller, the device for transporting objects connected with the PLC controller, material disk-transporting device, some camera arrangements and some manipulators set along material conveying direction, material passes through the shot region of the camera arrangement by the device for transporting objects, and the operating area transmission of the continual past manipulator, the material disk-transporting device is under PLC controller control, empty material disc is transmitted to the operating area of the manipulator, the manipulator is under PLC controller control, material in operating area is captured and is stored in the material disc in operating area.The present invention realizes a PLC controller and controls more manipulators, and control material transport at the same time is moved with material disc, realizes the blind-mate of the crawl and storage of dynamic material, reduces cost, improve production efficiency.

Description

A kind of full-automatic control system and its control method of dynamic crawl storage
【Technical field】
The invention belongs to capture storage technical field, more particularly to a kind of full-automatic control system of dynamic crawl storage And its control method.
【Background technology】
There is substantial amounts of robot to replace artificial application on automatic assembly line at present, realized by robot to thing The sorting of product fast accurate and packaging, can increase substantially production efficiency, reduce cost of labor.But automation flowing water A large amount of robots of institute's arrangement on line, control a robot using the PLC control system of one, when automatic production line needs When being equipped with Duo Tai robots and working at the same time, this control mode can not only increase cost, can also influence the life of overall robot Produce efficiency and crawl placement precision.
Therefore, it is necessary to providing a kind of new dynamic captures the full-automatic control system stored and its control method to solve The above problem.
【The content of the invention】
It is an object of the present invention to provide a kind of full-automatic control system of dynamic crawl storage, one is realized PLC controller controls more manipulators, and control material transport at the same time is moved with material disc, realize the crawl of dynamic material with The blind-mate of storage, reduces cost, improves production efficiency.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of full-automatic control system of dynamic crawl storage, It includes PLC controller, the device for transporting objects connected with the PLC controller, material disk-transporting device, some camera arrangements And some manipulators set along material conveying direction, material pass through the camera arrangement by the device for transporting objects Shot region, and the operating area transmission of the continual past manipulator, the material disk-transporting device controls in the PLC Under device control processed, empty material disc is transmitted to the operating area of the manipulator, the manipulator is in the PLC controller control Under system, the material in operating area is captured and is stored in the material disc in operating area.
Further, the PLC controller includes Material control module, material disc control module and manipulator control mould Block.
Further, it is single to include the material conveying control that control is connected with the device for transporting objects for the Material control module Member, the material coordinate capture unit connected with the camera arrangement and the material coordinate tracking unit for including encoder.
Further, the manipulator control module includes several motion controllers, a motion controller control Make a manipulator.
Further, the material disc control module controls the device for transporting objects to be moved, and is provided with counting Device.
The control method for the full-automatic control system stored it is another object of the present invention to provide a kind of crawl of dynamic, Encoded by dynamic coordinate, using material dynamic coordinate whether in the range of the crawl of manipulator as whether the foundation captured, it is real The accurate crawl of dynamic material is showed.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of full-automatic control system of dynamic crawl storage Control method, comprises the following steps,
Step 1) the material conveying control unit controls the device for transporting objects persistent movement；
Step 2) the material coordinate capture unit controls the initial coordinate of the camera arrangement seizure material；
Step 3) the material coordinate tracking unit encodes material coordinate into line trace using the encoder；
Step 4) the PLC controller receives the material dynamic coordinate of the encoder feedback；
Whether the step 5) PLC controller judges the dynamic coordinate of material in the opereating specification of the manipulator；
If the judgement in the step 6) step 5 is set up, the PLC controller judges whether the manipulator is completed to put Glove material acts；
If the judgement in the step 7) step 5 is invalid, back to the step 4；
If the judgement in the step 8) step 6 is set up, the motion controller control machinery hand captures material；
If the judgement in the step 9) step 6 is invalid, the PLC controller judges whether new material disc arrives Position；
If the judgement in the step 10) step 9 is set up, the motion controller controls the manipulator to place material Into material disc；
If the judgement in the step 11) step 9 is invalid, the material disc control module controls the material disc defeated Send device to move, by empty material disc conveying in place, after again return to the judgement in the step 9；
Step 12) is after the manipulator completes material placement action, the counting in the material disc control module Device is counted；
Step 13) the PLC controller judges whether fill material in material disc；
If the step 14) step 13 judges to set up, back to the step 11；
If the step 15) step 13 judge it is invalid, back to the step 4.
Further, in the step 1, the speed of the device for transporting objects is set to meet that material enters the machinery It is principle that the flow of hand operating area, which is less than the flow that material leaves Robot actions region by all manipulator crawls,.
Further, in the step 5, nearby principle is taken in the judgement of the material dynamic coordinate, i.e., from the machinery The nearest preferential judgement in hand operating area center is captured.
Compared with prior art, a kind of dynamic of the present invention captures the full-automatic control system of storage and its having for control method Beneficial effect is：By setting multiple control modules in a PLC controller, a PLC controller is realized to more machines It is precisely controlled while tool hand；By the conveying of control material and material disc at the same time, realize the automatic crawl of dynamic material with The blind-mate of automatic storage action；The material on device for transporting objects is tracked into Mobile state by encoder, and by thing The dynamic coordinate of material is fed back in PLC controller in real time, passes through material dynamic coordinate and pair of Robot actions regional extent Than to provide foundation whether material crawl, realizing the accurate crawl of dynamic material；And captured at the same time with reference to more manipulators Storage, substantially increases production efficiency.
【Brief description of the drawings】
Fig. 1 is the module diagram of PLC controller in the embodiment of the present invention；
Fig. 2 is the control flow schematic diagram in the embodiment of the present invention；
【Embodiment】
Embodiment：
Fig. 1-Fig. 2 is refer to, the present embodiment is a kind of full-automatic control system of dynamic crawl storage, it includes PLC controls Device processed, the device for transporting objects connected with PLC controller, material disk-transporting device, some camera arrangements and conveyed along material Some manipulators just set up.Material passes through the shot region of camera arrangement by device for transporting objects, and continual Operating area toward manipulator transmits, and material disk-transporting device is under PLC controller control, by empty material disc to manipulator Operating area transmits, and the material in operating area is captured and be stored in positioned at behaviour under PLC controller control by manipulator Make in the material disc in region.
PLC controller includes Material control module, material disc control module and manipulator control module.Material control mould Block includes material conveying control unit, material coordinate capture unit and material coordinate tracking unit.Manipulator control module bag Include several motion controllers.
Material conveys the movement of control unit major control device for transporting objects, and driving material is moved；Material coordinate Capture unit obtains the initial coordinate values of material by some camera arrangements；Material coordinate tracking unit is sat using encoder Mark tracking, remains the dynamic position monitoring to material.Material disc control module mainly realizes the control to device for transporting objects System, and counter is provided with, manipulator crawl number is counted, the material disc in the range of Robot actions is piled thing During material, PLC controller is sent a signal to.Manipulator control module is provided with some motion controllers, and each manipulator corresponds to one A motion controller, motion controller realize the control to manipulator crawl and storage action.
A kind of control method of the full-automatic control system of dynamic crawl storage, its step are as follows：
Material conveying control unit control material conveying device persistent movement in step 1) PLC controller；
Step 2) material coordinate capture unit control camera arrangement catches the initial coordinate of material；
Step 3) material coordinate tracking unit encodes material coordinate into line trace using encoder, obtains the real-time of material Dynamic coordinate；
Step 4) PLC controller receives the material dynamic coordinate of encoder feedback；
Step 5) PLC controller is judged, judges the dynamic coordinate of material whether in the opereating specification of manipulator, thing Nearby principle is taken in the judgement of material dynamic coordinate, i.e., nearest from manipulator operating area center is preferentially captured；
If the judgement in step 6) step 5 is set up, PLC controller is judged, judges whether manipulator is completed to place Material acts；
If the judgement in step 7) step 5 is invalid, back to step 4；
If the judgement in step 8) step 6 is set up, the motion controller control machinery hand crawl thing in PLC controller Material；
If the judgement in step 9) step 6 is invalid, PLC controller is judged, judges whether new material disc arrives Position；
If the judgement in step 10) step 9 is set up, the motion controller control machinery hand in PLC controller places thing Expect in material disc；
If the judgement in step 11) step 9 is invalid, the movement of material disc control module control material disk-transporting device, By empty material disc conveying in place, the judgement in step 9 is again returned to after；
After manipulator completes material placement action, the counter in material disc control module is counted step 12)；
Step 13) PLC controller judged judge whether fill material in material disc；
If step 14) step 13 judges to set up, back to step 11；
If step 15) step 13 judges invalid, return to step 4, next round action is carried out.
Manipulator in the present embodiment is delta robots.The speed of device for transporting objects in the present embodiment set with Meet that the flow in material into Robot actions region is less than material and leaves Robot actions region by All Robots crawl Flow is principle, can so ensure material since being entered Robot actions region to leaving Robot actions region Before, it can be caught away by one of manipulator.
The present embodiment a kind of full-automatic control system and its control method of dynamic crawl storage, by being controlled in a PLC Multiple control modules are set in device processed, realize a PLC controller to being precisely controlled while more manipulators；By at the same time The conveying of control material and material disc, realizes the blind-mate of the automatic crawl and automatic storage action of dynamic material；It is logical Cross encoder to track the material on device for transporting objects into Mobile state, and the dynamic coordinate of material is fed back into PLC in real time In controller, by the contrast of material dynamic coordinate and Robot actions regional extent, to provide foundation whether material crawl, Realize the accurate crawl of dynamic material；And storage is captured at the same time with reference to more manipulators, substantially increase production efficiency.
Above-described is only some embodiments of the present invention.For those of ordinary skill in the art, not On the premise of departing from the invention design, various modifications and improvements can be made, these belong to the protection model of the present invention Enclose.

Claims (6)

  1. A kind of 1. full-automatic control system of dynamic crawl storage, it is characterised in that：It includes PLC controller, is controlled with the PLC The device for transporting objects of device processed connection, material disk-transporting device, some camera arrangements and set along material conveying direction Some manipulators, material pass through the shot region of the camera arrangement, and continual past institute by the device for transporting objects State the operating area transmission of manipulator, the material disk-transporting device under PLC controller control, by empty material disc to The operating area transmission of the manipulator, the manipulator is under PLC controller control, by the thing in operating area Material is captured and is stored in the material disc in operating area, and the PLC controller includes Material control module, material disc control Molding block and manipulator control module, the Material control module include the material conveying connected with the device for transporting objects Control unit, the material coordinate capture unit connected with the camera arrangement and the material coordinate tracking list for including encoder Member.
  2. 2. the full-automatic control system of dynamic crawl storage as claimed in claim 1, it is characterised in that：The manipulator control Module includes several motion controllers, and a motion controller controls a manipulator.
  3. 3. the full-automatic control system of dynamic crawl storage as claimed in claim 2, it is characterised in that：The material disc control Module controls the material disk-transporting device to be moved, and is provided with counter.
  4. 4. a kind of control method of the full-automatic control system based on dynamic as claimed in claim 3 crawl storage, its feature It is：It comprises the following steps,
    Step 1) the material conveying control unit controls the device for transporting objects persistent movement；
    Step 2) the material coordinate capture unit controls the initial coordinate of the camera arrangement seizure material；
    Step 3) the material coordinate tracking unit encodes material coordinate into line trace using the encoder；
    Step 4) the PLC controller receives the material dynamic coordinate of the encoder feedback；
    Whether the step 5) PLC controller judges the dynamic coordinate of material in the opereating specification of the manipulator；
    If the judgement in the step 6) step 5 is set up, the PLC controller judges whether the manipulator is completed to place thing Material acts；
    If the judgement in the step 7) step 5 is invalid, back to the step 4；
    If the judgement in the step 8) step 6 is set up, the motion controller control machinery hand captures material；
    If the judgement in the step 9) step 6 is invalid, in place whether the PLC controller judge new material disc；
    If the judgement in the step 10) step 9 is set up, the motion controller controls the manipulator to place material to thing In charging tray；
    If the judgement in the step 11) step 9 is invalid, the material disc control module controls the material disc conveying dress Put movement, by empty material disc conveying in place, after again return to the judgement in the step 9；
    Step 12) after the manipulator completes material placement action, the counter in the material disc control module into Row counts；
    Step 13) the PLC controller judges whether fill material in material disc；
    If the step 14) step 13 judges to set up, back to the step 11；
    If the step 15) step 13 judge it is invalid, back to the step 4.
  5. 5. the control method of the full-automatic control system of dynamic crawl storage as claimed in claim 4, it is characterised in that：It is described In step 1, the speed of the device for transporting objects is set to be less than with the flow for meeting material into the Robot actions region The flow that material leaves Robot actions region by all manipulator crawls is principle.
  6. 6. the control method of the full-automatic control system of dynamic crawl storage as claimed in claim 4, it is characterised in that：It is described In step 5, nearby principle is taken in the judgement of the material dynamic coordinate, i.e., nearest from the Robot actions regional center is excellent First judge to be captured.
CN201610365213.3A 2016-05-27 2016-05-27 A kind of full-automatic control system and its control method of dynamic crawl storage Active CN105905560B (en)

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Publication number Priority date Publication date Assignee Title
CN110834943A (en) * 2018-08-17 2020-02-25 上海优爱宝智能机器人科技股份有限公司 Cooperative material arranging mechanism and cooperative material arranging method

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CN105109996A (en) * 2015-07-31 2015-12-02 益和电气集团股份有限公司 Circuit breaker assembly line and controlling method thereof

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CN202686788U (en) * 2012-05-28 2013-01-23 Abb技术有限公司 Packing system
CN204725516U (en) * 2015-01-19 2015-10-28 西安航天精密机电研究所 A kind of single vision being applicable to pipelining coordinates multirobot navigation system
CN104709718A (en) * 2015-02-06 2015-06-17 广东五星太阳能股份有限公司 Flat plate heat collector double-station automatic discharging stacker
CN104793596A (en) * 2015-04-16 2015-07-22 天津智通机器人有限公司 Control system of catalyst auto-production line
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