CN107422700A - A kind of control method of robot automation's production line experiment porch - Google Patents
A kind of control method of robot automation's production line experiment porch Download PDFInfo
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- CN107422700A CN107422700A CN201710273913.4A CN201710273913A CN107422700A CN 107422700 A CN107422700 A CN 107422700A CN 201710273913 A CN201710273913 A CN 201710273913A CN 107422700 A CN107422700 A CN 107422700A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 40
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- 238000012546 transfer Methods 0.000 claims abstract description 13
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a kind of control method of robot automation's production line experiment porch, it is characterized in that：The conveyer belt of three different direction of transfers in parallel of setting and cylinder push-rod realize the circulation conveying operation of workpiece and packing box in experiment porch；The acquisition of image information and posture information is carried out to workpiece using industrial vision system；Using robot and its handgrip carry out workpiece pick and incasement operation；The unloading operation of workpiece is carried out to holder box using slide unit and its handgrip；The operation for realizing different mode of operations by carrying out different settings to platform.The present invention provides research technique for the checking of the research of the different working modes on production line, simulation and control method, and also the teaching research for correlation provides experimental provision.
Description
The application is Application No. 2015102564446, and the applying date 20150519, a kind of entitled robot is certainly
Dynamic metaplasia producing line experiment porch and its control method, apply for the divisional application of artificial HeFei University of Technology.
Technical field
The present invention relates to a kind of robot automation's production line experiment porch and its control method, is for for machine life
Producing line carries out research and provides laboratory facilities, the experimental provision also provided for the teaching research of correlation.
Background technology
With the quick development of modern industry, robot automation's production line is increasingly wide in the application of field of industrial production
It is general, such as in electronic manufacture, automobile making, processing and packing, goods sorting field.Particularly machine vision technique is on a production line
Utilization, drastically increase the flexibility, intellectuality and automatization level of system.The generally configuration one of such automatic production line
It is individual or it is multiple for the robot that picks or process as specific executing agency；One or more conveyer belt is configured to be used to convey work
Part and packing box；Configure industrial vision system and be used for the different operations such as the positioning, identification, dimensional measurement of workpiece.
With the development of the social economy, the production of the particularization, specialization, randomization of production and processing to automatic production line
Efficiency, production versatility, intelligent and flexibility propose higher requirement.In particular for on-fixed beat, random confession
The automatic production line of the modes of production such as material, in the early stage formally come into operation, it is necessary to be carried out to the system integration and control method
Substantial amounts of research and debugging efforts.And in the research of existing production line relevant issues, especially to production line carrying out practically
In pattern, the description operated, lack directly perceived, system a physical system basis.
The content of the invention
The present invention is to avoid the deficiency present in above-mentioned prior art, there is provided a kind of robot automation's production line experiment
The control method of platform, to provide test arm for the checking of the research of production line different working modes, simulation and control method
Section, also provide experimental provision for related teaching research.
The present invention adopts the following technical scheme that to solve technical problem：
Robot automation's production line experiment porch of the present invention is structurally characterized in that：
On experiment porch, locate at grade and be set up in parallel three conveyer belts in X direction, from side to opposite side
It is followed successively by the first conveyer belt, the second conveyer belt and the 3rd conveyer belt；The direction of transfer of first conveyer belt and the second conveyer belt be from
From left to right, and make the direction of motion from left to right to be descending, the direction of transfer of the 3rd conveyer belt are made from dextrad for from right to left
The left direction of motion is up, and what is transmitted on first conveyer belt is descending workpiece；Transmitted on second conveyer belt
Be the descending unloaded box for not loading workpiece and/or the descending holder box for being loaded with workpiece；Transmitted on the 3rd conveyer belt
Be up holder box.
On the experiment porch, the right-hand member for being in second conveyer belt is provided with the first cylinder push-rod and the first photoelectricity
Sensor, it is in the middle part of second conveyer belt and is provided with the 3rd photoelectric sensor, is examined using the 3rd photoelectric sensor
The descending unloaded box signal in place of the descending unloaded box obtained on the second conveyer belt is surveyed, according to descending unloaded box signal in place
Control the first pneumatic gripping device to operate in the descending workpiece on the first conveyer belt towards being cased in the descending unloaded box, make
Turn into descending holder box after the descending box-packed case of zero load；Obtained and operated on the second conveyer belt using the detection of the first photoelectric sensor
The descending holder box of descending holder box signal in place, utilizing the descending holder box, signal controls first cylinder push-rod in place
Pushing the descending holder box to the 3rd conveyer belt turns into up holder box.
On the experiment porch, the left end for being in the 3rd conveyer belt sets the second cylinder push-rod and the second light respectively
Electric transducer, the up holder of the up holder box operated on the 3rd conveyer belt is obtained by second photoelectric sensor detection
Box signal in place, according to the up holder box, to control the second pneumatic gripping device to operate in upper on the 3rd conveyer belt for signal in place
Workpiece in row holder box is unloaded towards the first conveyer belt and turns into descending workpiece, will be unloaded by second cylinder push-rod
Up holder box afterwards, which pushes the second conveyer belt to, turns into descending unloaded box.
In the outside of first conveyer belt, fixed setting camera branch at the left position of first conveyer belt is in
Frame, the industrial camera and camera light source of the image information for obtaining descending workpiece are separately installed with the camera support；
The lower section of the industrial camera, be in the first conveyer belt outside set the 4th photoelectric sensor, with the 4th photoelectric transfer
The workpiece signal in place for the descending workpiece on the first conveyer belt that sensor detection obtains, with the workpiece industry of signal triggering in place
Camera obtains the image information of descending workpiece.
On the experiment porch, robot is fixedly mounted in the outside for being in first conveyer belt, and described first is pneumatic
Handgrip is disposed on the pneumatic gripping device in robot, and first pneumatic gripping device is the sucked type handgrip for having multiple suckers.
The design feature of robot automation's production line experiment porch of the present invention is lain also in：On a left side for the experiment porch
End, across the top between the first conveyer belt and the 3rd conveyer belt be fixedly installed in X to horizontal sliding table, it is described horizontal sliding
The vertical slide unit that can be moved along Z-direction, second gas can be fixedly installed along X to moving in platform on the slide of the horizontal sliding table
Dynamic handgrip is fixedly installed on the bottom of the vertical slide unit, and second pneumatic gripping device is that the sucked type with multiple suckers is grabbed
Hand.
The design feature of robot automation's production line experiment porch of the present invention is lain also in：On the experiment porch, place
The right side of the robot and be on position reached by first pneumatic gripping device fixed setting packing box store it is flat
Platform, external packing box are stored in packing box and stored on platform.
The design feature of robot automation's production line experiment porch of the present invention is lain also in：The camera support is arranged to frame
Frame, the shade of filter glass formation industrial camera is set in the surrounding of the framework and top.
The mode of operation of robot automation's production line experiment porch of the present invention, it is characterized in that setting mode of operation one is：
Corresponding charging time point is generated according to the feeding mode of default and the position that feeds intake, using the second pneumatic gripping device by up load
Workpiece transfer in part box realizes the dispensing of the descending workpiece on the first conveyer belt to the first conveyer belt；Utilize the 4th photoelectric transfer
Sensor obtains the workpiece of descending workpiece signal and arrival time point in place, is obtained with the workpiece industrial camera of signal triggering in place
The image information of descending workpiece, the posture information of descending workpiece is obtained using image information；First pneumatic gripping device is according to institute
State the arrival time point of descending workpiece and posture information performs the descending workpiece direction that will be operated on the first conveyer belt and operated in
The operation cased in descending unloaded box on second conveyer belt；The descending unloaded box turns into descending holder after completing to case
Box；The descending holder box that the descending holder box operated on the second conveyer belt is obtained using the detection of the first photoelectric sensor is believed in place
Number, using the descending holder box in place signal control the first cylinder push-rod by the descending holder box push to the 3rd conveyer belt into
For up holder box；When the up holder box is run to the left end of the 3rd conveyer belt, obtained by the detection of the second photoelectric sensor
The up holder box for the up holder box that must be operated on the 3rd conveyer belt signal in place, believes in place according to the up holder box
Number the second pneumatic gripping device of control is unloaded to operating in the workpiece in the up holder box on the 3rd conveyer belt and passed to first
The operation that band feeds intake is sent, the second cylinder push-rod, which pushes the up holder box after unloading to second conveyer belt, turns into descending unloaded box,
So as to complete the circulate operation process of the workpiece of automatic circulating operation pattern and packing box.
The mode of operation of robot automation's production line experiment porch of the present invention, it is characterized in that setting mode of operation two is：
The workpiece of descending workpiece signal and arrival time point in place are obtained using the 4th photoelectric sensor, signal touches in place with the workpiece
The image information that industrial camera obtains descending workpiece is sent out, the posture information of descending workpiece is obtained using image information；Described first
Pneumatic gripping device performs the descending work that will be operated on the first conveyer belt according to the descending workpiece arrival time point and posture information
Part is towards the operation cased in external packing box.
The control method of the mode of operation two of robot automation's production line experiment porch of the present invention, is characterized in by as follows
Process is carried out：
Descending workpiece conveys at one end to robot at random from the left end of the first conveyer belt, and it is machine to define forward sight distance
The segment distance that people observes to the left, the former apparent distance are taken action as control variable, and the forward sight distance is according to control program
Set；
For the first conveyer belt to travel at the uniform speed, the forward sight distance is converted into forward sight time t, makes TminBefore minimum
Between apparent time, TmaxFor the maximum forward sight time, defining action collection D is：D=[Tmin,Tmax], i.e. t ∈ D；
For the first pneumatic gripping device with M sucker, using the vacant amount of sucker in the first pneumatic gripping device as state X
(Tn), wherein TnFor n-th of decision-making moment, at the time of to define the decision-making moment be that robot completes this operation；State space Φ
For：Φ={ 0,1 ..., M }, i.e. X (Tn)∈Φ；With the t that takes actioniRepresent in state X (TnThe action that should be taken under)=i, wherein i
=0,1 ..., M；It is mapping of the state to action to define a stable tactful v, then v=[t0,t1,...,tM]；Pass through system
Optimization Learning obtain optimal policy v*, in optimal policy v*Under, take action tiRepresent in state X (TnWhat should be taken under)=i is optimal
Action, t0=0, tMEqual to infinity；
A descending workpiece on the first conveyer belt, closest on the left of robot and with robot is made to run to
The time for picking position up to robot is twait, in optimal policy v*Under, in decision-making moment Tn, state X (TnDuring)=i, system
Decision-making as follows：
If twait<ti, robot waits and picks workpiece on the first conveyer belt from picking the nearest workpiece in position and reach to perform
Action；
If twait>ti, robot perform the workpiece captured on the first pneumatic gripping device is positioned on external packing box
Action.
Compared with the prior art, the present invention has the beneficial effect that：
1st, the present invention can provide effective for research, simulation and the control method checking of the different working modes on production line
Research technique, also provide experimental provision for related teaching research.
2nd, workpiece and packaging are realized using the conveyer belt of three different direction of transfers in parallel in experiment porch of the present invention
Two circulation works of box, can more save working space and cost.
3rd, the present invention can switch over according to being located between the different working modes of single conveyer belt and more conveyer belts；More transmission
Band mode of operation is used for simulation production line beat-type production process, and can realize automatic circulating operation；Single conveyer belt mode of operation
The non-beat-type of simulation production line, the production process being fed at random, and incorporate robot forward sight distance in single conveyer belt mode of operation
Concept, forward sight can be carried out apart from Optimum Control Study.Realize flexible production line simulation with reference to intelligent algorithm and produced
Journey optimized control.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Label in figure：1 first conveyer belt, 2 second conveyer belts, 3 the 3rd conveyer belts, 4 first cylinder push-rods, 5 second cylinders
Push rod, 6 first photoelectric sensors, 7 second photoelectric sensors, 8 the 3rd photoelectric sensors, 9 descending workpiece, the descending unloaded boxes of 10a,
The descending holder boxes of 10b, the up holder boxes of 10c, 11 experiment porch, 12 robots, 13 first pneumatic gripping devices, 14 packing boxes store flat
Platform, 15 external packing boxes, 16 camera supports, 17 industrial cameras, 18 camera light sources, 19 filter glasses, 20 the 4th photoelectric sensors,
21a horizontal sliding tables, the vertical slide units of 21b, 22 second pneumatic gripping devices.
Embodiment
Referring to Fig. 1, the structure type of robot automation's production line experiment porch is in the present embodiment：
On experiment porch 11, place be set up in parallel at grade and in X direction three conveyer belts, from side to another
Side is followed successively by the first conveyer belt 1, the second conveyer belt 2 and the 3rd conveyer belt 3；The sender of first conveyer belt 1 and the second conveyer belt 2
To for from left to right, and the direction of motion for making from left to right be it is descending, the direction of transfer of the 3rd conveyer belt 3 for from right to left, and
The direction of motion of order from right to left is up, and what is transmitted on the first conveyer belt 1 is descending workpiece 9；Uploaded in the second conveyer belt 2
That send is the descending unloaded box 10a for the not loading workpiece and/or descending holder box 10b for being loaded with workpiece；On the 3rd conveyer belt 3
Transmission is up holder box 10c；Packing box can once accommodate 4 workpiece, to ensure that packing box can be passed equably second
Circulation conveying on the conveyer belt 3 of band 2 and the 3rd is sent, it is identical movement velocity to set the second conveyer belt 2 and the 3rd conveyer belt 3.
On experiment porch 11, the right-hand member for being in the second conveyer belt 2 is provided with the first cylinder push-rod 4 and the first photoelectric sensing
Device 6, the middle part for being in the second conveyer belt 2 are provided with the 3rd photoelectric sensor 8, and the is obtained using the detection of the 3rd photoelectric sensor 8
The descending unloaded box of descending unloaded box 10a on two conveyer belts 2 signal in place, according to descending unloaded box signal control in place first
Pneumatic gripping device 13 will operate in the descending workpiece 9 on the first conveyer belt 1 towards being cased in descending unloaded box 10a, make descending
Turn into descending holder box 10b after unloaded box 10a vannings, binning process takes the descending unloaded box of the locating and tracking of the first pneumatic gripping device 13
10a mode；The descending holder box 10b's operated in using the detection acquisition of the first photoelectric sensor 6 on the second conveyer belt 2 is descending
Holder box signal in place, using descending holder box, signal controls the first cylinder push-rod 4 to push descending holder box 10b the to threeth in place
Conveyer belt 3 turns into up holder box 10c.
On experiment porch 11, the left end for being in the 3rd conveyer belt 3 sets the second cylinder push-rod 5 and the second photoelectric transfer respectively
Sensor 7, the up holder box for obtaining the up holder box 10c operated on the 3rd conveyer belt 3 is detected by the second photoelectric sensor 7
Signal in place, it will be operated according to up holder box the second pneumatic gripping device 22 of signal control in place up on the 3rd conveyer belt 3
Workpiece in holder box 10c is unloaded towards the first conveyer belt 1 and turns into descending workpiece 9, will unloading by the second cylinder push-rod 5
Up holder box 10c afterwards, which pushes the second conveyer belt 2 to, turns into descending unloaded box 10a.
To realize that descending holder box 10b and up holder box 10c can be accurately pushed on another conveyer belt respectively,
The stroke of cylinder push-rod 4 and cylinder push-rod 5 is the width sum of the second conveyer belt 2 and the 3rd conveyer belt 3.
In the outside of the first conveyer belt 1, fixed setting camera support 16 at the left position of the first conveyer belt 1 is in,
The industrial camera 17 and camera light source 18 of the image information for obtaining descending workpiece 9 are separately installed with camera support 16；
The lower section of industrial camera 17, the 4th photoelectric sensor 20 of outside setting for being in the first conveyer belt 1, with the 4th photoelectric sensor 20
The workpiece signal in place of the descending workpiece 9 on the first conveyer belt 1 obtained is detected, with the workpiece industrial camera 17 of signal triggering in place
Obtain the image information of descending workpiece 9.
On experiment porch 11, robot 12 is fixedly mounted in the outside for being in the first conveyer belt 1, and robot 12 is six free
Industrial robot is spent, the first pneumatic gripping device 13 is disposed on the pneumatic gripping device on the ring flange of the axle of robot 12 the 6th, the 6th axle
Ring flange be mounting disc for installing handgrip, the first pneumatic gripping device 13 is the sucked type handgrip for having multiple suckers.
In specific embodiment, in the left end of experiment porch 11, across between the first conveyer belt 1 and the 3rd conveyer belt 3
Top be fixedly installed in X to horizontal sliding table 21a, horizontal sliding table 21a can be solid on the slide of horizontal sliding table along X to moving
The vertical slide unit 21b that can be moved along Z-direction is set calmly, the second pneumatic gripping device 22 is fixedly installed on vertical slide unit 21b bottom, and second
Pneumatic gripping device 22 is the sucked type handgrip with multiple suckers；Horizontal sliding table 21a and vertical slide unit 21b are driven by servomotor,
The mechanical device of two degrees of freedom is constituted using slide mounting means, the mechanical device combines the second pneumatic gripping device 22 and can carried out
The workpiece unloading operation of row holder box, and accurately deliver descending workpiece to the first conveyer belt 1.Horizontal sliding table 21a motion
Stroke should be greater than the width sum of three conveyer belts.On experiment porch 11, it is in the right side of robot 12 and is the first gas
Fixed setting packing box stores platform 14 on position reached by dynamic handgrip 13, external packing box 15 be stored in packing box store it is flat
On platform 14；Camera support 16 is arranged to framework, sets filter glass 19 to form industrial camera 17 in the surrounding of framework and top
Shade.
The mode of operation of robot automation's production line experiment porch is in the present embodiment：
Mode of operation one：Corresponding charging time point and the position that feeds intake are generated according to the feeding mode of default, utilized
Second pneumatic gripping device 22 is by the Workpiece transfer in up holder box 10c to the first conveyer belt 1, under realizing on the first conveyer belt 1
The dispensing of row workpiece 9；The workpiece of descending workpiece 9 signal and arrival time point in place are obtained using the 4th photoelectric sensor 20, with
The workpiece industrial camera 17 of signal triggering in place obtains the image information of descending workpiece 9, and descending workpiece 9 is obtained using image information
Posture information；First pneumatic gripping device 13 performs according to the arrival time point and posture information of descending workpiece 9 will operate in the first biography
Descending workpiece 9 on band 1 is sent towards the operation cased is operated in the descending unloaded box 10a on the second conveyer belt；Descending zero load
Box 10a turns into descending holder box 10b after completing to case；The second transmission is operated in using the detection acquisition of the first photoelectric sensor 6
Descending holder box with the descending holder box 10b on 2 signal in place, using descending holder box, signal controls the first cylinder to push away in place
Bar 4, which pushes descending holder box 10b to the 3rd conveyer belts 3, turns into up holder box 10c；Run in up holder box 10c to the 3rd
During the left end of conveyer belt 3, detected by the second photoelectric sensor 7 and obtain the up holder box 10c's operated on the 3rd conveyer belt 3
Up holder box signal in place, according to the up holder box, signal controls the second pneumatic gripping device 22 to operating in the 3rd biography in place
The operation for sending the workpiece in the up holder box 10c on band 3 to be unloaded and fed intake to the first conveyer belt 1, the second cylinder push-rod 5
Pushing the up holder box 10c after unloading to second conveyer belts 2 turns into descending unloaded box 10a, so as to complete automatic circulating operation
The workpiece of pattern and the circulate operation process of packing box.
Mode of operation two：The workpiece of descending workpiece 9 signal and arrival time in place is obtained using the 4th photoelectric sensor 20
Point, the image information of descending workpiece 9 is obtained with the workpiece industrial camera 17 of signal triggering in place, descending work is obtained using image information
The posture information of part 9；First pneumatic gripping device 13 performs according to descending 9 arrival time of workpiece point and posture information will operate in first
Descending workpiece 9 on conveyer belt 1 is towards the operation cased in external packing box.
The control mode of mode of operation two is in the present embodiment：
Descending workpiece 9 conveys at one end to robot 12 at random from the left end of the first conveyer belt 1, defines forward sight distance and is
The segment distance that robot 12 is observed to the left, the former apparent distance are taken action as control variable, and the forward sight distance is according to control
Scheme processed is set；
For the first conveyer belt 1 to travel at the uniform speed, the forward sight distance is converted into forward sight time t, makes TminBefore minimum
Between apparent time, TmaxFor the maximum forward sight time, defining action collection D is：D=[Tmin,Tmax], i.e. t ∈ D；
For the first pneumatic gripping device 13 with M sucker, using the vacant amount of sucker in the first pneumatic gripping device 13 as shape
State X (Tn), wherein TnFor n-th of decision-making moment, at the time of to define the decision-making moment be that robot completes this operation；State space
Φ is：Φ={ 0,1 ..., M }, i.e. X (Tn)∈Φ；With the t that takes actioniRepresent in state X (TnThe action that should be taken under)=i, wherein
I=0,1 ..., M；It is mapping of the state to action to define a stable tactful v, then v=[t0,t1,...,tM]；Pass through and be
The Optimization Learning of system obtains optimal policy v*, in optimal policy v*Under, take action tiRepresent in state X (TnIt should be taken most under)=i
Excellent action, t0=0, tMEqual to infinity；
A descending workpiece of the order on the first conveyer belt 1, closest on the left of robot and with robot is run
The time for picking position for reaching robot is twait, in optimal policy v*Under, in decision-making moment Tn, state X (TnDuring)=i, it is
System decision-making as follows：
If twait<ti, robot 12 waits and being picked on the first conveyer belt 1 from picking the nearest workpiece in position and reach to perform
The action of workpiece；
If twait>ti, robot 12 performs is positioned over external packaging by the workpiece captured on the first pneumatic gripping device 13
Action on box 15.
Claims (4)
1. a kind of control method of robot automation's production line experiment porch, it is characterized in that：
Setting the structure type of robot automation's production line experiment porch is：
On experiment porch (11), locate at grade and be set up in parallel three conveyer belts in X direction, from side to opposite side
It is followed successively by the first conveyer belt (1), the second conveyer belt (2) and the 3rd conveyer belt (3)；First conveyer belt (1) and the second conveyer belt (2)
Direction of transfer for from left to right, and the direction of motion for making from left to right be it is descending, the direction of transfer of the 3rd conveyer belt (3) be from
Dextrad is left, and it is up to make the direction of motion from right to left, and what is transmitted on first conveyer belt (1) is descending workpiece (9)；
What is transmitted on second conveyer belt (2) is not load the descending unloaded box (10a) of workpiece and/or be loaded with the descending of workpiece
Holder box (10b)；What is transmitted on the 3rd conveyer belt (3) is up holder box (10c)；
On the experiment porch (11), the right-hand member for being in second conveyer belt (2) is provided with the first cylinder push-rod (4) and
One photoelectric sensor (6), it is in the middle part of second conveyer belt (2) and is provided with the 3rd photoelectric sensor (8), utilizes described
Three photoelectric sensors (8) detection obtains the descending unloaded box of the descending unloaded box (10a) on the second conveyer belt (2) signal in place,
According to the descending unloaded box, signal controls the descending work that the first pneumatic gripping device (13) will be operated on the first conveyer belt (1) in place
Part (9) makes descending unloaded box (10a) turn into descending holder box after casing towards being cased in the descending unloaded box (10a)
(10b)；Operated in using the first photoelectric sensor (6) detection acquisition under the descending holder box (10b) on the second conveyer belt (2)
Row holder box signal in place, using the descending holder box, signal controls first cylinder push-rod (4) will be described descending in place
Holder box (10b), which pushes the 3rd conveyer belt (3) to, turns into up holder box (10c)；
On the experiment porch (11), be in the 3rd conveyer belt (3) left end set respectively the second cylinder push-rod (5) and
Second photoelectric sensor (7), operated in by second photoelectric sensor (7) detection acquisition up on the 3rd conveyer belt (3)
The up holder box of holder box (10c) signal in place, according to the up holder box, signal controls the second pneumatic gripping device in place
(22) workpiece operated in the up holder box (10c) on the 3rd conveyer belt (3) is unloaded towards the first conveyer belt (1)
And turn into descending workpiece (9), push the up holder box (10c) after unloading to second transmission by second cylinder push-rod (5)
Band (2) turns into descending unloaded box (10a)；
In the outside of first conveyer belt (1), fixed setting camera branch at the left position of first conveyer belt (1) is in
Frame (16), the industrial camera of the image information for obtaining descending workpiece (9) is separately installed with the camera support (16)
And camera light source (18) (17)；The lower section of the industrial camera (17), be in the first conveyer belt (1) outside set the 4th light
Electric transducer (20), the descending workpiece (9) on the first conveyer belt (1) obtained is detected with the 4th photoelectric sensor (20)
Workpiece signal in place, with the workpiece, signal triggering industrial camera (17) obtains the image information of descending workpiece (9) in place；
On the experiment porch (11), the outside for being in first conveyer belt (1) is fixedly mounted robot (12), and described the
One pneumatic gripping device (13) is disposed on the pneumatic gripping device in robot (12), and first pneumatic gripping device (13) is that have multiple suctions
The sucked type handgrip of disk；
Setting the control method of robot automation's production line experiment porch includes control mode one and control mode two：
Control mode one：Corresponding charging time point and the position that feeds intake are generated according to the feeding mode of default, utilize second
Pneumatic gripping device (22) realizes the Workpiece transfer in up holder box (10c) to the first conveyer belt (1) on the first conveyer belt (1)
Descending workpiece (9) dispensing；The workpiece of descending workpiece (9) signal and in place in place is obtained using the 4th photoelectric sensor (20)
At time point, with the image information of the descending workpiece (9) of workpiece signal triggering industrial camera (17) acquisition in place, believed using image
Breath obtains the posture information of descending workpiece (9)；First pneumatic gripping device (13) is according to arrival time of the descending workpiece (9)
Point and posture information perform descending workpiece (9) direction that will be operated on the first conveyer belt (1) and operated on the second conveyer belt
The operation of vanning in descending unloaded box (10a)；The descending unloaded box (10a) turns into descending holder box after completing to case
(10b)；Operated in using the first photoelectric sensor (6) detection acquisition under the descending holder box (10b) on the second conveyer belt (2)
Row holder box signal in place, using the descending holder box, signal controls the first cylinder push-rod (4) by the descending holder in place
Box (10b), which pushes the 3rd conveyer belt (3) to, turns into up holder box (10c)；Passed in up holder box (10c) operation to the 3rd
When sending the left end of band (3), by the up holder box that operates on the 3rd conveyer belt (3) of the second photoelectric sensor (7) detection acquisition
The up holder box of (10c) signal in place, according to the up holder box, signal controls the second pneumatic gripping device (22) to fortune in place
The behaviour that workpiece in up holder box (10c) of the row on the 3rd conveyer belt (3) is unloaded and fed intake to the first conveyer belt (1)
Make, the second cylinder push-rod (5), which pushes the up holder box (10c) after unloading to the second conveyer belt (2), turns into descending unloaded box
(10a), so as to complete the circulate operation process of the workpiece of automatic circulating operation pattern and packing box.
Control mode two：The workpiece of descending workpiece (9) signal and arrival time in place is obtained using the 4th photoelectric sensor (20)
Point, with the image information of the descending workpiece (9) of workpiece signal triggering industrial camera (17) acquisition in place, obtained using image information
Obtain the posture information of descending workpiece (9)；First pneumatic gripping device (13) is according to descending workpiece (9) the arrival time point and position
Operation of the descending workpiece (9) that the execution of appearance information will be operated on the first conveyer belt (1) towards vanning in external packing box (15).
2. the control method of robot automation's production line experiment porch according to claim 1, it is characterized in that：Described
The left end of experiment porch (11), it is fixedly installed across the top between the first conveyer belt (1) and the 3rd conveyer belt (3) in X
To horizontal sliding table (21a), the horizontal sliding table (21a) can be fixedly installed along X to moving on the slide of the horizontal sliding table
The vertical slide unit (21b) that can be moved along Z-direction, second pneumatic gripping device (22) are fixedly installed on the vertical slide unit (21b)
Bottom, second pneumatic gripping device (22) are the sucked type handgrip with multiple suckers.
3. the control method of robot automation's production line experiment porch according to claim 1, it is characterized in that：Described
On experiment porch (11), it is in the right side of the robot (12) and is the position reached by first pneumatic gripping device (13)
Put fixed setting packing box and store platform (14), external packing box (15) is stored in packing box and stored on platform (14).
4. the control method of robot automation's production line experiment porch according to claim 1, it is characterized in that：The phase
Machine support (16) is arranged to framework, sets filter glass (19) to form industrial camera (17) in the surrounding of the framework and top
Shade.
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| CN105643625B (en) * | 2016-03-07 | 2017-08-25 | 合肥工业大学 | A kind of single site based on mechanical arm is fed the method for work of production and processing system |
| CN105825743A (en) * | 2016-04-27 | 2016-08-03 | 苏州工业园区职业技术学院 | Teaching device for cartonning semispherical parts |
| CN106672346A (en) * | 2017-02-08 | 2017-05-17 | 温州职业技术学院 | Production line for conducting product inspection and packaging operation |
| CN107562025B (en) * | 2017-08-08 | 2019-10-29 | 浙江大学 | Automatic flexible assembly system and control method based on distributed moveable platform |
| CN108022500A (en) * | 2017-12-28 | 2018-05-11 | 肇庆三向教学仪器制造股份有限公司 | Teaching experimental equipment based on robot sorting task model |
| CN109048925B (en) * | 2018-10-23 | 2023-06-16 | 西安中科光电精密工程有限公司 | Flexible assembly robot and magnetic force template assembly method thereof |
| CN109542085B (en) * | 2018-11-26 | 2020-10-23 | 东北大学 | Automatic experiment platform flexible switching device with time-lag configuration function and method |
| CN109625410A (en) * | 2019-01-22 | 2019-04-16 | 昆山湖大机器人技术有限公司 | Sanitary ware packing device |
| CN110155617A (en) * | 2019-06-24 | 2019-08-23 | 镇江合力汽车紧固件有限公司 | A kind of automatic blanking discharging device |
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