CN109436821A - A method of realizing the customized stacking of object polygon - Google Patents
A method of realizing the customized stacking of object polygon Download PDFInfo
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- CN109436821A CN109436821A CN201811213309.3A CN201811213309A CN109436821A CN 109436821 A CN109436821 A CN 109436821A CN 201811213309 A CN201811213309 A CN 201811213309A CN 109436821 A CN109436821 A CN 109436821A
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- teaching
- stacking
- coordinate system
- pallet
- crs1
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Classifications
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
Whether the present invention relates to a kind of methods for realizing the customized stacking of object polygon, comprising the following steps: input object stacking information in teaching machine, and judge to put with selection odd even layer consistent；By 3 basic points of teaching on pallet, pallet coordinate system Crs1 is established；Position p4 of the robot in world coordinate system is obtained in real time, and converts the position p5 in pallet coordinate system Crs1 for the point；If odd even layer is put unanimously, teaching odd-level disposing way is only needed, if odd even layer is put inconsistent, also needs teaching even level disposing way；Save the object location information of teaching；Load operating pallet coordinate system Crs1 is calculated according to object serial number and its location information is called to carry out blowing.The present invention does not do excessive requirement to the shape of object, it is only necessary to input the height of object, versatility is stronger, may migrate to other articulated robots and is applied.
Description
Technical field
The present invention relates to industrial robot applied technical field, specifically a kind of realization object polygon custom code
The method of pile.
Background technique
Currently, stacking function is more and more applied in rules such as cabinet, packaging bags in robot automation's application
In the automation of object is put, worker is freed from single hard work.As stacking functional application demand is more
The growth of sample, this object rule are not able to satisfy scene increasingly in such a way that pre-set pile type is piled up one by one
Application demand, therefore there is an urgent need to a kind of palletizing methods that can adapt to object polygon.
Summary of the invention
In order to avoid with solve above-mentioned technical problem, realize object polygon customized stacking the invention proposes a kind of
Method.
The technical problems to be solved by the invention are realized using following technical scheme:
A method of realizing the customized stacking of object polygon, comprising the following steps:
Whether step S101: inputting object stacking information in teaching machine, and judge to put with selection odd even layer consistent；
Step S201: by 3 basic points of teaching on pallet, pallet coordinate system Crs1 is established；
Step S301: position p4 of the robot in world coordinate system World is obtained in real time, and converts the point to and is holding in the palm
Position p5 in disk coordinate system Crs1；
Step S401: if odd even layer is put unanimously, only needing teaching odd-level disposing way, if odd even layer put it is different
It causes, then also needs teaching even level disposing way；
Step S501: the object location information of teaching in step S401 is saved；
Step S601: load operating pallet coordinate system Crs1, it is calculated according to object serial number and its location information is called to carry out
Blowing.
Further, in the step S101, object stacking information includes object height h, stacking number of plies n1, every layer of object
Number m.
Further, in the step S201,3 basic points include p1, p2, p3；Using p1 as coordinate origin, with p1 and p2
Between line Lp12 be Y-coordinate axle, using the line Lp13 between p1 and p3 as X-coordinate axle, establish pallet coordinate system Crs1.
The beneficial effects of the present invention are: compared with prior art, the invention has the following advantages that
1, the present invention does not do excessive requirement to the shape of object, it is only necessary to input the height of object.
2, the present invention can freely arrange the disposing way of object according to scene, and odd-level and even level disposing way
It can be different.
3, the present invention does not need complicated algorithm, and whole process is easy to operate, can be completed by teaching.
4, the position that saves of the present invention is position of the object in pallet coordinate system, when needing to finely tune, directly modify its
The offset of pallet coordinate system, when modification, are more intuitive.
5, method versatility of the invention is stronger, may migrate to other articulated robots and is applied.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the implementation flow chart of the method for the present invention；
Fig. 2 is the teaching of 3 basic points of pallet coordinate system in the present invention；
Fig. 3 is the P point expression in world coordinate system and pallet coordinate system respectively in the present invention；
Fig. 4 be the present invention in object odd-level position view；
Fig. 5 be the present invention in object even level position view；
Fig. 6 is that object is recorded in the present invention in the position of pallet odd-level；
Fig. 7 is that object is recorded in the present invention in the position of pallet even level.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below it is right
The present invention is further described.
As shown in Figures 1 to 7, a method of realizing the customized stacking of object polygon, comprising the following steps:
Whether step S101: inputting object stacking information in teaching machine, and judge to put with selection odd even layer consistent；Its
In, the object stacking information includes object height h, stacking number of plies n1, every layer of object number m, by n1 and m, for calculating code
Pile total quantity, due in operation, to guarantee stability that object is put, the disposing way of odd even layer will appear different
It causes, therefore need to judge mark and which layer be in blowing object that stacking is completed；
When judging, stacking complement mark can be judged according to stacking serial number, if stacking serial number n2 >=n1*
M, then stacking is completed；It is in which layer to blowing object, can be calculated according to (n2/m+1).
Described above: the complement mark of stacking and wait put the number of plies locating for object can all be derived by stacking serial number n2
Come, does not need artificial judgment.
Step S201: 3 basic points of teaching on pallet establish pallet coordinate system Crs1；
Wherein, 3 basic points include p1, p2, p3；Then using p1 as coordinate origin, with the line Lp12 between p1 and p2
For Y-coordinate axle, using the line Lp13 between p1 and p3 as X-coordinate axle, establish pallet coordinate system Crs1.
Step S301: position p4 of the robot in world coordinate system World is obtained in real time, and converts the point to and is holding in the palm
Position p5 in disk coordinate system Crs1；
Detailed process are as follows: convert position of the robot end at world coordinate system World in pallet coordinate system
Position in Crs1, wherein；
Robot end at world coordinate system World in position be P4 (x, y, z, a, b, c)；
Pallet coordinate system is Crs1 (x, y, z, a, b, z)；
Position of the robot end at pallet coordinate system Crs1 is P5 (x, y, z, a, b, c)；
It converts corresponding matrix for this 3 poses respectively to be described: P4_Matrix, Crs1_Matrix, P5_
Matrix, the relationship between three are as follows:
P5_Matrix=Crs1_Matrix^-1*P4_Matrix
P5_Matrix matrix is again converted to location expression: P5 (x, y, z, a, b, c)；
By step 3, position of the robot end in pallet coordinate system Crs1 can be obtained in real time in teaching, in this way
Operation, if it find that some deviations of position, can directly modify position of the object in pallet coordinate system Crs1 after trial operation.
Step S401: whether selection odd even layer disposing way, if equally, only need to sit first layer object in pallet
Position teaching on mark system Crs1 is finished and is saved；If different, after the complete first layer object of teaching, in repetition
Operation is stated, second layer object space teaching is finished and saved.
During teaching, object can be placed in one by one pallet according to the shape of object and the application requirement at scene
On, after the object of first layer or the second layer is put one by one, pile type is also decided, and realizes pile during teaching
The custom feature of type.
Step S501: saving the object location information of teaching in step S401, i.e. location information is protected in the form of a file
There are in the controller storage card of teaching machine, saved on the interface of teaching machine after the completion of record, wherein location information is put
Calculate in bottom or be carried out in the programming of teaching machine；Detailed process includes:
1) the odd-level object location information saved；
1st: oPart1 (x, y, z, a, b, c)
.
.
M-th: oPartm (x, y, z, a, b, c)
2) the even level object location information saved；
1st: ePart1 (x, y, z, a, b, c)
.
.
M-th: ePartm (x, y, z, a, b, c)
3) location information of the object in odd-level or even level is derived again；
Wherein, location information of the object serial number n2 at m2 layers are as follows: Part_n2 (x, y, z, a, b, c)
Serial number Nr=n2mod m of the object serial number n2 at m2 layers；
If (m2mod 2=0) then//even level
Part_n2.x=ePart_Nr.x；
Part_n2.y=ePart_Nr.y；
Part_n2.a=ePart_Nr.a；
Part_n2.b=ePart_Nr.b；
Part_n2.c=ePart_Nr.c；
Else//odd-level
Part_n2.x=oPart_Nr.x；
Part_n2.y=oPart_Nr.y；
Part_n2.a=oPart_Nr.a；
Part_n2.b=oPart_Nr.b；
Part_n2.c=oPart_Nr.c；
End_if
Part_n2.z=h+ (m2-1) * h
Step S601: load operating pallet coordinate system Crs1, it is calculated according to object serial number and its location information is called to carry out
Blowing.
That is robot load operating pallet coordinate system Crs1, input start the object serial number n2 of stacking, recall object and holding in the palm
Location information Part_n2 (x, y, z, a, b, c) in disk, robot carry out blowing, after the completion of blowing, stacking according to location information
Serial number cumulative 1.
Hereafter robot calls its corresponding location information, until property for according to the serial number to blowing object automatically
Body blowing finishes.
In conclusion the present invention using object that first layer on pallet or the second layer are put carry out the method for teaching come
Determine placement regulation, after the completion of teaching, object puts pile type and also determines that, i.e., pile type oneself is realized by teaching mode
Definition is applied, and is not had special rules requirement to the shape of object in practical application, need to only be inputted following parameter first: object
Highly, total number of plies, every layer of object number are put, and judges, select odd even layer whether identical, teaching secondly is carried out simultaneously to object point
Save, finally apply in, input the serial number of object to be piled up, be computed rear robot and its posture information is called to be put
Material.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (3)
1. a kind of method for realizing the customized stacking of object polygon, it is characterised in that: the following steps are included:
Whether step S101: inputting object stacking information in teaching machine, and judge to put with selection odd even layer consistent；
Step S201: by 3 basic points of teaching on pallet, pallet coordinate system Crs1 is established；
Step S301: position p4 of the robot in world coordinate system World is obtained in real time, and converts the point to and sits in pallet
Position p5 in mark system Crs1；
Step S401: if odd even layer is put unanimously, only needing teaching odd-level disposing way, if odd even layer put it is inconsistent,
Also need teaching even level disposing way；
Step S501: the object location information of teaching in step S401 is saved；
Step S601: load operating pallet coordinate system Crs1, it is calculated according to object serial number and its location information is called to carry out blowing.
2. a kind of method for realizing the customized stacking of object polygon according to claim 1, it is characterised in that: the step
In rapid S101, object stacking information includes object height h, stacking number of plies n1, every layer of object number m.
3. a kind of method for realizing the customized stacking of object polygon according to claim 1, it is characterised in that: the step
In rapid S201,3 basic points include p1, p2, p3；Using p1 as coordinate origin, using the line Lp12 between p1 and p2 as Y-coordinate
Axis, using the line Lp13 between p1 and p3 as X-coordinate axle, establish pallet coordinate system Crs1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811213309.3A CN109436821B (en) | 2018-10-18 | 2018-10-18 | Method for realizing custom stacking of polygonal objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811213309.3A CN109436821B (en) | 2018-10-18 | 2018-10-18 | Method for realizing custom stacking of polygonal objects |
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| Publication Number | Publication Date |
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| CN109436821A true CN109436821A (en) | 2019-03-08 |
| CN109436821B CN109436821B (en) | 2021-11-09 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111017583A (en) * | 2020-02-13 | 2020-04-17 | 青岛新松机器人自动化有限公司 | Loading stacking method and electronic equipment |
| CN111086888A (en) * | 2020-01-19 | 2020-05-01 | 浙江工业大学 | Automatic stacking method and system of manipulator |
| CN113387189A (en) * | 2021-08-17 | 2021-09-14 | 天津施格自动化科技有限公司 | Stacking stack type automatic generation method |
| CN114735487A (en) * | 2022-05-10 | 2022-07-12 | 北自所(北京)科技发展股份有限公司 | Flexible stacking method and system for various carton models |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111086888A (en) * | 2020-01-19 | 2020-05-01 | 浙江工业大学 | Automatic stacking method and system of manipulator |
| CN111017583A (en) * | 2020-02-13 | 2020-04-17 | 青岛新松机器人自动化有限公司 | Loading stacking method and electronic equipment |
| CN113387189A (en) * | 2021-08-17 | 2021-09-14 | 天津施格自动化科技有限公司 | Stacking stack type automatic generation method |
| CN114735487A (en) * | 2022-05-10 | 2022-07-12 | 北自所(北京)科技发展股份有限公司 | Flexible stacking method and system for various carton models |
| CN114735487B (en) * | 2022-05-10 | 2024-06-14 | 北自所(北京)科技发展股份有限公司 | Flexible stacking method and system for various carton models |
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| CN109436821B (en) | 2021-11-09 |
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