CN114227692A - Automatic intelligent regulation and control method for multiple robots and multiple clamping devices - Google Patents
Automatic intelligent regulation and control method for multiple robots and multiple clamping devices Download PDFInfo
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- CN114227692A CN114227692A CN202111669962.2A CN202111669962A CN114227692A CN 114227692 A CN114227692 A CN 114227692A CN 202111669962 A CN202111669962 A CN 202111669962A CN 114227692 A CN114227692 A CN 114227692A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 3
- 230000007246 mechanism Effects 0.000 claims abstract description 3
- 210000000078 claw Anatomy 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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Abstract
The invention discloses an automatic intelligent regulation and control method for a plurality of robots and a plurality of clamping devices, which comprises the following steps: identifying the type of goods on the transmission mechanism; selecting a clamping tool group according to the identified goods type, wherein the clamping tools are required to meet the requirements that the size of the clamped goods is not smaller than the size of the goods, and the weight of the goods which can be clamped is not smaller than the weight of the goods; selecting a designated goods tray group according to the identified goods type; selecting a robot group, wherein the reachable range of the robot is to cover the distance between the goods and the robot and the distance between the goods and the goods tray; calculating the clampability of each clamping combination according to a formula, and selecting the clamping combination with the highest clampability as a target clamping combination. The invention can obviously improve the automatic intelligent regulation and control efficiency of the multi-robot multi-clamping device in the field of logistics automation.
Description
Technical Field
The invention relates to the technical field of logistics automation, in particular to an automatic intelligent regulation and control method for a plurality of robots and a plurality of clamping devices.
Background
In the wave of global intelligent manufacturing, the robot plays an important role, in the current world, the robot is widely applied to manufacturing, finishing, transferring and assembling of parts, particularly in the field of logistics, the robot is successfully used for sorting, packaging and stacking of products by virtue of the advantages of high quality consistency, high safety, high productivity and the like, the intelligentization level and efficiency of logistics are greatly improved, and the high-quality development of national economy is assisted. However, the robot also has many problems in the field of logistics automation, how to adopt a proper clamping device for different objects, how to intelligently select the robot to grab a specified object according to the distance between the robot and the object grabbing position, and the problems are urgently needed to be solved in the field of logistics by the robot.
Disclosure of Invention
The invention aims to provide an automatic intelligent regulation and control method for a plurality of robots and a plurality of clamping devices, so as to overcome the defects in the prior art.
In order to achieve the technical purpose, the technical scheme of the invention is realized as follows:
an automatic intelligent regulation and control method for a plurality of robots and a plurality of clamping devices comprises the following steps:
identifying the type of goods on the transmission mechanism;
selecting a clamping tool group according to the identified goods type, wherein the clamping tools are required to meet the requirements that the size of the clamped goods is not smaller than the size of the goods, and the weight of the goods which can be clamped is not smaller than the weight of the goods;
selecting a designated goods tray group according to the identified goods type;
selecting a robot group, wherein the reachable range of the robot is to cover the distance between the goods and the robot and the distance between the goods and the goods tray;
the grippability of each clamping combination is calculated according to the following formula:
wherein, P is the clamping ability,
for a certain type of cargo and the distance of a given cargo pallet,
in order to specify the success rate of the gripping tool for gripping the goods,
is the sum of the distances between a certain robot and the designated goods tray and the grabbed goods,
respectively are the respective weights;
and selecting the clamping combination with the highest clampability as the target clamping combination.
The invention has the beneficial effects that: the invention can obviously improve the automatic intelligent regulation and control efficiency of the multi-robot multi-clamping device in the field of logistics automation.
Drawings
FIG. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;
FIG. 2 is a general layout of the automatic intelligent control system for multiple robots and multiple clamping devices according to an embodiment of the present invention;
fig. 3 is a general flow chart of the method described in the embodiments of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention is clearly and completely described below with reference to the drawings in the embodiments of the present invention.
As shown in fig. 1, the automatic replacement clamping device of the multi-degree-of-freedom robot 1 mainly comprises the multi-degree-of-freedom robot, a claw type clamping device 2, a sucker type clamping device 3, a connecting flange, other clamping devices and the like. The multi-degree-of-freedom robot automatically changes the connection relation of the clamping devices, the connecting flange is fixedly connected with the tail end of the multi-degree-of-freedom robot, the connecting flange can rotate around the tail end of the multi-degree-of-freedom robot, and the claw type clamping device, the sucker type clamping device and the other clamping devices are fixed on the connecting flange. The principle of the automatic replacement of the clamping device of the multi-degree-of-freedom robot is that the tail end of the multi-degree-of-freedom robot is rotated to achieve the effect of selecting a specific clamping device from a clamping device group (a claw type clamping device, a sucker type clamping device and other clamping devices).
As shown in fig. 2, the overall layout of the automatic intelligent control system for multiple robots and multiple clamping devices is shown. The overall layout of the automatic intelligent control system for the multiple robots and the multiple clamping devices mainly comprises an automatic intelligent control method for the multiple robots and the multiple clamping devices and a hardware part.
The hardware part mainly comprises a cargo tray, a multi-degree-of-freedom robot, a cargo identification system, a conveyor belt and the like. The goods tray is used as a temporary storage position for classified goods and is adjacent to the multi-degree-of-freedom robot in space. The multi-degree-of-freedom robot mainly comprises a multi-degree-of-freedom robot body and a clamping tool set, wherein the clamping tool set is arranged on a flange at the tail end of the multi-degree-of-freedom robot, the multi-degree-of-freedom robot has a certain grabbing range, the grabbing range at least covers 2 conveying belts and 2 goods trays, and the multi-degree-of-freedom robot freely selects a clamping tool according to actual requirements. The multi-degree-of-freedom robot is adjacent to the goods tray and the conveying belt in space, and can use a proper clamping tool to convey the formulated goods to the specified goods tray. The goods identification system has the main functions of identifying the goods which are positioned on the conveyor belt and are in a moving state, classifying the goods and feeding back the classification result to the multi-degree-of-freedom robot. The main function of the conveyor belt is to transport various goods from one place of the space to a destination, and the conveyor belt is adjacent to the multi-degree-of-freedom robot in the space.
Fig. 3 shows an automatic intelligent control method for a plurality of robots and a plurality of clamping devices. The automatic intelligent regulation and control method of the multi-robot multi-clamping device mainly has the advantages that different kinds of goods are conveyed to the designated goods tray by selecting the appropriate multi-degree-of-freedom robot and the accurate clamping tool. The automatic intelligent regulation and control method for the multiple robots and the multiple clamping devices mainly comprises the following steps:
(1) each device initializes setup checks and waits. The method comprises the steps of initializing the kinematics of each device, sensor parameters and various weights, checking the network condition and the self state of each device, and starting and waiting all the devices.
(2) A plurality of conveyor belts are opened to convey a plurality of unordered goods.
(3) The cargo type K is identified. The goods have I kinds, one of them is
,
. When the goods of each conveyor belt are in the identification range of the goods identification system, the goods identification system identifies the types of the goods and feeds the types back to the multi-robot hardware and control system.
(4) An appropriate clamping tool set T is selected. Knowing the category of the goods, the weight of the goods to be gripped and the size range available for gripping can be known. A suitable gripping tool set is one in which the weight and size available for gripping of a given load is within the range of the maximum sustainable force and the maximum gripping size of the gripping tool. For example, a weight of cargo G and a size of cargo G
The maximum bearable force of a certain holding tool is
Maximum grab size of
. If at the same time satisfy
、
And
the gripping tool may be defined as a suitable gripping tool if there are multiple suitable gripsThe tools are combined into a proper clamping tool set. The multi-robot hardware and control system selects a proper clamping tool group according to the category of goods, and the total number of the clamping tools is J, one of the clamping tools is
,
。
(5) A designated set of cargo trays Tr is selected. The multi-robot hardware and control system selects the designated goods tray group according to the category of goods, and has K selectable goods trays, one of which is
,
。
(6) And selecting a proper multi-degree-of-freedom robot group R. A suitable multiple degree of freedom robot team is one in which a given cargo is within the reach of the multiple degree of freedom robot. For example, the achievable radius of a multi-degree-of-freedom robot is R, the distance of a cargo from the center of the multi-degree-of-freedom robot is d, if d<And R, defining the multi-degree-of-freedom robot as a proper multi-degree-of-freedom robot group, and forming the proper multi-degree-of-freedom robot group by a plurality of proper multi-degree-of-freedom robots. Selecting a proper multi-degree-of-freedom robot group according to the appointed goods, wherein the robot group has M selectable multi-degree-of-freedom robots, and one of the M selectable multi-degree-of-freedom robots is
,
。
(7) And selecting the optimal clamping combination. Comprehensively considering a proper clamping tool group and a proper multi-degree-of-freedom robot group combined by a specified cargo pallet, calculating the clampability P:
wherein:
For example, the following steps are carried out:
. When j =1, k =1, and m =1, the grippability P is calculated. Suppose that
，
，
，
Calculating that P =0.99, and assuming that P of the remaining 5 groups is 0.90,0.91,0.92,0.93,0.94, selecting the scheme with the largest grippability, namely selecting the scheme with P of 0.99: j =1, k =1, m = 1. Calculated according to the above formula
The clampability P of each alternative scheme is selected as the optimal scheme, and the group with the largest clampability P is selected.
(8) The designated robot carries the goods to the designated pallet. This step uses a designated multi-degree-of-freedom robot to transfer goods to a designated pallet using a suitable gripping tool according to the optimal solution set. And if the task exists, the task is continuously executed, otherwise, the multi-degree-of-freedom robot is in standby after the initial pose is recovered.
(9) And if all the goods on the conveyor belts are transported, ending the circulation, otherwise, continuously executing the circulation (2-8).
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (1)
1. An automatic intelligent regulation and control method for a plurality of robots and a plurality of clamping devices is characterized by comprising the following steps:
identifying the type of goods on the transmission mechanism;
selecting a clamping tool group according to the identified goods type, wherein the clamping tools are required to meet the requirements that the size of the clamped goods is not smaller than the size of the goods, and the weight of the goods which can be clamped is not smaller than the weight of the goods;
selecting a designated goods tray group according to the identified goods type;
selecting a robot group, wherein the reachable range of the robot is to cover the distance between the goods and the robot and the distance between the goods and the goods tray;
the grippability of each clamping combination is calculated according to the following formula:
wherein, P is the clamping ability,
for a certain type of cargo and the distance of a given cargo pallet,
in order to specify the success rate of the gripping tool for gripping the goods,
is the sum of the distances between a certain robot and the designated goods tray and the grabbed goods,
respectively are the respective weights;
and selecting the clamping combination with the highest clampability as the target clamping combination.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111669962.2A CN114227692A (en) | 2021-12-30 | 2021-12-30 | Automatic intelligent regulation and control method for multiple robots and multiple clamping devices |
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| CN202111669962.2A CN114227692A (en) | 2021-12-30 | 2021-12-30 | Automatic intelligent regulation and control method for multiple robots and multiple clamping devices |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2623220A2 (en) * | 2011-10-17 | 2013-08-07 | Kabushiki Kaisha Yaskawa Denki | Robot system, robot, and sorted article manufacturing method |
| US20180065217A1 (en) * | 2016-09-08 | 2018-03-08 | Fanuc Corporation | Robot system |
| CN109070365A (en) * | 2016-04-22 | 2018-12-21 | 三菱电机株式会社 | Object operating device and object operating method |
| JP2021070071A (en) * | 2019-10-29 | 2021-05-06 | 株式会社東芝 | Cargo handling control device and cargo handling gear |
-
2021
- 2021-12-30 CN CN202111669962.2A patent/CN114227692A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2623220A2 (en) * | 2011-10-17 | 2013-08-07 | Kabushiki Kaisha Yaskawa Denki | Robot system, robot, and sorted article manufacturing method |
| CN109070365A (en) * | 2016-04-22 | 2018-12-21 | 三菱电机株式会社 | Object operating device and object operating method |
| US20180065217A1 (en) * | 2016-09-08 | 2018-03-08 | Fanuc Corporation | Robot system |
| JP2021070071A (en) * | 2019-10-29 | 2021-05-06 | 株式会社東芝 | Cargo handling control device and cargo handling gear |
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