CN115159144B - Cargo stacking control method and control device for mechanical arm and car loader - Google Patents
Cargo stacking control method and control device for mechanical arm and car loader Download PDFInfo
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- CN115159144B CN115159144B CN202211081321.XA CN202211081321A CN115159144B CN 115159144 B CN115159144 B CN 115159144B CN 202211081321 A CN202211081321 A CN 202211081321A CN 115159144 B CN115159144 B CN 115159144B
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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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- 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
- B65G47/905—Control arrangements
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
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Abstract
The invention discloses a control method, a control device and a car loader for stacking cargos of a mechanical arm, wherein the rotating diameter of a dropping platform under a load state is obtained according to the height of a side rail of a carriage of a vehicle in a task to be loaded and the length of a material bag to be stacked, the longitudinal position of a movable mounting seat during dropping the side bag is calculated according to the stacking level, the motion track of the outermost collision point of the material dropping platform during downward stretching and downward dropping of the mechanical arm is calculated and obtained by combining the motion characteristic parameters of motors of all joints of the mechanical arm, and finally whether the motion track of the outermost collision point of the material dropping platform intersects with the position of the side rail of the carriage at the maximum downward dropping distance is verified to obtain the maximum safe dropping distance of the mechanical arm during subsequent dropping of the material bag. The collision between the manipulator-executing hand grip, namely the putting platform and the carriage arm, in the downward-probing process of the mechanical arm is effectively avoided, and the track safety of the equipment in the task-executing process is ensured.
Description
Technical Field
The invention relates to the technical field of intelligent loading, in particular to a control method and a control device for cargo stacking of a mechanical arm and a car loader.
Background
Present grain, cement, materials such as chemical fertilizer often adopt the braided bag to bag and form the material package, want to transport these material packages, then need carry out the pile up neatly loading car with these material packages, traditional loading work is mainly accomplished by the manpower, rely on the manpower work to make its work efficiency low, the labour is big and along with a great deal of health hazard, consequently for solving this a great deal of problem, automatic product provider provides the carloader of a pile up neatly, this carloader is equipped with automatic loading material and puts in the platform, put platform and transfer chain connection and receive the material package with this material, then put the platform with the material and remove appointed coordinate position, put the material package that falls in to the carriage again, thereby replace artifical pile up neatly loading operation.
However, the most commonly adopted traditional truss type RGV trolley type car loader at present cannot be inserted into a carriage of a vehicle to be loaded for stacking, so that the height of a machine head for dropping a package is too high, and the defects of package breaking, large dust raising and the like after dropping the package are easily caused. And if will install mechanical lifting arm additional on the carloader and will stretch into the reduction of the platform of putting in the material and reach the carriage as early as possible and fall a packet distance, then because the existence of carriage breast board, and the mechanical dimension and the motion characteristic of material putting in platform and arm itself, make when putting in the limit package of adjacent carriage breast board, if stretch into the carriage with the arm and put in the limit package then very easily make the material put in platform and carriage breast board and take place the collision accident, and different carriage sizes and material package size also can make and avoid the difficulty that the collision becomes through predetermineeing fixed arm movement path.
Disclosure of Invention
The invention provides a cargo stacking control method of a mechanical arm, aiming at the defects in the prior art, and the cargo stacking control method is used for a car loader provided with a stacking mechanical arm, wherein the stacking mechanical arm comprises a movable mounting seat arranged at the front end of the car loader, an upper arm connected with the movable mounting seat, a lower arm rotatably connected with the lower end of the upper arm and a throwing platform connected with the lower end of the lower arm, the movable mounting seat is provided with a second motor for driving the movable mounting seat to transversely move vertical to the moving direction of the car loader and a first motor for driving the lower arm to rotate in a plane vertical to the moving method of the car loader, and the throwing platform is provided with a third motor for driving the throwing platform to rotate in the horizontal plane, and the method specifically comprises the following steps:
s1, acquiring the height of a side rail of a carriage of a vehicle in a task to be loaded and the length of a material bag to be stacked, simulating the stacking process of each material bag of the vehicle to be loaded, and acquiring the rotating diameter of a dropping platform in a loading state according to the length of the material bag and the width of the dropping platform when dropping the side bags positioned at two sides of the carriage;
s2, acquiring a stacking level of the material package to be placed at the time, and calculating the longitudinal position of the movable mounting seat when the side package is placed according to the stacking level;
s3, calculating a motion track of an outermost collision point of the throwing platform in the process that the mechanical arm extends downwards and explores downwards to throw the material bag according to motion characteristic parameters of the first motor, the second motor and the third motor and by combining the rotating diameter of the throwing platform where the material bag is located and the height of the movable mounting seat;
and S4, calculating whether the movement track of the outermost collision point of the releasing platform is intersected with the position of the carriage side fence or not when the maximum downward-exploring distance exists, if so, sequentially decreasing the downward-exploring distance until the movement track of the outermost collision point is not intersected with the position of the carriage side fence according to a preset downward-exploring distance adjusting interval, and storing the corresponding downward-exploring distance as the downward-exploring distance of the mechanical arm when the material bag is subsequently released.
Preferably, the step S1 specifically includes: calculating the rotary diameter D of the throwing platform of the material bag,
wherein
In order to put in the width of the platform,
wherein C is the length of the material bag, A is the remaining depth of the putting platform, and B is the length of the putting platform.
Preferably, the step S2 specifically includes:
s21, acquiring a stacking level of the material package fed at this time, and acquiring the maximum ground clearance Z of the feeding platform when the material package of the stacking level is fed according to the stacking level;
s22, calculating the distance y from the highest point of the inner side of the carriage breast board to the movable mounting seat when the side bag is thrown k ，
Wherein
Is the initial angle of the upper arm and the horizontal plane where the first motor is positioned,
the height from the ground of the highest point of the inner side of the carriage sideboard,
the height of the platform is the length of the upper arm and the lower arm.
Preferably, the step S3 specifically includes:
s31, acquiring an acceleration duration e and a deceleration duration f of the first motor, the second motor and the third motor at a moving position, wherein f = g-e, and g is the time required by the motors from starting to decelerating and stopping;
s32, calculating a motion track function F of the outermost collision point of the throwing platform of the stacking mechanical arm in the process of downwards extending and downwards exploring the throwing side packet in the motor acceleration section 1 (x, y) and a function F of the motion trajectory in the deceleration section of the motor 2 （x,y），
Wherein F 1 (x, y) are as follows:
F 2 (x, y) is as follows:
wherein
，a y Is the angular acceleration of the rotation of the first motor in the horizontal plane,
is the acceleration of the second motor moving transversely on the horizontal plane, beta is the angular acceleration of the third motor controlling the throwing platform to rotate around the vertical direction,
is the initial angle of the upper arm and the horizontal plane where the first motor is located.
Preferably, the step S4 specifically includes:
the longitudinal coordinate y of the highest point at the inner side of the carriage breast board k Respectively substituting the longitudinal coordinates of the outermost collision points into the motion track function F of the motor acceleration section 1 And a function F of the motion trajectory in the deceleration section of the motor 2 In (1), obtain the corresponding time value t 1 And t 2 ；
Time value t of the outermost collision point 1 And t 2 Respectively substituted into corresponding motion track functions F 1 And a function F of the motion trajectory in the deceleration section of the motor 2 Calculating to obtain corresponding transverse coordinate x 1 And x 2 ；
If the transverse coordinate x of the outermost collision point is obtained 1 And x 2 Are all larger than the transverse coordinate x of the highest point of the inner side of the compartment fence k The throwing platform cannot collide with the carriage breast board, otherwise, collision occurs;
if put in the platform with the carriage breast board bumps, then according to the adjustment interval of predetermined spy distance down descend in proper order to survey the distance until the motion trail of outermost collision point and the disjoint of carriage side fence position and save the corresponding spy distance down as when following put in this material package of outermost collision point survey the distance down.
Preferably, the step S4 specifically includes:
the transverse coordinate x of the highest point of the inner side of the carriage breast board k As the longitudinal coordinate of the outermost collision pointMotion trajectory function F into acceleration section of motor 1 And a motion trajectory function F in the motor deceleration section 2 In (1), acquiring a corresponding time value t 3 And t 4 ；
The time value t of the outermost collision point 3 And t 4 Respectively substituting into corresponding motion track functions F 1 And a function F of the motion trajectory in the deceleration section of the motor 2 In which the corresponding longitudinal coordinate y is calculated 1 And y 2 ；
If the longitudinal coordinate y of the outermost collision point is obtained 1 And y 2 Longitudinal coordinate y smaller than highest point of inner side of carriage breast board k The throwing platform cannot collide with the carriage breast board, otherwise, collision occurs;
if put in the platform with the carriage breast board bumps, then according to the adjustment interval of predetermined spy distance down descend in proper order to survey the distance until the motion trail of outermost collision point and the disjoint of carriage side fence position and save the corresponding spy distance down as when following put in this material package of outermost collision point survey the distance down.
The invention also discloses a car loader, which comprises a controller, a movable mounting seat arranged at the front end of the car loader, an upper arm connected with the movable mounting seat, a lower arm rotatably connected with the lower end of the upper arm, and a throwing platform connected with the lower end of the lower arm, wherein the movable mounting seat is provided with a second motor for driving the movable mounting seat to transversely move perpendicular to the moving direction of the car loader and a first motor for driving the lower arm to rotate in a plane perpendicular to the moving method of the car loader, the throwing platform is provided with a third motor for driving the throwing platform to rotate in the horizontal plane, the controller is respectively connected with the first motor, the second motor and the third motor, and the controller is configured to:
the method comprises the steps of obtaining the height of a side rail of a carriage of a vehicle in a task to be loaded at this time and the length of a material bag to be stacked, simulating the stacking process of each material bag of the vehicle to be loaded, and obtaining the rotating diameter of a dropping platform in a load state according to the length of the material bag and the width of the dropping platform when the side bags on two sides of the carriage are dropped;
acquiring a stacking level of the material package which is put in this time, and calculating the longitudinal position of the movable mounting seat when the side package is put in according to the stacking level;
acquiring motion characteristic parameters of the first motor, the second motor and the third motor, and calculating a motion track of an outermost collision point of the throwing platform in the process of downwards extending and downward exploring the material bag by the mechanical arm by combining the rotating diameter of the throwing platform where the material bag is located and the height of the movable mounting seat;
and calculating whether the movement locus of the outermost collision point of the releasing platform has an intersection with the position of the carriage side fence or not when the maximum downward-exploring distance is reached, if so, sequentially decreasing the downward-exploring distance according to a preset downward-exploring distance adjusting interval until the movement locus of the outermost collision point is not intersected with the position of the carriage side fence, and saving the corresponding downward-exploring distance as the downward-exploring distance of the mechanical arm when the material bag is subsequently released.
Preferably, the controller is further configured to: calculating the rotary diameter D of the throwing platform of the material bag,
wherein
In order to put in the width of the platform,
wherein C is the length of the material bag, A is the remaining depth of the putting platform, and B is the length of the putting platform.
Preferably, the controller is further configured to:
acquiring a stacking level of the material package to be thrown at this time, and acquiring the maximum ground clearance Z of the throwing platform when the material package of the stacking level is thrown according to the stacking level;
calculating the distance y from the highest point of the inner side of the carriage breast board to the movable mounting seat when the side package is thrown k ，
In which
Is the initial angle of the upper arm and the horizontal plane where the first motor is positioned,
the height from the ground of the highest point of the inner side of the carriage sideboard,
the height of the platform is the length of the upper arm and the lower arm.
The invention also discloses a cargo stacking control device of the mechanical arm, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of any one of the methods.
The invention discloses a control method, a control device and a car loader for stacking cargos of a mechanical arm, wherein the rotation diameter of a dropping platform under a load state is obtained according to the height of a side rail of a carriage of a vehicle in a task to be loaded and the length of a material bag to be stacked, the longitudinal position of a movable mounting seat during dropping the side bag is calculated according to the stacking level, the motion track of the outermost collision point of the material dropping platform during downward stretching and downward dropping of the mechanical arm is calculated and obtained by combining the motion characteristic parameters of motors of joints of the mechanical arm, and finally whether the motion track of the outermost collision point of the material dropping platform intersects with the position of the side rail of the carriage at the maximum downward dropping distance is verified to obtain the maximum safe dropping distance of the mechanical arm during subsequent dropping of the material bag. The collision between the manipulator, namely the throwing platform and the carriage arm, in the downward detection process of the mechanical arm is effectively avoided, and the track safety of the equipment in the task execution process is ensured. The control method can adapt to stacking type placement of bagged materials of various open truck types, and avoids the problems of bag breakage, large dust emission and the like after bag falling due to high bag falling postures. In the process of exploring and loading the vehicle under the mechanical arm, the space distance between the carriage wall and the execution track of the platform put at the tail end of the mechanical arm is ensured to be safe, and continuous and safe code package in the operation process is realized.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.
Fig. 1 is a schematic structural view of a stacking robot arm disclosed in an embodiment of the present invention.
Fig. 2 is a schematic flow chart of a cargo stacking control method for a robot arm according to an embodiment of the present invention.
Fig. 3 is a schematic view illustrating a rotation state of the launch platform in a loading state according to an embodiment of the disclosure.
Fig. 4 is a schematic diagram of a cargo stacking track of the stacking mechanical arm disclosed by the embodiment of the invention.
Fig. 5 is a simplified state diagram of the robot palletizer disclosed in an embodiment of the present invention.
Fig. 6 is a schematic diagram of an acceleration section and a deceleration section of the motor according to an embodiment of the disclosure.
Fig. 7 is a schematic diagram of the specific step of step S4 according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of a specific step of step S4 according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms a, an, etc. do not denote a limitation of quantity, but rather denote the presence of at least one.
The goods stacking control method of the mechanical arm disclosed by the embodiment is mainly used for a car loader provided with a stacking mechanical arm, as shown in the attached drawing 1, the stacking mechanical arm comprises a movable mounting seat 1 mounted at the front end of the car loader, an upper arm 2 connected with the movable mounting seat 1, a lower arm 3 rotatably connected with the lower end of the upper arm 2, and a throwing platform 4 connected with the lower end of the lower arm 3, wherein a second motor used for driving the movable mounting seat to transversely move perpendicular to the moving direction of the car loader and a first motor 5 used for driving the lower arm and the upper arm to rotate in a plane perpendicular to the moving method of the car loader are arranged on the movable mounting seat 1, and a third motor 6 used for driving the material throwing platform to rotate in a horizontal plane is arranged on the material throwing platform. The method can also be applied to intelligent car loaders which can be inserted into the carriage based on R-type mechanical arms, such as the type of the car loading mechanical arm and the car loading machine head disclosed in the publication number CN 113548497A. Specifically, as shown in fig. 2, the cargo stacking control method for the robot arm may include the following steps.
The method comprises the steps of S1, obtaining the height of a side rail of a carriage of a vehicle in a task to be loaded at this time and the length of a material bag to be stacked, simulating the stacking process of each material bag of the vehicle to be loaded, and obtaining the rotating diameter of a loading platform in a loading state according to the length of the material bag and the width of the loading platform when side bags located on two sides of the carriage are thrown.
In different loading tasks, due to the fact that vehicles to be loaded are different, the heights of the side rails of the carriages of the vehicles are different, and the sizes of the material bags needing to be loaded and stacked are possibly different. Therefore, before loading, various required information such as the height of the side rail of the carriage of the vehicle and the length of the material bags needing to be stacked in the task to be loaded can be obtained from the loading management system.
In this embodiment, the step S1 further includes the following steps: calculating the rotating diameter D of the material bag feeding platform,
，
wherein C is the length of the material bag, A is the remaining depth of the putting platform, and B is the length of the putting platform.
Acquire from the loading management system and wait to load thing package information, wherein the thing package information includes but not limited to the length of thing package, the width of material package, the thickness of thing package, material input platform information includes but is not limited to the width of material input platform, and the depth is kept somewhere to material input platform, material input platform length. As shown in fig. 3, the information of the material package includes, but is not limited to, the length C of the material package, the information of the material placement platform includes, but is not limited to, the width W of the material placement platform, the remaining depth a of the material placement platform, and the length B of the material placement platform.
And S2, acquiring a stacking level of the material bag put in this time, and calculating the longitudinal position of the movable mounting seat when the material bag is put in according to the stacking level.
In this embodiment, the step S2 may further specifically include the following steps:
and S21, acquiring a stacking level of the material bag put in this time, and acquiring the maximum ground clearance Z of the material putting platform when the material bag on the layer is put in according to the stacking level. The maximum ground clearance of the material throwing platform is the ground clearance of the material throwing platform below the stacking mechanical arm when the stacking mechanical arm is folded at the initial position. The stacking level where the material package placed at this time is obtained from the loading management system is calculated according to the stacking level, and the maximum ground clearance Z of the material placing platform when the material package on the layer is placed is obtained. Because the carloader can promote the carloader aircraft nose height along with the gradual increase of pile up neatly number of piles when throwing in material package, has same carloader height when throwing in same layer material package promptly, but the carloader aircraft nose place height is different when throwing in the material package that is located different layers, and the level that the material package is located every increases the one deck, and the carloader aircraft nose also will move the predetermined distance upwards, therefore the biggest terrain clearance Z of material input platform will also increase the predetermined distance. Therefore, the maximum ground clearance Z of the throwing platform can be calculated according to the stacking level of the material packages to be thrown.
Step S22, calculating the distance y from the highest point of the inner side of the carriage sideboard to the movable mounting seat when the side bag is thrown k ，
Wherein
Is the initial angle of the upper arm and the horizontal plane where the first motor is positioned,
is the height above the ground of the highest point of the inner side of the carriage sideboard,
for the height of material input platform, L is the length of upper arm and underarm.
The initial angle of the horizontal plane where the upper arm and the first motor are located, the height of the material putting platform, the length of the upper arm, the length of the lower arm and other information are preset fixed parameters of the stacking mechanical arm of the truck loader, the input can be obtained in advance from a truck loading management system or a control system, and the ground clearance of the highest point on the inner side of the carriage breast board of the vehicle to be loaded at the time can also be obtained from the truck loading management system. After the loading vehicle enters the loading area, the loading management system can accurately acquire various size data of the vehicle and the carriage including the ground clearance of the highest point on the inner side of the carriage sideboard from measuring equipment such as a laser radar and the like installed in the loading area, and records the data into a database for follow-up query and retrieval.
Vehicle information may be obtained from the loading management system, the information including one or more of: as shown in fig. 4 and 5, the highest point of the carriage is at a height h from the ground 1 Longitudinal distance y from highest point of inner side of carriage breast board to movable mounting seat k The transverse distance x from the highest point of the inner side of the carriage breast board to the movable mounting seat k Height h of the material putting platform, length L of upper arm and lower arm of the stacking mechanical arm, and initial angle of the upper arm and the horizontal plane where the first motor is located
。
S3, obtaining motion characteristic parameters of the first motor, the second motor and the third motor in a loading management system, and calculating a motion track of an outermost collision point of the material putting platform in the process that the mechanical arm extends downwards and probes and puts the material bag by combining the rotation diameter of the putting platform where the material bag is positioned and the height of the movable mounting seat;
in this embodiment, step S3 may specifically include the following.
And step S31, acquiring an acceleration duration e and a deceleration duration f of the first motor, the second motor and the third motor at a moving position, wherein f = g-e, and g is the time required by the motors from starting to decelerating and stopping.
In the embodiment, an acceleration duration e and a deceleration duration f of the first motor, the second motor and the third motor at a moving position are obtained in the loading management system, wherein f = g-e, and g is the time required by the motors from starting to decelerating and stopping. As shown in fig. 6, in the present embodiment, the acceleration duration e of the acceleration section of the motor is 0.55s, and the deceleration duration of the deceleration section is also 0.55s.
Acquiring the motion characteristic parameters of the first motor, the second motor and the third motor in a loading management system
Angular acceleration a of the first motor rotating in the horizontal plane y Acceleration of the second motor moving laterally in the horizontal plane
The third motor controls the angular acceleration beta of the material putting platform rotating around the vertical direction of the material putting platform, and the angle between the upper arm and the horizontal plane where the first motor is located
。
Step S32, calculating a motion track function F of the outermost collision point of the material throwing platform in the downward extending downward throwing edge packet process of the stacking mechanical arm in the motor acceleration section 1 (x, y) and a function F of the trajectory of the movement in the deceleration section of the motor 2 （x,y），
Wherein F 1 (x, y) is as follows:
F 2 (x, y) is as follows:
wherein
，a y Is the angular acceleration of the rotation of the first motor in the horizontal plane,
is the acceleration of the second motor moving transversely on the horizontal plane, beta is the angular acceleration of the third motor controlling the material putting platform to rotate around the vertical direction of the third motor,
is the initial angle of the upper arm and the horizontal plane where the first motor is located.
Specifically, the rotation diameter D of the material bag placing platform and the height of the movable mounting seat are combined, and the motion track of the outermost collision point of the material bag placing platform in the material bag process is calculated by downwards extending the mechanical arm and downwards probing.
Calculating the angle between the upper arm of the motor acceleration section and the horizontal plane where the first motor is located in the downward extension downward exploring and side packet throwing process of the stacking mechanical arm
And the angle between the upper arm of the motor speed reduction section and the horizontal plane where the first motor is located
Respectively is as follows:
calculating the downward extension downward detection throwing edge packet of the stacking mechanical armIn the process, the motion track function F of the connection point of the third motor and the stacking mechanical arm, namely the point c in the attached figure 5, in the motor acceleration section 3 (x, y) and a function F of the trajectory of the movement in the deceleration section of the motor 4 （x,y）。
Wherein F 3 (x, y) is as follows:
F 4 (x, y) is as follows:
after the motion trail of the connection point of the third motor and the stacking mechanical arm is obtained, the motion trail of the outermost collision point of the material throwing platform in the process of downward stretching and downward exploring the side packet throwing of the stacking mechanical arm can be calculated.
Meanwhile, the motion track function F of the tail end of the material putting platform, namely the point a and the point b in the figure 3 in the motor acceleration section is calculated 1 (x, y) and a function F of the motion trajectory in the deceleration section of the motor 2 (x, y), as follows:
wherein F 1 (x, y) is as follows:
F 2 (x, y) is as follows:
and S4, calculating whether the movement track of the outermost collision point of the material putting platform is intersected with the position of the carriage side fence or not at the maximum downward exploring distance, if so, adjusting the interval according to the preset downward exploring distance to sequentially decrease the downward exploring distance until the movement track of the outermost collision point is not intersected with the position of the carriage side fence, and storing the corresponding downward exploring distance as the downward exploring distance of the mechanical arm when the material bag is subsequently put. In this embodiment, as shown in fig. 7, step S4 may specifically include the following steps.
Step S101, the longitudinal coordinate y of the highest point of the inner side of the carriage breast board is determined k Respectively substituting the longitudinal coordinates of the outermost collision points into the motion track function F of the motor acceleration section 1 And a function F of the motion trajectory in the deceleration section of the motor 2 In (1), obtain the corresponding time value t 1 And t 2 。
The longitudinal coordinate y of the highest point at the inner side of the carriage breast board k Respectively substituting longitudinal coordinates of the outermost collision points into motion trail functions F of motor acceleration sections 1 And a function F of the motion trajectory in the deceleration section of the motor 2 In (1), obtain the corresponding time value t 1 And t 2 Wherein a time t is obtained 1 、t 2 Including but not limited to solving equations with a quadratic equation of one.
Verification period
If the point d of the vehicle railing panel is intersected with the point a at the tail end of the clamp, substituting the y coordinate of the point d into a motion track function F of the motor acceleration section 1 (x, y) determining time
，0≤
≤0.55。
Wherein a, b, c are each a function
Coefficient of quadratic, first, constant terms of, i.e.
。
Verification period
If the point d of the sweep plate is intersected with the point a at the tail end of the clamp, substituting the y coordinate of the point d into a motion track function F of the motor deceleration section 2 (x, y) calculating the time t 2 (0.55≤t 2 ≤1.1)。
Wherein a, b, c are functions:
the coefficient of the quadratic term, the primary term, the constant term of (c), namely:
step S102, the time value t of the outermost collision point is determined 1 And t 2 Respectively substituting into the motion track function F of the corresponding motor acceleration section 1 And the motion track function F of the motor deceleration section 2 In which the corresponding transverse coordinate x is calculated 1 And x 2 The method comprises the following steps:
wherein
，
。
Step S103, if the transverse coordinate x of the outermost collision point is obtained 1 And x 2 Transverse coordinate x greater than highest point of inner side of compartment fence k The material putting platform does not collide with the carriage breast board, otherwise, collision occurs.
And S104, if the material feeding platform collides with the carriage sideboard, sequentially decreasing the downward detection distance according to a preset downward detection distance adjusting interval until the motion track of the outermost collision point is not intersected with the carriage side fence position and storing the corresponding downward detection distance as the downward detection distance of the outermost collision point when the material bag is subsequently fed.
In a preferred embodiment, the downward distance pseudocode for calculating the most appropriate robotic arm edge wrap may include the following.
FuncY(){
do{
V/from the lateral displacement, find the ax acceleration of the lateral x-axis, e =0.55
ax = 2x / (e* e);
// calculating angular acceleration of ay from longitudinal displacement (downward probe displacement of mechanical arm)
// downward probe distance is converted into angle
t_theta = asin((y + 0.332) / (2.0 * L))- theta1;
//0.332 mechanical arm downtake height in initial State
V/determining the angular acceleration of the probe ay
ay = 2t_theta / (e*e);
And/or judging that downward detection of the mechanical arm is collided and intersected according to xy coordinates of ax, ay and d points, and recalculating downward detection distance if the collision is detected
if (CaclMath(ax,ay, x_d,y_d)) {
y -= step_y;
}
else
break;
if (y < 0.05)
break;
} while (1);
return y;
}
The above procedure may be defined as a pseudo-code function, caclMath (ax, ay, x _ d, y _ d), where ax represents
Ay represents
And x _ d, y _ d represent d point coordinates d (x, y). And finally, obtaining the most suitable downward detection distance when the mechanical arm is used for placing the edge package.
In another embodiment, as shown in fig. 8, step S4 may further include the following details.
Step S201, the longitudinal coordinate x of the highest point of the inner side of the carriage sideboard k Respectively substituting the longitudinal coordinates of the outermost collision points into the motion track function F of the motor acceleration section 1 And a function F of the motion trajectory in the deceleration section of the motor 2 In (1), obtain the corresponding time value t 3 And t 4 。
Step S202, the time value t of the outermost collision point is determined 3 And t 4 Respectively substituting into corresponding motion track functions F 1 And a motion trajectory function F in the motor deceleration section 2 Calculating to obtain corresponding longitudinal coordinate y 1 And y 2 。
Step S203, if the longitudinal coordinate y of the outermost collision point is obtained 1 And y 2 Longitudinal coordinate y smaller than highest point of inner side of carriage breast board k The material putting platform does not collide with the carriage breast board, otherwise, collision occurs.
And S204, if the material feeding platform collides with the carriage sideboard, sequentially decreasing the downward detection distance according to a preset downward detection distance adjusting interval until the motion track of the outermost collision point is not intersected with the carriage side fence position and saving the corresponding downward detection distance as the downward detection distance of the outermost collision point when the material bag is subsequently fed.
The specific contents of the above steps S201 to S204 are substantially similar to those of the steps S101 to S104, and will not be described herein.
The invention discloses a control method, a control device and a car loader for stacking cargos of a mechanical arm, wherein the rotation diameter of a dropping platform under a load state is obtained according to the height of a side rail of a carriage of a vehicle in a task to be loaded and the length of a material bag to be stacked, the longitudinal position of a movable mounting seat during dropping the side bag is calculated according to the stacking level, the motion track of the outermost collision point of the material dropping platform during downward stretching and downward dropping of the mechanical arm is calculated and obtained by combining the motion characteristic parameters of motors of joints of the mechanical arm, and finally whether the motion track of the outermost collision point of the material dropping platform intersects with the position of the side rail of the carriage at the maximum downward dropping distance is verified to obtain the maximum safe dropping distance of the mechanical arm during subsequent dropping of the material bag. The collision between the manipulator-executing hand grip, namely the putting platform and the carriage arm, in the downward-probing process of the mechanical arm is effectively avoided, and the track safety of the equipment in the task-executing process is ensured. The control method can adapt to stacking type placement of bagged materials of various open truck types, and avoids the problems of bag breakage, large dust emission and the like after bag falling due to high bag falling postures. In the process of exploring and loading the vehicle under the mechanical arm, the space distance between the carriage wall and the execution track of the platform put at the tail end of the mechanical arm is ensured to be safe, and continuous and safe code package in the operation process is realized.
In another embodiment, the vehicle loader further comprises a controller, a movable mounting base installed at the front end of the vehicle loader, an upper arm connected with the movable mounting base, a lower arm rotatably connected with the lower end of the upper arm, and a throwing platform connected with the lower end of the lower arm, wherein the movable mounting base is provided with a second motor for driving the movable mounting base to transversely move perpendicular to the moving direction of the vehicle loader and a first motor for driving the lower arm to rotate in a plane perpendicular to the moving method of the vehicle loader, the material throwing platform is provided with a third motor for driving the material throwing platform to rotate in the horizontal plane, the controller is respectively connected with the first motor, the second motor and the third motor, and the controller is configured to:
the method comprises the steps of obtaining the height of a side rail of a carriage of a vehicle in a task to be loaded and the length of a material bag to be stacked, simulating the stacking process of each material bag of the vehicle to be loaded, and obtaining the rotating diameter of a dropping platform in a load state according to the length of the material bag and the width of the dropping platform when the side bags on two sides of the carriage are dropped;
acquiring a stacking level of the material package to be placed at the time, and calculating the longitudinal position of the movable mounting seat when the side package is placed according to the stacking level;
acquiring motion characteristic parameters of the first motor, the second motor and the third motor, and calculating a motion track of an outermost collision point of the material feeding platform in the process of downwards extending and downward probing the material bag by the mechanical arm by combining the rotating diameter of the feeding platform where the material bag is located and the height of the movable mounting seat;
calculating whether the movement track of the outermost collision point of the material putting platform is intersected with the position of the carriage side fence or not when the maximum downward exploration distance exists, if so, sequentially decreasing the downward exploration distance until the movement track of the outermost collision point is not intersected with the position of the carriage side fence according to a preset downward exploration distance adjustment interval, and storing the corresponding downward exploration distance as the downward exploration distance of the mechanical arm when the material bag is subsequently put.
In this embodiment, the controller is further configured to calculate the drop platform rotation diameter D of the material pack at this time,
in which
In order to put in the width of the platform,
wherein C is the length of the material bag, A is the remaining depth of the putting platform, and B is the length of the putting platform.
In this embodimentThe controller is further configured to: and acquiring the stacking level of the material bag put in this time, and acquiring the maximum ground clearance Z of the material putting platform when the material bag is put in according to the stacking level. Calculating the distance y from the highest point of the inner side of the carriage breast board to the movable mounting seat when the side package is thrown k ，
In which
Is the initial angle of the upper arm and the horizontal plane where the first motor is positioned,
is the height above the ground of the highest point of the inner side of the carriage sideboard,
for the height of material input platform, L is upper arm and underarm length.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The controller of the car loader disclosed in the embodiment corresponds to the cargo stacking control method of the mechanical arm disclosed in the embodiment, so that the description is relatively simple, and the relevant points can be referred to the description of the method part.
The invention also discloses a cargo stacking control device of the mechanical arm, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the cargo stacking control method steps of the mechanical arm according to any one of the embodiments.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing certain functions, the instruction segments describing the execution of the computer program in the server.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is the control center of the server device and connects the various parts of the overall server device using various interfaces and lines.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the server device by running or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may generally include a program storage area and a data storage area, wherein the program storage area may store an operating system, applications for at least one function, and the like, and the memory may include a high speed random access memory, and may further include a non-volatile memory such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The cargo stacking control method of the mechanical arm can be stored in a computer readable storage medium if the cargo stacking control method is realized in the form of a software functional unit and is sold or used as an independent product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments described above may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
In summary, the above-mentioned embodiments are only preferred embodiments of the present invention, and all equivalent changes and modifications made in the claims of the present invention should be covered by the claims of the present invention.
Claims (10)
1. The utility model provides a goods of arm is put things in good order control method for install the carloader of pile up neatly arm, pile up neatly arm is including installing the removal mount pad in the carloader front end, the upper arm of being connected with the removal mount pad, with upper arm lower extreme rotatable coupling's underarm and the platform of puting in of being connected with the underarm lower extreme, be equipped with on the removal mount pad and be used for driving the second motor that removes the mount pad and be perpendicular to the carloader moving direction lateral shifting and drive the first motor of underarm rotation in the plane that is perpendicular to the carloader moving method, be equipped with on the platform of puting in and drive the third motor of this platform of puting in the horizontal plane rotation, the method specifically includes following step:
s1, acquiring the height of a side rail of a carriage of a vehicle in a task to be loaded and the length of a material bag to be stacked, simulating the stacking process of each material bag of the vehicle to be loaded, and acquiring the rotating diameter of a dropping platform in a loading state according to the length of the material bag and the width of the dropping platform when dropping the side bags positioned at two sides of the carriage;
s2, acquiring a stacking level of the material package to be placed at the time, and calculating the longitudinal position of the movable mounting seat when the side package is placed according to the stacking level;
s3, calculating a motion track of an outermost collision point of the throwing platform in the process of downwards extending and downward exploring the material bag by the mechanical arm according to motion characteristic parameters of the first motor, the second motor and the third motor and by combining the rotating diameter of the throwing platform where the material bag is located and the height of the movable mounting seat;
and S4, calculating whether the movement track of the outermost collision point of the releasing platform is intersected with the position of the carriage side fence or not when the maximum downward-exploring distance exists, if so, sequentially decreasing the downward-exploring distance until the movement track of the outermost collision point is not intersected with the position of the carriage side fence according to a preset downward-exploring distance adjusting interval, and storing the corresponding downward-exploring distance as the downward-exploring distance of the mechanical arm when the material bag is subsequently released.
2. The method for controlling stacking of goods by using the robot arm as claimed in claim 1, wherein the step S1 specifically comprises: calculating the rotary diameter D of the throwing platform of the material bag,
in which
For putting in the platformThe width of (a) is greater than (b),
wherein C is the length of the material bag, A is the remaining depth of the putting platform, and B is the length of the putting platform.
3. The method for controlling stacking of goods by a robot arm as claimed in claim 2, wherein the step S2 specifically comprises:
s21, acquiring a stacking level of the material package fed at this time, and acquiring the maximum ground clearance Z of the feeding platform when the material package of the stacking level is fed according to the stacking level;
s22, calculating the distance y from the highest point of the inner side of the carriage breast board to the movable mounting seat when the side bag is thrown k ，
In which
Is the initial angle of the upper arm and the horizontal plane where the first motor is positioned,
the height from the ground of the highest point of the inner side of the carriage sideboard,
the height of the platform is the length of the upper arm and the lower arm.
4. The method for controlling stacking of goods by using the robot arm as claimed in claim 3, wherein the step S3 specifically comprises:
s31, acquiring an acceleration duration e and a deceleration duration f of the first motor, the second motor and the third motor at a moving position, wherein f = g-e, and g is the time required by the motors from starting to decelerating and stopping;
s32, calculating the downward extension downward probing and releasing of the stacking mechanical armMotion track function F of outermost collision point of throwing platform in edge wrapping process in motor acceleration section 1 (x, y) and a function F of the trajectory of the movement in the deceleration section of the motor 2 （x,y），
Wherein F 1 (x, y) is as follows:
F 2 (x, y) is as follows:
wherein
Ay is the angular acceleration of the first motor in rotation in the horizontal plane,
is the acceleration of the second motor moving transversely on the horizontal plane, beta is the angular acceleration of the third motor controlling the throwing platform to rotate around the vertical direction,
is the initial angle of the upper arm and the horizontal plane where the first motor is located.
5. The method for controlling stacking of goods by using the robot arm as claimed in claim 4, wherein the step S4 specifically comprises:
the longitudinal coordinate y of the highest point at the inner side of the carriage breast board k Respectively substituting the longitudinal coordinates of the outermost collision points into the motion track function F of the motor acceleration section 1 And a motion trajectory function F in the motor deceleration section 2 In (1), obtain the corresponding time value t 1 And t 2 ；
The time value t of the outermost collision point 1 And t 2 Respectively substitute into correspondingFunction of motion trajectory F 1 And a function F of the motion trajectory in the deceleration section of the motor 2 Calculating to obtain corresponding transverse coordinate x 1 And x 2 ；
If the transverse coordinate x of the outermost collision point is obtained 1 And x 2 Are all larger than the transverse coordinate x of the highest point of the inner side of the compartment fence k The throwing platform cannot collide with the carriage breast board, otherwise, collision occurs;
if put in the platform with the carriage breast board bumps, then according to the adjustment interval of predetermined spy distance down descend in proper order to survey the distance until the motion trail of outermost collision point and the disjoint of carriage side fence position and save the corresponding spy distance down as when following put in this material package of outermost collision point survey the distance down.
6. The method for controlling stacking of goods by a robot arm as claimed in claim 4, wherein the step S4 specifically comprises:
the transverse coordinate x of the highest point of the inner side of the carriage breast board k Respectively substituting the longitudinal coordinates of the outermost collision points into the motion track function F of the motor acceleration section 1 And a function F of the motion trajectory in the deceleration section of the motor 2 In (1), obtain the corresponding time value t 3 And t 4 ；
Time value t of the outermost collision point 3 And t 4 Respectively substituting into corresponding motion track functions F 1 And a motion trajectory function F in the motor deceleration section 2 Calculating to obtain corresponding longitudinal coordinate y 1 And y 2 ；
If the longitudinal coordinate y of the outermost collision point is obtained 1 And y 2 Longitudinal coordinate y smaller than highest point of inner side of compartment breast board k The throwing platform cannot collide with the carriage breast board, otherwise, collision occurs;
if put in the platform with the carriage breast board bumps, then according to the adjustment interval of predetermined spy distance down descend in proper order to survey the distance until the motion trail of outermost collision point and the disjoint of carriage side fence position and save the corresponding spy distance down as when following put in this material package of outermost collision point survey the distance down.
7. A car loader is characterized in that: including the controller, install in the removal mount pad of carloader front end, the upper arm of being connected with the removal mount pad, with upper arm lower extreme rotatable coupling's underarm and the platform of puting in of being connected with the underarm lower extreme, be equipped with on the removal mount pad and be used for driving the second motor that removes mount pad perpendicular to carloader moving direction lateral shifting and drive the first motor of underarm at the in-plane rotation of perpendicular to carloader moving method, it is equipped with the third motor that drives this platform of puting in at horizontal plane rotation on the platform to puting in, the controller is connected with first motor, second motor and third motor respectively, the controller is configured into:
the method comprises the steps of obtaining the height of a side rail of a carriage of a vehicle in a task to be loaded and the length of a material bag to be stacked, simulating the stacking process of each material bag of the vehicle to be loaded, and obtaining the rotating diameter of a dropping platform in a load state according to the length of the material bag and the width of the dropping platform when the side bags on two sides of the carriage are dropped;
acquiring a stacking level of the material package to be placed at the time, and calculating the longitudinal position of the movable mounting seat when the side package is placed according to the stacking level;
acquiring motion characteristic parameters of the first motor, the second motor and the third motor, and calculating a motion track of an outermost collision point of the throwing platform in the process that the mechanical arm extends downwards and explores downwards to throw the material bag by combining the rotating diameter of the throwing platform where the material bag is located and the height of the movable mounting seat;
and calculating whether the movement track of the outermost collision point of the releasing platform is intersected with the position of the carriage side fence or not when the maximum downward-exploring distance exists, if so, sequentially decreasing the downward-exploring distance until the movement track of the outermost collision point is not intersected with the position of the carriage side fence according to a preset downward-exploring distance adjustment interval, and storing the corresponding downward-exploring distance as the downward-exploring distance of the mechanical arm when the material bag is subsequently released.
8. The truck of claim 7A machine, wherein the controller is further configured to: calculating the rotary diameter D of the throwing platform of the material bag,
wherein
In order to put in the width of the platform,
wherein C is the length of the material bag, A is the remaining depth of the putting platform, and B is the length of the putting platform.
9. The car loader of claim 8, wherein the controller is further configured to:
acquiring a stacking level of the material package to be thrown at this time, and acquiring the maximum ground clearance Z of the throwing platform when the material package of the stacking level is thrown according to the stacking level;
calculating the distance y from the highest point of the inner side of the carriage breast board to the movable mounting seat when the side package is thrown k ，
Wherein
Is the initial angle of the upper arm and the horizontal plane where the first motor is positioned,
is the height above the ground of the highest point of the inner side of the carriage sideboard,
the height of the platform is the length of the upper arm and the lower arm.
10. A cargo stacking control apparatus for a robot arm, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: the processor, when executing the computer program, realizes the steps of the method according to any of claims 1-6.
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