Method for controlling feeding and discharging of mobile robot serving two numerically controlled machines

A mobile robot, CNC machine tool technology, applied in the direction of digital control, electrical program control, etc., can solve the problem of fixed reclaiming position, achieve accurate loading and unloading, improve work efficiency, and save labor.

Active Publication Date: 2011-05-25
JIANGSU TEWEI MACHINE TOOL MFG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, most domestic loading and unloading robots are controlled by PLC. For example, a robot designed by Shanghai FANUC Robotics Co., Ltd. to serve five CNC machine tools is controlled by PLC, and the feeding position is fixed.

Method used

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  • Method for controlling feeding and discharging of mobile robot serving two numerically controlled machines
  • Method for controlling feeding and discharging of mobile robot serving two numerically controlled machines
  • Method for controlling feeding and discharging of mobile robot serving two numerically controlled machines

Examples

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Embodiment Construction

[0015] Such as figure 1 As shown in the site layout, two CNC machine tools are arranged on one side of the robot's walking axis, and the loading and unloading table is placed in the middle of the two CNC machine tools. The robot is installed on the walking axis, and the wireless 2D-CCD camera and the transmission time laser distance sensor are installed. On the end effector, a safety guardrail is set at both ends of the walking axis, and a vision support is installed near the three-jaw chucks of the two CNC machine tools. The embedded microprocessor adopts Samsung S3C2440 ARM9, the embedded operating system is Linux system, and the wireless 2D-CCD adopts the original American Linksys WVC210 Remote-controlled, and its wireless communication standard is 802.11b or 802.11g. Take, load and unload.

[0016] Grabbing of workpieces to be processed. CNC machine tool 1 (or 2) sends out a feeding signal, which is transmitted to the wireless receiver through the serial port communicat...

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Abstract

The invention relates to a method for controlling the feeding and discharging of a mobile robot serving two numerically controlled machines, belonging to the technical filed of the system for controlling the feeding and discharging of the industrial robot. The position video information and shape video information of a wireless 2D-CCD acquisition workpiece which is arranged on the end effector ofthe robot are adopted, and after the acquired video information is subjected to video acquisition and compression and then transmitted wirelessly, the processed video signal is received by a wirelessUSB (universal serial bus) receiver and transmitted to a master control computer through a USB interface, and the end effector is controlled to grab workpieces by an embedded microprocessor accordingto the recognition algorithm. The workpieces can be identified correctly and grabbed by adopting the recognition algorithm, and the correct feeding and discharging can be realized, thus the working efficiency can be improved, and the manual labor can be saved.

Description

technical field [0001] The invention belongs to the technical field of industrial robot loading and unloading control system, and its outstanding feature is that robot vision, wireless communication technology and sensor technology are introduced into the robot control system, so that the industrial robot can intelligently grasp the workpiece placed in the material box and Intelligent loading and unloading operation. Background technique [0002] When the existing intelligent robot is driven by a DC motor, it is generally controlled by a single-chip microcomputer or a high-speed DSP, and the same robot often needs to use multiple CPUs to realize its respective functions. However, as the requirements for the integration of intelligent robots are getting higher and higher, it is necessary to use a single CPU controller to meet various behavioral requirements of the robot, such as video acquisition and wireless communication. [0003] With the rapid development of modern com...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/414
Inventor 顾寄南胡典传沈跃陈四杰师二产牛军燕许可诚王君谢娟娟
Owner JIANGSU TEWEI MACHINE TOOL MFG
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