Working mechanism of single-station feeding production processing system based on mechanical arm

A processing system and robotic arm technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low adaptability and production efficiency

Active Publication Date: 2016-06-08
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The adaptability and production efficiency of non-fixed tempo, random feeding, multi-variety and small batch production methods are not high

Method used

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  • Working mechanism of single-station feeding production processing system based on mechanical arm
  • Working mechanism of single-station feeding production processing system based on mechanical arm
  • Working mechanism of single-station feeding production processing system based on mechanical arm

Examples

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Comparison scheme
Effect test

Embodiment Construction

[0073] see figure 1 , the single-site feeding production and processing system in this embodiment includes: a mechanical arm 1, a conveyor belt 2, an industrial camera 3, a buffer storehouse 4 with a capacity of M, a finished product storehouse 5 with a capacity of N, and workpieces 6;

[0074] The mechanical arm 1 is located on one side of the conveyor belt 2, and the mechanical arm is a 6-degree-of-freedom series mechanical arm, and a pneumatic gripper 7 is installed on the flange of the mechanical arm 1 . Define the speed of the manipulator as V robot , in this implementation case, V robot = 20 cm / s. A cache warehouse 4 with a capacity of M and a finished product warehouse 5 with a capacity of N are respectively arranged on both sides of the mechanical arm 1; in this implementation case, M=4, N=2147483648. The industrial camera 3 is located upstream of the mechanical arm 1, and is vertically facing the workpiece 6 on the conveyor belt 2; the conveyor belt is driven by a ...

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Abstract

The invention discloses a working mechanism of a single-station feeding production processing system based on a mechanical arm. The working mechanism is characterized in that the single-station feeding production processing system comprises a mechanical arm, a conveyor belt, an industrial camera, a cache library with capacity being M, a finished product warehouse with capacity being N and workpieces, wherein the mechanical arm is used for obtaining vacant amount m of the cache library and a gripper position p under a current state; and a visibility distance Vsmp is selected according to an optimal control strategy v*; and if workpiece are within the visibility distance Vsmp, unloading operation is carried out; and if the workpieces are not within the visibility distance Vsmp, service operation is carried out. The optimal control strategy v* is obtained by carrying out optimization solution on an SMDP model which is established by taking the vacant amount m of the cache library and the gripper position p as states through a strategy iteration algorithm. The working mechanism can be used for improving process balance and production efficiency of a single-station mechanical arm production line which has no fixed beat, has random material supply and has no fixed-point processing, so that basis is provided for optimal scheduling of the single-station mechanical arm production line in industrial production.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to the working mechanism of a single-site conveyor belt material production and processing station system Background technique [0002] With the rapid development of modern industry, the application of robotic arm automation production lines in the field of industrial production is becoming more and more extensive, such as in electronics manufacturing, automobile manufacturing, processing and packaging, cargo sorting and other fields. In particular, the application of machine vision technology in the production line has greatly improved the flexibility, intelligence and automation level of the system. This type of automated production line is usually configured with one or more robotic arms for picking or processing as specific actuators; configured with one or more conveyor belts for conveying workpieces and packaging boxes; configured with industrial vision systems for workpiece p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1656
Inventor 唐昊张树林吴攀飞刘心报谭琦戴飞宋聪颖
Owner HEFEI UNIV OF TECH
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