A method and device for controlling the movement of a robot following a conveyor belt

A conveyor belt and robot technology, applied in the direction of feedback control, etc., can solve the problems of conveyor belt and robot staggered operation, unable to meet multi-point follow-up, etc., to achieve the effect of shortening process operation time, small range limitation, and improving production efficiency

Active Publication Date: 2019-06-25
广州智能装备研究院有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The technical problem to be solved by the present invention is that the current method for the robot to follow the conveyor belt has the problem that the conveyor belt and the robot run staggeredly and cannot satisfy multi-point follow-up

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  • A method and device for controlling the movement of a robot following a conveyor belt
  • A method and device for controlling the movement of a robot following a conveyor belt
  • A method and device for controlling the movement of a robot following a conveyor belt

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Embodiment Construction

[0044] The present invention will be described in detail below in conjunction with specific embodiments and accompanying drawings.

[0045] like Figure 1 ~ Figure 3 As shown, the present invention provides a method for controlling the robot to follow the movement of the conveyor belt, which is described in conjunction with the structure, and specifically includes the following steps:

[0046] Step a, obtain the poses p0 (x0, y0, z0, w0, p0, r0), p1 (x1, y1, z1, w1, p1, r1), the first marking point 26 can be completely overlapped to the second marking point 27 by the movement of the conveyor belt 21, then:

[0047] The motion direction vector is (x1-x0, y1-y0, z1-z0), and the direction is figure 2 in the direction of the arrow;

[0048] The result after unitization is: vector_belt(belt_dx,belt_dy,belt_dz);

[0049]Step b, in the moving state of the conveyor belt 21, measure the time difference time_io of the first IO sensor 29 and the second IO sensor 30 triggered by the ...

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Abstract

The invention discloses a method and a device for controlling a robot to follow a conveyor belt, wherein the device includes a conveyor belt direction calculation unit, a conveyor belt speed calculation unit, a trajectory programming unit and a following control unit. In the present invention, in the moving state of the conveyor belt, the average moving speed of the conveyor belt is calculated based on the time difference, and there is no requirement for the placement direction of the conveyor belt relative to the robot. When the conveyor belt is stopped, the robot can program the trajectory of the parts of the process operation, which improves the conveyor belt and the robot. The operation mode is completely staggered, and multiple points of the parts of the process object can follow the movement of the conveyor belt. The scope of operation application is limited, and it is easy to use. It is suitable for the assembly line production of robots and conveyor belts, which is conducive to shortening the process operation time. Increase productivity.

Description

technical field [0001] The invention relates to the application of robots, in particular to a method and device for controlling the movement of a robot following a conveyor belt. Background technique [0002] In the application of robots, conveyor belts are often used to transport process object parts. These parts are often in batches and have the same operation requirements. In spraying, gluing and other industries, robots are often required to work on the process trajectory of these parts. [0003] Existing technology has following defect: [0004] (1) After the conveyor belt transports the part in place and stops, the robot operates on the process trajectory of the part until the operation is completed, then starts the conveyor belt to transport the next part in place and stops, and then the robot performs operations on the process trajectory of the part, and so on. The staggered movement of the conveyor belt and the robot results in a long time-consuming operation per ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D3/12
CPCG05D3/12
Inventor 彭云春曾钰李志伟胡培雄
Owner 广州智能装备研究院有限公司
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