A method for moving and aligning manipulators on an assembly line

Abstract

The invention discloses a manipulator movement alignment method on an assembly line. The manipulator movement alignment method comprises the following steps that firstly, a movable electric eye S1 and a fixed electric eye S2 are arranged on an electric eye recognition device; secondly, a measuring encoder E1 is installed on a belt, and an encoder E2 is installed on a screw rod sliding table; thirdly, the front edge of a measured object is recognized by the movable electric eye S1 and the fixed electric eye S2; fourthly, the side edge is recognized; fifthly, angular coordinates and inclination of the measured object are calculated, and center coordinates are worked out; sixthly, after grabbing a to-be-placed object directionally from the production line, a manipulator moves synchronously with the a conveying belt; and seventhly, the to-be-placed object is placed in a designated position of the to-be-measured object. Compared with the prior art, the manipulator movement alignment method has the advantages that cost is lowered effectively, the manipulator reacts quickly, filtering processing can also be conducted on electric eye data, and recognition precision is improved. When the to-be-measured object operates to the operating band of the manipulator, the manipulator can work immediately, and work efficiency of the manipulator is improved greatly.

Description

technical field [0001] The invention relates to the field of mechanical automation control, in particular to a method for moving and aligning manipulators on an assembly line. Background technique [0002] In the packaging process of the mobile phone box, it is necessary to grab and place the box on the packaging production line at the specified position in the middle of the corresponding packaging paper (the specified position on the paper and the rear edge) under the condition that the horizontal and vertical positions of the box are accurate. and side edges, see figure 2 ), because the paper is moving on the conveyor belt, and it is easy to be skewed during feeding and transportation, so it is necessary to accurately place the grabbed box body on the designated position of the paper on the conveyor belt, which requires extremely high precision. Accuracy and calculation. [0003] In the automatic control process of the manipulator, the precise grasping of the paper curre...

AI Technical Summary

Problems solved by technology

But there are problems, 1. Three laser color-coded electric eyes are needed, each electric eye is 1000-2000 yuan, and the cost is relatively high

2. After the color code electric eye is recognized, it needs to be calculated immediately, and the manipulator immediately performs the corresponding operation according to its calculation parameters. Due to the recognition process, the operation of the manipulator has a certain lag, resulting in an increase in the grasping time interval

3. The manipulator needs to grasp and place 30-40 items to be placed in one minute. The time interval cannot filter the data collected by the laser color-coded electric eye, because in the alignment process, the electric eye must detect the edge of the paper immediately. Execute the corresponding action without delay processing. If the action is delayed, the alignment position will be abnormal. In this process, the manipulator itself has a certain action delay. This delay is unpredictable, so this alignment method will introduce the manipulator itself. Accuracy loss due to delay

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