Sheet metal part adaptive robot stacking control method and system

Abstract

The application belongs to the technical field of sheet metal automation, and discloses a sheet metal part adaptive robot stacking control method and system, wherein the sheet metal part adaptive robot stacking control method comprises the following steps: reading the controller data of a laser cutting machine; according to the physical size of a preset discharging and stacking position, the effective coverage size of a single-sided gripper, and a safety redundancy, the physical stacking position is divided into standardized virtual grid units; according to the geometric properties of the current workpiece, the number of grid units required for placing the workpiece is calculated; a space search algorithm is used to traverse the state matrix; after the target grid index is found, the center physical coordinates of the grid are converted into the world coordinate system target point of the robot, and the application can virtually divide a large-area stacking position into a plurality of standard small blocks through a virtual grid stacking algorithm; the system can mix and stack multiple specifications of parts on a tray in a compact manner, and the space utilization rate of the tray is significantly improved.

Description

Technical Field

[0001] This application relates to the field of sheet metal automation technology, and in particular to an adaptive robot palletizing control method and system for sheet metal parts. Background Technology

[0002] With the rapid development of laser cutting technology, the sheet metal processing industry is undergoing profound changes, with production models gradually shifting from large-scale standardized production to a flexible production model of "multiple varieties and small batches". In the crucial step of automatic material unloading in laser cutting, traditional solutions mainly rely on gantry-type suction cup machines or simple robotic arms.

[0003] However, these traditional palletizing technologies have revealed many limitations that urgently need to be addressed when dealing with the demands of modern production. Specifically, most palletizing solutions are often tailored to a single workpiece. When faced with a scenario where multiple parts of different sizes and shapes are arranged on a single steel plate for nesting and cutting, it is not convenient to automatically plan the palletizing positions, requiring frequent manual teaching or machine stoppages for intervention, which seriously affects production efficiency. In addition, existing systems mostly use fixed-point palletizing methods, which are not convenient for dynamically allocating pallet space according to the actual size of the workpiece, resulting in low pallet utilization, which in turn increases the frequency of pallet replacement and logistics costs. Furthermore, the sheet metal may experience thermal deformation or positional drift during the cutting process, and relying solely on theoretical codes for grasping can easily lead to deviations. Moreover, the lack of a feedback compensation mechanism for edge-finding data from the cutting machine further affects processing accuracy.

[0004] To address the aforementioned issues, a method and system for adaptive robot palletizing control of sheet metal parts are designed. Summary of the Invention

[0005] To overcome the aforementioned deficiencies of the prior art and to achieve the above objectives, the present invention provides the following technical solution: a sheet metal parts adaptive robot palletizing control method and system, comprising:

[0006] S1: Read the controller data of the laser cutting machine and obtain the edge finding results:

[0007] S2: Based on the pre-set physical dimensions of the material unloading and stacking positions and the effective coverage size of the single-sided gripper, a safety redundancy is set, and the physical stacking positions are divided into standardized virtual grid units.

[0008] S3: Calculate the number of grids required for workpiece placement based on the geometric properties of the currently gripped workpiece;

[0009] S4: Use a spatial search algorithm to traverse the state matrix and find continuous free regions;

[0010] S5: After finding the target mesh index, convert the center physical coordinates of the mesh into the robot's world coordinate system target point.

[0011] The technical effects and advantages of the adaptive robot palletizing control method and system for sheet metal parts of this invention are as follows:

[0012] This invention utilizes a virtual gridded palletizing algorithm to virtually divide large palletizing areas into several standard small blocks. The program automatically calculates the required number of grids based on the workpiece size and dynamically allocates positions. This allows the system to compactly stack parts of various specifications on a single pallet, significantly improving pallet space utilization. By deeply integrating relevant data from the laser cutting machine into the PC control system, and using the coordinate offset correction theory based on the actual edge-finding of the laser machine to obtain the gripping coordinates, the system reduces gripping errors caused by sheet metal placement deviations, achieving high-precision positioning. Attached Figure Description

[0013] Figure 1 A flowchart illustrating an adaptive robot palletizing control method for sheet metal parts provided in this application embodiment;

[0014] Figure 2 A schematic block diagram of steps S3-S5 of an adaptive robot palletizing control method for sheet metal parts provided in this application embodiment;

[0015] Figure 3 A three-dimensional structural schematic diagram provided for an embodiment of this application;

[0016] Figure 4 A three-dimensional schematic diagram of the robotic palletizing system provided in the embodiments of this application. Figure 1 ;

[0017] Figure 5 A three-dimensional schematic diagram of the robotic palletizing system provided in the embodiments of this application. Figure 2 ;

[0018] Figure 6 This is a three-dimensional schematic diagram of a robot sorting gripper provided in an embodiment of this application;

[0019] Figure 7 A three-dimensional schematic diagram of the actuator provided in the embodiments of this application.

[0020] In the diagram: 1. Robotic palletizing system; 2. Laser cutting machine; 11. Seventh-axis track; 12. Unloading and palletizing position; 13. Six-axis robot; 14. Robotic sorting gripper; 15. Slide table; 141. Power mechanism; 142. Transmission arm; 143. Actuator; 1431. Suction cup connecting plate; 1432. Suction cup connecting rod; 1433. Suction cup. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] This application provides a method and system for adaptive robot palletizing control of sheet metal parts, which can solve the problems of some palletizing technologies in related technologies, such as the inconvenience of automatically planning the palletizing position, which affects production efficiency and accuracy.

[0023] Please see Figure 1 In this embodiment of the invention, a method for adaptive robot palletizing control of sheet metal parts includes the following steps:

[0024] S1: Read the controller data of the laser cutting machine and obtain the edge finding results:

[0025] Before the robot performs the grasping action, the PC central control system reads the controller data of the laser cutting machine through communication protocols (such as Modbus / TCP or OPCUA);

[0026] S2: Based on the physical dimensions of the material unloading and palletizing position (e.g., 4000mm long × 1500mm wide) and the effective coverage size of the single-sided gripper (e.g., 300mm × 300mm) preset by the PC central control system, and setting safety redundancy, the physical palletizing position is divided into standardized virtual grid units at the software level.

[0027] By setting the virtual grid cell size to 500mm×500mm, the matrix is ​​generated as follows: The system constructs an 8-row × 3-column two-dimensional state matrix to record the occupancy status of each grid in real time, where 0 represents idle and 1 represents occupied.

[0028] S3: During the robot's workpiece handling and transportation process, the PC control system calculates the number of grids required for workpiece placement based on the geometric properties of the currently handled workpiece.

[0029] S4: Use a spatial search algorithm to traverse the state matrix and find continuous free regions;

[0030] In actual operation, in the "two small parts" mode, the system will calculate the independent grid position corresponding to each of the two small parts, and plan the robot to place part A first, and then move to the position of part B to place part B.

[0031] S5: After finding the target mesh index, the PC control system converts the physical coordinates of the mesh's center into the robot's world coordinate system target point. This guides the robot to perform the workpiece placement operation.

[0032] By using a virtual grid palletizing algorithm, a large palletizing area is virtually divided into several standard small blocks. The program automatically calculates the required number of grids based on the workpiece size and dynamically allocates the positions. This enables the system to compactly mix and stack parts of various specifications on a single pallet, significantly improving the pallet's space utilization and achieving true flexible unattended operation.

[0033] By deeply integrating relevant data from the laser cutting machine into the PC control system, and using the coordinate offset correction theory based on the actual edge finding of the laser machine to grasp the coordinates, the grasping errors caused by the placement deviation of the sheet material are reduced, and high-precision positioning is achieved.

[0034] With its dual independent motor drive structure, the gripper has the capability of "single stroke, dual-piece gripping". For small-sized workpieces, the left and right suction cup groups can grip two parts respectively and transport them to the palletizing area at once.

[0035] In one embodiment, the edge finding result in step S1 is obtained through the following steps:

[0036] S11: Before processing, the laser cutting machine will perform edge finding on the sheet material and calculate the actual origin offset and rotation angle of the sheet material in the machine tool coordinate system;

[0037] Specifically, before laser cutting, an edge-finding operation is performed on the sheet material placed on the machine tool. The purpose of this operation is to determine the actual position of the sheet material relative to the machine tool coordinate system. The actual origin offset and rotation angle of the sheet material in the machine tool coordinate system are calculated. The actual origin offset reflects the positional deviation of the sheet material's origin relative to the machine tool's preset origin in the X, Y, and other directions, while the rotation angle reflects the rotation of the sheet material relative to the standard position in the machine tool plane.

[0038] S12: The robot control algorithm combines the theoretical part coordinates in the layout drawing with the actual origin offset and rotation angle to perform matrix transformation, thereby obtaining the actual grasping coordinates.

[0039] After obtaining the actual origin offset and rotation angle of the board, the robot control algorithm takes the pre-set theoretical part coordinates in the layout drawing as input, and combines them with the actual origin offset and rotation angle calculated earlier to convert the theoretical coordinates into actual gripping coordinates.

[0040] This actual grasping coordinate is the position information that the robot can accurately find and grasp the part in the actual working environment, and it fully considers the possible deviations that may occur when the sheet material is placed.

[0041] This step ensures that even if the boards are not placed correctly, the robot can still be accurately positioned, which is a prerequisite for ensuring neat stacking in the future.

[0042] Specifically, the calculation method for the actual origin offset and rotation angle of the plate in the machine tool coordinate system in step S11 of this embodiment is as follows:

[0043] Set the overall offset of the sheet material fed back by the laser cutting machine to... Rotation angle deviation The theoretical grasping point of the robot is set as follows: The actual target coordinates sent to the robot The calculation is as follows:

[0044] (1)

[0045] The overall offset of the sheet material fed back by the laser cutting machine is used This indicates that the position of the sheet metal relative to its ideal position in the machine tool coordinate system is... shaft and Translational deviation in the axial direction

[0046] Rotation angle deviation This indicates the rotation angle of the sheet metal relative to a standard position (usually a position parallel or perpendicular to the machine tool's coordinate axes) within the machine tool plane.

[0047] The theoretical grasping point of the robot This indicates the pre-set position coordinates of the robot gripping the part, assuming the board is perfectly placed (without offset or rotation).

[0048] Formula (1) is a two-dimensional coordinate transformation formula, which realizes the coordinate transformation through rotation matrix and translation vector.

[0049] Specifically, the rotation matrix is ​​used to handle rotational deviations of the board material when the board rotates. Angle, this matrix can theoretically capture points The coordinates are rotated by the same angle to match the actual rotation state of the plate.

[0050] Translation vector To handle the overall offset of the material, after completing the rotation operation, the translation vector is added to the rotated coordinates to obtain the actual target coordinates sent to the robot. .

[0051] In practice, by accurately calculating the actual origin offset and rotation angle of the board material and applying them to the coordinate transformation of the theoretical gripping point, the robot can accurately find the position of the part on the actual board material. Even if the board material experiences positional offset and angular rotation during delivery, the robot can still perform precise gripping based on the calculated target coordinates, thereby improving gripping accuracy and reducing gripping errors.

[0052] Furthermore, this calculation method does not depend on the specific placement state of the sheet material. Changes in the position and angle of the sheet material on the machine tool can be calculated and adjusted in real time through the offset and rotation angle fed back by the laser cutting machine. This enables the system to adapt to various complex production environments and different sheet material placement conditions, improving the system's adaptability and flexibility.

[0053] Specifically, the calculation process of the robot control algorithm in step S12 of this embodiment includes the following steps:

[0054] Step S12-1: Set the theoretical coordinate system of the laser cutting layout file as follows The theoretical coordinates of the center point of the part to be grasped are: Set the robot's world coordinate system as ;

[0055] The edge-finding compensation data read from the laser cutting machine controller in step S11 includes:

[0056] Translational offset of the actual zero point of the board relative to the theoretical zero point Rotational angle deviation of the sheet metal edge relative to the X-axis of the machine tool In this system, counterclockwise is positive and clockwise is negative;

[0057] Step S12-2: To achieve a precise mapping from theoretical coordinates to the robot's actual grasping coordinates, the control algorithm first determines the rotation angle deviation. Constructing a two-dimensional rotation matrix ;

[0058] Considering that industrial controllers typically use radians, angles need to be converted to radians beforehand by rotating the angle. Convert to radians to ensure consistency with industrial controller calculation standards. The conversion process is as follows:

[0059] (2)

[0060] The theoretical coordinates are spatially transformed according to the actual rotation angle of the plate, and the rotation matrix is... Represented as:

[0061] (3)

[0062] Step S12-3: The system will assign theoretical coordinates to each part. Substitution Calculations based on equation (1) and expansion yield the following equation:

[0063]

[0064] (4)

[0065] By rotation matrix For theoretical coordinates The actual grab coordinates are obtained by rotating and superimposing the translation offset. .

[0066] Step S12-4: To ensure the suction cup direction is parallel to the edge of the inclined plate, and to prevent parts from slipping or being damaged due to angular misalignment during gripping, in addition to position coordinates... In addition to corrections, the gripping angle of the robot's end effector (gripper) is also adjusted. Compensation was performed, and the gripper angle was corrected. It is expressed as follows:

[0067] (5)

[0068] in, Preset part gripping angles in the layout diagram;

[0069] Step S12-5: After the calculation is completed, the system verifies. If the robot's maximum working space (soft limit) is exceeded, and the check passes, communication will be conducted via Ethernet. The array is sent to the robot controller to execute the action; if it exceeds the range, an alarm is triggered and manual intervention is requested.

[0070] In the above steps, the translation and rotation deviations during the placement of the sheet material are compensated by the joint transformation of the rotation matrix and the translation vector, enabling the robot to accurately locate the actual position of the part, control the grasping error, and significantly improve the production yield.

[0071] By standardizing the angle and radian conversion and rotation matrix, the system can adapt to the placement status of different sized boards without the need for manual parameter adjustment, achieving flexible production of "placing and grabbing immediately".

[0072] like Figure 2 As shown, the geometric properties of the workpiece in step S3 of this embodiment include: the length of the workpiece. ,Width ;

[0073] Through the length of the workpiece ,Width This directly determines the physical space it occupies on the tray.

[0074] In step S3, to prevent interference caused by the workpieces being too close together, a safety gap is introduced when calculating the number of grids required for workpiece placement. ;

[0075] safety clearance These are preventative design parameters used to create buffer zones between workpiece edges and grid boundaries, and between adjacent workpieces, to avoid interference caused by mechanical errors or dynamic disturbances during gripping / placement, such as collisions or scratches.

[0076] Number of grid cells occupied by the workpiece in the row direction The calculation formula is as follows:

[0077] (6)

[0078] Number of grid cells occupied by the workpiece in the column direction The calculation formula is as follows:

[0079] (7)

[0080] By calculating and The direct input space search algorithm (step S4) is used to find continuous states in the two-dimensional state matrix. Free grid area.

[0081] In this implementation scheme, step S4, traversing the state matrix to find consecutive free regions, includes the following steps:

[0082] S41: Establish a two-dimensional state matrix ,in, For the number of pallet rows, Number of tray columns;

[0083] In the initial state, all elements Where 0 represents idle and 1 represents occupied, the occupancy status of the tray grid is mapped in real time to form a dynamic spatial map;

[0084] S42: The PC central control system retrieves data from the matrix index according to a preset strategy. Begin traversal;

[0085] The PC control system follows the preset strategy: priority is given to the same order and the same pallet; the pallet is filled first, and the bottom left corner is filled first, in the order of X-axis first and then Y-axis. Combined with the "prioritize filling the bottom left corner" strategy, it ensures that space filling progresses from the edge of the pallet to the center, reducing fragmented idle areas.

[0086] S43: For the currently visited index point First, boundary prediction is performed. The boundary prediction formula is as follows:

[0087] (8)

[0088] If not satisfied ,or If the system determines that the current starting point is invalid, it will skip that index point and continue traversing to the next index. And no subsequent space occupancy check is performed;

[0089] If the boundary conditions are met, that is... and When both conditions are met, the state matrix is ​​further read. The data in the corresponding region is obtained by calculating the sum of all elements within that region. To check if the idle condition is met;

[0090] like If the area is found to be idle, the judgment logic is as follows:

[0091] (9)

[0092] S44: If the idle condition is met, the location is determined to be available. The system locks the area and updates the status of the corresponding grid to occupied, resulting in the following formula:

[0093] (10)

[0094] S45: Returns the grid index of the starting point. Proceed to the next step of coordinate calculation.

[0095] If no region meeting the conditions is found after the traversal is completed, a "pallet full" signal is triggered, requesting a pallet replacement and triggering an alarm.

[0096] By prioritizing filling the lower left corner and employing a horizontal priority strategy, workpieces are arranged closely along the pallet edge, reducing "island-like" empty areas. Combined with dynamic virtual mesh allocation, space utilization is improved compared to traditional fixed meshes, making it particularly suitable for scenarios involving mixed coding of multi-specification parts.

[0097] (Formula 8) quickly eliminates invalid regions, avoiding redundant checks on indexes that exceed the boundaries; (Formula 9) replaces element-by-element traversal with matrix batch operations, significantly improving search speed.

[0098] In one embodiment, the step of converting the physical coordinates of the mesh center to the robot's world coordinate system target point in step S5 is as follows:

[0099] S51: Establish a local coordinate system for the pallet, with a corner point of the currently working unloading and stacking position as the origin. Establish a local rectangular coordinate system for the pallet;

[0100] Set tray origin The fixed coordinates in the robot world coordinate system are Since the robot is mounted on the seventh-axis track, this fixed coordinate includes the current position offset of the seventh-axis track. ;

[0101] S52: Based on the searched starting grid index The number of grid rows occupied by the workpiece , number of columns Calculate the theoretical center point of the workpiece in the local coordinate system of the pallet. The calculation formula is as follows:

[0102]

[0103] (11)

[0104] in, and These are the set length and width for a single virtual grid cell;

[0105] S53: Convert the local center point coordinates to the robot's world coordinate system target point. The calculation formula is as follows:

[0106] (12)

[0107] The translation from local coordinates to world coordinates is achieved by formula (12), ensuring that the robot is accurately positioned to the center of the pallet grid.

[0108] S54: Read the number of stacked layers k of the current target grid region, k is initially 0;

[0109] According to the workpiece thickness Calculate the target placement height The calculation formula is as follows:

[0110] (13)

[0111] After the calculation is completed, the system will ( , , The final placement target is sent to the robot controller, and the layer number record of that grid area is updated. .

[0112] In addition, the PC control system maintains the current stacking height value of each grid in its memory. After each placement, the height of the area is updated. The Z-axis descent depth of the robot placement action is dynamically adjusted according to the current stacking height value to prevent crushing of the bottom workpiece or falling from a height.

[0113] Through precise transformation between the local coordinate system and the world coordinate system, combined with the seventh axis orbital offset Real-time compensation reduces XYZ three-axis positioning errors.

[0114] By stacking height Dynamic calculation and number of layers It provides real-time updates, supports multi-layer mixed code scenarios, and automatically adjusts the height of each layer to avoid manual intervention and improve production continuity.

[0115] By combining (Formula 11) with the virtual meshing algorithm, the workpieces are arranged compactly on the pallet, reducing the empty areas at the edges.

[0116] Formulas (12) and (13) enable rapid adaptation of pallets and workpieces of different sizes.

[0117] See also, Figure 3-4 An adaptive robotic palletizing system for sheet metal parts, comprising:

[0118] Robotic palletizing system 1 is used to handle the unloading work after cutting;

[0119] Laser cutting machine 2, used for cutting materials;

[0120] The PC-based central control system is used to control the robotic palletizing system 1 and the laser cutting machine 2.

[0121] The robot palletizing system (1) includes a seventh-axis track (11), multiple unloading and palletizing positions (12) arranged parallel to the seventh-axis track (11), a six-axis robot (13) movable on the seventh-axis track (11), and a robot sorting gripper (14) at the end of the six-axis robot (13).

[0122] In actual operation, the laser cutting machine 2 cuts the sheet metal parts according to the processing drawings issued by the PC control system to generate workpieces to be stacked; after the cutting is completed, the workpieces are transported to the stacking position 12 of the robot stacking system 1.

[0123] See Figure 4 and Figure 5 As shown, in one embodiment, a slidable slide (15) is provided on the seventh axis track (11), and the robot sorting gripper (14) is provided above the slide (15). The slide (15) is used to drive the sorting gripper (14) to move along the length of the seventh axis track (11).

[0124] The PC control system plans the target position of the six-axis robot 13 based on the workpiece size, palletizing position status and order priority. By starting the slide (15), the six-axis robot 13 is driven to move along the seventh axis track 11, so that the six-axis robot 13 can quickly reach the target unloading and palletizing position 12.

[0125] See Figure 6 In one embodiment, the robot sorting gripper 14 includes a power mechanism 141, a transmission arm 142, and an execution mechanism 143 arranged sequentially from top to bottom. The power mechanism 141 is used to drive the transmission arm 142 to move along the length direction of the power mechanism 141, and the execution mechanism 143 is used to adsorb workpieces.

[0126] As shown in Figure 6, specifically, in this embodiment, the transmission arm 142 is slidably disposed at the bottom of the power mechanism 141.

[0127] In practical use, the transmission arm 142 is used to connect the actuator 143.

[0128] like Figure 7 As shown, specifically, the actuator 143 in this embodiment includes a suction cup connecting plate 1431, which is connected to the flange connecting plate 1425 by screws. A plurality of suction cup connecting rods 1432 are arranged in an array around the periphery of the suction cup connecting plate 1431, and the bottom end of the suction cup connecting rod 1432 is connected to a suction cup 1433.

[0129] It should be noted that the vacuum suction cup 1433 of the actuator 143 can work independently or in conjunction with others.

[0130] Multiple suction cup connecting rods 1432 are arranged in a rectangular array around the suction cup connecting plate 1431. The suction cup 1433 is connected to the bottom end of the suction cup connecting rod 1432 by threads. The suction cup 1433 is made of corrugated silicone material, which can compensate for minor unevenness on the surface of the workpiece and ensure sealing.

[0131] The suction cup connecting plate 1431 has a vacuum channel inside, which is connected to an external vacuum generator through a quick connector to realize the suction / release action of the suction cup 1433.

[0132] In this embodiment, the suction cup 1433 is connected to the valve island via an independent air pipe.

[0133] Each suction cup 1433 is individually connected to the valve island via an air tube. The valve island integrates 16 solenoid valves (Festo MFH-5-1 / 8), with each solenoid valve corresponding to one suction cup 1433. It supports 24V DC pulse control and can independently control the suction / release of the suction cup. Air is supplied to the valve island through a two-stage vacuum pump to ensure the cleanliness of the air path.

[0134] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0135] It should be noted that all formulas in this manual are calculated by removing dimensions and taking their numerical values. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters and thresholds in the formulas are set by those skilled in the art according to the actual situation.

[0136] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for adaptive robot palletizing control of sheet metal parts, characterized in that, Includes the following steps: S1: Read the controller data of the laser cutting machine and obtain the edge finding results: S2: Based on the pre-set physical dimensions of the material unloading and stacking positions and the effective coverage size of the single-sided gripper, a safety redundancy is set, and the physical stacking positions are divided into standardized virtual grid units. S3: Calculate the number of grids required for workpiece placement based on the geometric properties of the currently gripped workpiece; S4: Use a spatial search algorithm to traverse the state matrix and find continuous free regions; S5: After finding the target mesh index, convert the center physical coordinates of the mesh into the robot's world coordinate system target point.

2. The adaptive robot palletizing control method for sheet metal parts as described in claim 1, characterized in that: The edge finding result in step S1 is obtained through the following steps: S11: The laser cutting machine performs edge finding on the sheet material and calculates the actual origin offset and rotation angle of the sheet material in the machine tool coordinate system; S12: The robot control algorithm combines the theoretical part coordinates in the layout drawing with the actual origin offset and rotation angle to perform matrix transformation, thereby obtaining the actual grasping coordinates.

3. The sheet metal parts adaptive robot palletizing control method as described in claim 2, characterized in that: The calculation method for the actual origin offset and rotation angle of the plate in the machine tool coordinate system in step S11 is as follows: Set the overall offset of the sheet material fed back by the laser cutting machine to... Rotation angle deviation The theoretical grasping point of the robot is set as follows: The actual target coordinates sent to the robot The calculation is as follows:

4. The adaptive robot palletizing control method for sheet metal parts as described in claim 2, characterized in that: The calculation process of the robot control algorithm in step S12 includes the following steps: Step S12-1: Set the theoretical coordinate system of the laser cutting layout file as follows The theoretical coordinates of the center point of the part to be grasped are: Set the robot's world coordinate system as ; The edge-finding compensation data read from the laser cutting machine controller in step S11 includes: Translational offset of the actual zero point of the board relative to the theoretical zero point Rotational angle deviation of the sheet metal edge relative to the X-axis of the machine tool In this system, counterclockwise is positive and clockwise is negative; Step S12-2: To achieve a precise mapping from theoretical coordinates to the robot's actual grasping coordinates, the control algorithm first determines the rotation angle deviation. Constructing a two-dimensional rotation matrix ; Considering that industrial controllers typically use radians, angles need to be converted to radians beforehand. The conversion process is as follows: Rotation matrix Represented as: Step S12-3: The system will assign theoretical coordinates to each part. Substitute coordinates The calculation yields the following formula: Step S12-4: To ensure the suction cup direction is parallel to the edge of the inclined plate, in addition to the position coordinates... In addition to corrections, the gripping angle of the robot's end effector was also adjusted. Compensation was performed, and the gripper angle was corrected. It is expressed as follows: in, Preset part gripping angles in the layout diagram; Step S12-5: After the calculation is completed, the system verifies. If the robot's maximum workspace is exceeded, and the check passes, communication will be conducted via Ethernet. The array is sent to the robot controller to execute the action; if it exceeds the range, an alarm is triggered and manual intervention is requested.

5. The sheet metal parts adaptive robot palletizing control method as described in claim 1, characterized in that: The geometric properties of the workpiece in step S3 include: the length of the workpiece. ,Width ; In step S3, to prevent interference caused by the workpieces being too close together, a safety gap is introduced when calculating the number of grids required for workpiece placement. ; Number of grid cells occupied by the workpiece in the row direction The calculation formula is as follows: Number of grid cells occupied by the workpiece in the column direction The calculation formula is as follows: 。 6. The sheet metal parts adaptive robot palletizing control method as described in claim 5, characterized in that: Step S4, which involves traversing the state matrix to find consecutive free regions, includes the following steps: S41: Establish a two-dimensional state matrix ,in, For the number of pallet rows, Number of tray columns; In the initial state, all elements In this context, 0 represents free space and 1 represents occupied space. S42: The PC central control system retrieves data from the matrix index according to a preset strategy. Begin traversal; S43: For the currently visited index point First, boundary prediction is performed. The boundary prediction formula is as follows: If not satisfied ,or If the system determines that the current starting point is invalid, it will skip that index point and continue traversing to the next index. And no subsequent space occupancy check is performed; If the boundary conditions are met, that is... and When both conditions are met, the state matrix is ​​further read. The data in the corresponding region is obtained by calculating the sum of all elements within that region. To check if the idle condition is met; like If the area is found to be idle, the judgment logic is as follows: S44: If the idle condition is met, the location is determined to be available. The system locks the area and updates the status of the corresponding grid to occupied, resulting in the following formula: S45: Returns the grid index of the starting point. Proceed to the next step of coordinate calculation.

7. The sheet metal parts adaptive robot palletizing control method as described in claim 6, characterized in that: The steps in step S5 to convert the physical coordinates of the mesh center to the robot's world coordinate system target point are as follows: S51: Establish a local coordinate system for the pallet, with a corner point of the currently working unloading and stacking position as the origin. Establish a local rectangular coordinate system for the pallet; Set tray origin The fixed coordinates in the robot world coordinate system are Since the robot is mounted on the seventh-axis track, this fixed coordinate includes the current position offset of the seventh-axis track. ; S52: Based on the searched starting grid index The number of grid rows occupied by the workpiece , number of columns Calculate the theoretical center point of the workpiece in the local coordinate system of the pallet. The calculation formula is as follows: in, and These are the set length and width for a single virtual grid cell; S53: Convert the local center point coordinates to the robot's world coordinate system target point. The calculation formula is as follows: S54: Read the number of stacked layers k of the current target grid region, k is initially 0; According to the workpiece thickness Calculate the target placement height The calculation formula is as follows: After the calculation is completed, the system will ( , , The final placement target is sent to the robot controller, and the layer number record of that grid area is updated. .

8. A sheet metal adaptive robot palletizing system, based on the sheet metal adaptive robot palletizing control method according to any one of claims 1-7, characterized in that, include: Robotic palletizing system (1) is used to undertake the unloading work after cutting; Laser cutting machine (2), used for cutting materials; The PC control system is used to control the robot palletizing system (1) and the laser cutting machine (2).

9. The sheet metal adaptive robot palletizing system as described in claim 8, characterized in that: The robot palletizing system (1) includes a seventh-axis track (11), multiple unloading and palletizing positions (12) arranged parallel to the seventh-axis track (11), a six-axis robot (13) movable on the seventh-axis track (11), and a robot sorting gripper (14) at the end of the six-axis robot (13).

10. The sheet metal adaptive robot palletizing system as described in claim 8, characterized in that: A sliding table (15) is provided on the seventh axis track (11), and the robot sorting gripper (14) is located above the sliding table (15). The sliding table (15) is used to drive the sorting gripper (14) to move along the length of the seventh axis track (11).

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