A control method and control system for an intelligent industrial robot

Abstract

A control method and control system for an intelligent industrial robot, wherein a second clamping part is arranged in the middle of the first clamping parts of the workstation box on both sides, and a weighing element is arranged inside a transmission line; the workstation box is transmitted on the transmission line, and an industrial robot is arranged on the left and right sides of each transmission line, and the industrial robot between two adjacent transmission lines is a mobile robot shared by the two adjacent transmission lines; when the workstation box is not overweight, the industrial robot as the main operating machine of the transmission line is controlled to grasp the workstation box that is not overweight through the second clamping part in the middle, and when the workstation box is overweight, the industrial robot as the main operating machine of the transmission line and the industrial robot operating the auxiliary machine are controlled to grasp the overweight workstation box through the first clamping parts on both sides. The present invention can reduce the number of industrial robots and the space they occupy, reduce the probability of failure of industrial robots, and reduce maintenance costs.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to an intelligent industrial robot control method and control system. Background Art

[0002] The stacking, loading, and transfer of workpieces in factories are increasingly being performed by industrial robots. Figure 1 It is an industrial robot system used in existing stacking workshops. As can be seen from the figure, the workshop has multiple groups of transmission lines 2, and there is an industrial robot 1 on both sides of each group of transmission lines. The workstation boxes 3 containing workpieces are continuously transported from the transmission lines 2 to the side of the industrial robots 1. The two industrial robots 1 each clamp the first clamping part 4 on both sides of the workstation box 3 through the clamping head 5, and together deliver the workstation box 3 to the loading truck or stacking rack.

[0003] In the above scheme, two industrial robots cooperate to lift and place the workstation box because the original workstation box is often overweight due to the workpieces contained in it, which exceeds the load of one industrial robot.

[0004] Although in the above solution, two industrial robots collaborate to lift and place the workstation box to maintain the continued use of the existing low-load, small-size industrial robots, but in fact, since each transmission line is equipped with an additional industrial robot, the number of industrial robots occupied is still relatively large. Moreover, the more transmission lines there are, the more industrial robots are occupied. The more industrial robots there are, the higher the probability of downtime due to failure, and the higher the maintenance cost. Summary of the invention

[0005] In order to solve the problems raised by the background technology, the present invention provides an intelligent industrial robot control method and control system, which can reduce the number of industrial robots and the probability of failure of industrial robots without affecting the transfer station box.

[0006] The objectives of the present invention are achieved through the following technical solutions.

[0007] A control method for an intelligent industrial robot, comprising:

[0008] S1. Equipment transformation

[0009] A second clamping part is arranged in the middle of the first clamping parts on both sides of the workstation box, and a weighing element is arranged inside the transmission line;

[0010] The workstation boxes are transmitted on a transmission line, which includes multiple parallel transmission lines. An industrial robot is arranged on each of the left and right sides of each transmission line. The industrial robot between two adjacent transmission lines is a mobile robot shared by the two adjacent transmission lines. At least one of the mobile robots serves as the operating host of one of the two adjacent transmission lines and the operating auxiliary of the other transmission line.

[0011] S2. Work control

[0012] During operation, the weighing element weighs each workstation box transmitted to the robot workstation of the transmission line, and feeds back the weight information to the controller in real time. When the controller identifies that the workstation box is not overweight, the controller controls the industrial robot serving as the main operating machine of the transmission line to grab the workstation box that is not overweight through the second clamping part in the middle. When the controller identifies that the workstation box is overweight, the controller controls the industrial robot serving as the main operating machine of the transmission line and the industrial robot serving as the auxiliary operating machine of the transmission line to grab the overweight workstation box through the first clamping parts on both sides.

[0013] Regarding the working mode of the industrial robot operating the host, in S2, the industrial robot serving as the host operating the transmission line moves the workstation box that is not overweight to the loading truck or stacking rack, and then returns to the preset initial position.

[0014] In order to facilitate the stable transfer of the workstation box from the transmission line to the loading truck or stacking rack, in S2, the output ends of the industrial robot serving as the main machine for operating the transmission line and the industrial robot serving as the auxiliary machine for operating the transmission line are always located on the same horizontal plane when they grab the workstation box together.

[0015] The installation position of the weighing element is as follows: in S1, the weighing element is installed below the conveyor belt in the transmission line.

[0016] An intelligent industrial robot control system is used to implement the above-mentioned intelligent industrial robot control method, including multiple industrial robots, multiple transmission lines and controllers electrically connected to the industrial robots. An industrial robot is arranged between adjacent transmission lines as a shared mobile robot, and multiple industrial robots are arranged in parallel.

[0017] Regarding the clamping method of the industrial robot clamping station box, the output end of each industrial robot is a pneumatic material picking gripper.

[0018] The specific structure of the above-mentioned pneumatic material picking clamp is that the pneumatic material picking clamp includes at least two groups of symmetrically arranged clamps, which can clamp the first clamping part or the second clamping part of the workstation box.

[0019] The specific structure of the clamp is that the side of the clamp in contact with the station box is a clamping surface, on which a stopper is provided, and the upper surface of the stopper is a plane, and the stopper is used to support and prevent the station box from falling after clamping.

[0020] The beneficial effects of the present invention are:

[0021] The mobile industrial robot of the present invention serves as the operating host of an adjacent transmission line, and is used to grab the workstation boxes on the transmission line that are not overweight. It can also be used to cooperate with the industrial robot of the operating host of the transmission line on the other side adjacent to it to grab the workstation boxes thereon. It can reduce the number of industrial robots and the space they occupy, reduce the probability of failure of industrial robots, and reduce maintenance costs without affecting the transfer of workstation boxes.

[0022] The second clamping part of the industrial robot of the transmission line operation host clamps the workstation box that is not overweight, which can stably transport a single workstation box without using two industrial robots for the transport operation;

[0023] By setting up multiple transmission lines and arranging an industrial robot between adjacent transmission lines, it is possible to avoid the interference between two industrial robots located on the same side of the transmission line when grasping and placing the work box in the prior art, thereby increasing the working space of each industrial robot and facilitating the stable and accurate placement of the work box on the loading truck or stacking rack. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the prior art;

[0025] Figure 2 It is a structural schematic diagram of the present invention;

[0026] Figure 3 for Figure 2 Enlarged structural diagram at A in the middle.

[0027] The components represented by the reference numerals in the figure are:

[0028] 1. Industrial robot; 11. Clamping claw; 12. Stopper; 13. Anti-slip protrusion; 2. Transmission line; 3. Work station box; 4. First clamping part; 5. Second clamping part; 6. Weighing element. DETAILED DESCRIPTION

[0029] The exemplary embodiments of the present invention will be described in more detail below in conjunction with the accompanying drawings. It should be noted that these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art. The present invention can be implemented in various forms and should not be limited by the embodiments described herein.

[0030] Example 1

[0031] This embodiment first provides a control method for an intelligent industrial robot, including:

[0032] S1. Equipment transformation

[0033] A second clamping portion 5 is arranged in the middle of the first clamping portions 4 on both sides of the work station box 3, and a weighing element 6 is arranged inside the transmission line 2. The weighing element 6 is a weight sensor installed inside the transmission line 2. For a transmission line using a conveyor belt, the weighing element 6 is installed below the conveyor belt.

[0034] Among them, the workstation box 3 is transmitted on the transmission line 2, which includes multiple parallel transmission lines. An industrial robot 1 is arranged on the left and right sides of each transmission line 2, and the industrial robot 1 between two adjacent transmission lines 2 is a mobile robot shared by the two adjacent transmission lines 2.

[0035] In the present embodiment, the transmission lines 2 include more than three parallel transmission lines, and at least one mobile robot serves as the operating host of one of the two adjacent transmission lines 2 and the operating auxiliary machine of the other transmission line 2. For example, as an implementation mode, all the mobile robots in the two adjacent transmission lines 2 have the task allocation of the operating host and the operating auxiliary machine. In this case, the operating host of each transmission line 2 can be arranged on the same side of the two sides of its corresponding transmission line.

[0036] S2. Work control

[0037] S21. During operation, the weighing element 6 weighs each workstation box 3 of the robot workstation transmitted to the transmission line 2, and feeds back the weight information to the controller in real time;

[0038] S22, when the controller recognizes that the workstation box 3 is not overweight, the controller controls the industrial robot 1 as the main operating host of the transmission line 2 to separately grasp the workstation box 3 that is not overweight through the second clamping part 5 in the middle, and the industrial robot 1 as the main operating host of the transmission line 2 moves the workstation box 3 that is not overweight to the loading vehicle or the stacking rack, and then returns to the preset initial position;

[0039] When the controller recognizes that the work box 3 is overweight, it controls the industrial robot 1 serving as the main operating machine of the transmission line 2 and the industrial robot 1 serving as the auxiliary operating machine of the transmission line 2 to grasp the overweight work box 3 through the first clamping parts 4 on both sides, move the overweight work box 3 to the loading truck or stacking rack, and then return to the preset initial position, and continue to execute step S21 until all the work boxes 3 are transferred.

[0040] Under the premise of satisfying the control method provided in this embodiment, in principle, there are no restrictions on the grasping structure of the industrial robot and the shape of the work station box, the shape of the clamping part, etc. Different schemes may need to be designed in different factories or workshops. However, in order to facilitate the stable transfer of the work station box 3 from the transmission line 2 to the loading truck or stacking rack, in S2, it is preferred to set the output ends of the industrial robot 1 serving as the main machine for operating the transmission line 2 and the industrial robot 1 serving as the auxiliary machine for operating the transmission line 2 to always be located in the same horizontal plane when they grasp the work station box 3 together, so that the work station box 3 does not tilt during the grasping and placing process.

[0041] As another implementation mode, it is also possible to set one of the mobile robots to have the task allocation of operating the auxiliary machine only, and the other mobile robots to have the task allocation of operating the main machine and the auxiliary machine. In this case, the operating host of a transmission line 2 and the operating hosts of other transmission lines 2 will be on different sides of the transmission lines to which they correspond. However, the advantage of providing this implementation mode is that the controller can be used to switch between the two implementation modes introduced above, so that when the failure rate of a certain industrial robot 1 is high, it can be adjusted to have the task allocation of operating only the auxiliary machine.

[0042] In summary, since overloading is a rare occurrence, the solution provided by the present invention through Example 1 can reduce the number of industrial robots and the space they occupy, reduce the probability of failure of industrial robots, and reduce maintenance costs without affecting the transfer station box. In addition, the controller in the present invention will also summarize and analyze the weight information of the station box collected by the weight sensor, and calculate the overweight ratio data and overweight data of the station box loading of each transmission line in real time. This data can not only be used as safety production warning data and reference data for transmission line function planning, but can also be combined to automatically identify large or high-density cargo centralized transportation scenarios, and assist the production management system in optimizing the circulation plan of loading vehicles.

[0043] Example 2

[0044] This embodiment also provides an intelligent industrial robot control system for implementing the intelligent industrial robot control method of embodiment 1, see Figure 1 and Figure 2As shown, it includes multiple industrial robots 1, multiple transmission lines 2 and controllers electrically connected to the industrial robots 1. An industrial robot 1 is arranged between adjacent transmission lines 2 as the mobile robot mentioned above, and multiple industrial robots 1 are arranged in parallel. The weighing element 6 is a weight sensor built into the bottom of the conveyor belt of the transmission line, which is connected to the controller for communication. The controller determines whether each workstation box 3 is overloaded according to the weight sensor signal. The figure shows the position of the weight sensor at the end of the transmission line. The present invention also has a weight sensor at the front section (or the middle section / middle-rear section) of the transmission line as the first inspection weight sensor. The controller can more easily obtain the overweight distribution information of the workstation box 3 on the adjacent transmission line before it reaches the grasping position according to the first inspection weight sensor signal, which is convenient for timely planning the standby posture of the industrial robot 1 and reducing the waiting time. The weight sensor at the end of the transmission line is the final verification weight sensor, which can also timely identify abnormal weight changes during the cargo transmission process to provide emergency processing basis for the controller.

[0045] The working procedure of the controller in this embodiment is set as follows: when it is identified that the workstation box 3 is not overweight, the industrial robot 1 as the main machine for operating the transmission line 2 is controlled to grasp the workstation box 3 that is not overweight through the second clamping part 5 in the middle, and the industrial robot 1 as the main machine for operating the transmission line 2 moves the workstation box 3 that is not overweight to the loading vehicle or stacking rack, and then returns to the preset initial position. When the controller identifies that the workstation box 3 is overweight, the industrial robot 1 as the main machine for operating the transmission line 2 and the industrial robot 1 as the auxiliary machine for operating the transmission line 2 are controlled to grasp the overweight workstation box 3 through the first clamping parts 4 on both sides, move the overweight workstation box 3 to the loading vehicle or stacking rack, and then return to the preset initial position.

[0046] In the present embodiment, as an example but not a limitation, regarding the clamping method of the industrial robot 1 for clamping the workstation box 3, the output end of each industrial robot 1 is a pneumatic material picking claw 11. The pneumatic material picking claw 11 has a fast response and a strong clamping force, and is suitable for the industrial robot 1 serving as the main machine for operating the transmission line 2 in the present embodiment and the industrial robot 1 serving as the auxiliary machine for operating the transmission line 2 to grasp the workstation box 3.

[0047] See also Figure 3As shown, the specific structure of the pneumatic material-retrieving clamp 11 can be that the pneumatic material-retrieving clamp 11 includes at least two groups of symmetrically arranged clamps 11, which can clamp the first clamping part 4 or the second clamping part 5 of the work station box 3. The two first clamping parts 4 and one second clamping part 5 on the same work station box 3 have the same structure, which can be a concave clamping structure or a convex clamping structure. The specific structure of the clamp 11 is that the side of the clamp 11 in contact with the work station box 3 is a clamping surface, on which a stopper 12 is provided, and the structure of the stopper 12 can be triangular. The upper surface of the stopper 12 of the same clamp 11 is a plane, and when clamping the first clamping part 4 or the second clamping part 5, the upper surface of the stopper 12 can be on the same horizontal plane to prevent the work station box 3 from falling off. The upper surface is also provided with an anti-slip protrusion 13, and when clamping the work station box 3, the part in contact with the work station box 3 can play an anti-slip role. In addition, as mentioned above, in different factories or workshops, the working conditions may be different, and the grasping structure of the industrial robot, the shape of the work box, the shape of the clamping part, etc. may all require different design solutions. For example, when the height of the clamping part must not exceed the upper surface of the frame of the work box 3 due to stacking requirements, or when clamping is required on both sides of the work box just for the stability of clamping, it may be necessary to design a clamping claw structure with a widened crossbeam to adapt to the clamping position. Therefore, the protection scope of the present invention should be understood to include these variations.

[0048] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A control method for an intelligent industrial robot, characterized in that: include: S1. Equipment transformation A second clamping portion (5) is arranged at a position in the middle of the first clamping portions (4) on both sides of the workstation box (3), and a weighing element (6) is arranged inside the transmission line (2); The workstation box (3) is transmitted on the transmission line (2), the transmission line (2) includes a plurality of parallel transmission lines, and an industrial robot (1) is arranged on each of the left and right sides of each transmission line (2), and the industrial robot (1) between two adjacent transmission lines (2) is a mobile robot shared by the two adjacent transmission lines (2), and at least one of the mobile robots serves as an operating host for one of the two adjacent transmission lines (2) and an operating auxiliary for the other transmission line; S2. Work control During operation, the weighing element (6) weighs each workstation box (3) of the robot workstation transmitted to the transmission line (2), and feeds back the weight information to the controller in real time. When the controller recognizes that the workstation box (3) is not overweight, it controls the industrial robot (1) as the main machine for operating the transmission line (2) to grasp the workstation box (3) that is not overweight through the second clamping part (5) in the middle. When the controller recognizes that the workstation box (3) is overweight, it controls the industrial robot (1) as the main machine for operating the transmission line (2) and the industrial robot (1) as the auxiliary machine for operating the transmission line (2) to grasp the overweight workstation box (3) through the first clamping parts (4) on both sides.

2. The intelligent industrial robot control method according to claim 1, characterized in that: In S2, the industrial robot (1) serving as the main operating host of the transmission line (2) moves the workstation box (3) that is not overweight to the loading vehicle or the stacking rack, and then returns to the preset initial position.

3. The intelligent industrial robot control method according to claim 2, characterized in that: In S2, the output ends of the industrial robot (1) serving as the main machine for operating the transmission line (2) and the industrial robot (1) serving as the auxiliary machine for operating the transmission line (2) are always located on the same horizontal plane when they grab the workstation box (3) together.

4. The intelligent industrial robot control method according to claim 1, characterized in that: In S1, a weighing element (6) is installed below the conveyor belt in the transmission line (2).

5. An intelligent industrial robot control system for implementing the intelligent industrial robot control method according to any one of claims 1 to 4, comprising a plurality of industrial robots (1), a plurality of transmission lines (2) and a controller electrically connected to the industrial robots (1), characterized in that: An industrial robot (1) is arranged between adjacent transmission lines (2) as a shared mobile robot, and a plurality of industrial robots (1) are arranged in parallel.

6. The intelligent industrial robot control system according to claim 5, characterized in that: The output end of each industrial robot (1) is a pneumatic material-grabbing gripper.

7. The intelligent industrial robot control system according to claim 6, characterized in that: The pneumatic material-taking clamping jaws comprise at least two groups of symmetrically arranged clamping jaws (11) capable of clamping a first clamping portion (4) or a second clamping portion (5) of a workstation box (3).

8. The intelligent industrial robot control system according to claim 7, characterized in that: The side of the clamping claw (11) in contact with the work station box (3) is a clamping surface, on which a stopper (12) is provided, and the upper surface of the stopper (12) is a plane.

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