Mechanical arm control method and system for freeze-drying ball conveying

Abstract

The invention relates to the technical field of mechanical arm control, and discloses a mechanical arm control method and system for freeze-drying ball conveying, and the method comprises the steps that a mechanical arm conveys a disc loaded with freeze-drying balls at a set moving speed; in the conveying process, the conveying state of the disc is monitored in real time and judged, and a judgment result is obtained; the set moving speed of the mechanical arm is adjusted according to the judgment result, so that the conveying state of the disc meets the set condition; the set conditions include that the freeze-drying balls can be always located on the disc in the conveying process of the disc. When the mechanical arm works, the mechanical arm works at the set moving speed, the situation that the conveying stability is affected due to the fact that the mechanical arm moves too fast is prevented, and the situation that the production efficiency is affected due to the fact that the mechanical arm moves too slow is prevented; by monitoring the mechanical arm and controlling and adjusting the moving speed, the influence on the stability of the disc in the moving process of the mechanical arm can be reduced, the freeze-drying balls can be always kept on the disc, and the situation that the freeze-drying balls fall off is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arm control, and more specifically, to a robot arm control method and system for freeze-dried ball transportation. Background Art

[0002] Existing freeze-dried ball feeding is mostly done manually. Workers rely on experience and attention during the assembly process, and are easily affected by fatigue and lack of concentration, resulting in human errors such as adding the wrong type of freeze-dried ball. In addition, pure manual feeding depends on the proficiency of workers and is inefficient. At the same time, the need to hire a large number of workers also increases labor costs. In order to improve the above problems, the robot arm and the automated control system can accurately and efficiently complete the feeding process of the freeze-dried balls, reduce human errors, improve production efficiency, and reduce labor costs.

[0003] When the robot arm is conveying the uncoated disk loaded with freeze-dried balls, since the disk loaded with freeze-dried balls is shallow, if the robot arm has poor movement stability, the freeze-dried balls are easy to fall off the disk, affecting production efficiency. Therefore, it is necessary to propose a robot arm control method and system for conveying freeze-dried balls to at least partially solve the problems existing in the prior art. Summary of the invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0005] In order to at least partially solve the above problems, the present invention provides a robot arm control method for freeze-dried ball transportation, comprising:

[0006] The robotic arm transports the disk loaded with freeze-dried spheres at a set moving speed;

[0007] During the conveying process, the conveying state of the disc is monitored and judged in real time to obtain the judgment result;

[0008] According to the judgment result, the set moving speed of the robot arm is adjusted so that the conveying state of the disc meets the set conditions;

[0009] The set conditions include: during the transportation of the disc, the freeze-dried balls can always be located on the disc.

[0010] Preferably, the robot arm transports the disk loaded with freeze-dried spheres at a set moving speed, comprising:

[0011] According to the first posture information when the robot arm grabs the disk and the second posture information when the robot arm places the disk, the set moving distance of each joint of the robot arm is obtained;

[0012] According to the set moving distance of each joint and the set moving time of each joint, the set moving speed of each joint is obtained; the set moving time of each joint is within its corresponding set range;

[0013] The robot arm transports the disk loaded with freeze-dried spheres according to the set movement speed of each joint.

[0014] Preferably, the conveying state of the disc is monitored and judged in real time during the conveying process to obtain the judgment result, including:

[0015] During the transportation process, the disc loaded with freeze-dried balls is subjected to vibration monitoring to obtain vibration information;

[0016] Determine whether the vibration information meets the preset standard and obtain a determination result.

[0017] Preferably, the vibration information includes: vibration data of the disk corresponding to each joint movement of the robot arm.

[0018] Preferably, determining whether the vibration information meets a preset standard and obtaining a determination result includes:

[0019] Determine whether the vibration data of the disk corresponding to each joint movement of the robot arm meets the preset standard;

[0020] If the vibration data of the disk corresponding to each joint movement meets the preset standard, the judgment result is that the set moving speed of the robot arm does not need to be adjusted. If the vibration data corresponding to at least one joint movement does not meet the preset standard, the judgment result is that the set moving speed of the joint corresponding to the robot arm needs to be adjusted.

[0021] Preferably, the vibration monitoring of the disk loaded with freeze-dried spheres comprises:

[0022] Acquire multiple frames of disk images corresponding to each joint movement, and obtain monitoring points on each frame of the disk image;

[0023] The vibration data of the disk is obtained according to the motion information of the monitoring points on the multi-frame disk images when each joint moves.

[0024] Preferably, the set condition also includes: the total transport time used by the robot arm to transport the disc loaded with freeze-dried balls from the initial position to the end position is less than or equal to the preset transport time.

[0025] Preferably, the set moving speed of the robot arm is adjusted according to the judgment result so that the conveying state of the disc meets the set conditions, including:

[0026] When the judgment result is that the set moving speed of the joint corresponding to the robot arm needs to be adjusted, the adjusted moving time corresponding to the adjusted joint is obtained, and the total conveying time used by the robot arm to convey the disk loaded with freeze-dried balls from the initial position to the end position is compared with the preset conveying time;

[0027] If the total transport time is greater than the preset transport time, the set moving speeds of the remaining one or more joints need to be adjusted so that the total transport time is less than or equal to the preset transport time.

[0028] Preferably, the method further includes: monitoring a first position of a clamping assembly on the robot arm when clamping a disk and a second position when placing the disk, and adjusting the current posture of the robot arm when an error occurs in either the first position or the second position.

[0029] A robotic arm control system for freeze-dried ball transportation, comprising:

[0030] A preset module is used to set the moving speed of the robot arm so that it can transport the disk loaded with freeze-dried balls at the set moving speed;

[0031] A monitoring and judging module is used to monitor and judge the conveying status of the disc in real time during the conveying process to obtain a judgment result;

[0032] A control module, used to adjust the set moving speed of the robot arm according to the judgment result, so that the conveying state of the disc meets the set conditions;

[0033] The set conditions include: during the transportation of the disc, the freeze-dried balls can always be located on the disc.

[0034] Compared with the prior art, the present invention has at least the following beneficial effects:

[0035] According to the robot control method and system for freeze-dried ball transportation described in the present invention, the moving speed of the robot can be set before the robot works, so that it can work at the set moving speed during work, preventing the robot from moving too fast and affecting the stability of transportation, and preventing the robot from moving too slowly and affecting production efficiency; by monitoring the robot and controlling and adjusting the moving speed, the impact of the robot on the stability of the disc during movement can be reduced, so that the freeze-dried balls can always remain on the disc, preventing the freeze-dried balls from falling.

[0036] The robotic arm control method and system for freeze-dried ball transportation described in the present invention, and other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technicians in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0038] Figure 1 The overall structural diagram of a freeze-dried ball feeding device using the robot arm control method for freeze-dried ball transportation of the present invention is shown;

[0039] Figure 2 A schematic diagram of the top view of a freeze-dried ball feeding device using the robot arm control method for freeze-dried ball transportation of the present invention;

[0040] Figure 3 This is a flow chart of the robot arm control method for freeze-dried ball transportation according to the present invention;

[0041] Figure 4 This is a flow chart of step S1 in the robot arm control method for freeze-dried ball transportation according to the present invention;

[0042] Figure 5 This is a flow chart of step S2 in the robot arm control method for freeze-dried ball transportation according to the present invention;

[0043] Figure 6 This is a flow chart of step S22 in the robot arm control method for freeze-dried ball transportation according to the present invention;

[0044] Figure 7 This is a flow chart of step S21 in the robot arm control method for freeze-dried ball transportation described in the present invention. DETAILED DESCRIPTION

[0045] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0046] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0047] like Figure 3 As shown, the present invention provides a robot arm control method for freeze-dried ball transportation, which is applied to freeze-dried ball feeding equipment, including:

[0048] S1, the robot arm transports the disk 6 loaded with freeze-dried balls at a set moving speed;

[0049] S2, during the conveying process, the conveying state of the disc 6 is monitored and judged in real time to obtain a judgment result;

[0050] S3, adjusting the set moving speed of the robot arm according to the judgment result so that the conveying state of the disk 6 meets the set conditions;

[0051] The set conditions include: during the transportation of the disc 6 , the freeze-dried balls can always be located on the disc 6 .

[0052] like Figure 1 and Figure 2 As shown, the freeze-dried ball feeding equipment includes: a first mechanical arm 1, a second mechanical arm 2, a third mechanical arm 3, a large indexing plate 4, a small indexing plate 5, a disc 6, a freeze-dried ball feeding device 7, a film sticking machine 8, a labeling machine 9, a disc silo 10, and an operating table 11. The large indexing plate 4 is provided with a first mechanical arm 1 and a second mechanical arm 2, a disc storage bin is provided on the large indexing plate 4 and located on one side of the first mechanical arm 1, the operating table 11 is provided with a third mechanical arm 3 and a disc silo 10, a plurality of freeze-dried ball feeding devices 7 are provided on the large indexing plate 4, a small indexing plate 5 is concentrically connected in the middle of the large indexing plate 4, a plurality of disc placement slots 12 are provided on the small indexing plate 5, and the disc placement slots 10 are used to place the discs 6, and a film sticking machine 8, a labeling machine 9 and an operating table 11 are sequentially provided on one side of the large indexing plate 4;

[0053] The discs 6 are transported between the film laminating machine 8, the labeling machine 9 and the operating table 11 through a conveying mechanism, so as to sequentially laminat, label and stack the discs 6 loaded with freeze-dried balls.

[0054] When the freeze-dried ball feeding device is working, the small indexing plate 5 rotates at a set speed and a set angle, and the discs 6 located in the disc storage bin are sequentially transported to the multiple disc placement slots 12 through the first mechanical arm 1. Then, as the small indexing plate 5 rotates, the discs 6 can be sequentially rotated to the bottom of the freeze-dried ball feeding device 7 corresponding to the type of freeze-dried balls to be added, and the freeze-dried balls of the required type are added. After the addition is completed, the disc 6 rotates to the bottom of the second mechanical arm 2, and the clamping assembly (for example, The disc 6 is clamped by a suction nozzle, and then the disc 6 loaded with the freeze-dried balls is transported to the conveying mechanism (such as a conveyor belt) at the film laminating machine 8 by the second robot arm 2 for film laminating. After the film laminating is completed, the conveying mechanism transports the disc 6 after the film laminating to the labeling machine 9. After the labeling is completed by the labeling machine 9, it continues to be transported toward the operating table 11. After being transported to the right place, the third robot arm 3 is used to clamp the marked disc 6 and transport it to the disc silo 10 on the operating table 11, completing the entire feeding process of the freeze-dried balls.

[0055] The present invention mainly controls the second robot arm 2. When the second robot arm 2 clamps the disk 6, the disk 6 is loaded with freeze-dried balls, and the disk 6 is shallow and has not been filmed. If the conveying of the second robot arm 2 is unstable, the freeze-dried balls on the disk 6 are likely to fall off.

[0056] Therefore, in the present invention, the moving speed of the robot arm can be set before it works, so that it can work at the set moving speed during work, preventing the robot arm from moving too fast and affecting the stability of the conveying, and preventing the robot arm from moving too slowly and affecting the production efficiency; by monitoring the robot arm (the second robot arm 2) and controlling and adjusting the moving speed, the impact of the robot arm on the stability of the disk 6 during movement can be reduced, so that the freeze-dried balls can always remain on the disk 6, preventing the freeze-dried balls from falling.

[0057] like Figure 4 As shown, in one embodiment, the robot arm transports the disk 6 loaded with freeze-dried balls at a set moving speed, including:

[0058] S11, obtaining a set moving distance of each joint of the robotic arm according to the first posture information when the robotic arm clamps the disk 6 and the second posture information when the robotic arm places the disk 6;

[0059] S12, obtaining a set moving speed of each joint according to a set moving distance of each joint and a set moving time of each joint; the set moving time of each joint is within its corresponding set range;

[0060] S13, the robot arm transports the disk 6 loaded with freeze-dried balls according to the set moving speed of each joint.

[0061] Since the second robot 2 needs to move the disc 6 loaded with freeze-dried balls from the disc placement slot 12 to the conveyor belt (conveyor mechanism) of the film laminating machine 8, it is a process from clamping to placing the disc 6. In this process, the movement of the second robot 2 needs to be monitored and adjusted, and the second robot 2 uses multiple joint actions to realize the conveyance of the disc 6, and the clamping position and the placement position are determined. Therefore, through the posture information of the robot when clamping and placing the disc 6, the set movement distance (actually the rotation angle of the joint) of each joint movement can be obtained; therefore, before the robot works, the movement time of each joint can be set within its corresponding set range. The set range is used to limit the movement time of each joint to prevent the robot from moving too fast or too slow, and then according to the set movement distance and the set movement time, the set movement speed of each joint can be obtained; then when the robot is working, it can move according to the pre-set set movement speed of each joint to convey the disc 6.

[0062] like Figure 5As shown, in one embodiment, the conveying state of the disc 6 is monitored and judged in real time during the conveying process to obtain a judgment result, including:

[0063] S21, during the transportation process, the disc 6 loaded with freeze-dried balls is subjected to vibration monitoring to obtain vibration information;

[0064] S22: Determine whether the vibration information meets a preset standard and obtain a determination result.

[0065] An image acquisition device (such as a camera) for acquiring images when the second robot arm is conveying the disk 6 may be arranged near the second robot arm 2; in the above scheme, the vibration of the disk 6 can be monitored in real time, and the vibration can be analyzed and judged;

[0066] Furthermore, the vibration information includes: vibration data of the disk 6 corresponding to each joint movement of the robot arm.

[0067] In this embodiment, the vibration information obtained is the vibration data of the disk 6 corresponding to each joint movement. Since each joint movement is controlled separately and the wear of each joint is different, when vibration occurs during the transportation of the disk 6, it may be caused by the movement of one of the joints. Therefore, the vibration information of the present invention splits the vibration effect of the robot arm movement on the disk 6 into the vibration effects of multiple joint movements on the disk 6, which is more accurate for the subsequent adjustment of the robot arm.

[0068] like Figure 6 As shown, further, judging whether the vibration information meets the preset standard and obtaining the judgment result includes:

[0069] S221, respectively determining whether the vibration data of the disk 6 corresponding to each joint movement of the robotic arm meets a preset standard;

[0070] Wherein, the vibration data is the vibration frequency or the vibration amplitude, and the preset standard is the preset vibration frequency range or the preset vibration amplitude range;

[0071] S222. If the vibration data of the disk 6 corresponding to each joint movement meets the preset standard, the judgment result is that there is no need to adjust the set moving speed of the robot arm. If the vibration data corresponding to at least one joint movement does not meet the preset standard, the judgment result is that the set moving speed of the joint corresponding to the robot arm needs to be adjusted.

[0072] Since the mechanical arm will inevitably vibrate when it moves, if the vibration frequency or vibration amplitude is small, it will not affect the delivery of the disc 6. If the vibration frequency or vibration amplitude is large, the freeze-dried balls on the disc 6 are at risk of falling off, and the clamping stability of the disc 6 is affected. Therefore, a range is pre-set for the vibration data, that is, a preset vibration frequency range or a preset vibration amplitude range. As long as the disc 6 vibrates within this range, it will not affect the delivery stability of the disc 6.

[0073] When the robot arm moves, it is necessary to judge the vibration condition of each joint to find out the joint that affects the conveying stability of the disc 6 and make corresponding adjustments; when the joint moves at a faster speed, the corresponding vibration frequency or vibration amplitude will increase, and when the joint moves at a lower speed, the corresponding vibration frequency or vibration amplitude will decrease or there will be no vibration. Therefore, when making adjustments, the set movement speed of the joints whose vibration data does not meet the preset standards should be reduced, that is, the set movement time should be increased accordingly.

[0074] like Figure 7 As shown, in one embodiment, vibration monitoring of the disk 6 loaded with freeze-dried balls includes:

[0075] S211, acquiring multiple frames of disk images corresponding to each joint movement, and obtaining monitoring points on each frame of the disk image;

[0076] S212, obtaining vibration data of the disk according to the movement information of the monitoring points on the multiple frames of disk images when each joint moves.

[0077] In this embodiment, two methods for obtaining the vibration data of the disk are provided, as follows:

[0078] The first method is: obtain multiple frames of disk images corresponding to each joint movement, divide each frame of disk image into multiple regions, and obtain feature points in each region as monitoring points; wherein the feature points are: (using the multi-scale difference space method) obtain the extreme value points of pixel grayscale in different regions as the feature points of this region;

[0079] Construct feature point descriptors (based on the gradient direction, gradient amplitude, grayscale mean, and grayscale standard deviation of the pixels around the feature point), and obtain the Euclidean distance between feature point descriptors at adjacent moments. Match feature points at adjacent moments based on the minimum Euclidean distance principle, obtain the positions of feature points at different moments, and use the temporal motion of the feature points as the motion information of the monitoring point.

[0080] According to the current moving speed (rotation speed) of each joint movement and the corresponding motion information of the monitoring point on the disk 6, the time domain information of the vibration of the disk 6 is obtained;

[0081] According to the time domain information of the vibration of the disk 6, the vibration frequency of the disk 6 corresponding to each joint movement is obtained.

[0082] In this method, cameras are set at least above and on one side of the robot arm to obtain disk images. For example, when the robot arm drives the disk 6 to move horizontally, multiple frames of disk images are obtained through the camera above. When the robot arm drives the disk 6 to move vertically, multiple frames of disk images are obtained through the camera on the side. This method mainly monitors the vibration frequency of the disk 6.

[0083] The second method is: obtaining multiple frames of disk images corresponding to each joint movement, and extracting feature points on each frame of disk image as its monitoring point; wherein the feature points are marking points pre-set on the disk 6 for identification;

[0084] The motion trajectory (spatial motion trajectory or motion trajectory in the horizontal and vertical directions) of the monitoring point on the multi-frame disk image during each joint movement is used as the motion information of the monitoring point, and the motion trajectory of the monitoring point is compared and analyzed with the reference motion trajectory of the monitoring point corresponding to the joint movement to obtain the vibration data and vibration amplitude of the disk 6 corresponding to each joint movement.

[0085] In this method, a reference motion trajectory of a monitoring point that does not generate vibration when each joint moves is obtained in advance, so that the reference motion trajectory can be used as a reference when each joint movement is monitored in real time;

[0086] In this method, when the motion trajectory of the monitoring point is a horizontal or vertical motion trajectory, at least one camera is set on the top and one side of the mechanical arm to obtain the disk image, and correspondingly at least one marking point is set on the top and side of the disk 6. When the mechanical arm drives the disk 6 to move horizontally, it obtains multiple frames of disk images through the cameras on the top and side respectively. When the mechanical arm drives the disk 6 to move vertically, it also obtains multiple frames of disk images through the cameras on the top and side respectively. By extracting the monitoring points in the multiple frames of disk images, its motion trajectory in the horizontal and vertical directions can be obtained simultaneously.

[0087] For example, when the robot arm drives the disk 6 to move horizontally, the motion trajectory in the vertical direction can be obtained by the monitoring points on the multi-frame disk image obtained by the side camera, and the motion trajectory in the horizontal direction can be obtained by the monitoring points on the multi-frame disk image obtained by the upper camera. In this process, if vibration in the vertical direction is generated, the motion trajectory in the vertical direction will produce corresponding up and down fluctuations compared with the reference motion trajectory (when no vibration is generated, the motion trajectory in the vertical direction is a straight line); if vibration in the horizontal direction is generated, the motion trajectory in the horizontal direction will produce corresponding horizontal fluctuations compared with the reference motion trajectory (when no vibration is generated, the motion trajectory in the horizontal direction is a smooth line).

[0088] Through the above technical scheme, it is possible to implement vibration monitoring of the disk 6 loaded with freeze-dried balls, so as to detect the conveying stability of the disk 6, and to take corresponding measures in time to adjust the robot arm to ensure the conveying stability of the disk 6 and reduce the risk of the freeze-dried balls thereon falling off.

[0089] In one embodiment, the set condition further includes: the total transport time used by the robot arm to transport the disk 6 loaded with freeze-dried balls from the initial position to the final position is less than or equal to the preset transport time.

[0090] Since the robot arm and the small indexing plate 5 need to work in coordination, the small indexing plate 5 rotates at a set speed and a set angle, and the second robot arm 2 needs to be adjusted so that the total conveying time of the conveying disc 6 can cooperate with the small indexing plate 5 to ensure the stable and smooth conveying of the disc 6;

[0091] A preset conveying time for the robot arm to convey the disc 6 is pre-set, that is, when the robot arm conveys the disc 6 with the preset conveying time, it can cooperate with the small dividing plate 5, so it is sufficient to ensure that the total conveying time of the robot arm actually conveying the disc 6 is less than the preset conveying time, to prevent the small dividing plate 5 from driving the disc 6 to be conveyed located under the second robot arm 2 to rotate when the robot arm has not yet clamped the disc 6, thereby affecting the conveying.

[0092] In one embodiment, the set moving speed of the robot arm is adjusted according to the judgment result so that the conveying state of the disk 6 meets the set conditions, including:

[0093] When the judgment result is that the set moving speed of the joint corresponding to the robot arm needs to be adjusted, the adjusted moving time corresponding to the adjusted joint is obtained, and the total conveying time used by the robot arm to convey the disk 6 loaded with freeze-dried balls from the initial position to the end position is compared with the preset conveying time;

[0094] If the total transport time is greater than the preset transport time, the set moving speeds of the remaining one or more joints need to be adjusted so that the total transport time is less than or equal to the preset transport time.

[0095] For example, when the robot arm is initially operated, each joint works with its set movement time. When a joint needs to be adjusted, the adjusted movement time is used as the updated set movement time (generally, the adjusted movement time is greater than the set movement time). The total conveying time of the robot arm changes (for example, becomes longer). In order to prevent the change in the total conveying time from affecting the working coordination between the robot arm and the small dividing plate 5, it is necessary to compare the adjusted total conveying time with the preset conveying time. When the total conveying time is greater than the preset conveying time, the set movement speed (i.e., the set movement time) of one or more other joints is adjusted to make the total conveying time less than or equal to the preset conveying time, thereby ensuring that the robot arm can work in coordination with the small dividing plate 5.

[0096] In one embodiment, it also includes: monitoring the first position of the clamping component on the robot arm when clamping the disk 6 and the second position when placing the disk 6, and adjusting the current position of the robot arm when an error occurs in any one of the first position and the second position.

[0097] A camera may be provided at the front side of the robot arm for locating the first position and the second position of the clamping assembly so as to adjust the posture of the robot arm in real time to ensure smooth clamping of the disk 6 .

[0098] The present invention also provides a mechanical arm control system for freeze-dried ball transportation, which is applied to freeze-dried ball feeding equipment, comprising:

[0099] A preset module, used to set the moving speed of the robot arm so that it can transport the disk 6 loaded with freeze-dried balls at the set moving speed;

[0100] A monitoring and judging module is used to monitor and judge the conveying state of the disc 6 in real time during the conveying process to obtain a judgment result;

[0101] A control module, used to adjust the set moving speed of the robot arm according to the judgment result, so that the conveying state of the disk 6 meets the set conditions;

[0102] The set conditions include: during the transportation of the disc 6 , the freeze-dried balls can always be located on the disc 6 .

[0103] The freeze-dried ball feeding equipment includes: a first mechanical arm 1, a second mechanical arm 2, a third mechanical arm 3, a large indexing plate 4, a small indexing plate 5, a disc 6, a freeze-dried ball feeding device 7, a film sticking machine 8, a labeling machine 9, a disc silo 10, and an operating table 11. The large indexing plate 4 is provided with a first mechanical arm 1 and a second mechanical arm 2. A disc storage bin is provided on the large indexing plate 4 and located on one side of the first mechanical arm 1. The operating table 11 is provided with a third mechanical arm 3 and a disc silo 10. A plurality of freeze-dried ball feeding devices 7 are provided on the large indexing plate 4. A small indexing plate 5 is concentrically connected in the middle of the large indexing plate 4. A plurality of disc placement slots 12 are provided on the small indexing plate 5. The disc placement slots 10 are used to place the discs 6. A film sticking machine 8, a labeling machine 9 and an operating table 11 are sequentially provided on one side of the large indexing plate 4.

[0104] The discs 6 are transported between the film laminating machine 8, the labeling machine 9 and the operating table 11 through a conveying mechanism, so as to sequentially laminat, label and stack the discs 6 loaded with freeze-dried balls.

[0105] The freeze-dried ball feeding equipment also includes: a control machine, which is used to control the coordinated work of the entire equipment, and includes a preset module, a monitoring and judgment module, and a control module.

[0106] The preset module, monitoring and judgment module and control module are mainly used to control the second robot arm 2. Before the robot arm works, its moving speed can be set first, so that it can work at the set moving speed during work to prevent the robot arm from moving too fast and affecting the stability of the conveying, and to prevent the robot arm from moving too slowly and affecting the production efficiency. By monitoring the robot arm (second robot arm 2) and controlling and adjusting the moving speed, the impact of the robot arm on the stability of the disc 6 during movement can be reduced, so that the freeze-dried balls can always remain on the disc 6 to prevent the freeze-dried balls from falling.

[0107] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the present invention, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A method for controlling a robot arm for transporting freeze-dried balls, characterized in that: include: The robotic arm transports the disk loaded with freeze-dried spheres at a set moving speed; During the conveying process, the conveying state of the disc is monitored and judged in real time to obtain the judgment result; According to the judgment result, the set moving speed of the robot arm is adjusted so that the conveying state of the disc meets the set conditions; The set conditions include: during the transportation of the disc, the freeze-dried balls can always be located on the disc.

2. The robot arm control method for freeze-dried ball transportation according to claim 1, characterized in that: The robot arm transports the tray loaded with freeze-dried beads at a set moving speed, including: According to the first posture information when the robot arm grabs the disk and the second posture information when the robot arm places the disk, the set moving distance of each joint of the robot arm is obtained; According to the set moving distance of each joint and the set moving time of each joint, the set moving speed of each joint is obtained; The robot arm transports the disk loaded with freeze-dried spheres according to the set movement speed of each joint.

3. The robot arm control method for freeze-dried ball transportation according to claim 2, characterized in that: During the conveying process, the conveying status of the disc is monitored and judged in real time to obtain the judgment results, including: During the transportation process, the disc loaded with freeze-dried balls is vibration-monitored to obtain vibration information; Determine whether the vibration information meets the preset standard and obtain a determination result.

4. The robot arm control method for freeze-dried ball transportation according to claim 3, characterized in that: The vibration information includes: vibration data of the disk corresponding to each joint movement of the robot arm.

5. The method for controlling a robot arm for transporting freeze-dried balls according to claim 4, characterized in that: Determine whether the vibration information meets the preset standard and obtain the judgment result, including: Determine whether the vibration data of the disk corresponding to each joint movement of the robot arm meets the preset standard; If the vibration data of the disk corresponding to each joint movement meets the preset standard, the judgment result is that the set moving speed of the robot arm does not need to be adjusted. If the vibration data corresponding to at least one joint movement does not meet the preset standard, the judgment result is that the set moving speed of the joint corresponding to the robot arm needs to be adjusted.

6. The method for controlling a robot arm for transporting freeze-dried balls according to claim 5, characterized in that: Vibration monitoring of trays loaded with lyophilized beads, including: Acquire multiple frames of disk images corresponding to each joint movement, and obtain monitoring points on each frame of the disk image; The vibration data of the disk is obtained according to the motion information of the monitoring points on the multi-frame disk images when each joint moves.

7. The robot arm control method for freeze-dried ball transportation according to claim 5, characterized in that: The set conditions also include: the total transport time used by the robot arm to transport the disc loaded with freeze-dried balls from the initial position to the final position is less than or equal to the preset transport time.

8. The method for controlling a robot arm for transporting freeze-dried balls according to claim 7, characterized in that: The set moving speed of the robot arm is adjusted according to the judgment result so that the conveying state of the disc meets the set conditions, including: When the judgment result is that the set moving speed of the joint corresponding to the robot arm needs to be adjusted, the adjusted moving time corresponding to the adjusted joint is obtained, and the total conveying time used by the robot arm to convey the disk loaded with freeze-dried balls from the initial position to the end position is compared with the preset conveying time; If the total transport time is greater than the preset transport time, the set moving speeds of the remaining one or more joints need to be adjusted so that the total transport time is less than or equal to the preset transport time.

9. The method for controlling a robot arm for transporting freeze-dried balls according to claim 1, characterized in that: Also includes: The first position of the gripping assembly on the robot arm when gripping the disk and the second position when placing the disk are monitored, and when an error occurs in any one of the first position and the second position, the current position of the robot arm is adjusted.

10. A robotic arm control system for freeze-dried ball transportation, characterized in that: include: A preset module is used to set the moving speed of the robot arm so that it can transport the disk loaded with freeze-dried balls at the set moving speed; A monitoring and judging module is used to monitor and judge the conveying status of the disc in real time during the conveying process to obtain a judgment result; A control module, used to adjust the set moving speed of the robot arm according to the judgment result, so that the conveying state of the disc meets the set conditions; The set conditions include: during the transportation of the disc, the freeze-dried balls can always be located on the disc.

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