Automatic control method and system of intelligent mechanical arm
Patent Information
- Application Number
- CN202411796010.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-09
- Publication Date
- 2025-02-18
Smart Images
Figure CN119456846A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of industrial automation, and in particular to an automatic control method and system for an intelligent robotic arm. Background Art
[0002] In automated production lines, the collaborative operation of robotic arms and stamping equipment is a key link in improving production efficiency. Stamping equipment, such as punching machines and molds, usually work according to preset cycle operation rules to complete the stamping of materials. The robotic arm is responsible for accurately placing the material to be stamped in the mold and taking away the finished or semi-finished product after the stamping is completed. However, due to the high-speed and high-impact characteristics of the stamping equipment, the robotic arm must strictly avoid collision with the stamping equipment during operation to ensure production safety.
[0003] In traditional automated production lines, in order to avoid collisions between the robot arm and the stamping equipment, a preset time interval is usually used to control the operation timing of the robot arm. That is, during a specific period of time when the stamping equipment stops running, the robot arm is allowed to place and remove materials. This method is simple and easy to implement. However, since the operation time of the robot arm is strictly limited to the period when the stamping equipment stops running, in some cases, the robot arm cannot complete the operation in time or needs to wait for a long time before starting the next operation.
[0004] In the current related technologies, the automatic control of the robot arm has the technical problem of poor flexibility in order to ensure safety. Summary of the invention
[0005] The present application provides an automatic control method and system for an intelligent robotic arm. According to the periodic operation law of the stamping equipment, a punching machine periodic operation curve is established. According to the punching machine periodic operation curve, the stamping stage of the stamping equipment at the current moment is judged in real time. At the same time, according to the predetermined operation parameters and real-time position information of the robotic arm, it is judged whether the forward direction of the end effector points to the target position. If the end effector points to the target position and the punching machine is in the stamping downward section, the punching machine is immediately stopped from descending, so that the punching machine returns to the top dead center and automatically performs the next round of stamping. At the same time, the robotic arm is controlled to continue to perform operations according to the predetermined operation parameters. If the end effector does not point to the target position or the punching machine is not in the stamping downward section, the optimal movement path and operation timing of the robotic arm are dynamically calculated and decided according to the current position of the end effector and the operating state of the punching machine, so as to achieve the technical effect of enhancing flexibility under the premise of ensuring safety.
[0006] The present application provides an automatic control method for an intelligent robotic arm, comprising:
[0007] According to the periodic operation law of the stamping equipment, a punching machine periodic operation curve is established, wherein the stamping equipment includes a mold and a punching machine; according to the punching machine periodic operation curve, the stamping stage of the stamping equipment at the current moment is determined; if it is in the stamping downward section, according to the predetermined operation parameters of the robot arm, it is judged whether the forward direction of the end effector points to the target position, wherein the target position is the position where the end effector places the material in the mold; if so, the punching machine is stopped from descending, the punching machine returns to the top dead center and automatically performs the next round of stamping, and the robot arm is controlled to continue to perform the operation according to the predetermined operation parameters; if not, the first time required for the end effector to move from the current first position to the safe area, and the second time for the punching machine to reach the first position from the current second position are obtained, wherein the safe area is an area where the intersection of the end effector and the active area of the stamping equipment is empty; the robot arm is automatically controlled according to the first time and the second time.
[0008] In a possible implementation, the automatic control of the robot arm is performed according to the first time and the second time, and the following processing is performed:
[0009] If the first time is less than the second time, the robot arm is determined to be safe, and the robot arm is controlled to continue to perform operations according to predetermined operating parameters; if the first time is greater than or equal to the second time, the robot arm is determined to be sub-safe, and the robot arm is controlled to move the end effector to a safe area with the second time as a constraint.
[0010] In a possible implementation, if the first time is greater than or equal to the second time, the robot arm is determined to be sub-safe, and the robot arm is controlled to move the end effector to a safe area with the second time as a constraint, and the following processing is performed:
[0011] Calculate the time difference between the first time and the second time, compare the time difference with the second time to obtain an emergency coefficient; match the emergency coefficient with a plurality of preset emergency intervals, and determine the sub-safety degree of the robot arm according to a mapping relationship between the plurality of preset emergency intervals and a plurality of robot arm sub-safety states; and control the robot arm to move the end effector to a safe area according to the sub-safety degree of the robot arm with the second time as a constraint.
[0012] In a possible implementation, the following processing is performed:
[0013] Laser sensors are arranged on the upper and lower parts of the end effector respectively, and the first distance between the punch press and the end effector and the second distance between the mold and the end effector are acquired in real time by the laser sensors; if either of the first distance and the second distance is lower than the safety distance threshold, the stamping equipment and the robotic arm are synchronously stopped and a danger alarm is issued.
[0014] In a possible implementation, according to the periodic operation law of the punching equipment, a punching machine periodic operation curve is established, and the following processing is performed:
[0015] With time as the X-axis and the stroke of the punch as the Y-axis, a time-stroke coordinate system of the stamping equipment is established, wherein the bottom dead point of the punch is the zero point of the Y-axis; according to the periodic operation law of the stamping equipment, the motion trajectory of the punch position over time is plotted in the time-stroke coordinate system to obtain the periodic operation curve of the punch.
[0016] In a possible implementation, according to the periodic operation law of the punching equipment, a punching machine periodic operation curve is established, and the following processing is performed:
[0017] The real-time position parameters of the punch press are obtained; the corresponding curve position parameters are matched on the punch press cycle operation curve according to the real-time position parameters; and the punch press operation parameters are dynamically adjusted according to the deviation between the real-time position parameters and the curve position parameters.
[0018] In a possible implementation, the following processing is performed:
[0019] The end effector is a vacuum adsorption end effector; each time the vacuum adsorption end effector performs a material suction operation, the vacuum degree inside the suction cup is monitored and acquired; if the vacuum degree is lower than a preset vacuum degree threshold, the operation of the robotic arm is stopped and a vacuum abnormality alarm is issued.
[0020] The present application also provides an automatic control system for an intelligent robotic arm, comprising:
[0021] A punching machine cycle operation curve establishment module, the punching machine cycle operation curve establishment module is used to establish a punching machine cycle operation curve according to the cycle operation law of the punching equipment, wherein the punching equipment includes a mold and a punching machine; a stamping stage determination module, the stamping stage determination module is used to determine the stamping stage of the stamping equipment at the current moment according to the punching machine cycle operation curve; a judgment module, the judgment module is used to determine whether the forward direction of the end effector points to the target position according to the predetermined operating parameters of the robot arm if it is in the stamping downward section, wherein the target position is the position of the end effector when placing the material in the mold; a continue execution module, The continue execution module is used to stop the punch press from moving downward, return the punch press to the top dead center and automatically perform the next round of punching, and control the robot arm to continue the operation according to the predetermined operating parameters; the time acquisition module is used to obtain the first time required for the end effector to move from the current first position to the safe area, and the second time for the punch press to reach the first position from the current second position, if not, wherein the safe area is an empty area where the intersection of the end effector and the active area of the stamping equipment is empty; the robot arm automatic control module is used to automatically control the robot arm according to the first time and the second time.
[0022] The automatic control method and system of an intelligent robotic arm proposed in the present application first establish a punching machine cycle operation curve according to the cycle operation law of the stamping equipment, wherein the stamping equipment includes a mold and a punching machine, and then determine the stamping stage of the stamping equipment at the current moment according to the punching machine cycle operation curve. If it is in the stamping downward section, judge whether the forward direction of the end effector points to the target position according to the predetermined operating parameters of the robotic arm, wherein the target position is the position where the end effector places the material in the mold. If so, stop the punching machine from descending, return the punching machine to the top dead center and automatically perform the next round of stamping, and control the robotic arm to continue to perform the operation according to the predetermined operating parameters. If not, obtain the first time required for the end effector to move from the current first position to the safety area, and the second time for the punching machine to reach the first position from the current second position, wherein the safety area is an empty area where the intersection of the end effector and the active area of the stamping equipment is empty. Finally, the robotic arm is automatically controlled according to the first time and the second time, thereby achieving the technical effect of enhancing flexibility while ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the accompanying drawings of the embodiment of the present invention will be briefly introduced below. A flow chart is used in the present application to illustrate the operations performed by the system according to the embodiment of the present application. It should be understood that the preceding or following operations are not necessarily performed accurately in order. On the contrary, various steps can be processed in reverse order or simultaneously as needed. At the same time, other operations can also be added to these processes, or one or more operations can be removed from these processes.
[0024] Figure 1 A schematic flow chart of an automatic control method for an intelligent robotic arm provided in an embodiment of the present application.
[0025] Figure 2 A schematic diagram of the structure of an automatic control system for an intelligent robotic arm provided in an embodiment of the present application.
[0026] Description of the accompanying drawings: punching machine cycle operation curve establishing module 10, punching stage determining module 20, judging module 30, continuing execution module 40, time acquisition module 50, robot arm automatic control module 60. DETAILED DESCRIPTION
[0027] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.
[0028] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.
[0029] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict, and the terms "first\second" involved are merely to distinguish similar objects and do not represent a specific ordering of objects. The terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products, or devices. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of this application. The terms used herein are for the purpose of describing the embodiments of the present application only.
[0030] The present application embodiment provides an automatic control method for an intelligent robotic arm, such as Figure 1 As shown, the method includes:
[0031] Step S100, according to the periodic operation law of the stamping equipment, establish a punching machine periodic operation curve, wherein the stamping equipment includes a mold and a punching machine. Specifically, the stamping equipment is a mechanical device for stamping operations, including a mold and a punching machine. The mold is used to form the shape of the workpiece, and the punching machine is used to provide the force for up and down movement. Collect the operation data of the stamping equipment, including the closing time of the mold, the speed of the punching machine going up and down, the interval between each stamping, etc. According to the collected data, analyze the periodic operation law of the stamping equipment, including the time length and sequence of each stage of going up, going down, and stopping. Based on the results of the analysis, use mathematical tools to establish a mathematical model of the punching machine periodic operation curve, wherein the punching machine periodic operation curve is a curve diagram describing the speed, position and other parameters of the punching machine in a complete working cycle (from the top dead center to the bottom dead center and then back to the top dead center) changing with time, reflecting the state of the punching machine at different time points.
[0032] In a possible implementation, according to the periodic operation law of the punching equipment, the punching machine periodic operation curve is established, and step S100 further includes step S110, taking time as the X-axis and the stroke of the punching machine as the Y-axis, a time-stroke coordinate system of the punching machine is established, wherein the bottom dead center of the punching machine is the zero point of the Y-axis. Specifically, the two axes of the coordinate system are determined, the X-axis represents time (in seconds or milliseconds), and the Y-axis represents the stroke of the punching machine (i.e., the distance from the top dead center to the bottom dead center of the punch, expressed in millimeters or inches). The zero point of the Y-axis is set to the bottom dead center of the punching machine, i.e., the lowest position reached by the punching machine during the punching cycle, which is also the position where the workpiece is punched and formed. According to the actual operating parameters of the punching machine (such as maximum stroke, cycle time, etc.), the range and scale of the coordinate system are set to ensure that the graphics can clearly show the movement of the punching machine. Step S120, according to the periodic operation law of the punching machine, the motion trajectory of the punching machine position over time is drawn in the time-stroke coordinate system to obtain the punching machine periodic operation curve. Specifically, the data of the punch position changing over time in multiple cycles of the stamping equipment is collected through measuring devices such as sensors and encoders. Using drawing software or programming tools, the processed data points are connected into lines in chronological order to form the movement trajectory of the punch position over time. This curve is the punch cycle operation curve. This implementation method displays the operating status of the stamping equipment in a graphical way, which has an intuitive technical effect.
[0033] In a possible implementation, according to the periodic operation law of the punching equipment, the punching machine periodic operation curve is established, and step S100 further includes step S130, obtaining the real-time position parameters of the punching machine. Specifically, a position sensor is installed on the punching machine for measuring the position of the punching machine in real time. The position data of the punching machine is collected in real time by the sensor to obtain the real-time position parameters, which are the accurate position information of the punching machine at a certain moment and are dynamically changing. Step S140, according to the real-time position parameters, the corresponding curve position parameters are matched on the punching machine periodic operation curve to obtain. Specifically, the current timestamp is extracted from the real-time position parameters, and this timestamp represents the precise moment of data acquisition. Since the punching machine periodic operation curve is established based on a complete working cycle of the punching machine, firstly, according to the current timestamp, determine which complete cycle the punching machine is in, and the stage within the cycle (such as the upward stage, the downward stage, etc.). Based on the mathematical expression or data point of the punching machine periodic operation curve, calculate the position where the punching machine should be in theory at the current timestamp. This position is a point on the punching machine periodic operation curve, representing the expected position of the punching machine at that time point. Step S150, dynamically adjust the punch press operation parameters according to the deviation between the real-time position parameter and the curve position parameter. Specifically, calculate the deviation between the actual position in the real-time position parameter and the theoretical position at the corresponding time point on the punch press cycle operation curve. Analyze the calculated deviation to determine the cause of its generation, such as mechanical wear, insufficient lubrication, improper setting of control parameters, external interference, etc. According to the results of the deviation analysis, formulate corresponding adjustment strategies, including adjusting control parameters (such as speed, acceleration, pressure, etc.), improving lubrication conditions, etc. According to the formulated adjustment strategy, the punch press operation system is adjusted accordingly. After the adjustment is completed, the real-time position parameters of the punch press are re-acquired and compared with the theoretical position on the punch press cycle operation curve to verify the adjustment effect. If the deviation is significantly reduced or eliminated, it means that the adjustment is effective; if the deviation still exists or increases, it is necessary to re-analyze the cause and adjust the strategy. This implementation method accurately controls the motion trajectory and speed of the punch press by matching the real-time position parameters with the data on the punch press cycle operation curve, thereby improving the accuracy and efficiency of stamping.
[0034] Step S200, according to the punch cycle operation curve, determine the punching stage of the punching equipment at the current moment. Specifically, the position and speed of the punch are monitored in real time by sensors (such as position sensors, speed sensors, etc.). The real-time monitored data is compared with the punch cycle operation curve to determine which stage the punch is in at the current moment, wherein the upward stage is the process of the punch moving upward from the bottom dead point to the top dead point, and the downward stage is the process of the punch moving downward from the top dead point to the mold closing position.
[0035] Step S300, if in the stamping downward section, determine whether the forward direction of the end effector points to the target position according to the predetermined operating parameters of the robot arm, wherein the target position is the position where the end effector places the material in the mold. Specifically, the current position and direction of the end effector (a device on the robot arm used to perform specific tasks such as grasping and placing, such as a gripper, a suction cup, etc.) is obtained through the robot arm control system. According to the predetermined operating parameters of the robot arm (a series of parameters preset before the robot arm performs a task, used to guide the movement of the robot arm, such as the target position coordinates, the moving path, etc.), calculate the forward direction of the end effector. Compare the calculated forward direction with the direction pointing to the target position to determine whether they are consistent.
[0036] Step S400: If yes, stop the punch press from descending, return the punch press to the top dead center and automatically perform the next round of punching, and control the robot arm to continue to perform operations according to the predetermined operating parameters. Specifically, when it is determined that the forward direction of the end effector points to the target position, send a command to stop descending to the punch press control system. After receiving the command, the punch press stops descending and automatically returns to the top dead center position. At the same time, control the robot arm to continue to perform subsequent operations (such as placing the material into the mold) according to the predetermined operating parameters.
[0037] Step S500, if not, obtain the first time required for the end effector to move from the current first position to the safe area, and the second time for the punch to reach the first position from the current second position, wherein the safe area is an area where the intersection of the end effector and the active area of the punching equipment is empty. Specifically, based on the current position, speed and other parameters of the end effector, and the position of the safe area, calculate the time required for the end effector to move from the current position to the safe area. Also based on the current position, speed and other parameters of the punch, calculate the time required for the punch to reach the position (i.e., the first position) that may conflict with the end effector.
[0038] Step S600, automatically control the robot arm according to the first time and the second time. Specifically, compare the first time and the second time to determine which time is shorter. If the first time is shorter, it means that the end effector of the robot arm has moved to a safe area during the downward movement of the punch press, and there will be no safety accidents such as collision with the punch press. At this time, there is no need to intervene in the predetermined operating parameters of the robot arm. If the second time is shorter or the two are similar, a decision should be made based on the specific time comparison result. According to the decision result, the corresponding control instructions are sent to the robot arm and the punch press control system to ensure that the two can work safely and coordinated. The embodiment of the present application adopts the periodic operation law of the punch press to establish a punch press periodic operation curve, and according to the punch press periodic operation curve, the stamping stage of the stamping equipment at the current moment is judged in real time. At the same time, according to the predetermined operating parameters and real-time position information of the robot arm, it is judged whether the forward direction of the end effector points to the target position. If the end effector points to the target position and the punch press is in the downward section of the stamping, the punch press is stopped immediately, so that the punch press returns to the top dead center and automatically performs the next round of stamping. At the same time, the robot arm is controlled to continue to perform the operation according to the predetermined operating parameters. If the end effector does not point to the target position or the punch press is not in the downward stamping section, the optimal movement path and operation timing of the robot arm are dynamically calculated and decided based on the current position of the end effector and the operating status of the punch press, thereby achieving the technical effect of enhancing flexibility while ensuring safety.
[0039] In a possible implementation, the automatic control of the robot arm is performed according to the first time and the second time, and step S600 further includes step S610, if the first time is less than the second time, the robot arm is determined to be safe, and the robot arm is controlled to continue to perform the operation according to the predetermined operating parameters. Specifically, if the first time is less than the second time, it is determined that the current robot arm is in a safe state, that is, there is no immediate safety risk. Based on the result of the safety determination, the robot arm is controlled to continue to perform the current task according to the predetermined operating parameters. Step S620, if the first time is greater than or equal to the second time, the robot arm is determined to be sub-safe, and the robot arm is controlled to move the end effector to a safe area with the second time as a constraint. Specifically, if the first time is greater than or equal to the second time, it is determined that the robot arm is in a sub-safe state, that is, there is a potential safety risk. In order to deal with this risk, it is necessary to take immediate action, that is, with the second time as a constraint (that is, ensure that it is completed before the second time), and control the end effector of the robot arm to move to a preset safe area. This implementation method can evaluate the safety status of the robotic arm in real time by comparing two key time points, and take corresponding control measures based on the evaluation results. That is, when the robotic arm is in a safe state, it is allowed to continue to perform the task, and when the robotic arm is in a sub-safe state, emergency response measures are taken to avoid the occurrence of potential risks, thereby ensuring the safety of the robotic arm during the task execution.
[0040] In a possible implementation, if the first time is greater than or equal to the second time, the robot arm is determined to be sub-safe, and the second time is used as a constraint to control the robot arm to move the end effector to a safe area. Step S620 further includes step S621, calculating the time difference between the first time and the second time, and comparing the time difference with the second time to obtain an emergency coefficient. Specifically, the first time is subtracted from the second time to obtain the time difference, and the time difference is divided by the second time to obtain the emergency coefficient. The emergency coefficient reflects the relative proportion of how much time is left before the safety event is triggered. The larger the emergency coefficient, the more urgent it is. Step S622, matching the emergency coefficient with multiple preset emergency intervals, and determining the sub-safety degree of the robot arm according to the mapping relationship between the multiple preset emergency intervals and multiple robot arm sub-safe states. Specifically, the emergency coefficient is matched with multiple preset emergency intervals (such as 0-0.25 for low emergency, 0.25-0.5 for medium emergency, and 0.5-1 for high emergency). According to the matching results, the sub-safety level of the robot arm is determined through a preset mapping relationship (such as low urgency corresponds to slight sub-safety, medium urgency corresponds to moderate sub-safety, and high urgency corresponds to severe sub-safety). Step S623, according to the sub-safety level of the robot arm, the second time is used as a constraint to control the robot arm to move the end effector to a safe area. Specifically, different movement strategies are formulated according to the sub-safety level, such as using a faster acceleration and obstacle avoidance path in high urgency, and a gentler acceleration in low urgency. The second time is used as a hard constraint to ensure that the end effector is moved to a safe area before the time arrives. This implementation method provides an accurate and flexible strategy for the safety control of the robot arm through precise calculation and analysis. It can not only predict and respond to possible safety risks in advance according to the expected completion time of the task and the trigger time of the safety event, but also dynamically adjust the control strategy according to the urgency of the risk, ensuring that the robot arm minimizes safety risks while maintaining work efficiency. This safety control method based on time and urgency coefficient improves the intelligence level and safety of the robot arm operation.
[0041] In a possible implementation, the method further includes step S700, laser sensors are arranged at the upper and lower parts of the end effector, respectively, and the first distance between the punch press and the end effector and the second distance between the mold and the end effector are obtained in real time through the laser sensors. Specifically, high-precision laser sensors are installed at the upper and lower parts of the end effector of the manipulator. The laser sensor continuously emits a laser beam and receives the reflected light signal. By calculating the round-trip time or phase difference of the light signal, the first distance between the punch press and the end effector and the second distance between the mold and the end effector are calculated in real time, and these distance data are transmitted to the control system in real time for processing. Step S800, if any one of the first distance and the second distance is lower than the safety distance threshold, the stamping equipment and the manipulator are synchronously stopped, and a danger alarm is issued. Specifically, after the control system receives the distance data transmitted by the laser sensor, it immediately compares it with the preset safety distance threshold. If any one of the first distance or the second distance is lower than the safety distance threshold, it means that the distance between the end effector and the punch press or the mold is too close, and there is a risk of collision. Once the distance is found to be lower than the safety threshold, the control system immediately sends a synchronous emergency stop command to the stamping equipment and the robot arm. After receiving the emergency stop command, the stamping equipment and the robot arm quickly stop the current movement to ensure that the end effector does not collide with the punch or mold. At the same time, the control system sends a danger warning signal to the operator through an audible and visual alarm device or other communication methods to remind them to intervene manually. This implementation method provides additional safety for the automatic control of the robot arm by arranging laser sensors on the upper and lower parts of the end effector of the robot arm, and obtaining the distance between the punch and the end effector, and the mold and the end effector in real time. Once it is detected that the distance is lower than the safety distance threshold, the control system can immediately take synchronous emergency stop measures and issue a danger warning, thereby effectively avoiding the risk of collision between the end effector of the robot arm and the stamping equipment, which not only improves the safety of the robot arm operation, but also reduces equipment damage and maintenance costs caused by collision accidents while ensuring production efficiency.
[0042] In a possible implementation, the method further includes step S900, wherein the end effector is a vacuum adsorption end effector, and each time the vacuum adsorption end effector performs a material adsorption operation, the vacuum degree inside the suction cup is monitored and obtained. Specifically, when the robot arm receives an instruction to perform a material adsorption task, the vacuum adsorption end effector starts working. When the vacuum adsorption end effector starts to absorb the material, the control system starts monitoring the vacuum degree inside the suction cup. Through the built-in vacuum degree sensor, the vacuum degree data inside the suction cup is obtained in real time. The monitored vacuum degree data is transmitted to the control system in real time for processing. Step S1000, if the vacuum degree is lower than a preset vacuum degree threshold, the robot arm is stopped from running, and a vacuum abnormality alarm is issued. Specifically, after receiving the vacuum degree data, the control system immediately compares it with a preset vacuum degree threshold. The preset vacuum degree threshold is the minimum vacuum degree value required to ensure that the material can be stably adsorbed. If the vacuum degree is lower than the preset vacuum degree threshold, it means that the vacuum inside the suction cup is insufficient, the material cannot be stably adsorbed, and there is a risk of falling. At this time, the control system immediately stops the operation of the robot arm to prevent accidents caused by material falling. At the same time, the control system sends a vacuum abnormality alarm signal to the operator through an audible and visual alarm device or other communication methods, reminding them to take appropriate treatment measures. This implementation method provides additional safety protection for the material handling process of the robot arm by monitoring the vacuum degree of the vacuum adsorption end effector each time it performs a material suction operation. The vacuum degree is a key factor that directly affects the stability of material adsorption. If the vacuum degree is insufficient, the material may fall during the handling process, causing equipment damage or production accidents. Therefore, by real-time monitoring of the vacuum degree and promptly stopping the operation of the robot arm and issuing an alarm when an abnormal situation is found, this type of risk is effectively avoided, the stability and reliability of the production process are improved, the production interruption and maintenance costs caused by material falling are reduced, and the overall production efficiency and safety are improved.
[0043] In the above, refer to Figure 1 The automatic control method of an intelligent robot arm according to an embodiment of the present invention is described in detail. Figure 2 An automatic control system of an intelligent robotic arm according to an embodiment of the present invention is described.
[0044] An automatic control system for an intelligent robotic arm according to an embodiment of the present invention is used to solve the technical problem of poor flexibility caused by the existing automatic control of the robotic arm in order to ensure safety, so as to achieve the technical effect of enhancing flexibility under the premise of ensuring safety. An automatic control system for an intelligent robotic arm includes: a punching machine cycle operation curve establishment module 10, a stamping stage determination module 20, a judgment module 30, a continuation execution module 40, a time acquisition module 50, and a robotic arm automatic control module 60.
[0045] The punching machine cycle operation curve establishment module 10 is used to establish the punching machine cycle operation curve according to the cycle operation law of the punching equipment, wherein the punching equipment includes a mold and a punching machine; the punching stage determination module 20 is used to determine the punching stage of the punching machine at the current moment according to the punching machine cycle operation curve; the judgment module 30 is used to judge whether the forward direction of the end effector points to the target position according to the predetermined operation parameters of the robot arm if it is in the stamping downward section, wherein the target position is the position where the end effector places the material in the mold; the continued execution module 40 is used to stop the punching machine from descending, return the punching machine to the top dead center and automatically perform the next round of stamping, and control the robot arm to continue to perform the operation according to the predetermined operation parameters; the time acquisition module 50 is used to obtain the first time required for the end effector to move from the current first position to the safe area, and the second time for the punching machine to reach the first position from the current second position, wherein the safe area is the area where the intersection of the end effector and the active area of the stamping equipment is empty; the robot arm automatic control module 60 is used to automatically control the robot arm according to the first time and the second time.
[0046] The specific configuration of the robot arm automatic control module 60 will be described in detail below. As described above, the robot arm is automatically controlled according to the first time and the second time, and the robot arm automatic control module 60 may further include: a predetermined parameter execution unit for determining that the robot arm is safe if the first time is less than the second time, and controlling the robot arm to continue to perform operations according to predetermined operating parameters; a control execution unit for determining that the robot arm is sub-safe if the first time is greater than or equal to the second time, and controlling the robot arm to move the end effector to a safe area with the second time as a constraint.
[0047] Among them, if the first time is greater than or equal to the second time, the robot arm is determined to be sub-safe, and the second time is used as a constraint to control the robot arm to move the end effector to a safe area. The control execution unit may further include: an emergency coefficient acquisition subunit is used to calculate the time difference between the first time and the second time, and compare the time difference with the second time to obtain the emergency coefficient; the robot arm sub-safety degree determination subunit is used to match the emergency coefficient with a plurality of preset emergency intervals, and determine the robot arm sub-safety degree according to the mapping relationship between the plurality of preset emergency intervals and a plurality of robot arm sub-safety states; the control execution subunit is used to control the robot arm to move the end effector to a safe area according to the sub-safety degree of the robot arm and the second time is used as a constraint.
[0048] The system may further include: a distance acquisition module for arranging laser sensors on the upper and lower parts of the end effector respectively, and obtaining in real time a first distance between the punch press and the end effector and a second distance between the mold and the end effector through the laser sensors; a synchronous emergency stop module for synchronously emergency stopping the stamping equipment and the robotic arm and issuing a danger alarm if either of the first distance and the second distance is lower than a safety distance threshold.
[0049] The specific configuration of the punch press cycle operation curve establishment module 10 will be described in detail below. As described above, according to the cycle operation law of the punch press equipment, the punch press cycle operation curve is established, and the punch press cycle operation curve establishment module 10 may further include: a time-stroke coordinate system establishment unit is used to establish the time-stroke coordinate system of the punch press equipment with time as the X-axis and the stroke of the punch press as the Y-axis, wherein the bottom dead point of the punch press is the zero point of the Y-axis; a motion trajectory drawing unit is used to draw the motion trajectory of the punch press position over time in the time-stroke coordinate system according to the cycle operation law of the punch press equipment to obtain the punch press cycle operation curve.
[0050] Among them, according to the periodic operation law of the stamping equipment, a punch press periodic operation curve is established, and the punch press periodic operation curve establishment module 10 may further include: a punch press real-time position parameter acquisition unit is used to obtain the real-time position parameters of the punch press; a curve position parameter acquisition unit is used to match and obtain corresponding curve position parameters on the punch press periodic operation curve according to the real-time position parameters; a curve dynamic adjustment unit is used to dynamically adjust the punch press operation parameters according to the deviation between the real-time position parameters and the curve position parameters.
[0051] Among them, the system may further include: a vacuum monitoring module for the end effector being a vacuum adsorption type end effector, monitoring and obtaining the vacuum degree inside the suction cup each time the vacuum adsorption type end effector performs a material suction operation; a vacuum abnormality alarm module for stopping the operation of the robot arm and issuing a vacuum abnormality alarm if the vacuum degree is lower than a preset vacuum degree threshold.
[0052] An automatic control system for an intelligent robotic arm provided in an embodiment of the present invention can execute an automatic control method for an intelligent robotic arm provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.
[0053] Although the present application makes various references to certain modules in the system according to the embodiments of the present application, any number of different modules may be used and run on the user terminal and / or server, and the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.
[0054] The above specific implementation manner does not constitute a limitation to the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application. In some cases, the actions or steps recorded in the present application can be performed in an order different from that in the embodiment and can still achieve the desired results. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Claims
1. An automatic control method for an intelligent robotic arm, characterized in that: The method comprises: According to the periodic operation law of the stamping equipment, a punching press periodic operation curve is established, wherein the stamping equipment includes a die and a punching press; According to the punching machine cycle operation curve, determining the punching stage of the punching equipment at the current moment; If it is in the stamping downward section, judging whether the forward direction of the end effector points to the target position according to the predetermined operating parameters of the robot arm, wherein the target position is the position where the end effector places the material in the mold; If yes, stop the punch press from descending, return the punch press to the top dead center and automatically perform the next round of punching, and control the robot arm to continue to perform the operation according to the preset operating parameters; If not, obtain a first time required for the end effector to move from the current first position to the safety area, and a second time required for the punch press to reach the first position from the current second position, wherein the safety area is an empty area where the intersection of the end effector and the active area of the punching equipment is empty; The robot arm is automatically controlled according to the first time and the second time.
2. The automatic control method of an intelligent robot arm according to claim 1, characterized in that: The automatic control of the robot arm according to the first time and the second time includes: If the first time is less than the second time, the robot arm is determined to be safe, and the robot arm is controlled to continue to perform the operation according to the predetermined operation parameters; If the first time is greater than or equal to the second time, the robot arm is determined to be sub-safe, and the robot arm is controlled to move the end effector to a safe area with the second time as a constraint.
3. The automatic control method of an intelligent robot arm as claimed in claim 2, characterized in that: If the first time is greater than or equal to the second time, the robot arm is determined to be sub-safe, and the robot arm is controlled to move the end effector to a safe area with the second time as a constraint, including: Calculating a time difference between a first time and a second time, and comparing the time difference with the second time to obtain an emergency coefficient; Matching the emergency coefficient with a plurality of preset emergency intervals, and determining the sub-safety degree of the robot arm according to a mapping relationship between the plurality of preset emergency intervals and a plurality of robot arm sub-safety states; According to the sub-safety level of the robot arm, the robot arm is controlled to move the end effector to a safe area with the second time as a constraint.
4. The automatic control method of an intelligent robot arm according to claim 1, characterized in that: The method further comprises: Laser sensors are arranged at the upper and lower parts of the end effector respectively, and a first distance between the punch press and the end effector and a second distance between the mold and the end effector are acquired in real time by the laser sensors; If any one of the first distance and the second distance is lower than the safety distance threshold, the stamping equipment and the robot arm are synchronously emergency stopped and a danger alarm is issued.
5. The automatic control method of an intelligent robot arm according to claim 1, characterized in that: The method of establishing a punch press cycle operation curve according to the cycle operation law of the punching equipment includes: With time as the X-axis and the punch stroke as the Y-axis, a time-stroke coordinate system of the punching equipment is established, where the bottom dead center of the punch is the zero point of the Y-axis; According to the periodic operation law of the punching equipment, the movement trajectory of the punching position over time is plotted in the time-stroke coordinate system to obtain the punching periodic operation curve.
6. The automatic control method of an intelligent robot arm according to claim 1, characterized in that: The step of establishing a punch press cycle operation curve according to the cycle operation law of the punching equipment also includes: Get the real-time position parameters of the punch press; According to the real-time position parameters, the corresponding curve position parameters are matched on the punching machine cycle operation curve; According to the deviation between the real-time position parameter and the curve position parameter, the punch press operation parameter is dynamically adjusted.
7. The automatic control method of an intelligent robot arm according to claim 1, characterized in that: The method further comprises: The end effector is a vacuum adsorption type end effector; Each time the vacuum adsorption end effector performs a material suction operation, the vacuum degree inside the suction cup is monitored and obtained; If the vacuum degree is lower than the preset vacuum degree threshold, the operation of the robot arm is stopped and a vacuum abnormality alarm is issued.
8. An automatic control system for an intelligent robotic arm, characterized in that: The system is used to implement the automatic control method of an intelligent robotic arm according to any one of claims 1 to 7, and the system comprises: A punch press cycle operation curve establishment module, the punch press cycle operation curve establishment module is used to establish a punch press cycle operation curve according to the cycle operation law of the punching equipment, wherein the punching equipment includes a mold and a punch press; A stamping stage determination module, the stamping stage determination module is used to determine the stamping stage of the stamping equipment at the current moment according to the punching machine cycle operation curve; A judgment module, which is used to judge whether the forward direction of the end effector points to the target position according to the predetermined operating parameters of the robot arm when the stamping is in the downward section, wherein the target position is the position where the end effector places the material in the mold; A continue execution module, wherein if yes, the continue execution module is used to stop the punch press from descending, return the punch press to the top dead center and automatically perform the next round of punching, and control the robot arm to continue the operation according to the preset operation parameters; A time acquisition module, the time acquisition module is used to acquire a first time required for the end effector to move from a current first position to a safe area, and a second time for the punch to reach the first position from a current second position, wherein the safe area is an area where the intersection of the end effector and the active area of the punching equipment is empty; A robotic arm automatic control module, wherein the robotic arm automatic control module is used to automatically control the robotic arm according to the first time and the second time.