Robot material taking and placing method, device and system, electronic equipment and storage medium

Abstract

The invention discloses a robot material taking and placing method, device and system, electronic equipment and a storage medium. The material taking and placing system comprises a robot and magnetic suspension equipment, the magnetic suspension equipment comprises a magnetic suspension track and at least two magnetic suspension trolleys, and at least one operation position is sequentially arranged on the magnetic suspension track. The at least two magnetic suspension trolleys circularly run on the magnetic suspension track in sequence, so that the magnetic suspension trolleys are parked at the at least one operation position all the time; the robot is used for receiving the material taking and placing instruction and executing material taking and placing actions according to the material taking and placing instruction so as to take materials from the target magnetic suspension trolley and / or place the materials to the target magnetic suspension trolley, and the target magnetic suspension trolley is a magnetic suspension trolley parked at the operation position, corresponding to the material taking and placing instruction, on the magnetic suspension track. The magnetic suspension equipment is adopted for improving the transmission efficiency, the robot acts on the trolley parked at the rail operation position, the trolley can be circularly replaced, and the robot is matched with the magnetic suspension equipment, so that the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of automated production technology, and in particular to a robot material picking and placing method, device, system, electronic equipment and storage medium. Background Art

[0002] At present, in industrial production, belt lines and robots are generally used to pick up and put out materials. The belt lines are responsible for transportation, and the robots are responsible for handling (i.e. picking up and putting out materials).

[0003] The belt line transmits power through belts and gears, which causes friction and loss, and the transmission efficiency is low; the friction and gap between the belts and gears can easily lead to unstable movement; the belt line needs to regularly replace wearing parts such as belts and gears, and the maintenance cost is relatively high.

[0004] The above-mentioned material loading and unloading scheme has a low transmission speed, which affects the production rhythm, thereby reducing output and affecting production efficiency. Summary of the invention

[0005] Embodiments of the present invention provide a robot material picking and placing method, device, system, electronic device and storage medium to at least solve the problem of poor production efficiency caused by material picking and placing solutions in the prior art.

[0006] In order to solve the above technical problems, an embodiment of the present invention provides a material picking and placing system, comprising a robot and a magnetic levitation device, wherein the magnetic levitation device comprises a magnetic levitation track and at least two magnetic levitation vehicles, wherein at least one operation position arranged in sequence is arranged on the magnetic levitation track, and the at least two magnetic levitation vehicles circulate in sequence on the magnetic levitation track so that a magnetic levitation vehicle is always parked at the at least one operation position;

[0007] The robot is used to receive material picking and placing instructions, and execute material picking and placing actions according to the material picking and placing instructions to pick up materials from a target magnetic levitation vehicle and / or place materials to the target magnetic levitation vehicle, wherein the target magnetic levitation vehicle is a magnetic levitation vehicle parked at an operating position on the magnetic levitation track corresponding to the material picking and placing instructions.

[0008] Optionally, the material loading and unloading system further includes:

[0009] A controller, used to drive the magnetic suspension vehicle to move and send material picking and placing instructions;

[0010] A signal transfer device is communicatively connected with the robot and the controller, and is used to convert the signal sent by the controller into a communication format supported by the robot and forward it to the robot, and to convert the signal sent by the robot into a communication format supported by the controller and forward it to the controller.

[0011] The embodiment of the present invention further provides a robot material picking and placing method, which is applied to the material picking and placing system described in the embodiment of the present invention, and the method includes:

[0012] The robot receives a material picking and placing instruction;

[0013] The robot performs material picking and placing actions according to the material picking and placing instructions to pick up materials from a target magnetic levitation vehicle and / or place materials to the target magnetic levitation vehicle, wherein the target magnetic levitation vehicle is a magnetic levitation vehicle parked at an operating position on the magnetic levitation track corresponding to the material picking and placing instructions.

[0014] Optionally, the robot performs a material picking and placing action according to the material picking and placing instruction, including:

[0015] The robot determines the target action and the target operation position according to the material picking and placing instruction;

[0016] The robot performs the target action on the target magnetic levitation vehicle parked at the target operation position.

[0017] Optionally, the robot performs the target action on the target magnetic levitation vehicle parked at the target operation position, including:

[0018] If the target action is to place materials, the robot picks up materials from the material tray and places the materials on the target magnetic levitation vehicle;

[0019] If the target action is to pick up materials, the robot takes the materials from the target magnetic levitation vehicle and places the materials on a material tray;

[0020] If the target action is to take the material first and then put it, the robot takes the material from the target magnetic levitation vehicle and places the material on the material tray, and then takes the material from the material tray and puts it back on the target magnetic levitation vehicle;

[0021] If the target action is to place the material first and then take it, the robot picks up the material from the material tray and places the material on the target magnetic levitation vehicle, and then takes the material from the target magnetic levitation vehicle and puts the material back into the material tray.

[0022] Optionally, the method further includes: after the robot executes the material picking and placing action corresponding to the current material picking and placing instruction, it feeds back a completion signal to drive the at least two magnetic levitation vehicles to circulate in sequence on the magnetic levitation track to achieve position filling.

[0023] Optionally, the robot communicates with the controller through a signal relay device, and the signal relay device is used to convert the signal sent by the controller into a communication format supported by the robot and forward it to the robot, and convert the signal sent by the robot into a communication format supported by the controller and forward it to the controller.

[0024] The embodiment of the present invention further provides a robot material picking and placing device, which is applied to a robot. The robot belongs to the material picking and placing system described in the embodiment of the present invention. The device includes:

[0025] A receiving module, used for receiving instructions for taking and placing materials;

[0026] An action module is used to execute a material picking and placing action according to the material picking and placing instruction to pick up materials from a target magnetic levitation vehicle and / or place materials to the target magnetic levitation vehicle, wherein the target magnetic levitation vehicle is a magnetic levitation vehicle parked at an operating position on a magnetic levitation track corresponding to the material picking and placing instruction.

[0027] An embodiment of the present invention further provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the robot material picking and placing method described in the embodiment of the present invention is implemented.

[0028] An embodiment of the present invention further provides a non-volatile computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the robot material picking and placing method described in the embodiment of the present invention is implemented.

[0029] The technical solution of the present invention is applied, and a magnetic levitation device is used for transportation. The magnetic levitation device uses magnetic force to overcome gravity to achieve a suspended state of an object. There is no friction and loss between the transmission mechanisms, which can improve the transmission efficiency, stabilize the movement, reduce the use of intermediate transmission mechanisms, and reduce maintenance costs. The robot performs material picking and placing actions on the magnetic levitation trolley parked at the operating position of the magnetic levitation track, and the trolley can be cyclically filled. The robot and the magnetic levitation device cooperate to complete the picking and placing of materials, thereby improving the transmission speed and production rhythm, thereby increasing the output, improving the automated production efficiency, and increasing the transmission stability, solving the problem of poor production efficiency caused by the picking and placing scheme in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1A is a schematic diagram of a material handling system provided by an embodiment of the present invention;

[0031] Figure 1B is a side view of a material handling system provided by an embodiment of the present invention;

[0032] Figure 2is a schematic diagram of a magnetic levitation track provided by an embodiment of the present invention;

[0033] Figure 3 is a schematic diagram of signal interaction of a material handling system provided by an embodiment of the present invention;

[0034] Figure 4 is a flow chart of a robot material picking and placing method provided by an embodiment of the present invention;

[0035] Figure 5 It is a schematic diagram of the material loading and unloading control process provided by an embodiment of the present invention;

[0036] Figure 6 is a structural block diagram of a robot material picking and placing device provided by an embodiment of the present invention;

[0037] Figure 7 is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention;

[0038] Description of the accompanying drawings: robot 10, magnetic levitation equipment 20, magnetic levitation track 21, magnetic levitation vehicle 22, controller 30, signal transfer equipment 40, material tray 50. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0041] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0042] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0043] The optional embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0044] Example 1

[0045] This embodiment provides a material taking and placing system, such as Figure 1A and Figure 1B As shown, the material picking and placing system includes: a robot 10 and a magnetic suspension device 20. The magnetic suspension device 20 is responsible for transportation, and the robot 10 is responsible for performing the material picking and placing actions, and the two cooperate to complete the material picking and placing.

[0046] The magnetic levitation device 20 includes: a magnetic levitation track 21 and at least two magnetic levitation vehicles 22, and the magnetic levitation vehicles 22 can travel on the magnetic levitation track 21. The magnetic levitation track 21 is provided with at least one operation position arranged in sequence, and each operation position can park a magnetic levitation vehicle. The at least two magnetic levitation vehicles 22 circulate in sequence on the magnetic levitation track 21 so that the at least one operation position is always parked with a magnetic levitation vehicle 22, so as to realize the vehicle circulation filling. In other words, the operation position on the magnetic levitation track 21 is fixed, but the magnetic levitation vehicle parked at the operation position is not fixed. The robot 10 performs actions on the magnetic levitation vehicle at the operation position.

[0047] like Figure 2 As shown, the magnetic levitation equipment 20 includes 8 magnetic levitation carts 22, and 4 operating positions arranged in sequence are set on the magnetic levitation track 21: position 1, position 2, position 3 and position 4. Taking material discharge as an example, the robot 10 loads materials on one side, and the robot can discharge materials to the magnetic levitation carts parked at the 4 operating positions. After each material discharge action is executed, the magnetic levitation cart 22 that has discharged materials will travel along the magnetic levitation track 21 to drive away from the operating position, and the magnetic levitation carts 22 that have not discharged materials behind it will also travel on the magnetic levitation track 21 to park in order at the corresponding operating position to achieve filling, so that all carts can discharge materials. Exemplarily, after discharging materials to the magnetic levitation cart 22 at position 1, the cart leaves, and the cart originally at position 2 has not discharged materials temporarily, and will drive to position 1 to achieve filling.

[0048] The robot 10 is used to receive material picking and placing instructions, and execute material picking and placing actions according to the material picking and placing instructions to pick up materials from and / or place materials to the target magnetic levitation vehicle, wherein the target magnetic levitation vehicle is a magnetic levitation vehicle parked at an operating position on the magnetic levitation track 21 corresponding to the material picking and placing instructions.

[0049] This embodiment uses a magnetic levitation device for transportation. The magnetic levitation device uses magnetic force to overcome gravity to achieve a suspended state of objects. There is no friction and loss between the transmission mechanisms, which can improve transmission efficiency, stabilize movement, reduce the use of intermediate transmission mechanisms, and reduce maintenance costs. The robot performs material picking and placing actions on the magnetic levitation trolley parked at the operating position of the magnetic levitation track, and the trolley can be cyclically filled. The robot and the magnetic levitation device cooperate to complete the picking and placing of materials, which improves the transmission speed and production rhythm, thereby increasing output, improving automated production efficiency, and increasing transmission stability, solving the problem of poor production efficiency caused by the picking and placing scheme in the prior art.

[0050] like Figure 3 As shown, the material picking and placing system also includes: a controller 30, which is used to drive the magnetic suspension vehicle to move and send material picking and placing instructions. The controller 30 can also receive feedback signals from the robot 10. That is, the controller 30 includes material picking and placing control logic. The controller can realize the coordinated control of the magnetic suspension vehicle and the robot, so that the two can cooperate to complete the material picking and placing.

[0051] Considering that the communication protocols of the controller 30 and the robot 10 may be different, the pick-and-place system of this embodiment may also include: a signal transfer device 40, which is connected to the robot 10 and the controller 30 for communication, and is used to convert the signals of the controller 30 and the signals of the robot 10, that is, convert the signal sent by the controller 30 into a communication format supported by the robot 10 and forward it to the robot 10, and convert the signal sent by the robot 10 into a communication format supported by the controller 30 and forward it to the controller 30. This embodiment uses the signal transfer device 40 to transfer the signal between the robot 10 and the controller 40. The signal transfer device 40 can receive the signal sent by the controller 30, convert the format, and then send it to the robot 10 to control the robot's action. It can also receive the signal sent by the robot 30, convert the format, and then send it to the controller 30 to drive the magnetic suspension vehicle to move, so as to ensure smooth signal interaction between the robot 10 and the controller 30, and ensure the linkage between the robot 10 and the controller 30, thereby ensuring the operation of the entire pick-and-place system.

[0052] Both the controller 30 and the signal transfer device 40 can be implemented through a programmable logic controller (i.e., PLC). For example, Ethernet / IP communication is adopted between the controller 30 and the signal transfer device 40, and Socket communication is adopted between the signal transfer device 40 and the robot 30. The signal transfer device 40 performs format conversion to realize communication between the controller 30 and the robot 10, so that the controller 30 can send material picking and placing instructions to the robot 10, and can also receive feedback signals sent by the robot 10.

[0053] Example 2

[0054] This embodiment provides a robot material picking and placing method, which is applied to the material picking and placing system described in the above embodiment. Figure 4 is a flow chart of a robot material picking and placing method provided by an embodiment of the present invention, such as Figure 4 As shown, the method comprises the following steps:

[0055] S401, the robot receives the material picking and placing instruction.

[0056] S402, the robot performs the material picking and placing action according to the material picking and placing instruction to pick up materials from the target magnetic levitation vehicle and / or place materials to the target magnetic levitation vehicle, wherein the target magnetic levitation vehicle is a magnetic levitation vehicle parked at the operating position on the magnetic levitation track corresponding to the material picking and placing instruction.

[0057] The robot of this embodiment performs material picking and placing actions on the magnetic levitation cart parked at the operating position of the magnetic levitation track, and the cart can cyclically fill in the position. The robot cooperates with the magnetic levitation equipment to complete the picking and placing of materials, which improves the transmission speed and production rhythm, thereby increasing the output, improving the automated production efficiency, and increasing the transmission stability, solving the problem of poor production efficiency caused by the picking and placing scheme in the prior art.

[0058] In one embodiment, the robot performs the material picking and placing action according to the material picking and placing instruction, including: the robot determines the target action and the target operation position according to the material picking and placing instruction; the robot performs the target action for the target magnetic levitation vehicle parked at the target operation position. In this embodiment, with the cooperation of the magnetic levitation vehicle, the robot can efficiently complete the target action based on the material picking and placing instruction, thereby improving production efficiency.

[0059] Furthermore, the robot performs the target action on the target magnetic levitation vehicle parked at the target operation position, including:

[0060] If the target action is to place materials, the robot picks up materials from the material tray and places the materials on the target magnetic levitation vehicle;

[0061] If the target action is to pick up materials, the robot takes the materials from the target magnetic levitation vehicle and places the materials on the material tray;

[0062] If the target action is to take the material first and then put it, the robot takes the material from the target magnetic levitation vehicle and places the material on the material tray, and then takes the material from the material tray and puts it back on the target magnetic levitation vehicle;

[0063] If the target action is to place the material first and then take it, the robot picks up the material from the material tray and places the material on the target magnetic levitation vehicle, and then takes the material from the target magnetic levitation vehicle and puts the material back into the material tray.

[0064] This embodiment can efficiently and accurately complete the loading and unloading of materials through the cooperation of the robot and the magnetic levitation equipment in response to different action requirements.

[0065] It should be noted that if the target action involves two or more target operation positions, the corresponding action can be performed for the first target operation position first. After completion, the corresponding action can be performed for the second target operation position, so as to carry out material picking and placing in an orderly manner and ensure that the action execution is accurate and without confusion.

[0066] In one embodiment, after the robot completes the material picking and placing action corresponding to the current material picking and placing instruction, it feeds back a completion signal to drive the at least two magnetic levitation vehicles to circulate in sequence on the magnetic levitation track to achieve the position filling. After the robot in this embodiment completes the action, it feeds back a completion signal in time, so that the magnetic levitation vehicle can be driven in time to achieve the position filling, ensuring the normal subsequent material picking and placing.

[0067] Considering that the communication protocols between the controller and the robot may be different, in this embodiment, the robot can communicate with the controller through a signal transfer device, and the signal transfer device is used to convert the signal sent by the controller into a communication format supported by the robot and forward it to the robot, and convert the signal sent by the robot into a communication format supported by the controller and forward it to the controller. This embodiment uses the signal transfer device to transfer signals between the robot and the controller, which can ensure smooth signal interaction between the robot and the controller, ensure the linkage between the robot and the controller, and thus ensure the operation of the entire material picking and placing system.

[0068] Example 3

[0069] Based on the above embodiments, this embodiment takes the preset fixed material picking and placing logic as an example to illustrate the above-mentioned material picking and placing system and the robot material picking and placing method. Of course, in the actual application process, it can be controlled according to the actual material picking and placing needs in the automated production process, and the controller issues the required instructions to enable the robot to perform the corresponding actions, and the controller drives the magnetic levitation car to travel as required based on the feedback of the robot. This specific embodiment is only for better illustrating the present application and does not constitute an improper limitation on the present application. The explanations of terms that are the same or corresponding to the above embodiments are not repeated in this embodiment.

[0070] In this embodiment, the material tray has eight material positions (recorded as material positions 1 to 8), and the actions of the robot picking up materials from each material position correspond to: pick up 1, pick up 2, pick up 3, pick up 4, pick up 5, pick up 6, pick up 7, pick up 8. For example, pick up 1 means that the robot picks up materials from material position 1.

[0071] There are 8 maglev cars on the maglev track, and 4 operation positions are arranged in sequence on the maglev track, which are marked as position 1, position 2, position 3, and position 4. The actions of the robot placing materials on the maglev cars parked at each operation position correspond to: place 1, place 2, place 3, and place 4. For example, place 1 means that the robot places materials on the maglev car parked at position 1.

[0072] PLC=1, PLC=2, PLC=3, PLC=4, PLC=5, PLC=6 represent the instructions sent by the controller to the robot.

[0073] PLC=1 is used to instruct the robot to place 1 material. Specifically, when PLC=1 is received for the first time, the robot picks up 1 material from material position 1 and places the material on the magnetic levitation cart parked at position 1; when PLC=1 is received for the second time, the robot picks up 1 material from material position 8 and places the material on the magnetic levitation cart parked at position 1.

[0074] PLC=2 is used to instruct the robot to place 2 materials. Specifically, the robot picks up 1 material from material position 2 and places the material on the magnetic levitation cart parked at position 1. After that, the robot picks up 1 material from material position 3 and places the material on the magnetic levitation cart parked at position 2.

[0075] PLC=3 is used to instruct the robot to place 4 materials. Specifically, the robot picks up 1 material from material position 4 and places the material on the magnetic levitation cart parked at position 1, then the robot picks up 1 material from material position 5 and places the material on the magnetic levitation cart parked at position 2, then the robot picks up 1 material from material position 6 and places the material on the magnetic levitation cart parked at position 3, and finally the robot picks up 1 material from material position 7 and places the material on the magnetic levitation cart parked at position 4.

[0076] PLC=4 is used to instruct the robot to take a material from the magnetic levitation car and put it on the material tray, and then take the material back and put it on the magnetic levitation car.

[0077] PLC=5 is used to instruct the robot to pick up and place 2 materials according to the process of PLC=4.

[0078] PLC=6 is used to instruct the robot to pick up and place 4 materials according to the process of PLC=4.

[0079] like Figure 5 As shown, the material loading and unloading process includes the following steps:

[0080] S501, system starts.

[0081] S502, entering the initialization phase, the robot is in a waiting position, which refers to a preset robot position that does not interfere with the movement of the magnetic levitation vehicle.

[0082] S503, the robot is ready and sends a feedback signal to the controller so that the controller drives the magnetic levitation car to move and ensure that there is a car parked at the four operating positions.

[0083] S504, the robot receives the instruction PLC=1.

[0084] S505, pick up 1.

[0085] S506, put 1.

[0086] S507, material loading and unloading is completed. The robot feeds back a completion signal, and the controller drives the magnetic levitation trolley to move along the magnetic levitation track to fill the trolley position. That is, the trolley parked at position 1 has placed the material and drives out of position 1. The trolley originally parked at position 2 drives to position 1, and the trolley originally parked at position 3 drives to position 2, and so on.

[0087] S508, the robot receives the instruction PLC=2.

[0088] S509, pick up 2.

[0089] S510, put 1.

[0090] S511, pick 3.

[0091] S512, put 2.

[0092] S513, material loading and unloading is completed. The robot feeds back a completion signal, and the controller drives the magnetic levitation trolley to travel along the magnetic levitation track to fill the position of the trolley.

[0093] S514, the robot receives the instruction PLC=3.

[0094] S515, pick 4.

[0095] S516, put 1.

[0096] S517, pick 5.

[0097] S518, put 2.

[0098] S519, pick 6.

[0099] S520, put 3.

[0100] S521, pick 7.

[0101] S522, put 4.

[0102] S523, material loading and unloading is completed. The robot feeds back a completion signal, and the controller drives the magnetic levitation trolley to move along the magnetic levitation track to fill the position of the trolley.

[0103] S524, the robot receives the instruction PLC=1 again.

[0104] S525, pick 8.

[0105] S526, put 1.

[0106] S527, material loading and unloading is completed. The robot feeds back a completion signal.

[0107] S528, control the robot to return to the waiting position.

[0108] Through steps S504 to S527, the materials on the 8 material positions of the material tray have been taken away, and the 8 magnetic levitation carts have also placed materials. At this time, the robot returns to the waiting position and waits for the next round of instructions.

[0109] S529, the robot receives the instruction PLC=4.

[0110] S530, pick and place 1. That is, the robot takes one material from the magnetic levitation trolley parked at position 1 and puts it on the material tray, and then takes the material back and puts it on the magnetic levitation trolley parked at position 1.

[0111] S531, the robot receives the instruction PLC=5.

[0112] S532, pick and place 12. That is, the robot takes 1 material from the magnetic levitation trolley parked at position 1 and puts it on the material tray, then takes the material back and puts it on the magnetic levitation trolley parked at position 1. After that, the robot takes 1 material from the magnetic levitation trolley parked at position 2 and puts it on the material tray, then takes the material back and puts it on the magnetic levitation trolley parked at position 2. A total of 2 materials are processed.

[0113] S533, the robot receives the instruction PLC=6.

[0114] S534, pick and place 1234. That is, the robot takes one material from the magnetic levitation trolley parked at position 1 and puts it on the material tray, then takes the material back and puts it on the magnetic levitation trolley parked at position 1; then the robot takes one material from the magnetic levitation trolley parked at position 2 and puts it on the material tray, then takes the material back and puts it on the magnetic levitation trolley parked at position 2; then the robot takes one material from the magnetic levitation trolley parked at position 3 and puts it on the material tray, then takes the material back and puts it on the magnetic levitation trolley parked at position 3; finally, the robot takes one material from the magnetic levitation trolley parked at position 4 and puts it on the material tray, then takes the material back and puts it on the magnetic levitation trolley parked at position 4. A total of 4 materials were processed.

[0115] S535, material loading and unloading is completed, and return to S528.

[0116] For example, the pick-and-place system uses two programmable logic controllers, Beckhoff CX2033 and Omron NX1P2. Beckhoff PLC is mainly used to drive the movement and positioning of the magnetic levitation trolley and the logic of the pick-and-place action, and Omron PLC is mainly used as a signal transfer between Beckhoff PLC and robot driver. Signals are transmitted between Beckhoff PLC and Omron PLC via Ethernet / IP communication, and signals are transmitted between Omron PLC and robot via Socket. Omron PLC is compatible with both communication methods and can perform format conversion to realize signal transmission between Beckhoff PLC and robot, ensuring the linkage between magnetic levitation equipment and robot.

[0117] Specifically, the Omron PLC receives the signal from the Beckhoff PLC through the Ethernet / IP communication means, converts the signal into the transmission format required by the Socket, and forwards it to the robot. The Omron PLC receives the signal from the robot through the Socket communication means, converts the signal into the transmission format corresponding to Ethernet / IP, and forwards it to the Beckhoff PLC.

[0118] The interactive signals of Beckhoff PLC include at least: 4 input signals and 5 output signals. Input signals may include: feedback signals sent by the robot to Beckhoff PLC through Omron PLC. Output signals may include: instructions sent by Beckhoff PLC to the robot through Omron PLC. Of course, output signals may also include fault prompt signals, alarm signals, etc. As shown in Table 1 below, AT%I* represents the Beckhoff PLC input variable, AT%Q* represents the Beckhoff PLC output variable, the first column represents the signal, the second column represents the type of signal, and the third column represents the meaning of the signal.

[0119] Table 1 Input and output signal table of Beckhoff PLC

[0120]

[0121]

[0122] For example, Beckhoff PLC sends a signal TakePutPathStateWord to Omron PLC via Ethernet / IP communication. The specific string in the signal is 22 (corresponding to material placement 12). After receiving the string, Omron PLC converts it into an array and stores it in register TakePutPathStateWordDATA[0], and then sends it to the robot via SktTCPSend instruction. The robot receives the signal forwarded by Omron PLC, parses the array, and then executes the corresponding action.

[0123] This embodiment uses a magnetic levitation device for transportation. The magnetic levitation device uses magnetic force to overcome gravity to achieve a suspended state of an object. There is no friction and loss between the transmission mechanisms, which can improve the transmission efficiency, stabilize the movement, reduce the use of intermediate transmission mechanisms, and reduce maintenance costs. The robot performs material picking and placing actions on the magnetic levitation trolley parked at the operating position of the magnetic levitation track, and the trolley can be cyclically filled. The robot and the magnetic levitation device cooperate to complete the picking and placing of materials, which improves the transmission speed and production rhythm, thereby increasing the output, improving the efficiency of automated production, and increasing the transmission stability, solving the problem of poor production efficiency caused by the picking and placing scheme in the prior art. In addition, the normal linkage between the robot and the magnetic levitation device can be guaranteed by the controller and the signal transfer device.

[0124] Example 4

[0125] Based on the same inventive concept, this embodiment provides a robot material picking and placing device, which is applied to a robot, and the robot belongs to the material picking and placing system described in the above embodiment. The robot material picking and placing device can be used to implement the robot material picking and placing method described in the above embodiment. The robot material picking and placing device can be implemented by software and / or hardware.

[0126] Figure 6 : is a structural block diagram of a robot material picking and placing device provided by an embodiment of the present invention, such as Figure 6 As shown, the robot material picking and placing device includes:

[0127] A receiving module 61 is used to receive a material taking and placing instruction;

[0128] The action module 62 is used to execute the material picking and placing action according to the material picking and placing instruction to pick up materials from the target magnetic levitation vehicle and / or place materials to the target magnetic levitation vehicle, wherein the target magnetic levitation vehicle is a magnetic levitation vehicle parked at the operating position on the magnetic levitation track corresponding to the material picking and placing instruction.

[0129] Optionally, the action module 62 includes:

[0130] A determination unit, used to determine a target action and a target operation position according to the material picking and placing instruction;

[0131] The action unit is used to execute the target action for the target magnetic levitation vehicle parked at the target operation position.

[0132] Optionally, the action unit is specifically used for:

[0133] If the target action is to place materials, the robot picks up materials from the material tray and places the materials on the target magnetic levitation vehicle;

[0134] If the target action is to pick up materials, the robot takes the materials from the target magnetic levitation vehicle and places the materials on a material tray;

[0135] If the target action is to take the material first and then put it, the robot takes the material from the target magnetic levitation vehicle and places the material on the material tray, and then takes the material from the material tray and puts it back on the target magnetic levitation vehicle;

[0136] If the target action is to place the material first and then take it, the robot picks up the material from the material tray and places the material on the target magnetic levitation vehicle, and then takes the material from the target magnetic levitation vehicle and puts the material back into the material tray.

[0137] Optionally, the robot material picking and placing device also includes: a feedback module, which is used to feedback a completion signal after executing the material picking and placing action corresponding to the current material picking and placing instruction, so as to drive the at least two magnetic levitation vehicles to circulate in sequence on the magnetic levitation track to achieve filling.

[0138] Optionally, the robot communicates with the controller through a signal relay device, and the signal relay device is used to convert the signal sent by the controller into a communication format supported by the robot and forward it to the robot, and convert the signal sent by the robot into a communication format supported by the controller and forward it to the controller.

[0139] The above-mentioned robot material picking and placing device can execute the robot material picking and placing method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the robot material picking and placing method provided by the embodiment of the present invention.

[0140] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0141] Example 5

[0142] This embodiment provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the robot material picking and placing method described in the above embodiment when executing the computer program.

[0143] Figure 7 is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention, such as Figure 7 As shown, the electronic device includes:

[0144] One or more processors 710 and memory 720, Figure 7 A processor 710 is taken as an example.

[0145] The electronic device may further include: an input device 730 and an output device 740 .

[0146] The processor 710, the memory 720, the input device 730 and the output device 740 may be connected via a bus or other means. Figure 7 The example of connecting through bus is taken in the following.

[0147] The memory 720 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the robot material picking and placing method in the embodiment of the present invention. The processor 710 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 720, that is, realizing the above-mentioned robot material picking and placing method.

[0148] The memory 720 may include a program storage area and a data storage area, wherein the program storage area may store an application required for the operating device and at least one function; the data storage area may store data during the material loading and unloading process, etc. In addition, the memory 720 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0149] The input device 730 may receive input digital or character information and generate key signal input related to user settings and function control of the electronic device. The output device 740 may include a display device such as a display screen.

[0150] The one or more modules are stored in the memory 720, and when executed by the one or more processors 710, the above-mentioned robot material picking and placing method is executed.

[0151] Example 6

[0152] This embodiment provides a non-volatile computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the robot material picking and placing method described in the above embodiment is implemented.

[0153] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A material handling system, characterized in that: The invention comprises a robot and a magnetic levitation device, wherein the magnetic levitation device comprises a magnetic levitation track and at least two magnetic levitation vehicles, wherein at least one operation position arranged in sequence is arranged on the magnetic levitation track, and the at least two magnetic levitation vehicles circulate in sequence on the magnetic levitation track so that the at least one operation position is always parked with a magnetic levitation vehicle; The robot is used to receive material picking and placing instructions, and execute material picking and placing actions according to the material picking and placing instructions to pick up materials from a target magnetic levitation vehicle and / or place materials to the target magnetic levitation vehicle, wherein the target magnetic levitation vehicle is a magnetic levitation vehicle parked at an operating position on the magnetic levitation track corresponding to the material picking and placing instructions.

2. The material handling system according to claim 1, characterized in that: The material taking and placing system also includes: A controller, used to drive the magnetic suspension vehicle to move and send material picking and placing instructions; A signal transfer device is communicatively connected with the robot and the controller, and is used to convert the signal sent by the controller into a communication format supported by the robot and forward it to the robot, and to convert the signal sent by the robot into a communication format supported by the controller and forward it to the controller.

3. A robot material picking and placing method, characterized in that: Applied to the material handling system according to claim 1 or 2, the method comprises: The robot receives a material picking and placing instruction; The robot performs material picking and placing actions according to the material picking and placing instructions to pick up materials from a target magnetic levitation vehicle and / or place materials to the target magnetic levitation vehicle, wherein the target magnetic levitation vehicle is a magnetic levitation vehicle parked at an operating position on the magnetic levitation track corresponding to the material picking and placing instructions.

4. The method according to claim 3, characterized in that The robot performs the material picking and placing action according to the material picking and placing instruction, including: The robot determines the target action and the target operation position according to the material picking and placing instruction; The robot performs the target action on the target magnetic levitation vehicle parked at the target operation position.

5. The method according to claim 4, characterized in that The robot performs the target action on the target magnetic levitation vehicle parked at the target operation position, including: If the target action is to place materials, the robot picks up materials from the material tray and places the materials on the target magnetic levitation vehicle; If the target action is to pick up materials, the robot takes the materials from the target magnetic levitation vehicle and places the materials on a material tray; If the target action is to take the material first and then put it, the robot takes the material from the target magnetic levitation vehicle and places the material on the material tray, and then takes the material from the material tray and puts it back on the target magnetic levitation vehicle; If the target action is to place the material first and then take it, the robot picks up the material from the material tray and places the material on the target magnetic levitation vehicle, and then takes the material from the target magnetic levitation vehicle and puts the material back into the material tray.

6. The method according to claim 3, characterized in that The method further includes: after the robot executes the material picking and placing action corresponding to the current material picking and placing instruction, it feeds back a completion signal to drive the at least two magnetic levitation vehicles to circulate in sequence on the magnetic levitation track to achieve position filling.

7. The method according to any one of claims 3 to 6, characterized in that The robot communicates with the controller via a signal relay device, and the signal relay device is used to convert the signal sent by the controller into a communication format supported by the robot and forward it to the robot, and to convert the signal sent by the robot into a communication format supported by the controller and forward it to the controller.

8. A robot material picking and placing device, characterized in that: Applied to a robot, the robot belongs to the material handling system according to claim 1 or 2, and the device comprises: A receiving module, used for receiving instructions for taking and placing materials; An action module is used to execute a material picking and placing action according to the material picking and placing instruction to pick up materials from a target magnetic levitation vehicle and / or place materials to the target magnetic levitation vehicle, wherein the target magnetic levitation vehicle is a magnetic levitation vehicle parked at an operating position on a magnetic levitation track corresponding to the material picking and placing instruction.

9. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the robot material picking and placing method described in any one of claims 3 to 7 when executing the computer program.

10. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the robot material picking and placing method according to any one of claims 3 to 7 is implemented.

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