Control system for heavy-load intelligent joint type palletizing robot

Abstract

The utility model discloses a control system for a heavy-load intelligent joint type palletizing robot. The control system comprises a reading module, a positive solution calculation module, an inverse solution calculation module and an action module which are connected in sequence; wherein the reading module is used for reading the actual position of the joint of the three-axis robot palletizer; the positive solution calculation module is used for calculating the actual position of the joint of the three-axis robot palletizer under the world coordinate system based on a positive solution operation formula; the inverse solution calculation module is used for calculating the set position of the joint of the three-axis robot palletizer under the joint coordinate system based on an inverse solution operation formula; and the action module is used for controlling the action of the joint of the three-axis palletizing robot. The system provided by the utility model can be specially used for controlling the action of the three-axis palletizing robot, so that the action path of the three-axis palletizing robot is more reasonable, and the equipment efficiency is further improved.

Description

Technical Field

[0001] The utility model relates to the field of control systems for palletizing equipment, in particular to a control system for a heavy-load intelligent articulated palletizing robot. Background Art

[0002] As my country's industrial robot industry continues to improve, many excellent brands have emerged in the robotics industry. The major robot brands on the market are all 6-axis serial general-purpose robots, suitable for a variety of work environments. However, in specific work environments, such as steel palletizing, the structure of these robots still needs to be optimized. Some axes are essentially idle during operation, which allows for cost reduction. Further research revealed that at least three axes of these robots are idle. Therefore, a 3-axis palletizing robot was designed for this specific application, reducing the number of axes from 6 to 3. This 3-axis palletizing robot can stack a predetermined number of rows of steel profiles into compact, orderly stacks of steel that meet specific shape and weight requirements. It has a reasonable structure and is easy to use, effectively improving palletizing efficiency. However, existing control systems for 6-axis robots are unable to adapt to 3-axis palletizing robots. Therefore, a control system capable of controlling 3-axis palletizing robots is needed. Summary of the Invention

[0003] In view of this, an object of the present invention is to provide a control system for a heavy-load intelligent articulated palletizing robot, which can be specifically used to control a 3-axis palletizing robot.

[0004] In a first aspect, an embodiment of the present invention provides a control system for a heavy-load intelligent articulated palletizing robot, characterized by comprising:

[0005] A reading module, a positive solution calculation module, an inverse solution calculation module, and an action module, wherein the reading module, the positive solution calculation module, the inverse solution calculation module, and the action module are connected in sequence;

[0006] Among them, the reading module is used to read the actual position of the joint of the 3-axis palletizing robot; the forward solution calculation module is used to calculate the actual position of the joint of the 3-axis palletizing robot in the world coordinate system based on the forward solution calculation formula; the inverse solution calculation module is used to calculate the set position of the joint of the 3-axis palletizing robot in the joint coordinate system based on the inverse solution calculation formula; the action module is used to control the action of the joint of the 3-axis palletizing robot.

[0007] Preferably, the action module includes a position updating unit, a trajectory planning unit, and a signal detection unit;

[0008] Among them, the position refresh unit is used to refresh the set position of the joint coordinate system according to the actual position of the world coordinate system; the trajectory planning unit is used to plan the movement trajectory of the joint of the 3-axis palletizing robot; and the signal detection unit is used to detect the signal from the steel in place sensor.

[0009] Preferably, the reading module, the forward solution calculation module, the inverse solution calculation module, and the action module are communicatively connected in sequence based on the ETHERCAT communication protocol.

[0010] Preferably, the control system runs on a PC-BASE platform, and the position instruction synchronization period of the control system is 50 μs to 2 ms.

[0011] The present invention has the following beneficial effects: It provides a control system for a heavy-load intelligent articulated palletizing robot, specifically designed to control a three-axis palletizing robot. The control system optimizes the path planning algorithm, making the three-axis palletizing robot's motion path more rational, thereby shortening the palletizing cycle and ensuring smoother operation with less vibration.

[0012] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The objectives and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0013] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 A schematic diagram of a control system for a heavy-load intelligent articulated palletizing robot provided in an embodiment of the present utility model;

[0016] Figure 2 This is a schematic diagram of the position geometry of a 3-axis palletizing robot in a joint coordinate system for a control system of a heavy-load intelligent articulated palletizing robot provided by an embodiment of the present invention.

[0017] Figure 3 A schematic structural diagram of a 3-axis palletizing robot for a control system of a heavy-load intelligent articulated palletizing robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0019] To facilitate understanding of this embodiment, Figure 1 The control system for a heavy-load intelligent articulated palletizing robot disclosed in an embodiment of the present utility model is introduced in detail.

[0020] Example 1:

[0021] The control system for the heavy-load intelligent articulated palletizing robot disclosed in this embodiment includes:

[0022] The reading module, the positive solution calculation module, the inverse solution calculation module, and the action module are connected in sequence;

[0023] Among them, the reading module is used to read the actual position of the joint of the 3-axis palletizing robot; the forward solution calculation module is used to calculate the actual position of the joint of the 3-axis palletizing robot in the world coordinate system based on the forward solution calculation formula; the inverse solution calculation module is used to calculate the set position of the joint of the 3-axis palletizing robot in the joint coordinate system based on the inverse solution calculation formula; the action module is used to control the action of the joint of the 3-axis palletizing robot.

[0024] In this embodiment, the load weight of the 3-axis palletizing robot is less than 800 kg.

[0025] Preferably, the action module includes a position updating unit, a trajectory planning unit, and a signal detection unit;

[0026] Among them, the position refresh unit is used to refresh the set position of the joint coordinate system according to the actual position of the world coordinate system; the trajectory planning unit is used to plan the motion trajectory of the joint of the 3-axis palletizing robot; and the signal detection unit is used to detect the signal from the steel in place sensor.

[0027] Furthermore, the actual position refers to the position of the 3-axis palletizing robot's joints in real space; the world coordinate system is a coordinate system established in real space with the X-axis, Y-axis, and Z-axis; and the joint coordinate system is a coordinate system established within the world coordinate system using the rotation angles of the servo motors. Furthermore, the set position of the joint coordinate system refers to the final target position of the 3-axis palletizing robot's joints when performing an action within the joint coordinate system.

[0028] In this embodiment, the correct solution calculation formula includes:

[0029] x t =l1 sin(θ1)+l2cos(θ2)+t x

[0030] z t =l1cos(θ1)-l2sin(θ2)-t z

[0031] The inverse solution formula includes:

[0032]

[0033] x2=x t -t x

[0034] z2=z t +t z

[0035] Figure 2 This is a schematic diagram of the position geometry of the 3-axis palletizing robot in the joint coordinate system. Figure 3 This is a structural diagram of a 3-axis palletizing robot.

[0036] Combine Figure 2 、 Figure 3 In the forward solution and inverse solution formulas, x0 is the zero point position in the X direction of the joint coordinate system; z0 is the zero point position in the Z direction of the joint coordinate system; θ1 is the rotation angle of the first servo axis, θ2 is the rotation angle of the second servo axis, l1 is the rotation radius of the 3-axis palletizing robot's main arm, and l2 is the rotation radius of the 3-axis palletizing robot's forearm; x2 is the X-direction coordinate value of the 3-axis palletizing robot's forearm in the world coordinate system, and z2 is the Z-direction coordinate value of the 3-axis palletizing robot's forearm in the world coordinate system; t x is the offset in the X direction between the center of the electromagnet and the end of the 3-axis palletizing robot’s forearm, t z x is the offset in the Z direction between the center of the electromagnet and the end of the 3-axis palletizing robot’s forearm; t is the X-direction coordinate value of the electromagnet center in the joint coordinate system, z t is the Z-direction coordinate value of the electromagnet center in the joint coordinate system.

[0037] Combine Figure 3 Axis 1 is the first servo axis, axis 2 is the second servo axis, and axis 3 is the third servo axis. The first servo axis is the 3-axis palletizing robot arm motor, the second servo axis is the 3-axis palletizing robot arm motor, and the third servo axis is the electromagnet rotation motor.

[0038] Preferably, the reading module, the forward solution calculation module, the inverse solution calculation module, and the action module are sequentially connected for communication based on the ETHERCAT communication protocol.

[0039] Preferably, the control system runs on a PC-BASE platform, and the position instruction synchronization period of the control system is 50 μs to 2 ms.

[0040] In this embodiment, the position instruction is an instruction issued by the action module to the position of the joints of the 3-axis palletizing robot. According to the usage of the 3-axis palletizing robot, the position instruction synchronization period can be increased at any time.

[0041] The working principle of this utility model is as follows:

[0042] First, the 3-axis palletizing robot is powered on and initialized. The actual position of the 3-axis palletizing robot joint is read through the reading module. The position of the 3-axis palletizing robot joint in the world coordinate system is calculated using the forward solution calculation module. Then, the set position of the 3-axis palletizing robot joint in the joint coordinate system is calculated using the inverse solution calculation module. After the calculation is completed, the set position of the joint coordinate system is refreshed through the position refresh unit in the action module, and the 3-axis palletizing robot joint is enabled. Then, the motion trajectory of the 3-axis palletizing robot joint is planned through the trajectory planning unit. When the signal detection unit detects the signal of the steel in place sensor, the servo motor is used to adjust the 3-axis palletizing robot joint to rotate it from the actual position to the set position to perform the stacking action of the steel section.

[0043] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A control system for a heavy-load intelligent articulated palletizing robot, characterized in that: include: A reading module, a positive solution calculation module, an inverse solution calculation module, and an action module, wherein the reading module, the positive solution calculation module, the inverse solution calculation module, and the action module are connected in sequence; Wherein, the reading module is used to read the actual position of the joint of the 3-axis palletizing robot; the positive solution calculation module is used to calculate the actual position of the joint of the 3-axis palletizing robot in the world coordinate system based on the positive solution calculation formula; The inverse solution calculation module is used to calculate the set position of the joint of the 3-axis palletizing robot in the joint coordinate system based on the inverse solution calculation formula; the action module is used to control the action of the joint of the 3-axis palletizing robot.

2. The control system for a heavy-load intelligent articulated palletizing robot according to claim 1, characterized in that: The action module includes a position updating unit, a trajectory planning unit, and a signal detection unit; Among them, the position refresh unit is used to refresh the set position of the joint coordinate system according to the actual position of the world coordinate system; the trajectory planning unit is used to plan the movement trajectory of the joint of the 3-axis palletizing robot; and the signal detection unit is used to detect the signal from the steel in place sensor.

3. The control system for a heavy-load intelligent articulated palletizing robot according to claim 1, characterized in that: The reading module, the forward solution calculation module, the inverse solution calculation module, and the action module are sequentially connected for communication based on the ETHERCAT communication protocol.

4. The control system for a heavy-load intelligent articulated palletizing robot according to claim 1, characterized in that: The control system is run on a PC-BASE platform, and the position instruction synchronization period of the control system is 50 μs to 2 ms.

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