Mission description.
The robot first returns to a safe position and judges whether there is a semi-finished material in the storage module, and if no semi-finished material is detected, it performs laser engraving and palletizing applications in turnIf a semi-finished material is detected, the warehousing application subroutine is invoked, and after the warehousing application is completed, laser engraving and palletizing applications are executed sequentially. After the palletizing application is executed, determine whether there is a stop signal, if there is a stop signal, end the program, and if not, execute the whole program again. Figure 8-2 shows the flow chart of the comprehensive application.
Path planning. 1.Path planning.
The robot motion path in this project is relatively complex, and we divide it into three process paths: laser engraving action, palletizing action, and assembly action.
1) Laser engraving action.
The laser engraving action is carried out according to the motion trajectory in Chapter 4, that is, the robot first moves to the safety point, and then starts to engrave hrg e d u b o t, as shown in Figure 8-3.
2) Palletizing action.
The robot switches between the user's coordinate system and the tool coordinate system (using the suction cup here), first moves to 50mm above the pick-up point of the palletizing and handling module, then slows down to the target point, opens the suction cup, and waits for 05s, adsorb the material, then move at low speed to 50mm above the material pickup point, then send a start servo rotation signal, then move to 50mm above the material placement point of the servo station module, wait for the servo rotation to be in place signal, and then decelerate the movement to the target point, close the suction cup, and wait for 05s, place the material, and finally move at low speed to 50mm above the material picking point.
According to this motion flow, the round cake in the palletizing handling module station 1 station 5 is carried to the station 1 station 5 of the servo station module sequentially, as shown in Figure 8-4.
3) Assembly action.
The robot switches the tool to the gripper, first judges the storage module, there are material semi-finished products at several stations, grabs a material semi-finished product from the storage module according to the priority specified in advance, bounces open the cylinder of the positioning module, places it in the station of the positioning module, and then waits for the material arrival signal detected by the photoelectric switch of the asynchronous conveyor belt, and switches the tool to suction.
The disc grabs the round cake material from the asynchronous conveyor belt and places it in the fixed hole position of the semi-finished product of the positioning module to complete the assembly process. Finally, the assembled finished product is transported from the positioning module to the corresponding station of the silo, as shown in Figure 8-5.
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