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发明公开
CN107720290A 一种单机械臂的多位置输出控制方法和装置 无效 - 驳回

一种单机械臂的多位置输出控制方法和装置
摘要：
本发明公开了一种单机械臂的多位置输出控制方法，首先设置码放区域的垛件码放工艺；然后检测流水线的运转状态和工作状态，在所述流水线的运转状态或工作状态达到标准时，进行下一步，否则再次执行本步骤；接着检测所述流水线对应的托盘位置上的托盘状态，当所述托盘状态达到标准时，进行下一步，否则再次执行对下一位置的所述托盘执行本步骤；最后控制所述机械臂的取件部从所述流水线上抓取垛件，并根据所述码放工艺将所述垛件移动到所述托盘上的预定位置；根据所述码放工艺，以预定的姿态将所述垛件放置到所述托盘上的所述预定位置。本发明还提供了一种单机械臂的多位置输出控制装置，能有效减少所述机械臂在工作中的等待时间，提高工作效率。
摘要（英）：

The invention discloses a multi-position output control method of a single mechanical arm. The method comprises the steps that a stack part stacking process of a stacking area is firstly set; then theoperation state and the work state of an assembly line are checked, when the operation state or the work state of the assembly line reaches the standard, the next step is executed, and otherwise thestep is executed again; then the state of a tray at the tray position corresponding to the assembly line is checked, when the state of the tray reaches the standard, the next step is executed, and otherwise the step is executed again for a tray at the next position; and finally a part taking portion of the mechanical arm is controlled to grab stack parts from the assembly line, and the stack partsare moved to the preset position on the tray according to the stacking process. According to the stacking process, the stack parts are placed at the preset position on the tray with a preset posture.The invention further provides a multi-position output control device of the single mechanical arm. The wait time of the mechanical arm during work can be effectively reduced, and the work efficiencycan be improved.

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