CN102514010A - Transporting robot and transporting method thereof - Google Patents
Transporting robot and transporting method thereof Download PDFInfo
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- CN102514010A CN102514010A CN2011104586475A CN201110458647A CN102514010A CN 102514010 A CN102514010 A CN 102514010A CN 2011104586475 A CN2011104586475 A CN 2011104586475A CN 201110458647 A CN201110458647 A CN 201110458647A CN 102514010 A CN102514010 A CN 102514010A
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- robot
- handgrip
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- transfer robot
- robot body
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Abstract
The invention discloses a transporting robot and a transporting method thereof. The transporting robot comprises a robot body, a gripper and a robot control device, wherein the robot body is connected with the robot control device and the gripper; and an interference detecting device is arranged on the robot control device. Through using the transporting robot and the transporting method thereof provided by the invention, the transporting process can be automatically completed, so that labor cost is greatly reduced and the production efficiency is improved; and meanwhile, whether an interference signal exists or is not detected in a real-time manner through the interference detecting device, and motion of the robot body and the gripper is adjusted in time, and the timeliness, the effectiveness and the rapidity of the whole transporting process are guaranteed.
Description
Technical field
The present invention relates to field of automobile, relate in particular to a kind of transfer robot and method for carrying thereof.
Background technology
Robot (Robot) is the installations that automatically perform work.It both can accept human commander, can move the program of layout in advance again, also can be according to the principle guiding principle action of formulating with artificial intelligence technology.Its task is to assist or replace human work's work, for example produces industry, building industry or dangerous work.
On the automotive automation production line, often need use transfer robot, it is used for workpiece is transported to the another one place from a place, has saved manual work greatly.But,, have interference problem through regular meeting each other owing on production line, need the transfer robot of use a lot.Such as: when the control device sending controling instruction was given the A of robot, the B of robot also may receive control instruction, determined which robot at first to get into regional work thereby just need this moment robot to make application.In addition, when being transported to certain station, there has been workpiece b in robot gripping's workpiece a on said station, and just need at first judge whether there has been workpiece on the station this moment.Otherwise, not only incured loss through delay production, but also can cause the certain economic loss.
Therefore, prior art awaits to improve and development.
Summary of the invention
Deficiency in view of above-mentioned prior art; The object of the present invention is to provide a kind of transfer robot and method for carrying thereof, be intended to solve in the existing auto assembly process, a plurality of robots are in the same area work; The sequential of need rationally arranging work, thus interference region guarantees safe and effective quick production.
Technical scheme of the present invention is following:
A kind of transfer robot is arranged on the auto assembly line, and wherein, said transfer robot comprises:
Robot body, handgrip and robot controller, said robot body connects said robot controller and handgrip;
Wherein, said robot controller is provided with an interference checking device, is used to detect the existence whether interference signal is arranged.
Described transfer robot, wherein, said robot controller is connected with the encoder cable through service cable with said robot body.
Described transfer robot, wherein, said handgrip comprises: grip device, cylinder and sucker.
Described transfer robot, wherein, said transfer robot further comprises:
Initialization module is used for robot is carried out initialization;
Confirm module zero point, be used to confirm whether each shaft angle degree of robot, zero point be accurate;
Address assignment module is used to be provided with the driven survey grid network of remote address, the robot body address of handgrip;
Debugging module is used to carry out robot trajectory's programming, confirms the motion mode of handgrip according to condition of different;
The carrying control module is used for controlling robot body and handgrip motion according to the robot trajectory, accomplishes carrying;
Confirm that module, address assignment module, debugging module and carrying control module are connected successively at said initialization module, zero point.
A kind of method for carrying of described transfer robot wherein, said method comprising the steps of:
S1, transfer robot are assemblied on the auto assembly line;
S2, transfer robot energising back initialization;
S3, confirm whether each shaft angle degree of robot, zero point be accurate;
S4, the remote address that handgrip is set, the driven survey grid network of robot body address;
S5, carry out robot trajectory programming, confirm the motion mode of handgrip according to condition of different;
S6, control the motion of robot body and handgrip, and whether the existence of interference signal is arranged, in time adjust the motion of robot body and handgrip, carry until accomplishing through the real-time detection of interference checking device according to the robot trajectory.
Beneficial effect: transfer robot provided by the invention and method for carrying thereof; Can accomplish handling process automatically, practice thrift human cost greatly, and improve production efficiency; Simultaneously; Through the real-time detection of interference checking device whether the existence of interference signal is arranged, in time adjust the motion of robot body and handgrip, thereby guaranteed that whole handling process is timely and effective fast.
Description of drawings
Fig. 1 is the structured flowchart of transfer robot of the present invention.
Fig. 2 is the flow chart of the method for carrying of transfer robot of the present invention.
The specific embodiment
The present invention provides a kind of transfer robot and method for carrying thereof, and is clearer, clear and definite for making the object of the invention, technical scheme and effect, below to further explain of the present invention.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
See also Fig. 1, it is the structured flowchart of transfer robot of the present invention.As shown in the figure, said transfer robot comprises: robot body 100, handgrip 200 and robot controller 300, and said robot body 100 connects said robot controller 300 and handgrip 200, and said robot controller 300 connects handgrip 200; Wherein, said robot controller 300 is provided with an interference checking device 310, is used to detect exist (comprise whether workpiece is arranged, whether cylinder puts in place, and whether vacuum reaches etc.) whether interference signal is arranged.
Specifically; Said robot body 100 is used for the instruction of sending according to robot controller 300; Make exercises, grasp thereby drive 200 pairs of workpiece of coupled handgrip, and workpiece is moved to the desired position through the motion of robot body.Handgrip 200 is used for workpiece is grasped, and when workpiece arrives the position of required placement, unclamps workpiece.Said handgrip 200 can comprise grip device, cylinder and sucker, and said cylinder is used for converting the pressure of Compressed Gas into mechanical energy, (for example: round rectilinear motion etc.) moves thereby drive sucker; Said sucker is used for workpiece is only held, thereby realizes grasping.Said robot controller 300 moves through transmit control signal control robot body and handgrip.In addition, said robot controller 300 is provided with an interference checking device 310, and whether be used for detecting has sucker to suck, and whether cylinder puts in place etc.Particularly, robot with workpiece handling to workbench, and when handgrip integral body stayed workbench.Check presence of interference this moment, and carry out signal and judge, thus the motion of adjustment robot body and handgrip.When there was not interference in affirmation with the other machines people, robot got into and puts the part zone in addition, carries.
Further, said robot controller is connected with the encoder cable through service cable with said robot body.Said robot controller is connected through Devicenet with said handgrip.Devicenet is a kind of low cost, the high performance communication network based on CAN (Controller Area Network) technology that grows up the mid-90, at first by U.S. Rockwell company Application and Development.It is a kind of communication bus cheaply.It is connected to network with industrial equipment (as: limit switch, photoelectric sensor, valve group, motor starting device, process sensor, barcode reader, variable frequency drives, panel display and operator interface), thereby has eliminated expensive hardwire cost.The direct interconnection property improvement communication of equipment room, and considerable device level diagnostic function is provided simultaneously, this is difficult to realize through hardwire I/O interface.It has reduced the cost and the time of distribution and mounting industrial automation equipment when providing multiple vendor with the interchangeability between base part.DeviceNet not only makes between the equipment with a cable and connects mutually and communication, the more important thing is that it gives the diagnostic function of the device level that system brings.This function is last at traditional I/O to be to be difficult to realize.
In addition; Said transfer robot further comprises: confirm module, address assignment module, debugging module and carrying control module at initialization module, zero point, confirm that module, address assignment module, debugging module and carrying control module are connected successively at said initialization module, zero point.Wherein, said initialization module is used for robot is carried out initialization; Confirm that module is used to confirm whether each shaft angle degree of robot, zero point be accurate said zero point; Said address assignment module is used to be provided with the driven survey grid network of remote address, the robot body address of handgrip, purposes that can also definition signal, and for example workpiece sensing puts in place, cylinder clamping is opened, vacuum generator is opened, close etc.; Said debugging module is used to carry out robot trajectory's programming, according to the motion mode of condition of different affirmation handgrip, accomplishes automated production and satisfies beat; Said carrying control module is used for controlling robot body and handgrip motion according to the robot trajectory, accomplishes carrying; In the work of carrying control module, whether the real-time detection of interference checking device has the existence of interference signal, in time adjusts the motion of robot body and handgrip, until accomplishing carrying.
Provide one section corresponding code to explain how above-mentioned functions realizes below: to should be understood that, can adopt other forms of code to realize, be not limited to said giving an example.
PICK
It is that handgrip can carry out carrying work in the tram that WAIT IN# (71)=ON detects workpiece
The corresponding cylinder sucker of CALL JOB:YP1CLOSE steps up to explain below the subprogram
DOUT OT# (39) ON grip is accomplished transmission PLC request and is left signal
WAIT IN# (39)=ON waits for that PLC allows to leave this moment PLC and will judge whether safety of station anchor clamps
MOVL C00098 BC00098 EC00098 V=200.0 PL=1 rectilinear motion 200mm/s velocity location grade 1
MOVJ C00099 BC00099 EC00099 VJ=100.00 PL=1 axle movement velocity 100% position grade 1
DOUT OT# (39) OFF cancels request
MOVJ?C00100?BC00100?EC00100?VJ=100.00?PL=1
MOVJ?C00101?BC00101?EC00101?VJ=100.00?PL=2
MOVJ?C00102?BC00102?EC00102?VJ=100.00?PL=2
DOUT OT# (41) ON robot this moment leaves the anchor clamps zone
DOUT OT# (5) ON and station do not have interference
MOVJ?C00103?BC00103?EC00103?VJ=100.00?PL=3
The part position is being put in advance in DOUT OT# (43) ON robot
WAIT IN# (49)=ON waits for that PLC allows entering to put the part zone
WAIT IN# (12)=ON waits for and other machines people 1 no interference signal
DOUT OT# (12) OFF and other machines people 1 nothing interference are sent and can not be got into the sub-region with other machines people 1 this moment
WAIT IN# (12)=ON waits for other machines people 1 no interference signal and confirming
DOUT OT# (6) OFF and station 1 are interfered and station 1 interferes anchor clamps actively not done
DOUT OT# (43) OFF robot gets into room area
MOVJ?C00104?BC00104?EC00104?VJ=100.00?PL=1
MOVJ?C00105?BC00105?EC00105?VJ=100.00?PL=0
MOVL C00106 BC00106 EC00106 V=400.0 PL=0 arrives and puts position, part position grade is 0 i.e. accurately arrival
'PUT?DOWN
The corresponding cylinder sucker of CALL JOB:YP1OPEN unclamps below the subprogram to be explained
DOUT OT# (42) ON is put part and is accomplished
WAIT IN# (50)=ON waits for that PLC allows to leave
MOVJ?C00107?BC00107?EC00107?VJ=100.00?PL=0
WAIT IN# (72)=ON waits for that handgrip leaves workpiece, if so this moment robot withdrawn from a room and also have part will go wrong and will judge on the handgrip of zone
MOVJ?C00108?BC00108?EC00108?VJ=100.00?PL=1
DOUT OT# (42) OFF is put part and is put cancellation in place because left the position
MOVJ?C00109?BC00109?EC00109?VJ=100.00?PL=2
MOVJ?C00110?BC00110?EC00110?VJ=100.00?PL=3
DOUT OT# (6) ON and station do not have interference
DOUT OT# (12) ON and other machines people 1 do not have interference
DOUT OT# (8) ON sends to PLC work and accomplishes
WAIT IN# (80)=ON PLC carries out work and accomplishes affirmation
DOUT OT# (8) OFF confirms to accomplish
'LIKAI
MOVJ?C00111?BC00111?EC00111?VJ=100.00?PL=0
YP1CLOSE
NOP
The cancellation of DOUT OT# (84) OFF cylinder opening signal
DOUT OT# (83) ON cylinder clamping signal is opened
WAIT IN# (83)=ON waits for that cylinder clamping puts in place
DOUT OT# (83) OFF clamps the back cancelling signal that puts in place and clamps after the back opening signal and open exhaust hood and just can open
END
YP1OPEN
NOP
DOUT OT# (83) OFF cylinder clamping signal cancellation
DOUT OT# (84) ON cylinder opening signal is opened
WAIT IN# (84)=ON wait cylinder is opened and is put in place
DOUT OT# (84) OFF opens the back cancelling signal that puts in place and clamps and to open after the back clamping signal and open exhaust hood and just can clamp
END
The present invention also provides a kind of method for carrying of described transfer robot, and is as shown in Figure 2, said method comprising the steps of:
S1, transfer robot are assemblied on the auto assembly line;
S2, transfer robot energising back initialization;
S3, confirm whether each shaft angle degree of robot, zero point be accurate;
S4, the remote address that handgrip is set, the driven survey grid network of robot body address;
S5, carry out robot trajectory programming, confirm the motion mode of handgrip according to condition of different;
S6, control the motion of robot body and handgrip, and whether the existence of interference signal is arranged, in time adjust the motion of robot body and handgrip, carry until accomplishing through the real-time detection of interference checking device according to the robot trajectory.
In sum; A kind of carrying limit robot provided by the invention and method for carrying thereof, wherein, said transfer robot comprises robot body, handgrip and robot controller; Said robot body connects said robot controller and handgrip, and said robot controller connects handgrip; Wherein, said robot controller is provided with an interference checking device, is used to detect the existence whether interference signal is arranged.Through transfer robot provided by the invention and method for carrying thereof; Can accomplish handling process automatically, practice thrift human cost greatly, and improve production efficiency; Simultaneously; Through the real-time detection of interference checking device whether the existence of interference signal is arranged, in time adjust the motion of robot body and handgrip, thereby guaranteed that whole handling process is timely and effective fast.
Should be understood that application of the present invention is not limited to above-mentioned giving an example, concerning those of ordinary skills, can improve or conversion that all these improvement and conversion all should belong to the protection domain of accompanying claims of the present invention according to above-mentioned explanation.
Claims (6)
1. a transfer robot is arranged on the auto assembly line, it is characterized in that, said transfer robot comprises:
Robot body, handgrip and robot controller, said robot body connects said robot controller and handgrip, and said robot controller connects handgrip;
Wherein, said robot controller is provided with an interference checking device.
2. transfer robot according to claim 1 is characterized in that, said robot controller is connected with the encoder line through service cable with said robot body.
3. transfer robot according to claim 1 is characterized in that, said interference checking device further comprises: self signal interference checkout gear and external signal interference checking device.
4. transfer robot according to claim 1 is characterized in that, said handgrip comprises: cylinder and sucker.
5. transfer robot according to claim 1 is characterized in that, said transfer robot further comprises:
Initialization module is used for robot is carried out initialization;
Confirm module zero point, be used to confirm whether each shaft angle degree of robot, zero point be accurate;
Address assignment module is used to be provided with the driven survey grid network of remote address, the robot body address of handgrip;
Debugging module is used to carry out robot trajectory's programming, confirms the motion mode of handgrip according to condition of different;
The carrying control module is used for controlling robot body and handgrip motion according to the robot trajectory, accomplishes carrying;
Confirm that module, address assignment module, debugging module and carrying control module are connected successively at said initialization module, zero point.
6. the method for carrying of the described transfer robot of claim 1 is characterized in that, said method comprising the steps of:
S1, transfer robot are assemblied on the auto assembly line;
S2, transfer robot energising back initialization;
S3, confirm whether each shaft angle degree of robot, zero point be accurate;
S4, the remote address that handgrip is set, the driven survey grid network of robot body address;
S5, carry out robot trajectory programming, confirm the motion mode of handgrip according to condition of different;
S6, control the motion of robot body and handgrip, and whether the existence of interference signal is arranged, in time adjust the motion of robot body and handgrip, carry until accomplishing through the real-time detection of interference checking device according to the robot trajectory.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104586475A CN102514010A (en) | 2011-12-31 | 2011-12-31 | Transporting robot and transporting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104586475A CN102514010A (en) | 2011-12-31 | 2011-12-31 | Transporting robot and transporting method thereof |
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| CN102514010A true CN102514010A (en) | 2012-06-27 |
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| CN2011104586475A Pending CN102514010A (en) | 2011-12-31 | 2011-12-31 | Transporting robot and transporting method thereof |
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| CN103101760A (en) * | 2012-12-28 | 2013-05-15 | 长春大正博凯汽车设备有限公司 | Visual transportation system for workpiece transportation and transportation method thereof |
| CN103273164A (en) * | 2012-12-28 | 2013-09-04 | 长春大正博凯汽车设备有限公司 | Arc welding system and arc welding method thereof |
| CN108500976A (en) * | 2017-02-28 | 2018-09-07 | 发那科株式会社 | Simulator, analogy method and the computer program of robot system |
| CN110520259A (en) * | 2017-04-04 | 2019-11-29 | 牧今科技 | Control device, picking up system, logistics system, program and control method |
| CN115302542A (en) * | 2022-07-19 | 2022-11-08 | 中国第一汽车股份有限公司 | Multi-vehicle-type universal on-line automatic point inspection robot gripper system, method and equipment and storage medium |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103101760A (en) * | 2012-12-28 | 2013-05-15 | 长春大正博凯汽车设备有限公司 | Visual transportation system for workpiece transportation and transportation method thereof |
| CN103273164A (en) * | 2012-12-28 | 2013-09-04 | 长春大正博凯汽车设备有限公司 | Arc welding system and arc welding method thereof |
| CN108500976A (en) * | 2017-02-28 | 2018-09-07 | 发那科株式会社 | Simulator, analogy method and the computer program of robot system |
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| CN110520259A (en) * | 2017-04-04 | 2019-11-29 | 牧今科技 | Control device, picking up system, logistics system, program and control method |
| CN115302542A (en) * | 2022-07-19 | 2022-11-08 | 中国第一汽车股份有限公司 | Multi-vehicle-type universal on-line automatic point inspection robot gripper system, method and equipment and storage medium |
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Application publication date: 20120627 |