CN105128018A - Modular six-axis robot and multi-station positioning control method thereof - Google Patents
Modular six-axis robot and multi-station positioning control method thereof Download PDFInfo
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- CN105128018A CN105128018A CN201510513909.1A CN201510513909A CN105128018A CN 105128018 A CN105128018 A CN 105128018A CN 201510513909 A CN201510513909 A CN 201510513909A CN 105128018 A CN105128018 A CN 105128018A
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- hydraulic cylinder
- vertical hydraulic
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Abstract
The invention discloses a modular six-axis robot. The modular six-axis robot comprises a robot arm located above a station; a machine frame is arranged on the upper portion of the station; a movable track is symmetrically arranged on the inner side of the upper end of the machine frame; a horizontal moving platform is arranged on the movable track; optoelectronic switches are arranged on the two sides of the movable track; a control case is arranged on one side of the station; a vertical moving mechanism is arranged on the horizontal moving platform and is a vertical hydraulic cylinder; a telescopic rod of the vertical hydraulic cylinder is connected with the robot arm; a displacement sensor is arranged on the horizontal moving platform; a horizontal drive motor is arranged on one side of the station and drives the horizontal moving platform through a guide rope to move along the movable track. By means of the cooperation of the horizontal moving platform and the vertical hydraulic cylinder, adjustment of the position of the robot arm can be achieved, and the operation precision is improved conveniently.
Description
Technical field
The present invention relates to a kind of six axle module robots and multistation position control method thereof.
Background technology
Six-joint robot is widely used in automatic field, uses extensively in the equipment such as welding, packaging.Existing six-joint robot is normally arranged on each station respectively, and when production line is longer, need the robot of installation more, its cost is higher; Meanwhile, when station is determined, if the position of robot adjusts, its performance accuracy can be affected.
Summary of the invention
The object of the present invention is to provide a kind of six axle module robots and multistation position control method thereof, prior art Problems existing can be improved, by adopting horizontal shifting platform and vertical hydraulic cylinder to coordinate, the adjustment of the position to robot arm can be realized, conveniently improve performance accuracy.
The present invention is achieved through the following technical solutions:
A kind of six axle module robots, comprise robot arm, described robot arm is positioned at above station, described station top is provided with frame, moving track is symmetrically arranged with inside described frame upper end, described moving track is provided with horizontal shifting platform, described moving track both sides are provided with optoelectronic switch, described station side is provided with control cabinet;
Described horizontal shifting platform is provided with vertical movement mechanism, and described vertical movement mechanism is vertical hydraulic cylinder, and the expansion link of described vertical hydraulic cylinder is connected with robot arm, and described horizontal shifting platform is provided with displacement transducer;
Described station side is provided with horizontal drive motor, and described horizontal drive motor drives horizontal shifting platform to move along described moving track by dragline;
Be provided with I/O port in described control cabinet, described optoelectronic switch, displacement transducer, vertical hydraulic cylinder, horizontal drive motor control cabinet respectively by I/O port and are connected with being arranged on.
Further, for realizing the present invention better, PLC is provided with in described control cabinet, described PLC is connected with described optoelectronic switch, displacement transducer respectively by digital quantity input block, described vertical hydraulic cylinder is connected with described PLC respectively by digital output unit with horizontal drive motor, and described PLC is connected with the I/O port of described robot arm by circuit.
Further, for realizing the present invention better, described frame is provided with transparent isolating door.
Further, for realizing the present invention better, described isolating door one end is hinged in described frame.
Further, for realizing the present invention better, be provided with pressure sensor at described isolating door away from its hinged one end, described pressure sensor is connected with described control cabinet by circuit.
A multistation position control method for six axle module robots, comprises the following steps:
S1: record initial station information: station pitch information is sent to and controls cabinet as initial station information, robot arm is placed in above the first station;
S2: optoelectronic switch is arranged in the frame at each station place, start horizontal drive driven by motor horizontal shifting platform to move horizontally along moving track, adopt optoelectronic switch measuring robots arm whether to reach station position, and by displacement transducer measuring robots arm displacement information, the initial station information stored in itself and step S1 is compared;
S3: when robot arm reaches above next station in step s 2, starts vertical hydraulic cylinder adjustment robot arm height, and drives it to run by PLC to robot arm transmission activation bit.
The present invention compared with prior art, has following beneficial effect:
(1) the present invention is by being arranged on below vertical hydraulic cylinder by robot arm, can telescoping vertical hydraulic cylinder as required, thus adjustment robot arm height, the convenient further adjustment to its performance accuracy;
(2) the present invention matches by adopting moving track and horizontal shifting platform, can realize multistation operation, realize a robot arm to the operation of multistation equipment to be processed, effectively reduce equipment cost;
(3) the present invention realizes the position of measuring robots arm by arranging optoelectronic switch and displacement transducer, facilitates precisely controlling displacement scope, improves performance accuracy.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present invention, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the embodiment of the present invention 2 control circuit schematic diagram.
Wherein: 101. robot arms, 102. stations, 103. frames, 104. moving tracks, 105. horizontal shifting platforms, 106. vertical hydraulic cylinders, 107. horizontal drive motors.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
As shown in Figure 1, a kind of six axle module robots, comprise robot arm 101, described robot arm 101 is positioned at above station 102, described station 102 top is provided with frame 103, inside described frame 103 upper end, is symmetrically arranged with moving track 104, described moving track 104 is provided with horizontal shifting platform 105, described moving track 104 both sides are provided with optoelectronic switch, described station 102 side is provided with control cabinet;
Described horizontal shifting platform 105 is provided with vertical movement mechanism, described vertical movement mechanism is vertical hydraulic cylinder 106, the expansion link of described vertical hydraulic cylinder 106 is connected with robot arm 101, and described horizontal shifting platform 105 is provided with displacement transducer;
Described station 102 side is provided with horizontal drive motor 107, and described horizontal drive motor 107 drives horizontal shifting platform 105 to move along described moving track 104 by dragline;
Be provided with I/O port in described control cabinet, described optoelectronic switch, displacement transducer, vertical hydraulic cylinder 106, horizontal drive motor 107 control cabinet respectively by I/O port and are connected with being arranged on.
When the first station machines, having control cabinet to send activation bit to horizontal drive motor 107 makes it drive horizontal shifting platform 105 to move along moving track 104, when displacement transducer detects that its moving range reaches setting range, stop it running, by the position of measuring robots arm while of optoelectronic switch, and information is sent to control cabinet, when reaching the second station, control cabinet and send activation bit to robot arm, make it bring into operation.When needing the height adjusting robot arm, its motion can be promoted by vertical hydraulic cylinder 106, realizing the adjustment of its height.
Embodiment 1:
Preferably, in the present embodiment, PLC is provided with in described control cabinet, described PLC is connected with described optoelectronic switch, displacement transducer respectively by digital quantity input block, described vertical hydraulic cylinder 106 is connected with described PLC respectively by digital output unit with horizontal drive motor 107, and described PLC is connected by the I/O port of circuit with described robot arm 101.
In order to improve security performance, in the present embodiment, described frame 103 is provided with transparent isolating door 107.
Further preferably, described isolating door 107 one end is hinged in described frame 103.
Preferably, in the present embodiment, be provided with pressure sensor at described isolating door 107 away from its hinged one end, described pressure sensor is connected with described control cabinet by circuit.
When pressure sensor detects that isolating door 107 is under pressure, equipment normally runs, when the pressure that isolating door 107 is subject to reduces to be even 0, control cabinet and send activation bit to robot arm 101, horizontal drive motor 107, vertical hydraulic cylinder 106, make it force out of service, avoid occurring potential safety hazard.
Embodiment 2:
As shown in Figure 2, the present embodiment discloses a kind of multistation position control method of six axle module robots on the basis of embodiment 1, comprises the following steps:
S1: record initial station information: station pitch information is sent to and controls cabinet as initial station information, robot arm 101 is placed in above the first station;
S2: optoelectronic switch is arranged in the frame 103 at each station place, starting horizontal drive motor 107 drives horizontal shifting platform 105 to move horizontally along moving track 104, adopt optoelectronic switch measuring robots arm 101 whether to reach station position, and by displacement transducer measuring robots arm 101 displacement information, the initial station information stored in itself and step S1 is compared;
S3: when robot arm 101 reaches above next station in step s 2, starts vertical hydraulic cylinder 106 and adjusts robot arm 101 height, and sends activation bit by PLC to robot arm 101 and drive it to run.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. an axle module robot, comprise robot arm (101), described robot arm (101) is positioned at station (102) top, it is characterized in that: described station (102) top is provided with frame (103), moving track (104) is symmetrically arranged with inside described frame (103) upper end, described moving track (104) is provided with horizontal shifting platform (105), described moving track (104) both sides are provided with optoelectronic switch, described station (102) side is provided with control cabinet;
Described horizontal shifting platform (105) is provided with vertical movement mechanism, described vertical movement mechanism is vertical hydraulic cylinder (106), the expansion link of described vertical hydraulic cylinder (106) is connected with robot arm (101), and described horizontal shifting platform (105) is provided with displacement transducer;
Described station (102) side is provided with horizontal drive motor (107), and described horizontal drive motor (107) drives horizontal shifting platform (105) mobile along described moving track (104) by dragline;
Be provided with I/O port in described control cabinet, described optoelectronic switch, displacement transducer, vertical hydraulic cylinder (106), horizontal drive motor (107) control cabinet respectively by I/O port and are connected with being arranged on.
2. a kind of six axle module robots according to claim 1, it is characterized in that: in described control cabinet, be provided with PLC, described PLC is connected with described optoelectronic switch, displacement transducer respectively by digital quantity input block, described vertical hydraulic cylinder (106) is connected with described PLC respectively by digital output unit with horizontal drive motor (107), and described PLC is connected by the I/O port of circuit with described robot arm (101).
3. a kind of six axle module robots according to claim 1 and 2, is characterized in that: in described frame (103), be provided with transparent isolating door (107).
4. a kind of six axle module robots according to claim 3, is characterized in that: described isolating door (107) one end is hinged in described frame (103).
5. a kind of six axle module robots according to claim 3, is characterized in that: be provided with pressure sensor at described isolating door (107) away from its hinged one end, described pressure sensor is connected with described control cabinet by circuit.
6. a multistation position control method for six axle module robots, is characterized in that: comprise the following steps:
S1: record initial station information: station pitch information is sent to and controls cabinet as initial station information, robot arm (101) is placed in above the first station;
S2: optoelectronic switch is arranged in the frame (103) at each station place, starting horizontal drive motor (107) drives horizontal shifting platform (105) to move horizontally along moving track (104), adopt optoelectronic switch measuring robots arm (101) whether to reach station position, and pass through displacement transducer measuring robots arm (101) displacement information and the initial station information stored in itself and step S1 is compared;
S3: when robot arm (101) reaches above next station in step s 2, starts vertical hydraulic cylinder (106) adjustment robot arm (101) highly, and drives it to run by PLC to robot arm (101) transmission activation bit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510513909.1A CN105128018A (en) | 2015-08-19 | 2015-08-19 | Modular six-axis robot and multi-station positioning control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510513909.1A CN105128018A (en) | 2015-08-19 | 2015-08-19 | Modular six-axis robot and multi-station positioning control method thereof |
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| Publication Number | Publication Date |
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| CN105128018A true CN105128018A (en) | 2015-12-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510513909.1A Pending CN105128018A (en) | 2015-08-19 | 2015-08-19 | Modular six-axis robot and multi-station positioning control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106066479A (en) * | 2016-05-24 | 2016-11-02 | 马鞍山市博宇智能装备有限公司 | A kind of six-joint robot position detecting system |
| CN107511826A (en) * | 2017-09-08 | 2017-12-26 | 国机智能技术研究院有限公司 | The control method and system of a kind of hydraulic robot |
-
2015
- 2015-08-19 CN CN201510513909.1A patent/CN105128018A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106066479A (en) * | 2016-05-24 | 2016-11-02 | 马鞍山市博宇智能装备有限公司 | A kind of six-joint robot position detecting system |
| CN107511826A (en) * | 2017-09-08 | 2017-12-26 | 国机智能技术研究院有限公司 | The control method and system of a kind of hydraulic robot |
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Application publication date: 20151209 |
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| WD01 | Invention patent application deemed withdrawn after publication |