CN109227205A - A kind of control method and system for double-station robot machine loading and unloading - Google Patents
A kind of control method and system for double-station robot machine loading and unloading Download PDFInfo
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- CN109227205A CN109227205A CN201811438285.1A CN201811438285A CN109227205A CN 109227205 A CN109227205 A CN 109227205A CN 201811438285 A CN201811438285 A CN 201811438285A CN 109227205 A CN109227205 A CN 109227205A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention discloses a kind of control method for double-station robot machine loading and unloading, including feeding judgment step, production and processing step, wherein production and processing step includes that material step, lathe loading and unloading step, production and processing step, workpiece put step；By industrial personal computer feedback image processing result, realize that PLC controls robot feeding；By override mechanism, PLC can control robot when executing production and processing step to a station, carries out image procossing to another station and data are transmitted；By machine feedback information, the protection mechanism and lathe feeding failure handling mechanism of robot disengaging lathe are realized；It also introduces and lacks material notification mechanisms.The present invention improves double-station robot charge efficiency and fault-tolerant processing ability, and can continue to realize automated production in a station fault, ensure that production capacity.The invention also discloses a kind of double-station robot charge systems using the control method.
Description
Technical field
The present invention relates to industrial automation more particularly to a kind of controls for double-station robot machine loading and unloading
Method and system.
Background technique
It has passed through nearly development in 50 years, it is anti-that PLC has high arithmetic speed, microminiature volume, more reliable industry simultaneously
It the advantages that disturbance-proof design, operation of analog quantity, PID function and high cost performance, is widely used in industrial automation equipment
In.Industrial robot has just been used in the severe either simply duplicate work of action of many working environments since birth
In industry scene, the industrial robot to be worked using electric power continual for a long time can be worked.Industry Control calculates
Machine is a kind of using bus structures, and the equipment general name of Detection & Controling is carried out to production process and its electromechanical equipment, technological equipment,
Referred to as " industrial personal computer ", including computer and process input, output channel two parts, it has important computer attribute and spy
Sign.The perfect manufacturing industry of appearance of industrial control computer and the safety of building industry and precisely.Replaced at this stage using robot
Manually have become the vast developing direction of a manufacturing prospect.
As the level of industrial automation is higher and higher, more and more equipment complete all set using automatically controlling
Standby function, PLC is as mature Industry Control product since its approved stability is widely used in signal control, electricity
In machine control and process.
Traditional PLC controls robot system, is moved between point by signal confirmation by PLC control robot
Make, the finger or vacuum component cooperation robot for controlling robot front end complete the movement such as feeding, blanking, feeding, and PLC is simple
As control device, feedback information is not received from robot.When using double-station, if a lathe breaks down, it is
System can not skip problem lathe and carry out the operation such as loading and unloading to another lathe, reduce working efficiency.
Therefore, those skilled in the art is dedicated to developing a kind of controlling party for double-station robot machine loading and unloading
Method and system hold the lathe sequence of double-station by being controlled robot based on the feedback of industrial personal computer and robot using PLC
Row operation of feeding and discharging, improves working efficiency, while the abnormal conditions that can occur in processing production process in time, enhances and is
The error handling processing ability of system.
Summary of the invention
In view of the above drawbacks of the prior art, the technical problems to be solved by the present invention are:
(1) feedback information is not received when PLC controls robot；
(2) when being used for double-station, PLC control robot system cannot continue to make when another a machine tool stops working
It is operated with single-station.
To achieve the above object, the present invention provides a kind of control method for double-station robot machine loading and unloading,
Include the following steps:
Feeding judgment step: PLC judges the situation of blank material on the automatic loading and unloading mechanism of at least one station；
Produce and process step: processing result image feedback, the feedback and current station of robot of the PLC based on industrial personal computer
State feedback, control the automatic loading and unloading mechanism of robot and the current station, lathe completes production and processing process；
Wherein, the production and processing step includes:
Material step: PLC goes to the current station based on the positioning processing result image control robot of industrial personal computer
Automatic loading and unloading mechanism feeding, and it is provided with feeding failure alarm mechanism and override mechanism；
Lathe loading and unloading step: the feedback signal of lathe of the PLC based on the current station controls robot charge, and
It is provided with feeding failure handling mechanism and leaves lathe protection mechanism；
Production and processing step: PLC completes processing journey based on the lathe that the feedback signal of robot controls the current station
Sequence；
Workpiece puts step: PLC control robot is put on the automatic loading and unloading mechanism of the current station to be processed
At workpiece, robot put complete after fed back to PLC and complete signal, PLC starts the production and processing process of another station；
Wherein,
Processing and transmission after the completion of initialization, in the material step, to the image processing data of another station
It is parallel；
The override mechanism includes: the automatic charging & discharging machine that PLC can preferentially judge the station in nonproductive machining state
The upper blank material situation of structure；When a station is in abnormality or scarce material state, PLC can skip the production of the station automatically
Processing flow；
When the control method is for a station production and processing, the override mechanism is not started.
Further, the material step comprises the following processes:
Step 21:PLC triggers industrial personal computer and carries out Image Acquisition using the coarse positioning camera of the current station, and carries out figure
As processing, processing result is fed back into PLC；
Step 22:PLC control robot goes the automatic loading and unloading mechanism feeding of the current station；
Step 23: the success of robot feeding feeds back feeding pass signal to PLC；PLC control robot sequence executes next
A movement；
Step 24: if robot feeding fails, feeding back feeding failure signal to PLC, robot returns to fixed point, and PLC is again
Secondary execution step 21 and step 22；
Step 25: it is out of service if the feeding in step 24 unsuccessfully occurs 3 times, and trigger warning device.
Further, after the completion of the step 23 executes, PLC controls robot and executes following process:
Step 31: after the success of robot feeding, moving to the accurate positioning camera position of the current station；
Step 32: robot triggering industrial personal computer acquisition is accurately positioned the picture of camera and is handled；
Step 33: if the picture that industrial personal computer is accurately positioned camera to the current station is handled successfully, successfully believing handling
Robot storage number is fed back to, PLC control robot sequence executes next movement；
Step 34: if the picture processing that industrial personal computer is accurately positioned camera to the current station reports an error, PLC controls robot
It carries out material casting processing and returns to fixed point, and execute the step 21, the step 22, the step 23, the step again
31 and the step 32；
Step 35: the appearance 3 times if the picture processing in step 34 reports an error, it is out of service, and trigger warning device.
Further, the lathe loading and unloading step comprises the following processes:
Step 41: robot waits the instruction of PLC outside the lathe of the current station；
Step 42: after the completion of the machine tooling, fully opening signal and lathe withdrawing letter to PLC feedback lathe automatically-controlled door
Number；
Step 43:PLC controls robot and enters the clamping position inside the lathe；
The signal that step 44:PLC is completed according to the main shaft orientation of the lathe, control robot execute clamping movement, open
Dynamic clamping step；
Step 45:PLC completes the feedback signal of clamping according to robot, controls feeding in robot motion to the lathe
Complete feeding movement in position；
Step 46: lathe protection mechanism is left described in starting, PLC control robot exits the lathe.
Further, when the workpiece completed the process is not fallen out after machine tool fixture release, the clamping step includes:
Step 51: the lathe unclamps fixture, and unclamps signal to PLC feedback clamp；
Step 52:PLC control robot carries out the workpiece that clamping completes the process, and robot is anti-to PLC after clamping is completed
Signal is completed in feedback clamping.
Further, when the workpiece completed the process is when machine tool fixture release can be fallen, the clamping step includes:
Step 61: the lathe clamps the workpiece completed the process to PLC feedback clamp clamping signal, PLC control robot；
Step 62: after robot completes clamping movement, feeding back clamping to PLC and complete signal；
Step 63:PLC controls the lathe and unclamps fixture, and the lathe unclamps signal to PLC feedback clamp；
Step 64:PLC unclamps signal controlling machine device people according to fixture and executes next movement.
Further, the step 45 further includes feeding failure handling mechanism, is comprised the following processes:
When blank material to be put into the final stage stroke of the machine tool fixture type chamber, robot starts present bit for robot
It sets and judges that feeding fails if comparison result is inconsistent with preset feeding successful location comparison process；
The part being not carried out in the step 45 is skipped by robot, jumps to the step 46, and start warning device.
Further, the step 46 comprises the following processes:
Step 81: when robot does not exit lathe, output interference domain signal prevents program from malfunctioning, so as to cause starter motor
Bed；
Step 82: when robot exits the lathe completely, closing interference domain signal, and feed back to signal is exited completely
PLC；
Step 83:PLC control control robot executes next movement.
Further, the control method further includes lacking material to remind step, specifically:
PLC identifies that the blank material of a station is all removed according to the processing result image of industrial personal computer, triggers either simplex
Position lacks material and reminds；
If PLC identifies that the blank material of double-station is all removed, triggering double-station lacks material and reminds；
It is inconsistent that the single-station, which lacks the signal that the signal that material is reminded and the scarce material of the double-station are reminded,.
The present invention also provides a kind of double-station robot machine loading and unloading system, including PLC, industrial personal computer, robot, lack
Expect alarm set, two stations；Each station includes automatic loading and unloading mechanism, lathe, coarse positioning camera, is accurately positioned phase
Machine；The PLC controls the robot, the automatic loading and unloading mechanism, the lathe execution act and receive the robot,
The machine feedback controls signal；The industrial personal computer controls the coarse positioning camera, the accurate positioning camera is shot, and connects
It receives captured picture and carries out picture processing, give picture processing data feedback to the PLC and the robot；The machine
People and the industrial computer communication, take pictures and receive the industrial personal computer to the accurate positioning for triggering the accurate positioning camera
The picture processing result of camera shooting；The scarce material alarm set is reminded for lacking material, when some station lacks material or when two
When a station all lacks material, the scarce material alarm set has different alerting patterns.
The present invention has the following technical effect that
1, the present invention passes through the timing control of optimization robot, so that robot when to two lathe loading and unloading, shortens
The time of the pending datas such as robot, save the time required for entire production process；
2, the present invention improves PLC control by technological means such as visual feedback, the motion feedbacks of robot of industrial personal computer
The stability of robot；
It is 3, of the invention that by introducing, feeding is unsuccessfully alarmed, feeding is unsuccessfully alarmed, is lacked and is expected that prompting, robot pass in and out the guarantor of lathe
The fault-tolerant processings mechanism such as shield, the fault-tolerant ability of lifting system；
4, the present invention by sequence execute to two lathe loading and unloading, it is ensured that certain a machine tool when something goes wrong,
Problem lathe is skipped by control robot, to another a machine tool loading and unloading, ensure that production capacity.
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Detailed description of the invention
Timing diagram when Fig. 1 is two stations of a preferred embodiment of the invention while working normally；
Fig. 2 is the material step of a preferred embodiment of the invention, the flow diagram for lacking material prompting and override mechanism；
Fig. 3 is the accurate positioning signal flow graph of a preferred embodiment of the invention；
Fig. 4 is the flow chart of the override mechanism running of a preferred embodiment of the invention；
Fig. 5 is the lathe loading and unloading process that workpiece is not fallen after the machine tool fixture of a preferred embodiment of the invention is opened
Figure；
Fig. 6 is the lathe loading and unloading process that workpiece can be fallen after the machine tool fixture of a preferred embodiment of the invention is opened
Figure；
Fig. 7 is that the workpiece of a preferred embodiment of the invention puts flow chart of steps；
Fig. 8 is the structural schematic diagram of the double-station robot charge system of a preferred embodiment of the invention.
Specific embodiment
A preferred embodiment of the present invention is introduced below with reference to Figure of description, keeps its technology contents more clear and just
In understanding.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention not only limits
The embodiment that Yu Wenzhong is mentioned.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with
Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention
The size and thickness of each component.Apparent in order to make to illustrate, some places suitably exaggerate the thickness of component in attached drawing.
This gives when two stations all work normally, control control of the robot to double-station lathe loading and unloading
Method processed.
The control method of the present embodiment includes that feeding judgment step, the production and processing step of current station and scarce material remind step
Suddenly.In feeding judgment step, PLC judges the first station and whether second station carries out blank material, by judging first
The feedback information of blank material on station and second station, to obtain the sequencing of upper blank material, and the sequence control taken pictures
System.Blank material is first just gone up with the first station below and second station carries out upper blank at once on the first station after blank material
It is described based on material this operation.It should be noted that the method for the present embodiment is not limited to the elder generation of above-mentioned upper blank material
Hand sequence, but run with sequencing that PLC is identified.
As shown in Figure 1, the control method of the present embodiment realize PLC control robot it is suitable to the first station, second station
Sequence executes.The first station coarse positioning photo processing result that PLC is fed back according to industrial personal computer, control robot go to the first station into
Row feeding, robot is after the completion of feeding, and when being accurately positioned camera by the first station, triggering industrial personal computer control is accurately positioned phase
Machine is taken pictures；Processing result is directly transferred to robot after the picture taken pictures to accurate positioning camera is handled by industrial personal computer
Storage；Then robot continues to execute program, leaves after being accurately positioned camera, before coming the first station machine tool, starts on lathe
Blanking step；After the completion of loading and unloading, robot leaves the first station machine tool completely, and PLC controls the first station machine tool and produced
Processing, while controlling the production and processing step that robot goes successively to second station, the production and processing of the step and the first station
Step is consistent.PLC control robot recycles always, makes the first station and second station crossing operation.
As shown in Fig. 2, PLC identify the first station automatic loading and unloading mechanism gone up blank material after, starting
Material step: after rigid initialization, PLC triggers industrial personal computer by changing the value for a certain register arranged with industrial personal computer, makes
The coarse positioning camera that industrial personal computer controls the first station carries out Image Acquisition；Industrial personal computer receives image and handles image, will
Processing result feeds back to PLC；PLC controls the automatic loading and unloading mechanism feeding that robot removes the first station according to feedback result；PLC
According to robot to the feedback of feeding state, control the next step movement of robot: if feeding success, PLC control robot is held
Row acts in next step；If feeding fails, start feeding failure alarm mechanism.Wherein, industrial personal computer, which is arranged in, continually scans for
Buffer status, once the value of a certain register changes, industrial personal computer enters corresponding program.Feeding failure alarm mechanism
The course of work are as follows: if feeding fail, robot return fixed point, and give PLC feed back feeding failure signal；PLC triggers industry control
Machine carry out again coarse positioning camera take pictures, the processes such as image procossing, and control robot and go to feeding again；If continuously going out three times
The situation of existing feeding failure, starts warning device, and out of service, waits technical staff to check reason post-processing and restores.
General coarse positioning camera the probability to fail occurs when being identified in the case where there is material can be very small, if but locating
Reason failure, is made a decision with the register that industrial personal computer returns, if value 1 indicates successfully to recognize target workpiece, value 2 indicates image procossing
Success, but any one workpiece is not recognized, value 3 indicates failure.When the register value that industrial personal computer returns is 3, PLC will
Triggering industrial personal computer carries out the image recognition of coarse positioning camera again, then provides as a result, if continuous is all three times failure, then will
Alarm can be triggered.
As shown in figure 3, PLC control robot continues to execute, when robot is moved to first when robot success feeding
When station is accurately positioned the position of camera, robot is touched by directly interacting with industrial personal computer using the agreement character string of transmission
It sends out industrial personal computer and controls the first station accurate positioning camera progress Image Acquisition and processing, the image data that industrial personal computer completes processing
It is transferred directly to robot.Socket communications reception data is used between robot and industrial personal computer, received data are a string of words
Symbol string, robot carry out code parsing after having received data, if parsing to obtain image procossing success by the flag bit arranged
Information, then store stand-by, and perform the next step movement.If image procossing reports an error, robot carries out material casting processing and returns to
Fixed point, to the first station carry out again feeding action, be accurately positioned the movement such as take pictures.If be continuously accurately positioned three times
Image procossing failure, activation system alarm is out of service, checks reason post-processing to technical staff and restores.
As shown in figure 4, in order to improve the production efficiency, robot executes override mechanism in crossing operation.PLC controls machine
People is when the first station is run, and after the completion of accurate positioning, robot can leave accurately located position, continues to run until the first work
Outside the lathe of position.After robot leaves accurately located position, feedback leaves signal to PLC, and PLC is by changing register value, touching
Hair industrial personal computer is taken pictures and is carried out image procossing to the coarse positioning camera of second station, and the is preferentially judged according to processing result
Blank material situation comes back for Switch of working position if second station does not find blank material on two stations；If image procossing
Success, industrial personal computer transfer data to robot.A kind of override mechanism in this way, robot are executing this to the first work
After the production and processing of position, the feeding action of second station can be directly executed, reduces PLC transmission coarse positioning image processing data
Process.Although for theoretically, the interaction time of PLC and robot is very short, in practical applications, primary interaction is reduced,
Robot itself can be shortened and obtain the time that data use outside lathe, thus allow the lathes such as robot as far as possible,
Working efficiency can be promoted.
As shown in Figure 5 and Figure 6, robot starts to execute lathe loading and unloading step, including machine after being accurately positioned successfully
People enters inside lathe, and robot completes clamping, and robot carries out feeding operation, and robot exits lathe.
After the completion of machine tooling, the path to guarantee that robot enters inside lathe is not interfered with, and lathe is fed back certainly to PLC
The dynamic completely open signal of door and lathe withdrawing complete signal, and PLC is got simultaneously with the two signals as foundation, control robot
Into inside lathe.
Due to Machine Tool Fixture Design, a part of workpiece may not be fallen after completing the process fixture and unclamping, and portion
Part divide the work due to sized central deviation, when fixture unclamps, can fall to inside lathe, therefore, it is necessary to both
Situation separately designs different robots and the operation of workpiece is taken to control.Shown in Fig. 5 workpiece complete the process fixture unclamp after,
The programme diagram of loading and unloading when not falling out, Fig. 6 show loading and unloading of the workpiece after completing the process fixture and unclamping, when can fall
Programme diagram.
As shown in figure 5, after robot enters lathe inside, lathe is releasing orientation to PLC feedback clamp, and PLC is to machine
Human hair goes out to take workpiece signal, and robot clamps workpiece at once.
As shown in fig. 6, after robot enters lathe inside, lathe is clamped condition to PLC feedback clamp, and PLC is to machine
Human hair, which is sent, takes workpiece signal；Robot carries out clamping workpiece at once, then feeds back and has clamped workpiece signal, and PLC controls lathe again
Fixture unclamps.
Workpiece is clamped in clamp state using differentiation lathe and clamps two kinds of situations of workpiece in fixture releasing orientation, than
It plays single use clamp state and clamps a kind of this mode of workpiece, to save the time.Due to the response and interaction of signal, fixture
The reasons such as the reaction time of movement, the loading and unloading movement of the direct releasing orientation of fixture is than the loading and unloading of clamp state movement
It is at least 0.6 second fast.
After robot completes clamping workpiece, no interference position is moved to, carries out shift in position, moves to discharge position progress
Feeding operation.A kind for the treatment of mechanism of feeding failure is devised in order to guarantee to keep the safety in production, in the present embodiment: if feeding loses
It loses, then robot has a limit signal judgement in the final stage stroke that blank material is put into clamp type chamber, when upper
Expect in successful link, limit signal will not be triggered, and program executes downwards；And when limit signal is triggered, robot meeting
Current upper discharge position and the successful position numerical value of preset feeding are compared, if comparing to certain numerical value, difference is more than one
Determine range, then it is assumed that this time feeding is failure, and operation is got into will do it for robot, that is, final stage stroke when skipping feeding
In there are no the part of execution, execute the jump routine after judgement downwards, program, which can jump to, exits lathe link, and exits again
Alarm signal is issued to PLC when lathe reaches overall safety position, when PLC receives alarm signal, alarms immediately, needs technology
Personnel check reason and restore.
When the normal feeding of robot finishes, to PLC sending feeding completion signal, after PLC controls machine tool fixture clamping, machine
Bed feedback PLC fixture has clamped, and then PLC, which controls robot, may exit off lathe.
It is a process that robot, which leaves lathe, after guaranteeing that robot leaves lathe completely, could start lathe into
Row is processed, and is devised robot in the present embodiment and is left lathe protection mechanism: using the interference domain-functionalities of robot itself, in machine
When inside the man-machine bed of device, output interference domain signal prevents program error starting lathe downwards, when robot leaves inside lathe
When, domain signal-off is interfered, and feedback PLC leaves lathe signal completely at once, PLC control starting lathe is processed.
As shown in fig. 7, PLC control robot put the behaviour of the workpiece completed the process after robot leaves lathe
Make, then robot feeds back PLC after returning to fixed point can carry out the signal that second station is processed.PLC controls machine
People carries out the feeding action of second station, and robot returns to fixed position if feeding failure, and repeats feeding operation, if
Feeding fails three times, whole system alarm.It is executed in order if success, robot reaches accurately located position, and triggers
The image acquisition and processing function of industrial personal computer, if image procossing reports an error, robot carries out material casting processing and returns to fixed position, lays equal stress on
The feeding action of multiple coarse positioning simultaneously reaches at accurate positioning, if image processing failure three times, whole system alarm.Work as essence
Determine image procossing success at position, then robot feedback PLC machine device people, which has left, when leaving is accurately positioned signal at camera.
It receives robot and has left signal at accurate positioning camera, PLC priority acccess control industrial personal computer carries out the thick of the first station
Positioning is taken pictures, and carries out image procossing, transferring robot data, and is fed back 1 data receiver of PLC station and completed signal.At this point, machine
Device people has arrived at waits the control of PLC signal to enter lathe outside 2 lathe 2 of station, after PLC control robot enters lathe 2, machine
Device people will do it the movement of the feeding, discharge as described in [0025] and signal interaction, stand when robot leaves lathe completely
It carves feedback mono- robot of PLC and leaves lathe 2 completely, PLC starts lathe 2 at once and processed.When robot leaves completely
When lathe 2, PLC control robot carries out the workpiece that lathe 2 completes the process and puts, and finishes when placing workpiece, robot returns to solid
PLC is fed back after being set to can carry out next sequence flow signal.
As shown in Fig. 2, robot, in feeding, there are one lack material to remind step.When industrial personal computer is known in image procossing
It does not obtain when the blank material in the first station coarse positioning camera fields of view is all removed, then industrial personal computer is immediately controlled in PLC
Carrying out second station, roughly positioning camera takes pictures and image procossing and transmits data, if identifying that the second positioning is slightly fixed at this time
Blank material in the camera fields of view of position has also all been removed, then issues double-station and lack material alerting signal.If industrial personal computer carries out
Second positioning coarse positioning camera takes pictures and image procossing and transmits data success, then after robot on the first station carries out
Before blank material, loading and unloading only are carried out to second station.It is excellent due to crossing operation after the first station carries out upper blank material
First mechanism, once determining, the first station has been in the state of blank material completion, then at accurate positioning this time
Judgement later will be jumped into and carry out on lathe to the first station after completing lathe loading and unloading process to second station
Blanking only carries out the lathe loading and unloading of second station without being to continue with.If same second station is in scarce material state, machine
Device people also can only carry out the production and processing process of the first station, until station state transformation, then crossing operation.At a certain station
When scarce material state, then issues single-station and lack material alerting signal.
When only needing a certain station to be worked, another station can be closed at the interface PLC, steps all in this way
Suddenly it all can only carry out, and be accurately positioned after completion in the station for currently needing work, will also cancel override mechanism, only
Judge current station state, cycle operation to scarce material status alert.
In the present embodiment, a kind of system of double-station robot machine loading and unloading is additionally provided, including PLC (does not show in figure
Out), industrial personal computer (not shown), robot 3, scarce material indicator light 6, buzzer 7, protective fence 8, the first station and the second work
Position；First station includes the first station machine tool 1, the first station automatic loading and unloading mechanism 2, the first station coarse positioning camera (in figure
Be not shown), the first station be accurately positioned camera (not shown)；Second station include second station lathe 4, second station from
Dynamic charging and discharging mechanism 5, second station coarse positioning camera (not shown), second station are accurately positioned camera and (do not show in figure
Out).
PLC is as master control equipment, for controlling robot 3, the first station automatic loading and unloading mechanism 2, the first station machine
Bed 1, second station lathe 4, second station automatic loading and unloading mechanism 5 execute movement, and PLC can receive robot 3, the first station
The control signal that lathe 1, second station lathe 4 are fed back.
Industrial personal computer control the first station coarse positioning camera, the first station be accurately positioned camera, second station coarse positioning camera,
Second station is accurately positioned camera and is shot, and receives captured picture and carries out picture processing, and picture processing data are anti-
It feeds PLC or robot 3；Robot 3 and industrial computer communication are accurately positioned camera or second station essence for triggering the first station
True positioning camera is taken pictures, and is received industrial personal computer and be accurately positioned camera or second station accurate positioning camera bat to the first station
The picture processing result taken the photograph；It lacks material indicator light 6 and is lacked for single-station and expect to remind, when some station lacks material, lack and expect indicator light 6
Flashing；Buzzer 7 lacks material for double-station and reminds, and when two stations all lack material, buzzer 7 is alarmed.
Protective fence 8 is used for isolation safe production area.
PLC receives the coarse positioning camera picture processing result of industrial personal computer feedback, realizes the feeding control to robot 3,
And it realizes and lacks material prompting function, and a station lacks when expecting, lack material indicator light 6 and flashed, when two stations all lack material
When, buzzer 7 is alarmed.
PLC receives the automatically-controlled door opening signal of the first station machine tool or second station lathe, withdrawing completes signal etc., determines
The travel path of robot 3 is without hindrance, ensure that 3 safety of robot enters in lathe；The clamping signal of PLC receiving jig or pine
ON signal realizes and completes the process workpiece in the case where that can fall or not fall out two kinds of situations after fixture unclamps to the progress of robot 3
The control of blanking action.
When a movement is completed in the every execution of robot 3, it can feed back to PLC and execute completion signal, there is whole system
Better stability.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of control method for double-station robot machine loading and unloading, which comprises the steps of:
Feeding judgment step: PLC judges the situation of blank material on the automatic loading and unloading mechanism of at least one station；
Produce and process step: PLC based on industrial personal computer processing result image feedback, the feedback of robot and current station shape
State feedback controls the automatic loading and unloading mechanism of robot and the current station, lathe completes production and processing process；
Wherein, the production and processing step includes:
Material step: PLC goes to the automatic of the current station based on the positioning processing result image control robot of industrial personal computer
Charging and discharging mechanism feeding, and it is provided with feeding failure alarm mechanism and override mechanism；
Lathe loading and unloading step: the feedback signal of lathe of the PLC based on the current station controls robot charge, and is arranged
There is feeding failure handling mechanism and leaves lathe protection mechanism；
Production and processing step: PLC completes processing program based on the lathe that the feedback signal of robot controls the current station；
Workpiece puts step: PLC control robot, which is put on the automatic loading and unloading mechanism of the current station, to be completed the process
Workpiece, robot, which is fed back after putting completion to PLC, completes signal, and PLC starts the production and processing process of another station；
Wherein,
After the completion of initialization, in the material step, processing and transmission to the image processing data of another station are simultaneously
Capable；
The override mechanism includes: the automatic loading and unloading mechanism that PLC can preferentially judge the station in nonproductive machining state
Upper blank material situation；When a station is in abnormality or scarce material state, PLC can skip the production and processing of the station automatically
Process；
When the control method is for a station production and processing, the override mechanism is not started.
2. control method as described in claim 1, which is characterized in that the material step comprises the following processes:
Step 21:PLC triggers industrial personal computer and carries out Image Acquisition using the coarse positioning camera of the current station, and carries out at image
Reason, feeds back to PLC for processing result；
Step 22:PLC control robot goes the automatic loading and unloading mechanism feeding of the current station；
Step 23: the success of robot feeding feeds back feeding pass signal to PLC；PLC control robot sequence executes next dynamic
Make；
Step 24: if robot feeding fails, feeding back feeding failure signal to PLC, robot returns to fixed point, and PLC is held again
Row step 21 and step 22；
Step 25: it is out of service if the feeding in step 24 unsuccessfully occurs 3 times, and trigger warning device.
3. control method as claimed in claim 2, which is characterized in that after the completion of the step 23 executes, PLC controls robot
Execute following process:
Step 31: after the success of robot feeding, moving to the accurate positioning camera position of the current station；
Step 32: robot triggering industrial personal computer acquisition is accurately positioned the picture of camera and is handled；
Step 33: anti-by pass signal is handled if the picture that industrial personal computer is accurately positioned camera to the current station is handled successfully
It feeds robot storage, PLC control robot sequence executes next movement；
Step 34: if the picture processing that industrial personal computer is accurately positioned camera to the current station reports an error, PLC controls robot and carries out
Material casting handles and returns fixed point, and execute again the step 21, the step 22, the step 23, the step 31 and
The step 32；
Step 35: the appearance 3 times if the picture processing in step 34 reports an error, it is out of service, and trigger warning device.
4. control method as described in claim 1, which is characterized in that the lathe loading and unloading step comprises the following processes:
Step 41: robot waits the instruction of PLC outside the lathe of the current station；
Step 42: after the completion of the machine tooling, fully opening signal and lathe withdrawing signal to PLC feedback lathe automatically-controlled door；
Step 43:PLC controls robot and enters the clamping position inside the lathe；
The signal that step 44:PLC is completed according to the main shaft orientation of the lathe, control robot execute clamping movement, starting folder
Take step；
Step 45:PLC completes the feedback signal of clamping according to robot, controls upper discharge position in robot motion to the lathe
Complete feeding movement；
Step 46: lathe protection mechanism is left described in starting, PLC control robot exits the lathe.
5. control method as claimed in claim 4, which is characterized in that after the workpiece completed the process is in machine tool fixture release not
When can fall, the clamping step includes:
Step 51: the lathe unclamps fixture, and unclamps signal to PLC feedback clamp；
Step 52:PLC control robot carries out the workpiece that clamping completes the process, and robot, which is fed back after clamping is completed to PLC, to be pressed from both sides
Take into signal.
6. control method as claimed in claim 4, which is characterized in that when the workpiece completed the process can fall in machine tool fixture release
When falling, the clamping step includes:
Step 61: the lathe clamps the workpiece completed the process to PLC feedback clamp clamping signal, PLC control robot；
Step 62: after robot completes clamping movement, feeding back clamping to PLC and complete signal；
Step 63:PLC controls the lathe and unclamps fixture, and the lathe unclamps signal to PLC feedback clamp；
Step 64:PLC unclamps signal controlling machine device people according to fixture and executes next movement.
7. control method as claimed in claim 4, which is characterized in that the step 45 further includes feeding failure handling mechanism,
It comprises the following processes:
Robot when blank material to be put into the final stage stroke of the machine tool fixture type chamber, robot start current location with
Preset feeding successful location comparison process judges that feeding fails if comparison result is inconsistent；
The part being not carried out in the step 45 is skipped by robot, jumps to the step 46, and start warning device.
8. control method as claimed in claim 4, which is characterized in that the step 46 comprises the following processes:
Step 81: when robot does not exit lathe, output interference domain signal prevents program from malfunctioning, so as to cause starting lathe；
Step 82: when robot exits the lathe completely, closing interference domain signal, and feed back to PLC for signal is exited completely；
Step 83:PLC control control robot executes next movement.
9. control method as described in claim 1, which is characterized in that the control method further includes lacking material to remind step, tool
Body are as follows:
PLC identifies that the blank material of a station is all removed according to the processing result image of industrial personal computer, and triggering single-station lacks
Material is reminded；
If PLC identifies that the blank material of double-station is all removed, triggering double-station lacks material and reminds；
It is inconsistent that the single-station, which lacks the signal that the signal that material is reminded and the scarce material of the double-station are reminded,.
10. a kind of double-station robot machine loading and unloading system using such as the described in any item control methods of claim 1-9,
It is characterised in that it includes PLC, industrial personal computer, robot, scarce material alarm set, two stations；Each station includes on automatic
Cutting agency, coarse positioning camera, is accurately positioned camera at lathe；The PLC controls the robot, the automatic charging & discharging machine
Structure, the lathe execution act and receive the robot, machine feedback control signal；The industrial personal computer control is described thick
Positioning camera, the accurate positioning camera are shot, and are received captured picture and are carried out picture processing, picture is handled number
According to feeding back to the PLC and the robot；The robot and the industrial computer communication, for triggering the accurate positioning phase
The industrial personal computer is taken pictures and received to machine to the picture processing result of the accurate positioning camera shooting；The scarce material alarm set is used
It is reminded in lacking material, when some station lacks material or when two stations all lack material, the scarce material alarm set has different
Alerting pattern.
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