CN109822113A - Six axis loading and unloading robot systems of one kind and its control method - Google Patents
Six axis loading and unloading robot systems of one kind and its control method Download PDFInfo
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- CN109822113A CN109822113A CN201910225067.8A CN201910225067A CN109822113A CN 109822113 A CN109822113 A CN 109822113A CN 201910225067 A CN201910225067 A CN 201910225067A CN 109822113 A CN109822113 A CN 109822113A
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Abstract
The invention discloses a kind of six axis loading and unloading robot systems and its control methods, wherein material grabbing mechanism uses the four Axle mould formulas that three rotary shafts add a linear axis, Liao Ku mechanism uses two linear axis, Liao Ku mechanism has carried out the freedom degree supplement of vertical direction relative to material grabbing mechanism, reduce rotary joint, to make six axis loading and unloading robot system ontology costs be greatly lowered, material grabbing mechanism and material library, machine tool, which can be freely combined, arranges different forms, other than single plane automation pipeline automation unit can be formed with other lathes and robot, improve factory's intelligence manufacture the degree of automation, requirement of the user to loading and unloading robot can generally be met, in addition, in the present invention, six axis loading and unloading robot system architectures are simple and compact, it runs smoothly, precision is higher, part is less relative to six-joint robot, and add Work process simplification, assembly difficulty is low, and enterprise's manufacturing cost is reduced while meeting customer need, conducive to the popularization and application of intelligence manufacture automation.
Description
Technical field
The present invention relates to industrial robot control technology field, more particularly to a kind of six axis loading and unloading robot systems and its
Control method.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action.
Existing lathe loading and unloading robot generallys use industrial six-joint robot.Six-joint robot not only has more subtract
Fast machine and servo motor, and a set of servo-control system cabling is increasingly complex in terms of control, and price is higher.In components system
Aspect is made because joint is more, the amount of parts for needing to process is more, and parts thereof processing technology is complicated, difficulty of processing
Greatly, so process is complicated in terms of robotic asssembly, difficulty becomes larger, in addition, it is high with six-joint robot loading and unloading cost, it leads
The higher cost in terms of later maintenance is caused, the production cost of user is increased.
Existing six-joint robot pedestal is typically all that can not move, and pedestal is all that integrator opens in the later period with locomotive function
Hair installs additional, and increases repacking cost, and therefore, six-joint robot is expensive plus complete material library system price, is unfavorable for machine
Bed loading and unloading automate, the popularization and application in terms of intelligence manufacture.
Summary of the invention
In view of the foregoing drawbacks or insufficient, the purpose of the present invention is to provide a kind of six axis loading and unloading robot systems and its controls
Method processed reduces the cost of six axis loading and unloading robot systems, improves the working efficiency of loading and unloading.
To achieve the above objectives, the technical solution of the present invention is as follows:
A kind of six axis loading and unloading robot systems, including Liao Ku mechanism and the material grabbing mechanism matched with Liao Ku mechanism；
The Liao Ku mechanism includes material bottom storehouse seat, expects to be provided with the charging tray plate can be horizontal and moved up and down, material on bottom storehouse seat
Object is placed on charging tray plate；
The material grabbing mechanism includes material grasping pedestal, and horizontally movable material grasping bottom plate is equipped on material grasping pedestal, described to grab
Vertically-mounted on material bottom plate to have second driving shaft mechanism, second driving shaft mechanism upper end is equipped with third driving shaft mechanism,
Large arm is installed, the end of the large arm is equipped with the 4th driving shaft mechanism, the 4th driving shaft mechanism on third driving shaft mechanism
On be connected with end effector for grabbing part；The second driving shaft mechanism drives third transmission shaft machine by rotation
Structure and large arm horizontally rotate；Third driving shaft mechanism drives big arm swing by rotation, and the 4th driving shaft mechanism passes through rotation,
Drive end effector rotation.
It is equipped on the material bottom storehouse seat and expects library guide rail, charging tray bottom is equipped with by the first sliding block on the guide rail of the material library
Seat, charging tray plate are installed on charging tray pedestal；The for driving charging tray pedestal to move horizontally the 5th is equipped with below material bottom storehouse seat to pass
Movable shaft mechanism, the 5th driving shaft mechanism include be installed on material bottom storehouse seat below the 5th motor, the 5th axis synchronous pulley and
5th synchronous belt, the 5th motor output end pass through the 5th axis synchronous pulley band connection synchronous with the 5th, the described 5th synchronous band logical
It crosses connecting plate to connect with charging tray pedestal, for the 5th motor by driving the 5th axis synchronous pulley and the rotation of the 5th synchronous belt, the 5th is same
Step band drives charging tray pedestal to move on material library guide rail along Y-direction.
6th driving shaft mechanism is installed, the 6th driving shaft mechanism includes the 6th motor, the on the charging tray pedestal
Six synchronous belts and the 6th axis synchronous pulley；Charging tray base center is equipped with screw rod, and silk cylinder, silk cylinder upper end and material are equipped with outside screw rod
Plate connection, silk cylinder and screw rod one end rotatable engagement, the screw rod other end are installed on charging tray pedestal by bearing, and end is stretched out
Charging tray pedestal, the 6th motor are installed on charging tray pedestal, and parallel with screw rod, the 6th motor output end by the 6th synchronous belt with
The connection of 6th axis synchronous pulley, the 6th axis synchronous pulley are installed on screw end；6th motor drives the rotation of the 6th axis synchronous pulley
Turn, the 6th axis synchronous pulley drives screw rod rotation, and screw rod drives silk cylinder to move up and down with charging tray plate.
Charging tray plate quadrangle vertical direction is equipped with the 6th transmission axis rail, is provided with second on the 6th transmission axis rail
Sliding block, charging tray pedestal are moved up and down on the 6th transmission axis rail by the second sliding block.
The second driving shaft mechanism includes the second transmission base being installed on material grasping bottom plate, is pacified in the second transmission base
Equipped with the second speed reducer, the input terminal of the second speed reducer is connected with the second motor, and the output end of the second speed reducer is connected with third
Axis pedestal, the second motor are connected by third driving shaft mechanism with large arm, and the second motor drives third by the second speed reducer
Horizontal ± ° the rotation of driving shaft mechanism, drives large arm to rotate horizontally.
The third driving shaft mechanism includes the third axis pedestal being installed in second driving shaft mechanism, in third axis pedestal
Third speed reducer is installed, the input terminal of third speed reducer is connected with third motor, the output end of third speed reducer and large arm
One end is connected；Third motor is rotated by third speed reducer, drives big arm swing.
The first driving shaft mechanism for driving material grasping floor level mobile is installed below the material grasping pedestal, described the
One driving shaft mechanism includes the first speed reducer, and the input terminal of the first speed reducer is connected with first motor, the output of the first speed reducer
End is equipped with first axle synchronous pulley and the first synchronous belt, and the first synchronous belt is connected by connecting plate with material grasping bottom plate；Material grasping
Third sliding block is installed below bottom plate, material grabbing mechanism guide rail is installed, third sliding block is on material grabbing mechanism guide rail on material grasping pedestal
It moves horizontally, first motor drives first axle synchronous pulley and the rotation of the first synchronous belt by the first speed reducer, drives material grasping bottom
Plate moves horizontally on material grabbing mechanism guide rail.
4th driving shaft mechanism includes the 4th speed reducer for being installed on large arm end, the input terminal peace of the 4th speed reducer
Equipped with the 4th motor, the output end of the 4th speed reducer is connected with end effector, and the 4th motor is driven by the 4th speed reducer
End effector rotates, and two stations on end effector interact movement.
The end effector includes the tilting end clamp or long for grip axes class for grabbing Short Axis Kind of Parts
The run-in index end clamp of part；When choosing tilting end clamp, the 4th speed reducer is by the pedestal with angle and greatly
The connection of arm end, when line end clamp is made even in choosing, the 4th speed reducer is installed on large arm end.
A kind of control method of six axis loading and unloading robot system, comprising:
1), material grabbing mechanism is installed between Liao Ku mechanism and lathe, the horizontal position of material grasping bottom plate is adjusted, so that material grasping
Mechanism, Liao Ku mechanism and lathe are simultaneously located on the same line；
2), material is placed on charging tray plate, adjusts charging tray plate vertical height and horizontal position so that charging tray plate with grab
Material mechanism matches；
3), material grasping bottom plate drives large arm to move horizontally, while charging tray pedestal drives charging tray plate to move horizontally, third transmission shaft
Mechanism drives large arm to swing to charging tray plate upper end, and end effector adjusts fixture and opens, and charging tray plate moves upwards, material is sent into
First gripper jaws of end effector, the first gripper jaws clamp material, and charging tray plate moves downward, and complete feeding；
4) after, lathe is to material completion of processing, signal is issued to loading and unloading robot system, large arm passes through third transmission shaft
Mechanism swings to discharge position, so that end effector is concentric with machine tool clamping mechanism, the second gripper jaws of end effector are beaten
It opens, material grabbing mechanism is moved horizontally to feeding position to machine tool clamping mechanism, after the second gripper jaws of end effector clamp processing
Material, machine tool clamping mechanism open, material grabbing mechanism opposite direction, which moves horizontally, to be exited, complete blanking；
5), the first gripper jaws of rotary end effector and machine tool clamping mechanism are concentric, and material grabbing mechanism is to lathe clamping machine
Structure moves horizontally, and installs material, and machine tool clamping mechanism clamps material, and the first gripper jaws of end effector are opened, materials-taking machine
Structure opposite direction, which moves horizontally, to be exited, and large arm is swung by third driving shaft mechanism to Liao Ku mechanism direction, while end effector
The second gripper jaws are adjusted in face of Liao Ku mechanism, complete feeding；
6), material grasping bottom plate drives large arm to move horizontally, while charging tray pedestal drives charging tray plate to move horizontally, and charging tray plate is upward
Discharge position is moved to, the material processed is put into charging tray plate by the second gripper jaws of end effector, and the second gripper jaws are opened,
Charging tray plate moves downward, and completes blowing.
Compared with the prior art, the invention has the benefit that
The present invention provides a kind of six axis loading and unloading robot systems, and wherein material grabbing mechanism adds one using three rotary shafts
Four Axle mould formulas of a linear axis, Liao Ku mechanism use two linear axis, and Liao Ku mechanism has carried out Vertical Square relative to material grabbing mechanism
To freedom degree supplement, reduce rotary joint, so that six axis loading and unloading robot system ontology costs be made to be greatly lowered, and
And possessing higher expansion, service object is not limited to single lathe, and material grabbing mechanism can be freely combined with material library, machine tool
Different forms is arranged, pipeline automation unit can be formed with other lathes and robot other than single plane automation, mentioned
High factory's intelligence manufacture the degree of automation can generally meet requirement of the user to loading and unloading robot, in addition, in the present invention, six
Axis loading and unloading robot system architecture is simple and compact, runs smoothly, and precision is higher, and part is less relative to six-joint robot, and
Simplified processing technology, assembly difficulty is low, and enterprise's manufacturing cost is reduced while meeting customer need, and is conducive to intelligence manufacture certainly
The popularization and application of dynamicization.
Further, six axis loading and unloading robot system control methods use full automatic numerical control programming skill in the present invention
Art realizes complete automatic operation and adjustment, saves labour, so that lathe loading and unloading realize quick mechanization
Operation.
Detailed description of the invention
Fig. 1 is six axis loading and unloading robot system structure schematic diagrams of the invention；
Fig. 2 is present invention material library mechanism structure schematic diagram；
Fig. 3 is material grabbing mechanism structural schematic diagram of the present invention；
Fig. 4 is the 5th driving shaft mechanism structural schematic diagram of the invention；
Fig. 5 is the 6th driving shaft mechanism structural schematic diagram of the invention；
Fig. 6 is the first driving shaft mechanism structural schematic diagram of the invention；
Fig. 7 is second driving shaft mechanism structure schematic diagram of the present invention；
Fig. 8 is third driving shaft mechanism structural schematic diagram of the present invention；
Fig. 9 is the 4th driving shaft mechanism structural schematic diagram of the invention；
Figure 10 is end effector structures schematic diagram one of the present invention；
Figure 11 is end effector structures schematic diagram two of the present invention.
In figure:
1-Liao Ku mechanism；2-material grabbing mechanisms；3-material bottom storehouse seats；4-material grasping bottom plates；5-lathes；6-large arm；7-the
Three speed reducers；8-end effectors；9-charging tray plates；10-material library guide rails；11-the first sliding block；12-charging tray pedestals；13—
5th axis synchronous pulley；14-the five motor；15-the six motor；16-the six synchronous belt；17-screw rods；18-silk cylinders；
19-the six transmission axis rail；20-the second sliding block；21-the second transmission base；22-the second speed reducer；23-third axis bottoms
Seat；24-third motors；25-tilting end clamps；26-run-in index end clamps；27-material grasping pedestals；28-the first electricity
Machine；29-the five synchronous belt；30-the first speed reducer；31-third sliding blocks；32-material grabbing mechanism guide rails；33-first axles are synchronous
Belt wheel；34-the four motor；35-the four speed reducer.
Specific embodiment
Below in conjunction with attached drawing, the present invention will be described in detail, it is clear that described embodiment is only the present invention one
Divide embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
Every other embodiment obtained, belongs to protection scope of the present invention under the premise of creative work.
As shown in Figure 1-3, the present invention provides a kind of six axis loading and unloading robot systems, including Liao Ku mechanism 1 and with
The material grabbing mechanism 2 that Liao Ku mechanism 1 matches；
The Liao Ku mechanism 1 includes material bottom storehouse seat 3, expects to be provided with the charging tray plate can be horizontal and moved up and down on bottom storehouse seat 3
9, material is placed on charging tray plate 9；
The material grabbing mechanism 2 includes material grasping pedestal 27, is equipped with horizontally movable material grasping bottom plate 4 on material grasping pedestal 27,
Vertically-mounted on the material grasping bottom plate 4 to have second driving shaft mechanism, second driving shaft mechanism upper end is equipped with third transmission
Axis mechanism is equipped with large arm 6 on third driving shaft mechanism, and the end of the large arm 6 is equipped with the 4th driving shaft mechanism, and the 4th passes
The end effector for grabbing part is connected on movable shaft mechanism；The second driving shaft mechanism drives third by rotation
Driving shaft mechanism and large arm 6 horizontally rotate；Third driving shaft mechanism drives large arm 6 to swing, the 4th driving shaft mechanism by rotation
By rotation, end effector 8 is driven to rotate.
Specifically, the Liao Ku mechanism 1: including the 5th driving shaft mechanism for moving horizontally charging tray plate 9 and to expect
The 6th driving shaft mechanism that plate 9 moves up and down.
As shown in Figure 2,4, the 5th axis driving shaft mechanism specifically:
Material library guide rail 10 is installed on the material bottom storehouse seat 3, is equipped on material library guide rail 10 by the first sliding block 11
Charging tray pedestal 12, charging tray plate 9 are installed on charging tray pedestal 12；It is equipped with below material bottom storehouse seat 3 for driving 12 water of charging tray pedestal
The 5th dynamic driving shaft mechanism of translation, the 5th driving shaft mechanism include the 5th motor 14 for being installed on 3 lower section of material bottom storehouse seat,
5th axis synchronous pulley 13 and the 5th synchronous belt 29,14 output end of the 5th motor pass through the 5th synchronous belt 29 and the 5th axis synchronous belt
13 connection of wheel, the 5th synchronous belt 29 are connect by connecting plate with charging tray pedestal 12.5th motor 14 is by driving the 5th axis
Synchronous pulley 13 and the rotation of the 5th synchronous belt 29, the 5th synchronous belt 29 drive charging tray pedestal 12 on material library guide rail 10 along Y-direction
It is mobile, material grabbing mechanism back-and-forth motion is compensated for, it is mobile to realize material grabbing mechanism array crawl Y-direction.
As shown in figure 5, the 6th driving shaft mechanism specifically:
6th driving shaft mechanism is installed, the 6th driving shaft mechanism includes the 6th motor on the charging tray pedestal 12
15, the 6th synchronous belt 16 and the 6th axis synchronous pulley；12 center of charging tray pedestal is equipped with screw rod 17, and silk cylinder is equipped with outside screw rod 17
18,18 upper end of silk cylinder is connect with charging tray plate 9, and silk cylinder 18 and 17 one end rotatable engagement of screw rod, 17 other end of screw rod are pacified by bearing
Loaded on charging tray pedestal 12, and charging tray pedestal 12 is stretched out in end, and the 6th motor 15 is installed on charging tray pedestal 12, and with screw rod 17
In parallel, 15 output end of the 6th motor is connect by the 6th synchronous belt 16 with the 6th axis synchronous pulley, the installation of the 6th axis synchronous pulley
In 17 end of screw rod；6th motor 15 drives the rotation of the 6th axis synchronous pulley, and the 6th axis synchronous pulley drives screw rod 17 to rotate, silk
Bar 17 drives silk cylinder 18 to move up and down with charging tray plate 9.
Preferably, in order to enable 9 even running of charging tray plate, 9 four jiaos of vertical direction of the charging tray plate are equipped with the 6th transmission
Axis rail 19 is provided with the second sliding block 20 on the 6th transmission axis rail 19, and charging tray pedestal 12 is passed by the second sliding block 20 the 6th
It is moved up and down on moving axis guide rail 19, made charging tray plate 9 balances, the purpose steadily to be moved up and down.
Specifically, material grabbing mechanism 2:
Including material grasping bottom plate 4 is moved horizontally the first driving shaft mechanism, make the second transmission that large arm 6 horizontally rotates
Axis mechanism and the third driving shaft mechanism that large arm 6 is swung and the 4th transmission shaft that end effector 8 is converted
Mechanism.
As shown in fig. 6, the first driving shaft mechanism specifically:
The first driving shaft mechanism for driving material grasping bottom plate 4 to move horizontally, institute are installed below the material grasping pedestal 27
Stating the first driving shaft mechanism includes the first speed reducer 30, and the input terminal of the first speed reducer 30 is connected with first motor 28, and first subtracts
The output end of fast machine 30 is equipped with first axle synchronous pulley 33 and the first synchronous belt, and the first synchronous belt passes through connecting plate and material grasping bottom
Plate 4 is connected, and third sliding block 31 is equipped with below material grasping bottom plate 4, material grabbing mechanism guide rail 32, third are equipped on material grasping pedestal 27
Sliding block 31 moves horizontally on material grabbing mechanism guide rail 32, and first motor 28 drives first axle synchronous pulley by the first speed reducer 30
33 and first synchronous belt rotation, drive material grasping bottom plate 4 moved horizontally on material grabbing mechanism guide rail 32.Realize that material grabbing mechanism entirety exists
Movement on base rail.First driving shaft mechanism is used for the push of part on lathe axis direction and expects library X-direction array
Crawl.
As shown in fig. 7, second driving shaft mechanism specifically:
The second driving shaft mechanism includes the second transmission base 21 being installed on material grasping bottom plate 4, the second transmission base
Second speed reducer 22 is installed, the input terminal of the second speed reducer 22 is connected with the second motor, the output of the second speed reducer 22 on 21
End is connected with third axis pedestal 23, and the second motor is connected by third driving shaft mechanism with large arm 6, and the second motor passes through second
Speed reducer 22 drives horizontal ± 180 ° of rotations of third driving shaft mechanism, and third driving shaft mechanism and large arm 6 is driven to rotate horizontally.It is real
Rotation on 2 integral level direction of the library Xian Liao mechanism, by rotation function, can front, side grab part, it is convenient, flexible.
As shown in figure 8, third driving shaft mechanism specifically:
The third driving shaft mechanism includes the third axis pedestal 23 being installed in second driving shaft mechanism, third axis pedestal
Third speed reducer 7 is installed in 23, the input terminal of third speed reducer 7 is connected with third motor 24, the output of third speed reducer 7 with
One end of large arm 6 is connected；Third motor 24 is rotated by third speed reducer 7, and large arm 6 is driven to swing.Third transmission shaft is vertical
Installation, the right angle setting on third axis pedestal 23 of large arm 6, and 180 ° of > swings.Third driving shaft mechanism for part and lathe,
Expect the conveying and storage between library, conveyer belt etc..
As shown in figure 9, the 4th driving shaft mechanism specifically:
4th driving shaft mechanism includes the 4th speed reducer 35 for being installed on 6 end of large arm, the 4th speed reducer 35 it is defeated
Enter end and the 4th motor 34 is installed, the output end of the 4th speed reducer 35 is connected with end effector 8, and the 4th motor 34 passes through the
Four speed reducers 35 drive end effector 8 to rotate, and two stations on end effector 8 interact movement.4th transmission shaft
Mechanism is for two end effector interactions and the adjusting of angle.The end effector connecting in parallel with large arm is longer for grabbing
Axial workpiece is that horizontality is placed at material library end, is used for disk class, Short Axis Kind, flat with the end that certain angle and large arm are installed
Graduation class part is plumbness storage at material library end.
Illustratively, in the present invention, class that the end effector 8 can be different according to actual grinding machine structure design
Type in the present embodiment, illustratively provides two kinds of structures, but be not limited to both structures: as shown in Figure 10, end executes
Device 8 includes the tilting end clamp 25 for disk class, Short Axis Kind, flattening class part, when selection tilting end clamp 25
When, the 4th speed reducer 35 is connect by the pedestal with angle with 6 end of large arm, and is provided with orthogonal gripper jaws；
As shown in figure 11, end effector 8 includes the run-in index end clamp 26 for grip axes class elongated workpieces, end folder
Have 26 levels to be directly mounted in horizontal large arm 6, and is provided with orthogonal gripper jaws.The tilting end clamp 25
Or multiple operation gripper jaws are provided in run-in index end clamp 26.
It should be noted that the kind of drive of the first driving shaft mechanism and the 5th driving shaft mechanism is not limited in the present invention
In toothed belt transmission, screw rod transmission, rack pinion etc. can also be.Since this element possesses higher expansion, materials-taking machine
Structure and material library, machine tool assembled arrangement different form, more sets can be combined to the forms such as conveyer belt, assembly line when automating.It is single
It when platform equipment automatization, is installed according to customer demand second driving shaft mechanism alternative, speed reducer, servo motor, control system
System reduces cost and reduces.
The present invention also provides a kind of six axis loading and unloading robot system control methods, comprising:
1), material grabbing mechanism 2 is installed between Liao Ku mechanism 1 and lathe 5, adjusts the horizontal position of material grasping bottom plate 4, so that
Material grabbing mechanism 2, Liao Ku mechanism 1 and lathe are simultaneously located on the same line；
2), material is placed on charging tray plate 9,9 vertical height of charging tray plate and horizontal position are adjusted, so that charging tray plate 9
It is matched with material grabbing mechanism 2；
3), material grasping bottom plate 4 drives large arm 6 to move horizontally, while charging tray pedestal 12 drives charging tray plate 9 to move horizontally, third
Driving shaft mechanism drives large arm 6 to swing to 9 upper end of charging tray plate, and end effector 8 adjusts fixture and opens, and charging tray plate 9 moves upwards,
Material is sent into the first gripper jaws of end effector 8, the first gripper jaws clamp material, and charging tray plate 9 moves downward, and completes to take
Material；
4) after, lathe is to material completion of processing, signal is issued to loading and unloading robot system, large arm 6 is driven by third
Axis mechanism swings to discharge position, so that end effector 8 and machine tool clamping mechanism are concentric, the second fixture of end effector 8
Pawl is opened, and material grabbing mechanism 2 is moved horizontally to feeding position to machine tool clamping mechanism, and the second gripper jaws of end effector 8 clamp
Material after processing, machine tool clamping mechanism are opened, and 2 opposite direction of material grabbing mechanism, which moves horizontally, to be exited, and complete blanking；
5), the first gripper jaws of rotary end effector 8 and machine tool clamping mechanism are concentric, and material grabbing mechanism 2 is clamped to lathe
Mechanism moves horizontally, and installs material, and machine tool clamping mechanism clamps material, and the first gripper jaws of end effector 8 are opened, material grasping
2 opposite direction of mechanism, which moves horizontally, to be exited, and large arm 6 is swung by third driving shaft mechanism to 1 direction of Liao Ku mechanism, while end is held
Row device 8 adjusts the second gripper jaws and faces Liao Ku mechanism 1, completes feeding；
6), material grasping bottom plate 4 drives large arm 6 to move horizontally, while charging tray pedestal 12 drives charging tray plate 9 to move horizontally, charging tray
Plate 9 moves up to discharge position, and the material processed is put into charging tray plate 9, the second folder by the second gripper jaws of end effector 8
Have pawl to open, charging tray plate 9 moves downward, and completes blowing.
It should be noted that successively uniaxial movement can be completed since the design of robot system is during material grasping
The work such as material grasping, feeding detection.There is no interpolation operation relationship between each kinematic axis, so control system uses multiaxial motion control
Device processed can control completion, rather than as each movement of six-DOF robot loading and unloading requires six axis while cooperating interpolation
Operation, algorithm are complicated, and controller is at high cost, so, in the present invention, six axis loading and unloading robots in control method, use
Programming Control cost has a clear superiority obviously.
It is obvious to a person skilled in the art that will appreciate that above-mentioned Concrete facts example is preferred side of the invention
Case, therefore improvement, the variation that those skilled in the art may make certain parts in the present invention, embodiment is still this
The principle of invention, realization is still the purpose of the present invention, belongs to the range that the present invention is protected.
Claims (10)
1. a kind of six axis loading and unloading robot systems, which is characterized in that including Liao Ku mechanism (1) and with Liao Ku mechanism (1) phase
The material grabbing mechanism (2) of cooperation；
The Liao Ku mechanism (1) includes material bottom storehouse seat (3), and the charging tray can be horizontal and moved up and down is provided on material bottom storehouse seat (3)
Plate (9), material are placed on charging tray plate (9)；
The material grabbing mechanism (2) includes material grasping pedestal (27), and horizontally movable material grasping bottom plate is equipped on material grasping pedestal (27)
(4), vertically-mounted on the material grasping bottom plate (4) to have second driving shaft mechanism, second driving shaft mechanism upper end is equipped with
Three driving shaft mechanisms are equipped with large arm (6) on third driving shaft mechanism, and the end of the large arm (6) is equipped with the 4th transmission shaft
Mechanism is connected with the end effector (8) for grabbing part on the 4th driving shaft mechanism；The second driving shaft mechanism passes through
Rotation drives third driving shaft mechanism and large arm (6) to horizontally rotate；Third driving shaft mechanism drives large arm (6) pendulum by rotation
Dynamic, the 4th driving shaft mechanism drives end effector (8) rotation by rotation.
2. six axis loading and unloading robot system according to claim 1, which is characterized in that pacify on the material bottom storehouse seat (3)
Equipped with material library guide rail (10), charging tray pedestal (12), charging tray plate are installed by the first sliding block (11) on material library guide rail (10)
(9) it is installed on charging tray pedestal (12)；The for driving that charging tray pedestal (12) moves horizontally is installed below material bottom storehouse seat (3)
Five driving shaft mechanisms, the 5th driving shaft mechanism include the 5th motor (14), the 5th axis being installed below material bottom storehouse seat (3)
Synchronous pulley (13) and the 5th synchronous belt (29), the 5th motor (14) output end are same with the 5th by the 5th axis synchronous pulley (13)
Step band (29) connects, and the 5th synchronous belt (29) is connect by connecting plate with charging tray pedestal (12), and the 5th motor (14) passes through
The 5th axis synchronous pulley (13) and the 5th synchronous belt (29) is driven to rotate, the 5th synchronous belt (29) drives charging tray pedestal (12) expecting
Library guide rail moves on (10) along Y-direction.
3. six axis loading and unloading robot system according to claim 2, which is characterized in that pacify on the charging tray pedestal (12)
Equipped with the 6th driving shaft mechanism, the 6th driving shaft mechanism includes the 6th motor (15), the 6th synchronous belt (16) and the 6th axis
Synchronous pulley；Charging tray pedestal (12) center is equipped with screw rod (17), is equipped with silk cylinder (18) outside screw rod (17), silk cylinder (18) upper end
It is connect with charging tray plate (9), silk cylinder (18) and screw rod (17) one end rotatable engagement, screw rod (17) other end are installed on material by bearing
It tries to get to the heart of a matter on seat (12), and charging tray pedestal (12) are stretched out in end, the 6th motor (15) is installed on charging tray pedestal (12), and and screw rod
(17) in parallel, the 6th motor (15) output end is connect by the 6th synchronous belt (16) with the 6th axis synchronous pulley, and the 6th axis is synchronous
Belt wheel is installed on screw rod (17) end；6th motor (15) drives the rotation of the 6th axis synchronous pulley, and the 6th axis synchronous pulley drives
Screw rod (17) rotation, screw rod (17) drive silk cylinder (18) to move up and down with charging tray plate (9).
4. six axis loading and unloading robot system according to claim 3, which is characterized in that hang down charging tray plate (9) quadrangle
Histogram is provided with the second sliding block (20), charging tray bottom to the 6th transmission axis rail (19) is equipped in the 6th transmission axis rail (19)
Seat (12) is moved up and down in the 6th transmission axis rail (19) by the second sliding block (20).
5. six axis loading and unloading robot system according to claim 1, which is characterized in that second driving shaft mechanism packet
The second transmission base (21) being installed on material grasping bottom plate (4) is included, the second transmission base is equipped with the second speed reducer on (21)
(22), the input terminal of the second speed reducer (22) is connected with the second motor, and the output end of the second speed reducer (22) is connected with third axis
Pedestal (23), the second motor are connected by third driving shaft mechanism with large arm (6), and the second motor passes through the second speed reducer (22)
Horizontal ± 180 ° of rotations of third driving shaft mechanism are driven, large arm (6) is driven to rotate horizontally.
6. six axis loading and unloading robot system according to claim 1, which is characterized in that the third driving shaft mechanism packet
The third axis pedestal (23) being installed in second driving shaft mechanism is included, third speed reducer (7) are installed in third axis pedestal (23),
The input terminal of third speed reducer (7) is connected with third motor (24), the output end of third speed reducer (7) and the one end of large arm (6)
It is connected；Third motor (24) is rotated by third speed reducer (7), and large arm (6) is driven to swing.
7. six axis loading and unloading robot system according to claim 1, which is characterized in that below the material grasping pedestal (27)
The first driving shaft mechanism for driving material grasping bottom plate (4) to move horizontally is installed, first driving shaft mechanism includes first
Speed reducer (30), the input terminal of the first speed reducer (30) are connected with first motor (28), the output end peace of the first speed reducer (30)
Equipped with first axle synchronous pulley (33) and the first synchronous belt, the first synchronous belt is connected by connecting plate with material grasping bottom plate (4)；It grabs
It is equipped with third sliding block (31) below material bottom plate (4), material grabbing mechanism guide rail (32), third sliding block is installed on material grasping pedestal (27)
(31) it is moved horizontally on material grabbing mechanism guide rail (32), first motor (28) drives first axle synchronous by the first speed reducer (30)
Belt wheel (33) and the rotation of the first synchronous belt, drive material grasping bottom plate (4) to move horizontally on material grabbing mechanism guide rail (32).
8. six axis loading and unloading robot system according to claim 1, which is characterized in that the 4th driving shaft mechanism packet
The 4th speed reducer (35) for being installed on large arm (6) end is included, the input terminal of the 4th speed reducer (35) is equipped with the 4th motor (34),
The output end of 4th speed reducer (35) is connected with end effector (8), and the 4th motor (34) passes through the 4th speed reducer (35) band
Dynamic end effector (8) rotate, and two stations on end effector (8) interact movement.
9. six axis loading and unloading robot system according to claim 8, which is characterized in that end effector (8) packet
Include the tilting end clamp (25) for grabbing Short Axis Kind of Parts or the run-in index end clamp for grip axes class elongated workpieces
(26)；When choosing tilting end clamp (25), the 4th speed reducer (35) by with angle pedestal and large arm (6) end
Connection, it is elected make even line end clamp (26) when, the 4th speed reducer (35) is installed on large arm (6) end.
10. a kind of control method based on six axis loading and unloading robot system described in claim 1 characterized by comprising
1), material grabbing mechanism (2) is installed between Liao Ku mechanism (1) and lathe (5), adjusts the horizontal position of material grasping bottom plate (4),
So that material grabbing mechanism (2), Liao Ku mechanism (1) and lathe and being located on the same line；
2), material is placed on charging tray plate (9), charging tray plate (9) vertical height and horizontal position are adjusted, so that charging tray plate
(9) it is matched with material grabbing mechanism (2)；
3), material grasping bottom plate (4) drives large arm (6) to move horizontally, while charging tray pedestal (12) drives charging tray plate (9) to move horizontally,
Third driving shaft mechanism drives large arm (6) to swing to charging tray plate (9) upper end, and end effector (8) adjusts fixture and opens, charging tray plate
(9) it moves upwards, material is sent into first gripper jaws of end effector (8), the first gripper jaws clamp material, charging tray plate
(9) it moves downward, completes feeding；
4) after, lathe is to material completion of processing, signal is issued to loading and unloading robot system, large arm (6) passes through third transmission shaft
Mechanism swings to discharge position, so that end effector (8) and machine tool clamping mechanism are concentric, the second folder of end effector (8)
Have pawl to open, material grabbing mechanism (2) is moved horizontally to feeding position, the second fixture of end effector (8) to machine tool clamping mechanism
Claw clip tightly process after material, machine tool clamping mechanism open, material grabbing mechanism (2) opposite direction, which moves horizontally, to be exited, complete blanking；
5), the first gripper jaws of rotary end effector (8) and machine tool clamping mechanism are concentric, and material grabbing mechanism (2) is clamped to lathe
Mechanism moves horizontally, and installs material, and machine tool clamping mechanism clamps material, and the first gripper jaws of end effector (8) are opened, grabbed
Material mechanism (2) opposite direction, which moves horizontally, to be exited, and large arm (6) is swung by third driving shaft mechanism to Liao Ku mechanism (1) direction, together
When end effector (8) adjust second gripper jaws face Liao Ku mechanism (1), complete feeding；
6), material grasping bottom plate (4) drives large arm (6) to move horizontally, while charging tray pedestal (12) drives charging tray plate (9) to move horizontally,
Charging tray plate (9) moves up to discharge position, and the material processed is put into charging tray plate by the second gripper jaws of end effector (8)
(9), the second gripper jaws are opened, and charging tray plate (9) moves downward, and complete blowing.
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| CN109822113B (en) | 2024-02-27 |
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