CN109822113B - Six-axis feeding and discharging robot system and control method thereof - Google Patents
Six-axis feeding and discharging robot system and control method thereof Download PDFInfo
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- CN109822113B CN109822113B CN201910225067.8A CN201910225067A CN109822113B CN 109822113 B CN109822113 B CN 109822113B CN 201910225067 A CN201910225067 A CN 201910225067A CN 109822113 B CN109822113 B CN 109822113B
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- 238000007599 discharging Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 196
- 239000000463 material Substances 0.000 claims abstract description 192
- 230000005540 biological transmission Effects 0.000 claims description 113
- 230000001360 synchronised effect Effects 0.000 claims description 63
- 239000003638 chemical reducing agent Substances 0.000 claims description 59
- 239000012636 effector Substances 0.000 claims description 53
- 210000000078 claw Anatomy 0.000 claims description 30
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 4
- 239000013589 supplement Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Abstract
The invention discloses a six-axis feeding and discharging robot system and a control method thereof, wherein a grabbing mechanism adopts a four-axis mode of adding three rotating shafts and one linear shaft, a material warehouse mechanism adopts two linear shafts, and the material warehouse mechanism supplements the freedom degree in the vertical direction relative to the grabbing mechanism, so that the rotating joint is reduced, the cost of the six-axis feeding and discharging robot system body is greatly reduced, the grabbing mechanism, the material warehouse and machine tool equipment can be freely combined and arranged in different forms, other machine tools and robots can form a pipeline automation unit except single machine automation, the intelligent manufacturing automation degree of a factory is improved, the requirements of users on the feeding and discharging robots can be generally met, in addition, the six-axis feeding and discharging robot system has the advantages of simple and compact structure, stable operation, higher precision, fewer parts relative to the six-axis robot, simplified processing technology, low assembly difficulty, and low manufacturing cost of enterprises and contribution to popularization and application of intelligent manufacturing automation.
Description
Technical Field
The invention relates to the technical field of industrial robot control, in particular to a six-axis feeding and discharging robot system and a control method thereof.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device facing the industrial field, can automatically execute work, and is a machine which realizes various functions by self power and control capability. The robot can be commanded by human beings, can operate according to a preset program, and can also act according to the principle formulated by artificial intelligence technology.
The existing machine tool loading and unloading robot commonly adopts an industrial six-axis robot. The six-axis robot not only has more speed reducers and servo motors, but also has more complicated wiring of a set of servo control system in the aspect of control and higher price. In the aspect of part manufacturing, because the joints are more, the number of parts to be processed is more, part of parts are complex in processing technology and high in processing difficulty, so that the process is complex in the aspect of robot assembly, the difficulty is increased, in addition, the loading and unloading cost of the six-axis robot is extremely high, the cost is higher in the aspect of later maintenance, and the production cost of a user is increased.
The existing six-axis robot base is generally immovable, and the base with the moving function is developed and added in the later period of an integrator, so that the modification cost is increased, and the six-axis robot and a complete material warehouse system are high in price, so that the automatic feeding and discharging of a machine tool is not facilitated, and the popularization and the application in the aspect of intelligent manufacturing are facilitated.
Disclosure of Invention
Aiming at the defects or shortcomings, the invention aims to provide the six-axis feeding and discharging robot system and the control method thereof, so that the cost of the six-axis feeding and discharging robot system is reduced, and the feeding and discharging working efficiency is improved.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
a six-axis feeding and discharging robot system comprises a material warehouse mechanism and a material grabbing mechanism matched with the material warehouse mechanism;
the material warehouse mechanism comprises a material warehouse base, a material tray plate capable of horizontally moving up and down is arranged on the material warehouse base, and materials are placed on the material tray plate;
the grabbing mechanism comprises a grabbing base, a grabbing bottom plate capable of horizontally moving is arranged on the grabbing base, a second transmission shaft mechanism is vertically arranged on the grabbing bottom plate, a third transmission shaft mechanism is arranged at the upper end of the second transmission shaft mechanism, a large arm is arranged on the third transmission shaft mechanism, a fourth transmission shaft mechanism is arranged at the end part of the large arm, and an end effector for grabbing parts is connected to the fourth transmission shaft mechanism; the second transmission shaft mechanism drives the third transmission shaft mechanism and the large arm to horizontally rotate through rotation; the third transmission shaft mechanism drives the large arm to swing through rotation, and the fourth transmission shaft mechanism drives the end effector to rotate through rotation.
The material warehouse base is provided with a material warehouse guide rail, the material warehouse guide rail is provided with a material tray base through a first sliding block, and a material tray plate is arranged on the material tray base; the fifth transmission shaft mechanism for driving the material disc base to horizontally move is arranged below the material reservoir base, the fifth transmission shaft mechanism comprises a fifth motor, a fifth shaft synchronous pulley and a fifth synchronous belt which are arranged below the material reservoir base, the output end of the fifth motor is connected with the fifth synchronous belt through the fifth shaft synchronous pulley, the fifth synchronous belt is connected with the material disc base through a connecting plate, the fifth motor drives the fifth shaft synchronous pulley and the fifth synchronous belt to rotate, and the fifth synchronous belt drives the material disc base to move along the Y direction on a material reservoir guide rail.
A sixth transmission shaft mechanism is arranged on the tray base and comprises a sixth motor, a sixth synchronous belt and a sixth shaft synchronous belt wheel; the center of the material disc base is provided with a screw rod, the outside of the screw rod is provided with a wire cylinder, the upper end of the wire cylinder is connected with a material disc plate, the wire cylinder is in rotary fit with one end of the screw rod, the other end of the screw rod is arranged on the material disc base through a bearing, the tail end of the screw rod extends out of the material disc base, a sixth motor is arranged on the material disc base and is parallel to the screw rod, the output end of the sixth motor is connected with a sixth shaft synchronous pulley through a sixth synchronous belt, and the sixth shaft synchronous pulley is arranged at the tail end of the screw rod; the sixth motor drives a sixth shaft synchronous pulley to rotate, the sixth shaft synchronous pulley drives a screw rod to rotate, and the screw rod drives a screw cylinder and a material tray plate to move up and down.
And a sixth transmission shaft guide rail is arranged in the vertical direction at four corners of the tray plate, a second sliding block is arranged on the sixth transmission shaft guide rail, and the tray base moves up and down on the sixth transmission shaft guide rail through the second sliding block.
The second transmission shaft mechanism comprises a second transmission base arranged on the grabbing base plate, a second speed reducer is arranged on the second transmission base, the input end of the second speed reducer is connected with a second motor, the output end of the second speed reducer is connected with a third shaft base, the second motor is connected with the large arm through a third transmission shaft mechanism, and the second motor drives the third transmission shaft mechanism to horizontally rotate by (+ -) degrees through the second speed reducer to drive the large arm to horizontally rotate.
The third transmission shaft mechanism comprises a third shaft base arranged on the second transmission shaft mechanism, a third speed reducer is arranged in the third shaft base, the input end of the third speed reducer is connected with a third motor, and the output end of the third speed reducer is connected with one end of the big arm; the third motor rotates through the third speed reducer to drive the big arm to swing.
A first transmission shaft mechanism for driving the grabbing base plate to horizontally move is arranged below the grabbing base, the first transmission shaft mechanism comprises a first speed reducer, the input end of the first speed reducer is connected with a first motor, the output end of the first speed reducer is provided with a first shaft synchronous pulley and a first synchronous belt, and the first synchronous belt is connected with the grabbing base plate through a connecting plate; the third sliding block is arranged below the grabbing bottom plate, the grabbing base is provided with a grabbing mechanism guide rail, the third sliding block horizontally moves on the grabbing mechanism guide rail, and the first motor drives the first shaft synchronous belt pulley and the first synchronous belt to rotate through the first speed reducer so as to drive the grabbing bottom plate to horizontally move on the grabbing mechanism guide rail.
The fourth transmission shaft mechanism comprises a fourth speed reducer arranged at the tail end of the large arm, a fourth motor is arranged at the input end of the fourth speed reducer, the output end of the fourth speed reducer is connected with the end effector, the fourth motor drives the end effector to rotate through the fourth speed reducer, and two stations on the end effector perform interactive motion.
The end effector comprises an inclined end clamp for grabbing short shaft parts or a parallel end clamp for grabbing shaft long parts; when the inclined tail end clamp is selected, the fourth speed reducer is connected with the tail end of the large arm through the base with the included angle, and when the parallel tail end clamp is selected, the fourth speed reducer is installed at the tail end of the large arm.
A control method of a six-axis feeding and discharging robot system comprises the following steps:
1) The material grabbing mechanism is arranged between the material warehouse mechanism and the lathe, and the horizontal position of the material grabbing bottom plate is adjusted so that the material grabbing mechanism, the material warehouse mechanism and the lathe are positioned on the same straight line;
2) Placing the material on a material tray plate, and adjusting the vertical height and the horizontal position of the material tray plate to enable the material tray plate to be matched with the material grabbing mechanism;
3) The material grabbing bottom plate drives the large arm to horizontally move, meanwhile, the material tray base drives the material tray plate to horizontally move, the third transmission shaft mechanism drives the large arm to swing to the upper end of the material tray plate, the end effector adjusts the clamp to be opened, the material tray plate moves upwards, materials are fed into the first clamp claw of the end effector, the first clamp claw clamps the materials, and the material tray plate moves downwards, so that material taking is completed;
4) After the machine tool finishes processing the material, a signal is sent to the feeding and discharging robot system, the large arm swings to a feeding position through the third transmission shaft mechanism, so that the end effector is concentric with the machine tool clamping mechanism, the second clamp claw of the end effector is opened, the material grabbing mechanism horizontally moves to a material taking position towards the machine tool clamping mechanism, the second clamp claw of the end effector clamps the processed material, the machine tool clamping mechanism is opened, the material grabbing mechanism horizontally moves in the opposite direction and withdraws, and the material discharging is completed;
5) The first clamp claw of the rotary end effector is concentric with the machine tool clamping mechanism, the material grabbing mechanism horizontally moves towards the machine tool clamping mechanism, a feeding object is installed, the machine tool clamping mechanism clamps the material, the first clamp claw of the end effector is opened, the material grabbing mechanism horizontally moves in the opposite direction and withdraws, the large arm swings towards the direction of the material warehouse mechanism through the third transmission shaft mechanism, and meanwhile, the end effector adjusts the second clamp claw to face the material warehouse mechanism, so that feeding is completed;
6) The grabbing bottom plate drives the large arm to horizontally move, meanwhile, the tray base drives the tray plate to horizontally move, the tray plate moves upwards to a discharging position, the processed materials are placed into the tray plate by the second clamp claw of the end effector, the second clamp claw is opened, and the tray plate moves downwards to finish discharging.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a six-axis feeding and discharging robot system, wherein a grabbing mechanism adopts a four-axis mode of adding three rotating shafts and one linear shaft, a material warehouse mechanism adopts two linear shafts, the material warehouse mechanism supplements the freedom degree in the vertical direction relative to the grabbing mechanism, so that the rotating joints are reduced, the cost of the six-axis feeding and discharging robot system body is greatly reduced, the six-axis feeding and discharging robot system has higher expansibility, a service object is not limited to a single machine tool, the grabbing mechanism, the material warehouse and machine tool equipment can be freely combined and arranged in different forms, and can form a pipeline automation unit with other machine tools and robots except single machine automation, so that the intelligent manufacturing automation degree of a factory is improved, the requirements of users on feeding and discharging robots can be generally met.
Furthermore, the control method of the six-axis feeding and discharging robot system adopts a full-automatic numerical control programming technology, so that complete automatic operation and adjustment are realized, labor force is saved, and quick mechanical operation of feeding and discharging of a machine tool is realized.
Drawings
FIG. 1 is a schematic diagram of a six-axis loading and unloading robot system;
FIG. 2 is a schematic diagram of a magazine mechanism according to the present invention;
FIG. 3 is a schematic view of the material grabbing mechanism of the present invention;
FIG. 4 is a schematic view of a fifth drive shaft mechanism according to the present invention;
FIG. 5 is a schematic view of a sixth transmission mechanism according to the present invention;
FIG. 6 is a schematic view of a first drive shaft mechanism according to the present invention;
FIG. 7 is a schematic view of a second drive shaft mechanism according to the present invention;
FIG. 8 is a schematic view of a third drive shaft mechanism according to the present invention;
FIG. 9 is a schematic view of a fourth drive shaft mechanism according to the present invention;
FIG. 10 is a schematic view of an end effector of the present invention;
FIG. 11 is a schematic diagram of an end effector according to the present invention.
In the figure:
1-a stock bin mechanism; 2-a material grabbing mechanism; 3, a material warehouse base; 4, a material grabbing bottom plate; 5, turning a lathe; 6-big arm; 7-a third speed reducer; 8-an end effector; 9, a tray plate; 10, a stock guide rail; 11-a first slider; 12, a material tray base; 13-a fifth shaft synchronous pulley; 14-a fifth motor; 15-a sixth motor; 16-a sixth synchronous belt; 17-a screw rod; 18, a silk cylinder; 19-sixth drive shaft guide rail; 20-a second slider; 21-a second transmission base; 22-a second speed reducer; 23-a third shaft mount; 24-a third motor; 25-tilting end clamps; 26-parallel end clamps; 27-a material grabbing base; 28-a first motor; 29-a fifth timing belt; 30-a first speed reducer; 31-a third slider; 32-a material grabbing mechanism guide rail; 33—a first shaft synchronous pulley; 34-fourth motor; 35-fourth speed reducer.
Detailed Description
The present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
As shown in fig. 1-3, the invention provides a six-axis feeding and discharging robot system, which comprises a stock bin mechanism 1 and a grabbing mechanism 2 matched with the stock bin mechanism 1;
the material warehouse mechanism 1 comprises a material warehouse base 3, a material warehouse base 3 is provided with a material tray plate 9 which can horizontally and vertically move, and materials are placed on the material tray plate 9;
the grabbing mechanism 2 comprises a grabbing base 27, a grabbing base plate 4 capable of horizontally moving is arranged on the grabbing base 27, a second transmission shaft mechanism is vertically arranged on the grabbing base plate 4, a third transmission shaft mechanism is arranged at the upper end of the second transmission shaft mechanism, a large arm 6 is arranged on the third transmission shaft mechanism, a fourth transmission shaft mechanism is arranged at the end part of the large arm 6, and an end effector for grabbing parts is connected to the fourth transmission shaft mechanism; the second transmission shaft mechanism drives the third transmission shaft mechanism and the large arm 6 to horizontally rotate through rotation; the third transmission shaft mechanism drives the large arm 6 to swing through rotation, and the fourth transmission shaft mechanism drives the end effector 8 to rotate through rotation.
Specifically, the stock house mechanism 1: comprises a fifth transmission shaft mechanism for horizontally moving the tray plate 9 and a sixth transmission shaft mechanism for vertically moving the tray plate 9.
As shown in fig. 2 and 4, the fifth shaft transmission mechanism specifically includes:
the material warehouse base 3 is provided with a material warehouse guide rail 10, the material warehouse guide rail 10 is provided with a material tray base 12 through a first sliding block 11, and a material tray plate 9 is arranged on the material tray base 12; a fifth transmission shaft mechanism for driving the material disc base 12 to horizontally move is arranged below the material base 3, the fifth transmission shaft mechanism comprises a fifth motor 14, a fifth shaft synchronous pulley 13 and a fifth synchronous belt 29 which are arranged below the material base 3, the output end of the fifth motor 14 is connected with the fifth shaft synchronous pulley 13 through the fifth synchronous belt 29, and the fifth synchronous belt 29 is connected with the material disc base 12 through a connecting plate. The fifth motor 14 drives the fifth shaft synchronous pulley 13 and the fifth synchronous belt 29 to rotate, and the fifth synchronous belt 29 drives the material tray base 12 to move on the material warehouse guide rail 10 along the Y direction, so that the front and back movement of the material grabbing mechanism is compensated, and the grabbing mechanism array grabs the Y direction movement.
As shown in fig. 5, the sixth transmission mechanism is specifically:
a sixth transmission shaft mechanism is mounted on the tray base 12, and comprises a sixth motor 15, a sixth synchronous belt 16 and a sixth shaft synchronous belt wheel; a screw rod 17 is arranged in the center of the material disc base 12, a wire cylinder 18 is arranged outside the screw rod 17, the upper end of the wire cylinder 18 is connected with the material disc plate 9, the wire cylinder 18 is in rotary fit with one end of the screw rod 17, the other end of the screw rod 17 is arranged on the material disc base 12 through a bearing, the tail end of the screw rod extends out of the material disc base 12, a sixth motor 15 is arranged on the material disc base 12 and is parallel to the screw rod 17, the output end of the sixth motor 15 is connected with a sixth shaft synchronous pulley through a sixth synchronous belt 16, and the sixth shaft synchronous pulley is arranged at the tail end of the screw rod 17; the sixth motor 15 drives a sixth shaft synchronous pulley to rotate, the sixth shaft synchronous pulley drives a screw rod 17 to rotate, and the screw rod 17 drives a wire barrel 18 and the tray plate 9 to move up and down.
Preferably, in order to make the tray plate 9 stably run, a sixth transmission shaft guide rail 19 is installed in the vertical direction at four corners of the tray plate 9, a second sliding block 20 is disposed on the sixth transmission shaft guide rail 19, and the tray base 12 moves up and down on the sixth transmission shaft guide rail 19 through the second sliding block 20, so that the tray plate 9 is balanced, and the purpose of stable up and down movement is obtained.
Specifically, the material grabbing mechanism 2:
comprises a first transmission shaft mechanism for horizontally moving the grabbing bottom plate 4, a second transmission shaft mechanism for horizontally rotating the large arm 6, a third transmission shaft mechanism for swinging the large arm 6 and a fourth transmission shaft mechanism for converting the end effector 8.
As shown in fig. 6, the first transmission shaft mechanism specifically includes:
the first transmission shaft mechanism for driving the grabbing base plate 4 to horizontally move is arranged below the grabbing base plate 27, the first transmission shaft mechanism comprises a first speed reducer 30, the input end of the first speed reducer 30 is connected with a first motor 28, the output end of the first speed reducer 30 is provided with a first shaft synchronous pulley 33 and a first synchronous belt, the first synchronous belt is connected with the grabbing base plate 4 through a connecting plate, a third sliding block 31 is arranged below the grabbing base plate 4, a grabbing mechanism guide rail 32 is arranged on the grabbing base plate 27, the third sliding block 31 horizontally moves on the grabbing mechanism guide rail 32, and the first motor 28 drives the first shaft synchronous pulley 33 and the first synchronous belt to rotate through the first speed reducer 30 to drive the grabbing base plate 4 to horizontally move on the grabbing mechanism guide rail 32. The whole material grabbing mechanism is moved on the base guide rail. The first transmission shaft mechanism is used for pushing parts in the axis direction of the machine tool and grabbing an array in the X direction of the material warehouse.
As shown in fig. 7, the second transmission shaft mechanism specifically includes:
the second transmission shaft mechanism comprises a second transmission base 21 arranged on the grabbing base plate 4, a second speed reducer 22 is arranged on the second transmission base 21, the input end of the second speed reducer 22 is connected with a second motor, the output end of the second speed reducer 22 is connected with a third shaft base 23, the second motor is connected with the large arm 6 through a third transmission shaft mechanism, and the second motor drives the third transmission shaft mechanism to rotate by +/-180 degrees horizontally through the second speed reducer 22 so as to drive the third transmission shaft mechanism and the large arm 6 to rotate horizontally. The whole horizontal direction of the material warehouse mechanism 2 is rotated, parts can be grasped from the front side and the side through the rotation function, and the material warehouse mechanism is convenient and flexible.
As shown in fig. 8, the third transmission shaft mechanism is specifically:
the third transmission shaft mechanism comprises a third shaft base 23 arranged on the second transmission shaft mechanism, a third speed reducer 7 is arranged in the third shaft base 23, the input end of the third speed reducer 7 is connected with a third motor 24, and the output of the third speed reducer 7 is connected with one end of the big arm 6; the third motor 24 rotates through the third speed reducer 7 to drive the large arm 6 to swing. The third transmission shaft is vertically arranged, and the large arm 6 is vertically arranged on the third shaft base 23 and swings by more than 180 degrees. The third transmission shaft mechanism is used for conveying and storing parts and machine tools, a stock warehouse, a conveyor belt and the like.
As shown in fig. 9, the fourth transmission shaft mechanism is specifically:
the fourth transmission shaft mechanism comprises a fourth speed reducer 35 arranged at the tail end of the large arm 6, a fourth motor 34 is arranged at the input end of the fourth speed reducer 35, the output end of the fourth speed reducer 35 is connected with the end effector 8, the fourth motor 34 drives the end effector 8 to rotate through the fourth speed reducer 35, and two stations on the end effector 8 perform interactive motion. The fourth drive shaft mechanism is used for interaction and angle adjustment of the two end effectors. The end effector connected with the large arm in parallel is used for grabbing longer shaft parts, is placed in a horizontal state at the stock end, and is used for storing disc parts, short shaft parts and flattened parts at the end with a certain included angle and the end of the large arm in a vertical state at the stock end.
Illustratively, in the present invention, the end effector 8 may be designed in different types according to the actual machine tool structure, and in this embodiment, two structures are illustratively given, but not limited to these two structures: as shown in fig. 10, the end effector 8 includes an inclined end jig 25 for disk-like, stub-like, flattened-like parts, and when the inclined end jig 25 is selected, a fourth speed reducer 35 is connected to the end of the large arm 6 through a base with an angle, and is provided with jig claws that are perpendicular to each other;
as shown in fig. 11, the end effector 8 includes a parallel end clamp 26 for gripping shaft-like long parts, the end clamp 26 being horizontally mounted directly on the horizontal boom 6 and provided with clamp claws that are perpendicular to each other. The inclined end clamp 25 or the parallel end clamp 26 is provided with a plurality of operating clamp claws.
In the present invention, the transmission method of the first transmission shaft mechanism and the fifth transmission shaft mechanism is not limited to synchronous belt transmission, but may be screw transmission, rack and pinion transmission, or the like. Because the unit has higher expansibility, the material grabbing mechanism, the material warehouse and the machine tool equipment are combined and arranged in different forms, and a plurality of sets of automatic equipment can be combined into a conveyor belt, a production line and the like. When the single equipment is automated, the second transmission shaft mechanism can be selectively installed according to the requirements of clients, and the speed reducer, the servo motor and the control system are reduced in cost and reduced.
The invention also provides a control method of the six-axis feeding and discharging robot system, which comprises the following steps:
1) The material grabbing mechanism 2 is arranged between the material warehouse mechanism 1 and the lathe 5, and the horizontal position of the material grabbing bottom plate 4 is adjusted so that the material grabbing mechanism 2, the material warehouse mechanism 1 and the lathe are positioned on the same straight line;
2) Placing the material on the material tray plate 9, and adjusting the vertical height and the horizontal position of the material tray plate 9 to enable the material tray plate 9 to be matched with the material grabbing mechanism 2;
3) The material grabbing bottom plate 4 drives the large arm 6 to horizontally move, meanwhile, the material tray base 12 drives the material tray plate 9 to horizontally move, the third transmission shaft mechanism drives the large arm 6 to swing to the upper end of the material tray plate 9, the end effector 8 adjusts the clamp to be opened, the material tray plate 9 moves upwards, materials are sent into the first clamp claw of the end effector 8, the first clamp claw clamps the materials, and the material tray plate 9 moves downwards, so that material taking is completed;
4) After the machine tool finishes processing the material, a signal is sent to the feeding and discharging robot system, the large arm 6 swings to a feeding position through the third transmission shaft mechanism, so that the end effector 8 and the machine tool clamping mechanism are concentric, the second clamp claw of the end effector 8 is opened, the material grabbing mechanism 2 horizontally moves to the material taking position towards the machine tool clamping mechanism, the second clamp claw of the end effector 8 clamps the processed material, the machine tool clamping mechanism is opened, the material grabbing mechanism 2 horizontally moves in the opposite direction and withdraws, and the material discharging is completed;
5) The first clamp claw of the rotary end effector 8 is concentric with the machine tool clamping mechanism, the material grabbing mechanism 2 horizontally moves towards the machine tool clamping mechanism, a feeding object is mounted, the machine tool clamping mechanism clamps the material, the first clamp claw of the end effector 8 is opened, the material grabbing mechanism 2 horizontally moves in the opposite direction and withdraws, the large arm 6 swings towards the direction of the material warehouse mechanism 1 through the third transmission shaft mechanism, and meanwhile, the end effector 8 adjusts the second clamp claw to face the material warehouse mechanism 1, so that feeding is completed;
6) The grabbing bottom plate 4 drives the large arm 6 to horizontally move, meanwhile, the tray base 12 drives the tray plate 9 to horizontally move, the tray plate 9 moves upwards to a discharging position, the processed materials are placed into the tray plate 9 by the second clamp claw of the end effector 8, the second clamp claw is opened, and the tray plate 9 moves downwards to finish discharging.
It should be noted that, because the robot system is designed in the material grabbing process, the work such as material grabbing, feeding detection and the like can be completed by sequentially moving in a single shaft. The motion axes do not have interpolation operation relation, so that the control system can control and complete the motion by adopting the multi-axis motion controller, instead of the six-axis simultaneous interpolation operation matching of each motion of the six-degree-of-freedom robot, the algorithm is complex, and the controller has high cost.
It will be apparent to those skilled in the art that the foregoing is merely illustrative of the preferred embodiments of this invention, and that certain modifications and variations may be made in part of this invention by those skilled in the art, all of which are shown and described with the understanding that they are considered to be within the scope of this invention.
Claims (8)
1. The six-axis feeding and discharging robot system is characterized by comprising a stock warehouse mechanism (1) and a material grabbing mechanism (2) matched with the stock warehouse mechanism (1);
the material warehouse mechanism (1) comprises a material warehouse base (3), a material tray plate (9) capable of horizontally moving up and down is arranged on the material warehouse base (3), and materials are placed on the material tray plate (9);
the grabbing mechanism (2) comprises a grabbing base (27), a grabbing bottom plate (4) capable of horizontally moving is arranged on the grabbing base (27), a second transmission shaft mechanism is vertically arranged on the grabbing bottom plate (4), a third transmission shaft mechanism is arranged at the upper end of the second transmission shaft mechanism, a large arm (6) is arranged on the third transmission shaft mechanism, a fourth transmission shaft mechanism is arranged at the end part of the large arm (6), and an end effector (8) for grabbing parts is connected to the fourth transmission shaft mechanism; the second transmission shaft mechanism drives the third transmission shaft mechanism and the large arm (6) to horizontally rotate through rotation; the third transmission shaft mechanism drives the large arm (6) to swing through rotation, and the fourth transmission shaft mechanism drives the end effector (8) to rotate through rotation;
a material warehouse guide rail (10) is arranged on the material warehouse base (3), a material tray base (12) is arranged on the material warehouse guide rail (10) through a first sliding block (11), and a material tray plate (9) is arranged on the material tray base (12); a fifth transmission shaft mechanism for driving the material disc base (12) to horizontally move is arranged below the material reservoir base (3), the fifth transmission shaft mechanism comprises a fifth motor (14), a fifth shaft synchronous pulley (13) and a fifth synchronous belt (29) which are arranged below the material reservoir base (3), the output end of the fifth motor (14) is connected with the fifth synchronous belt (29) through the fifth shaft synchronous pulley (13), the fifth synchronous belt (29) is connected with the material disc base (12) through a connecting plate, the fifth motor (14) drives the material disc base (12) to move along the Y direction on the material reservoir guide rail (10) through driving the fifth shaft synchronous pulley (13) and the fifth synchronous belt (29) to rotate;
the second transmission shaft mechanism comprises a second transmission base (21) arranged on the grabbing base plate (4), a second speed reducer (22) is arranged on the second transmission base (21), the input end of the second speed reducer (22) is connected with a second motor, the output end of the second speed reducer (22) is connected with a third shaft base (23), the second motor is connected with the large arm (6) through the third transmission shaft mechanism, and the second motor drives the third transmission shaft mechanism to rotate by +/-180 degrees through the second speed reducer (22) so as to drive the large arm (6) to horizontally rotate.
2. The six-axis loading and unloading robot system according to claim 1, wherein a sixth transmission shaft mechanism is mounted on the tray base (12), and the sixth transmission shaft mechanism comprises a sixth motor (15), a sixth synchronous belt (16) and a sixth axis synchronous belt wheel; a screw rod (17) is arranged in the center of the material disc base (12), a screw cylinder (18) is arranged outside the screw rod (17), the upper end of the screw cylinder (18) is connected with the material disc plate (9), the screw cylinder (18) is in rotary fit with one end of the screw rod (17), the other end of the screw rod (17) is arranged on the material disc base (12) through a bearing, the tail end of the screw rod extends out of the material disc base (12), a sixth motor (15) is arranged on the material disc base (12) and is parallel to the screw rod (17), the output end of the sixth motor (15) is connected with a sixth shaft synchronous pulley through a sixth synchronous belt (16), and the sixth shaft synchronous pulley is arranged at the tail end of the screw rod (17); the sixth motor (15) drives a sixth shaft synchronous pulley to rotate, the sixth shaft synchronous pulley drives a screw rod (17) to rotate, and the screw rod (17) drives a screw cylinder (18) and a material tray plate (9) to move up and down.
3. The six-axis loading and unloading robot system according to claim 2, wherein a sixth transmission shaft guide rail (19) is installed in the vertical direction of four corners of the tray plate (9), a second sliding block (20) is arranged on the sixth transmission shaft guide rail (19), and the tray base (12) moves up and down on the sixth transmission shaft guide rail (19) through the second sliding block (20).
4. The six-axis feeding and discharging robot system according to claim 1, wherein the third transmission shaft mechanism comprises a third shaft base (23) arranged on the second transmission shaft mechanism, a third speed reducer (7) is arranged in the third shaft base (23), the input end of the third speed reducer (7) is connected with a third motor (24), and the output end of the third speed reducer (7) is connected with one end of the big arm (6); the third motor (24) rotates through the third speed reducer (7) to drive the large arm (6) to swing.
5. The six-axis feeding and discharging robot system according to claim 1, wherein a first transmission shaft mechanism for driving the grabbing base plate (4) to horizontally move is installed below the grabbing base plate (27), the first transmission shaft mechanism comprises a first speed reducer (30), the input end of the first speed reducer (30) is connected with a first motor (28), the output end of the first speed reducer (30) is provided with a first shaft synchronous pulley (33) and a first synchronous belt, and the first synchronous belt is connected with the grabbing base plate (4) through a connecting plate; a third sliding block (31) is arranged below the grabbing base plate (4), a grabbing mechanism guide rail (32) is arranged on the grabbing base (27), the third sliding block (31) horizontally moves on the grabbing mechanism guide rail (32), and a first motor (28) drives a first shaft synchronous belt wheel (33) and a first synchronous belt to rotate through a first speed reducer (30) to drive the grabbing base plate (4) to horizontally move on the grabbing mechanism guide rail (32).
6. The six-axis feeding and discharging robot system according to claim 1, wherein the fourth transmission shaft mechanism comprises a fourth speed reducer (35) arranged at the tail end of the big arm (6), a fourth motor (34) is arranged at the input end of the fourth speed reducer (35), the output end of the fourth speed reducer (35) is connected with the end effector (8), and the fourth motor (34) drives the end effector (8) to rotate through the fourth speed reducer (35), so that two stations on the end effector (8) do interactive motion.
7. Six-axis loading and unloading robot system according to claim 6, characterized in that the end effector (8) comprises an inclined end clamp (25) for gripping short-axis parts or a parallel end clamp (26) for gripping long-axis parts; when the inclined tail end clamp (25) is selected, the fourth speed reducer (35) is connected with the tail end of the large arm (6) through a base with an included angle, and when the parallel tail end clamp (26) is selected, the fourth speed reducer (35) is installed at the tail end of the large arm (6).
8. A control method based on the six-axis loading and unloading robot system as set forth in claim 1, comprising:
1) The material grabbing mechanism (2) is arranged between the material warehouse mechanism (1) and the lathe (5), and the horizontal position of the material grabbing bottom plate (4) is adjusted so that the material grabbing mechanism (2), the material warehouse mechanism (1) and the lathe are positioned on the same straight line;
2) Placing the material on a material tray plate (9), and adjusting the vertical height and the horizontal position of the material tray plate (9) so that the material tray plate (9) is matched with the material grabbing mechanism (2);
3) The material grabbing bottom plate (4) drives the large arm (6) to horizontally move, meanwhile, the material tray base (12) drives the material tray plate (9) to horizontally move, the third transmission shaft mechanism drives the large arm (6) to swing to the upper end of the material tray plate (9), the end effector (8) adjusts the clamp to be opened, the material tray plate (9) moves upwards, materials are fed into a first clamp claw of the end effector (8), the first clamp claw clamps the materials, and the material tray plate (9) moves downwards to finish material taking;
4) After the machine tool finishes processing the material, a signal is sent to the feeding and discharging robot system, the large arm (6) swings to a feeding position through the third transmission shaft mechanism, so that the end effector (8) is concentric with the machine tool clamping mechanism, the second clamp claw of the end effector (8) is opened, the material grabbing mechanism (2) horizontally moves to a material taking position towards the machine tool clamping mechanism, the second clamp claw of the end effector (8) clamps the processed material, the machine tool clamping mechanism is opened, the material grabbing mechanism (2) horizontally moves in the opposite direction and withdraws, and the material discharging is completed;
5) The first clamp claw of the rotary end effector (8) is concentric with the machine tool clamping mechanism, the material grabbing mechanism (2) horizontally moves towards the machine tool clamping mechanism, a feeding object is installed, the machine tool clamping mechanism clamps the material, the first clamp claw of the end effector (8) is opened, the material grabbing mechanism (2) horizontally moves in the opposite direction and withdraws, the large arm (6) swings towards the direction of the material warehouse mechanism (1) through the third transmission shaft mechanism, and meanwhile, the end effector (8) adjusts the second clamp claw to face the material warehouse mechanism (1) to finish feeding;
6) The grabbing bottom plate (4) drives the large arm (6) to horizontally move, meanwhile, the tray base (12) drives the tray plate (9) to horizontally move, the tray plate (9) moves upwards to a discharging position, the processed materials are placed into the tray plate (9) by the second clamp claw of the end effector (8), the second clamp claw is opened, and the tray plate (9) moves downwards to finish discharging.
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| CN110814735A (en) * | 2019-10-28 | 2020-02-21 | 深圳久和工业自动化设备有限公司 | Intelligent flexible assembly line |
| CN113664284B (en) * | 2021-09-07 | 2022-10-04 | 浙江金泰实业发展有限公司 | Ferrule clamping method and device for bearing processing |
| CN113798569B (en) * | 2021-10-25 | 2023-04-28 | 玉林师范学院 | Digit control machine tool with automatic feeding |
| CN113953607B (en) * | 2021-12-21 | 2022-03-15 | 常州市武进大众标准件有限公司 | Stability-improved screw batch grabbing device |
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